CN102550215B - Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables - Google Patents
Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables Download PDFInfo
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- CN102550215B CN102550215B CN 201210011049 CN201210011049A CN102550215B CN 102550215 B CN102550215 B CN 102550215B CN 201210011049 CN201210011049 CN 201210011049 CN 201210011049 A CN201210011049 A CN 201210011049A CN 102550215 B CN102550215 B CN 102550215B
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Abstract
The invention discloses a magnetorheological conformable clamp holder and a robot for picking various kinds of fruits and vegetables. The magnetorheological conformable clamp holder comprises a clamping handle, a magnetorheological liquid bag, a shell and a clamping handle translation mechanism; the magnetorheological liquid bag is arranged at the inner side of one end of the clamping handle, is filled with magnetorheological liquid, is connected with a control circuit, and fulfills the function of forming a shape most appropriate for clamping the fruits and vegetables by means of electric magnetization regulation. The robot for picking various kinds of fruits and vegetables comprises a working table, a manipulator and an end effector arranged at the tail end of the manipulator, and the end effector consists of the magnetorheological comformable clamp holder and a shearing mechanism. According to the magnetorheological conformable clamp holder and the robot, when the fruits and vegetables of different kinds are picked, the picking of the fruits can be well performed without replacing clamping devices, and the picking efficiency is high; the picking requirements on different positions within the space can be met, the movement is flexible, and compared with a stepping motor used by the traditional picking manipulator, servo motors can be used for controlling more accurately.
Description
Technical field
The present invention relates to agriculture harvesting field, particularly a kind of magnetorheological suitable type clamper and robot of polymorphic type fruit and vegetable picking.
Background technology
China is as large agricultural country, and the fruits and vegetables industry is one of important industry in agricultural.Fruit picking robot is one of important means of Development of Morden fruits and vegetables industry.But, with developing rapidly of current fruit-growing industry, compare, less to the research of picking robot both at home and abroad, mainly some easy picking mechanical arms, function singleness and versatility are poor, usually only for the single clamping of a certain fruit, pluck, the cost that so not only customizes manipulator is higher, but also can the problem that inconvenience practices occur because plucking object variation.Due to fruit and vegetable picking to as if there is diversity and probabilistic organic-biological body, the epidermis of most of fruits and vegetables and fruit itself is all more fragile and soft, easily cause damage, and fruit is different, not of uniform size, this clamping during to fruit and vegetable picking is controlled and has been proposed very high request.
Summary of the invention
The object of the invention is to overcome the shortