CN102227973A - End effector of ball-like fruit picking robot - Google Patents
End effector of ball-like fruit picking robot Download PDFInfo
- Publication number
- CN102227973A CN102227973A CN2011101060576A CN201110106057A CN102227973A CN 102227973 A CN102227973 A CN 102227973A CN 2011101060576 A CN2011101060576 A CN 2011101060576A CN 201110106057 A CN201110106057 A CN 201110106057A CN 102227973 A CN102227973 A CN 102227973A
- Authority
- CN
- China
- Prior art keywords
- arc
- cylinder
- assembly
- rotating machine
- fruit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an end effector of a ball-like fruit picking robot. The end effector comprises a rotating machine assembly, a telescopic cylinder assembly and an arc-shaped finger cutting assembly. The end effector has the following advantages: a rotating machine is utilized to drive four arc-shaped blades to cut the fruit stem in any position between the four arc-shaped blades in a rotating manner via a coupling shaft assembly, thus omitting detection of the position of the fruit stem; a single-rod double-action cylinder drives four arc-shaped fingers to unfold and fold by way of extension and retraction of a piston rod; the space formed when the four arc-shaped fingers are folded is larger than the three-dimensional space of the fruits; the fingers are not contacted with the fruits during picking, thus ensuring that the fingers can rotate relative to the fruits, providing conditions for the arc-shaped blades to cut the fruit stems in a rotating manner and dispensing with complex pressure control for clamping the fruits; and the end effector has a reliable picking mode, low action control difficulty, low cost and strong universality.
Description
Technical field
The invention belongs to the development field of agriculture terminal executor of fruit and vegetable picking robot, particularly a kind of seed ball terminal executor of picking robot.
Background technology
End effector is the important component part of agriculture fruit and vegetable picking robot, it is installed in the end of mechanical arm, when plucking operation, by mechanical arm end effector is moved to the corresponding picking point of fruit place earlier, finish the task of plucking fruit by end effector again.The research and development of picking robot has been experienced more than 30 year, has obtained many achievements.But also have certain distance from practicability and commercialization, its one of the main reasons is the development of end effector is had relatively high expectations, and requires to comprise: 1) end effector can not damaged fruit in the process of plucking; 2) picking efficiency and harvesting success rate height; 3) cost of end effector is low, and users are accepted; 4) guarantee the intelligentized complexity that reduces control system simultaneously, be beneficial to the harvesting process control of peasant's operation and robot complete machine; 5) require mechanism its reliability, intensity when guaranteeing exquisite (raising keeps away the barrier ability) to want high; 6) improve versatility, make a kind of end effector can pluck multiple fruit.
So far, realize that the mode of plucking mainly contains two kinds, first kind is that the design corresponding mechanism is earlier carried out clamping to fruit and held, utilize the rotation on carpal two vertical direction to come the anthropomorphic dummy to break the action of twisting carpopodium off with the fingers and thumb again, the object of its operation requires carpopodium to be easy to separate with fruit branch, need strictness to control the strength of clamping fruit well simultaneously, otherwise very easily damage fruit.Second kind is to utilize sucker that fruit is sucked and it is pulled between the holding finger, utilize scissors or other modes that carpopodium is interrupted again, this method need detect the position of carpopodium, and to adjust the attitude of end effector accurately, thereby the people such as complexity Peter P.Ling that increased the difficulty of system's control and mechanism have designed a kind of end-effector (Ling of 4 fingers, P.Sensing and end-effector for a robotic tomato ha---rvester[R] .ASer, No.043088.).This end-effector mainly by the digital linear stepper motor, 4 the finger and attractor form.Finger utilizes hawser and muscle tendon to make its bending, utilizes torsion spring to make its stretching, extension.The digital linear stepper motor drives the muscle tendon, has strengthened the controllability and the accuracy of end-effector motion.In the selection of finger, selected material light and that hardness is good.But its endurance is not very desirable.Should consider quality and fatigue resistance again, to reach better effect, it has influenced practicability and commercialization to a great extent owing to adopted the digital linear stepper motor to make cost higher in addition.
Summary of the invention
Technical problem solved by the invention is to provide a kind of and need not to control chucking power and pluck attitude, seed ball terminal executor of picking robot reliability and durability, with low cost.
The technical solution that realizes the object of the invention is: a kind of seed ball terminal executor of picking robot, comprise electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine, electric machine support and shaft coupling assembly, cylinder assembly comprises cylinder bracket, the gentle jar support of single pole double-acting cylinder, and arc finger cutting assembly comprises connecting rod, a plurality of arc finger, rubber layer, cambered blade, piston rod, piston shelf and bearing pin; Electric rotating machine is fixed on electric machine support, the motor shaft of electric rotating machine is connected with cylinder bracket mutually by the shaft coupling assembly, the rotation of drive cylinder bracket, the single pole double-acting cylinder is connected above the cylinder bracket, the top of this cylinder cylinder support that is connected, the top of the piston rod of single pole double-acting cylinder is connected mutually with piston shelf, this piston shelf is connected with a plurality of arc fingers by bearing pin, each arc finger also is connected with the cylinder support with bearing pin by connecting rod, on the interior wide surface of each arc finger cambered blade is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade is stained with rubber layer.
The present invention compared with prior art, its remarkable advantage is: 1) clamping device contacting fruit surface not, just it is surrounded, saved the part that traditional picking end effector need be controlled chucking power; 2) owing to there not being direct contacting fruit surface, so there is not the situation of damaging fruit; 3) need not to judge the relative position that detects carpopodium and end effector that refer to surround among the space as long as fruit enters four, the present invention can cut off carpopodium; 4) simple and compact for structure, with low cost, the control difficulty is low; 5) highly versatile can be plucked the fruit of multiple near-spherical.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the overall structure schematic diagram of seed ball terminal executor of picking robot of the present invention.
Fig. 2 is piston shelf of the present invention and piston syndeton schematic diagram.
Fig. 3 is a shaft coupling modular construction schematic diagram of the present invention.
Fig. 4 is the structural representation of finger part of the present invention.
Embodiment
In conjunction with Fig. 1, a kind of seed ball terminal executor of picking robot of the present invention, comprise the electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine 1, electric machine support 2 and shaft coupling assembly 3, cylinder assembly comprises cylinder bracket 16, single pole double-acting cylinder 4 gentle jar supports 5, arc finger cutting assembly comprises connecting rod 6, a plurality of arc fingers 7, rubber layer 11, cambered blade 12, piston rod 13, piston shelf 14 and bearing pin 15;
Electric rotating machine 1 is fixed on electric machine support 2, the motor shaft of electric rotating machine 1 is connected with cylinder bracket 16 mutually by shaft coupling assembly 3, drive cylinder bracket 16 rotations, the cylinder bracket 16 tops single pole double-acting cylinder 4 that is connected, the top of this cylinder cylinder support 5 that is connected, the top of the piston rod 13 of single pole double-acting cylinder 4 is connected mutually with piston shelf 14, this piston shelf is connected with a plurality of arc fingers 7 by bearing pin 15, each arc finger also is connected with cylinder support 5 with bearing pin by connecting rod 6, in conjunction with Fig. 4, on the interior wide surface of each arc finger cambered blade 12 is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade 12 is stained with rubber layer 11, is used for barrier cambered blade 12 and contacts with fruit, accidentally injures fruit when preventing cambered blade 12 rotations.The quantity of arc finger 7 is preferably four, links to each other with connecting rod 6 by bearing pin 15 respectively on the left-right and front-back four direction of cylinder support 5, connects by bearing pin 15 successively between connecting rod 6, arc finger 7 and the piston shelf 14 simultaneously.The space that four arc fingers 7 are surrounded when closing up is greater than the three dimensions of fruit, guarantee that four arc fingers 7 are fruit to be surrounded rather than the fruit double team is lived when closing up, the control that can save control clamping fruit power like this, the arc finger does not contact with fruit simultaneously, guarantee that the finger fruit relatively rotates, for cambered blade 12 rotation cutting carpopodiums provide condition.The interior wide surface configuration of cambered blade 12 match arcs finger 7, cambered blade are welded on the interior wide surface of arc finger 7, and like this, cambered blade 12 can cut off the carpopodium of optional position.
The cylinder bracket bottom surface processes an outstanding axle, and its diameter of axle equates that with the motor shaft diameter of axle single pole double-acting cylinder is connected and fixed by screw and is installed on the cylinder bracket.In conjunction with Fig. 3, described shaft coupling assembly 3 comprises pin 18, right semi-circle cover 19, left semicircle cover 20, right semi-circle cover 19 and left semicircle cover 20 are enclosed within the junction of motor shaft 17 and cylinder bracket 16 outstanding axles simultaneously, described right semi-circle cover 19 and left semicircle cover 20 link to each other by pin 18, and are fastened by screw 21 and bolt 22.Shaft coupling assembly 3 is fixed together motor shaft 17 and cylinder bracket 16 outstanding axles.
In conjunction with Fig. 2, the top of single pole double-acting cylinder 4 piston rods 13 is connected with piston shelf 14 mutually by top flat 8, and wherein top flat 8 is fixedlyed connected with piston rod 13 end faces by M6 screw 9, and this top flat 8 is also fixedlyed connected with piston shelf 14 by M3 screw 10.The quantity of M3 screw 10 is preferably four.
Electric rotating machine of the present invention is screwed and is contained on the electric machine support, motor shaft and cylinder frame are fixed together by the shaft coupling assembly, single pole double-acting cylinder rear end is fixedly mounted on the cylinder frame by screw, front end is installed four and is referred to clamping device, the inboard of each finger is welded with and points the cambered blade of face match, when the present invention works, the arc finger is in open configuration earlier, in the time of in fruit enters four spaces that refer to surround, the cylinder piston rod withdrawal drives four and refers to close up, until each finger tip jam-packed together, at this moment, electric rotating machine begins to start, and by being fastenedly connected of shaft coupling assembly, being in four of merging phase and referring to carry out rotation around the motor shaft direction, circular arc blade on its each finger just can cut off the carpopodium of optional position, finishes harvesting.
Below in conjunction with embodiment the present invention is done further detailed description:
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 shown in Figure 1, Figure 2, Figure 3 and Figure 4, present embodiment is installed in the last joint of picking robot mechanical arm wrist joint group, and the last joint motions output by electric machine support 2 and wrist joint group is fixedly connected.Embodiment comprises that electric rotating machine assembly, telescopic cylinder assembly and arc four refer to cutting assembly three parts.
Described electric rotating machine assembly comprises electric rotating machine 1, electric machine support 2 and shaft coupling assembly 3, and wherein: shaft coupling assembly 3 comprises pin 17, right semi-circle cover 19, left semicircle cover 20, screw 21 and bolt 22.After right semi-circle cover 19 and left semicircle cover 20 link to each other by pin 17, be enclosed within the junction of motor shaft 17 and cylinder bracket 16 outstanding axles simultaneously, fastening by screw 21 and bolt 22 given prominence to motor shaft 17 and cylinder bracket 16 spool being fixed together.
Described telescopic cylinder assembly comprises cylinder bracket 16 and single pole double-acting cylinder 4.Wherein: cylinder bracket 16 bottom surfaces process an outstanding axle, and its diameter of axle equates that with the motor shaft diameter of axle model that single pole double-acting cylinder 4 is selected for use in this example is: DNC-32-50-PPV-A.Single pole double-acting cylinder 4 is connected and fixed by screw and is installed on the cylinder bracket 16.
Described arc four refers to that cutting assembly comprises cylinder support 5, connecting rod 6, arc finger 7, top flat 8, M6 screw 9, M3 screw 10, rubber layer 11, cambered blade 12, piston rod 13, piston shelf 14 and bearing pin 15.Wherein: link to each other with connecting rod 6 by bearing pin 15 respectively on the left-right and front-back four direction of cylinder support 5, connect by bearing pin 15 successively between connecting rod 6, arc finger 7 and the piston shelf 14 simultaneously.Top flat 8 is fixedlyed connected with piston rod 13 end faces by M6 screw 9, utilizes four M3 screws 10 that it is fixedlyed connected with piston shelf 14 simultaneously.Arc finger 7 is selected the higher steel alloy-65Mn of intensity for use and is adopted the line cutting processing to be shaped, the space that is surrounded when requiring four arc fingers 7 to close up simultaneously is greater than the three dimensions of fruit, guarantee that four arc fingers 7 are fruit to be surrounded rather than the fruit double team is lived when closing up, the control that can save control clamping fruit power like this, finger does not contact with fruit simultaneously, guarantee that finger can be equivalent to fruit and relatively rotate, for cambered blade 12 rotation cutting carpopodiums provide condition.The interior wide surface configuration of cambered blade 12 match arcs finger 7, be fixed in by the tungsten argon arc welding on the interior wide surface of arc finger 7, like this, the circular arc blade can cut off the carpopodium of optional position, rubber layer 11 is bonded at the inboard of cambered blade 12, be used for barrier cambered blade 12 and contact, accidentally injure fruit when preventing cambered blade 12 rotations with fruit.
When utilizing seed ball terminal executor of picking robot of the present invention to pluck, specifically be divided into for four steps:
The first step, at first picking robot is caught the fruit image by vision sensor, determine the fruit position through graphical analysis, control mechanical arm drive the present invention then and move to the fruit position, arc four of the present invention refers to that cutting assembly is in the harvesting state for the treatment of in this process, that is: single pole double-acting cylinder 4 makes piston rod 13 be in elongation state, and such four arcs finger 7 is in open configuration;
Second step, after objective fruit enters four arcs finger, 7 zones, inner space that surrounded, single pole double-acting cylinder 4 ventilation direction wherein changes, piston rod 13 counteragents, piston rod 13 withdrawals drive four arc fingers 7 and merge, four finger tips close up together, this moment, fruit was enclosed in the four encirclement spaces that refer to, its carpopodium is between certain two arcs finger 7;
The 3rd step, merge when four arcs finger 7, when four finger tips close up together, electric rotating machine 1 begins to start, transmission through shaft coupling assembly 3, drive telescopic cylinder assembly and arc four and refer to that cutting assembly rotates, final cambered blade 12 relative carpopodiums rotate it are cut off, in this process, single pole double-acting cylinder 4 keeps the ventilation direction constant, and four arc fingers keep merging phase;
The 4th step, picking robot drive the present invention and move to fruit gathering unit place, single pole double-acting cylinder 4 ventilation directions change, and four arc fingers open, and fruit falls in the fruit gathering unit immediately, so far, end effector has been finished all processes to a picking fruit.
Claims (4)
1. seed ball terminal executor of picking robot, it is characterized in that, comprise the electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine [1], electric machine support [2] and shaft coupling assembly [3], cylinder assembly comprises cylinder bracket [16], the gentle jar support of single pole double-acting cylinder [4] [5], arc finger cutting assembly comprises connecting rod [6], a plurality of arc fingers [7], rubber layer [11], cambered blade [12], piston rod [13], piston shelf [14] and bearing pin [15]; Electric rotating machine [1] is fixed on electric machine support [2], the motor shaft of electric rotating machine [1] is connected with cylinder bracket [16] mutually by shaft coupling assembly [3], drive cylinder bracket [16] rotation, single pole double-acting cylinder [4] is connected above the cylinder bracket [16], the top of this cylinder cylinder support [5] that is connected, the top of the piston rod [13] of single pole double-acting cylinder [4] is connected mutually with piston shelf [14], described piston shelf [14] is pointed [7] by bearing pin [15] and a plurality of arcs and is connected, each arc finger also is connected with cylinder support [5] with bearing pin by connecting rod [6], on the interior wide surface of each arc finger cambered blade [12] is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade [12] is stained with rubber layer [11].
2. seed ball terminal executor of picking robot according to claim 1, it is characterized in that, described shaft coupling assembly [3] comprises pin [18], right semi-circle cover [19], left semicircle cover [20], right semi-circle cover [19] and left semicircle cover [20] are enclosed within the junction of motor shaft [17] and the outstanding axle of cylinder bracket [16] simultaneously, described right semi-circle cover [19] links to each other by pin [18] with left semicircle cover [20], and is fastened by screw [21] and bolt [22].
3. seed ball terminal executor of picking robot according to claim 1 and 2, it is characterized in that, the top of single pole double-acting cylinder [4] piston rod [13] is connected with piston shelf [14] mutually by top flat [8], wherein top flat [8] is fixedlyed connected with piston rod [13] end face by M6 screw [9], and this top flat [8] is also fixedlyed connected with piston shelf [14] by M3 screw [10].
4. seed ball terminal executor of picking robot according to claim 1 and 2, it is characterized in that, the quantity of arc finger [7] is four, link to each other with connecting rod [6] by bearing pin [15] respectively on the left-right and front-back four direction of cylinder support [5], connect by bearing pin [15] successively between connecting rod [6], arc finger [7] and the piston shelf [14] simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110106057 CN102227973B (en) | 2011-04-27 | 2011-04-27 | End effector of ball-like fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110106057 CN102227973B (en) | 2011-04-27 | 2011-04-27 | End effector of ball-like fruit picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102227973A true CN102227973A (en) | 2011-11-02 |
| CN102227973B CN102227973B (en) | 2013-06-05 |
Family
ID=44840610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110106057 Expired - Fee Related CN102227973B (en) | 2011-04-27 | 2011-04-27 | End effector of ball-like fruit picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102227973B (en) |
Cited By (50)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103548496A (en) * | 2013-10-21 | 2014-02-05 | 华南农业大学 | Quasi-circular fruit and vegetable picking end executor, method and robot |
| CN104541783A (en) * | 2015-01-12 | 2015-04-29 | 金陵科技学院 | Efficient picking robot |
| CN104584785A (en) * | 2015-01-07 | 2015-05-06 | 南京工程学院 | Pneumatic drive-based fruit-picking robot end effector |
| CN104626186A (en) * | 2014-12-31 | 2015-05-20 | 电子科技大学 | Multi-fingered composite type clamping mechanical gripper |
| CN104669289A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Space manipulator end executor with visual sensor |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN104885706A (en) * | 2015-05-21 | 2015-09-09 | 江南大学 | End effector structure of fruit and vegetable picking robot |
| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN105866028A (en) * | 2016-05-25 | 2016-08-17 | 宁夏大学 | Fruit-and-fruit-stem binding force testing device |
| CN105904473A (en) * | 2016-05-24 | 2016-08-31 | 安庆市荣禹机械制造有限责任公司 | Mechanical gripper for Hafu fixture |
| CN106034767A (en) * | 2016-07-01 | 2016-10-26 | 三明学院 | Multifunctional engineering vehicle |
| CN106171294A (en) * | 2016-06-30 | 2016-12-07 | 哈尔滨尼亚农业有限公司 | A kind of human simulation hand getting device and picking |
| CN106508282A (en) * | 2016-09-22 | 2017-03-22 | 华南农业大学 | Clamping and shearing type manipulator end effector |
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| CN106856822A (en) * | 2017-03-01 | 2017-06-20 | 乔永奎 | A kind of fruit plucks receiving method |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN107006205A (en) * | 2016-07-06 | 2017-08-04 | 徐子桐 | A kind of booth vegetable is cultivated with the rotary-cut intelligent integrated machine that loosens the soil |
| 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 |
| CN107053238A (en) * | 2017-04-27 | 2017-08-18 | 浙江长兴平适尔机器人科技有限公司 | A kind of multi-functional six-joint robot |
| CN107241962A (en) * | 2016-07-06 | 2017-10-13 | 徐子桐 | A kind of special cultivation equipment of greenhouse agricultural product vegetables |
| CN107373700A (en) * | 2017-09-10 | 2017-11-24 | 徐秀芳 | A kind of intelligent pomegranate peeling robot |
| CN107926290A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Novel fruits picker |
| CN107960245A (en) * | 2016-07-06 | 2018-04-27 | 巩莉 | A kind of adjustable automation watering production recovery arrangement of ecological ideas vegetable cultivation |
| CN108093707A (en) * | 2016-07-06 | 2018-06-01 | 徐子桐 | A kind of greenhouse green vegetables plant operation automation equipment |
| CN108174690A (en) * | 2018-02-28 | 2018-06-19 | 广西科技大学 | A kind of fruit picking apparatus |
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108377746A (en) * | 2018-05-28 | 2018-08-10 | 福州大学 | Plug-type pineapple picker and its working method |
| CN108401667A (en) * | 2018-04-17 | 2018-08-17 | 西安工业大学 | A kind of Handheld fruit picker and its method |
| CN108401682A (en) * | 2018-04-09 | 2018-08-17 | 南京师范大学 | A kind of end effector |
| CN108522015A (en) * | 2018-05-03 | 2018-09-14 | 电子科技大学 | A kind of console mode fruit picker |
| CN108575301A (en) * | 2018-07-04 | 2018-09-28 | 仲恺农业工程学院 | Rotary fruit picker |
| CN108575306A (en) * | 2018-05-23 | 2018-09-28 | 黄冈师范学院 | Telescopic rotating preventing damage apple-picking device |
| CN108575307A (en) * | 2018-06-04 | 2018-09-28 | 浙江工业大学 | A kind of handgrip cutting type picker |
| CN108718708A (en) * | 2018-05-31 | 2018-11-02 | 福建工程学院 | A kind of end effector and its working method |
| CN108811729A (en) * | 2018-04-17 | 2018-11-16 | 深圳职业技术学院 | Winter jujube picker |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109132508A (en) * | 2018-06-25 | 2019-01-04 | 芜湖汉科信息技术有限公司 | A kind of electronic component capture apparatus |
| CN109353550A (en) * | 2018-11-30 | 2019-02-19 | 哈尔滨工业大学 | A kind of end effector for actively soft capture space junk |
| CN110480616A (en) * | 2019-08-30 | 2019-11-22 | 上海大学 | A kind of scalable translation parallel manipulator of two-freedom |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112930862A (en) * | 2021-04-06 | 2021-06-11 | 苏州博田自动化技术有限公司 | Air suction clamping combined type picking device |
| CN113207441A (en) * | 2021-05-28 | 2021-08-06 | 吉林大学 | Coupling bionic picking device for deciduous fruit trees |
| CN113366973A (en) * | 2021-07-13 | 2021-09-10 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN113618747A (en) * | 2021-07-13 | 2021-11-09 | 安徽工程大学 | Terminal actuating mechanism of apple picking robot |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
| CN113692853A (en) * | 2021-09-08 | 2021-11-26 | 盐城工业职业技术学院 | Fruit and vegetable picking manipulator device |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6648653B2 (en) * | 2016-08-22 | 2020-02-14 | 株式会社デンソー | Robot hand |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS628530B2 (en) * | 1982-06-08 | 1987-02-23 | Toray Industries | |
| JPS6467124A (en) * | 1987-09-07 | 1989-03-13 | Okui Denki Kk | Hand for harvesting fruit or such |
| JPH0628530B2 (en) * | 1987-06-13 | 1994-04-20 | 株式会社クボタ | Hand size determination device for fruits and vegetables |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN101803511A (en) * | 2009-12-29 | 2010-08-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
-
2011
- 2011-04-27 CN CN 201110106057 patent/CN102227973B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS628530B2 (en) * | 1982-06-08 | 1987-02-23 | Toray Industries | |
| JPH0628530B2 (en) * | 1987-06-13 | 1994-04-20 | 株式会社クボタ | Hand size determination device for fruits and vegetables |
| JPS6467124A (en) * | 1987-09-07 | 1989-03-13 | Okui Denki Kk | Hand for harvesting fruit or such |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN101803511A (en) * | 2009-12-29 | 2010-08-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
Non-Patent Citations (1)
| Title |
|---|
| 任烨等: "农业机器人末端执行件的研究发展", 《农机化研究》, no. 03, 20 March 2007 (2007-03-20), pages 201 - 203 * |
Cited By (71)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103548496B (en) * | 2013-10-21 | 2015-11-04 | 华南农业大学 | Class circle fruit and vegetable picking end effector, method and robot |
| CN103548496A (en) * | 2013-10-21 | 2014-02-05 | 华南农业大学 | Quasi-circular fruit and vegetable picking end executor, method and robot |
| CN104669289A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Space manipulator end executor with visual sensor |
| CN104626186A (en) * | 2014-12-31 | 2015-05-20 | 电子科技大学 | Multi-fingered composite type clamping mechanical gripper |
| CN104584785A (en) * | 2015-01-07 | 2015-05-06 | 南京工程学院 | Pneumatic drive-based fruit-picking robot end effector |
| CN104584785B (en) * | 2015-01-07 | 2016-06-01 | 南京工程学院 | A kind of picking fruit machine robot end performer driven based on air pressure |
| CN104541783A (en) * | 2015-01-12 | 2015-04-29 | 金陵科技学院 | Efficient picking robot |
| CN104541783B (en) * | 2015-01-12 | 2016-05-04 | 金陵科技学院 | A kind of efficient picking robot |
| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN104885706A (en) * | 2015-05-21 | 2015-09-09 | 江南大学 | End effector structure of fruit and vegetable picking robot |
| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| CN105027831B (en) * | 2015-07-09 | 2017-08-08 | 华中农业大学 | A kind of drive lacking fruits picking mechanical hand pawl of hard and soft mixed structure |
| CN105904473A (en) * | 2016-05-24 | 2016-08-31 | 安庆市荣禹机械制造有限责任公司 | Mechanical gripper for Hafu fixture |
| CN105904473B (en) * | 2016-05-24 | 2018-01-19 | 安庆工匠智能化设备制造有限公司 | A kind of mechanical gripper for being used to breathe out furan clamps |
| CN105866028A (en) * | 2016-05-25 | 2016-08-17 | 宁夏大学 | Fruit-and-fruit-stem binding force testing device |
| CN106171294A (en) * | 2016-06-30 | 2016-12-07 | 哈尔滨尼亚农业有限公司 | A kind of human simulation hand getting device and picking |
| CN106034767A (en) * | 2016-07-01 | 2016-10-26 | 三明学院 | Multifunctional engineering vehicle |
| CN106034767B (en) * | 2016-07-01 | 2022-06-10 | 三明学院 | Multifunctional engineering vehicle |
| CN107006205A (en) * | 2016-07-06 | 2017-08-04 | 徐子桐 | A kind of booth vegetable is cultivated with the rotary-cut intelligent integrated machine that loosens the soil |
| CN107960245A (en) * | 2016-07-06 | 2018-04-27 | 巩莉 | A kind of adjustable automation watering production recovery arrangement of ecological ideas vegetable cultivation |
| CN107241962B (en) * | 2016-07-06 | 2020-10-30 | 浙江永宁药业股份有限公司 | Special cultivation equipment for agricultural products and vegetables in greenhouse |
| CN108093707A (en) * | 2016-07-06 | 2018-06-01 | 徐子桐 | A kind of greenhouse green vegetables plant operation automation equipment |
| CN107241962A (en) * | 2016-07-06 | 2017-10-13 | 徐子桐 | A kind of special cultivation equipment of greenhouse agricultural product vegetables |
| CN106508282A (en) * | 2016-09-22 | 2017-03-22 | 华南农业大学 | Clamping and shearing type manipulator end effector |
| CN106508282B (en) * | 2016-09-22 | 2018-10-30 | 华南农业大学 | A kind of tongs formula robot arm end effector |
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| 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 |
| CN106856822A (en) * | 2017-03-01 | 2017-06-20 | 乔永奎 | A kind of fruit plucks receiving method |
| CN106856822B (en) * | 2017-03-01 | 2019-02-05 | 乔文斌 | A kind of fruit plucks receiving method |
| CN106976073B (en) * | 2017-03-28 | 2023-03-31 | 昆明理工大学 | Fruit vegetables letter sorting manipulator |
| CN106976073A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of fruits and vegetables sorting manipulator |
| CN107053238A (en) * | 2017-04-27 | 2017-08-18 | 浙江长兴平适尔机器人科技有限公司 | A kind of multi-functional six-joint robot |
| CN107373700A (en) * | 2017-09-10 | 2017-11-24 | 徐秀芳 | A kind of intelligent pomegranate peeling robot |
| CN107926290A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Novel fruits picker |
| CN108293418B (en) * | 2018-02-12 | 2024-01-30 | 中国计量大学 | End effector of fruit string picking manipulator and picking method thereof |
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN108174690A (en) * | 2018-02-28 | 2018-06-19 | 广西科技大学 | A kind of fruit picking apparatus |
| CN108401682A (en) * | 2018-04-09 | 2018-08-17 | 南京师范大学 | A kind of end effector |
| CN108401682B (en) * | 2018-04-09 | 2024-05-17 | 南京师范大学 | End effector of spherical fruit picking robot |
| CN108401667A (en) * | 2018-04-17 | 2018-08-17 | 西安工业大学 | A kind of Handheld fruit picker and its method |
| CN108811729A (en) * | 2018-04-17 | 2018-11-16 | 深圳职业技术学院 | Winter jujube picker |
| CN108401667B (en) * | 2018-04-17 | 2023-06-23 | 西安工业大学 | Handheld fruit picking device and method thereof |
| CN108370723A (en) * | 2018-04-26 | 2018-08-07 | 梧州学院 | A kind of apple picking |
| CN108522015A (en) * | 2018-05-03 | 2018-09-14 | 电子科技大学 | A kind of console mode fruit picker |
| CN108575306A (en) * | 2018-05-23 | 2018-09-28 | 黄冈师范学院 | Telescopic rotating preventing damage apple-picking device |
| CN108575306B (en) * | 2018-05-23 | 2023-08-04 | 黄冈师范学院 | Telescopic rotary anti-pinch apple picking device |
| CN108377746A (en) * | 2018-05-28 | 2018-08-10 | 福州大学 | Plug-type pineapple picker and its working method |
| CN108718708A (en) * | 2018-05-31 | 2018-11-02 | 福建工程学院 | A kind of end effector and its working method |
| CN108575307A (en) * | 2018-06-04 | 2018-09-28 | 浙江工业大学 | A kind of handgrip cutting type picker |
| CN108575307B (en) * | 2018-06-04 | 2023-09-05 | 浙江工业大学 | Device is picked to tongs cutting type |
| CN109132508A (en) * | 2018-06-25 | 2019-01-04 | 芜湖汉科信息技术有限公司 | A kind of electronic component capture apparatus |
| CN108575301A (en) * | 2018-07-04 | 2018-09-28 | 仲恺农业工程学院 | Rotary fruit picker |
| CN108575301B (en) * | 2018-07-04 | 2024-01-30 | 仲恺农业工程学院 | Rotary fruit picker |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109105001B (en) * | 2018-10-18 | 2024-01-30 | 石河子大学 | End effector of bergamot pear picking robot and picking method |
| CN109353550A (en) * | 2018-11-30 | 2019-02-19 | 哈尔滨工业大学 | A kind of end effector for actively soft capture space junk |
| CN110480616A (en) * | 2019-08-30 | 2019-11-22 | 上海大学 | A kind of scalable translation parallel manipulator of two-freedom |
| CN112273054B (en) * | 2020-11-30 | 2022-06-17 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112930862A (en) * | 2021-04-06 | 2021-06-11 | 苏州博田自动化技术有限公司 | Air suction clamping combined type picking device |
| CN113207441A (en) * | 2021-05-28 | 2021-08-06 | 吉林大学 | Coupling bionic picking device for deciduous fruit trees |
| CN113618747B (en) * | 2021-07-13 | 2023-08-08 | 安徽工程大学 | End actuating mechanism of apple picking robot |
| CN113366973A (en) * | 2021-07-13 | 2021-09-10 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN113618747A (en) * | 2021-07-13 | 2021-11-09 | 安徽工程大学 | Terminal actuating mechanism of apple picking robot |
| CN113632642A (en) * | 2021-08-16 | 2021-11-12 | 重庆交通职业学院 | Fruit picking mechanical arm |
| CN113692853A (en) * | 2021-09-08 | 2021-11-26 | 盐城工业职业技术学院 | Fruit and vegetable picking manipulator device |
| CN114097427B (en) * | 2021-11-23 | 2023-01-03 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN114451144B (en) * | 2022-03-17 | 2023-07-25 | 河北省科学院应用数学研究所 | Fruit picking end effector |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102227973B (en) | 2013-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102227973B (en) | End effector of ball-like fruit picking robot | |
| CN202050707U (en) | End effector of globose fruit picking robot | |
| CN106233938B (en) | The end effector of serial type fruit picking robot | |
| CN104838809B (en) | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker | |
| CN101395989B (en) | End effector of apple picking robot | |
| CN207573956U (en) | A kind of orchard puma manipulator picker based on man-machine collaboration | |
| CN104908056B (en) | A kind of three finger mechanical paws of variable configuration | |
| CN102672712B (en) | Fruit picking manipulator | |
| CN105835051A (en) | Dual-motor drive cooperatively-controlled under-actuated manipulator | |
| CN106363618A (en) | Picking mechanical hand | |
| CN205928654U (en) | Two motor drive cooperative control's underactuated manipulator | |
| CN109496563A (en) | A kind of fruit picking robot | |
| CN106717534A (en) | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method | |
| CN208033076U (en) | A kind of sorting machine people | |
| CN104589366A (en) | Metamorphic type multifunctional mechanical gripper | |
| CN215530078U (en) | Manipulator with snatch and take fruit function | |
| CN104511906B (en) | Multi-joint manipulator | |
| CN211793007U (en) | Categorised all-in-one is picked to fruit | |
| CN104589364B (en) | A kind of robotic gripping apparatus | |
| CN209732041U (en) | Fruit picking robot | |
| CN208572771U (en) | Pineapple picking mechanical arm | |
| CN108401664A (en) | A kind of spheral fruit flexibility picking end effector | |
| CN112970428B (en) | Under-actuated picking manipulator | |
| CN108293418A (en) | Fruit string picking mechanical arm end effector and its picking method | |
| CN208258442U (en) | A kind of end effector of spheral fruit picking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20140427 |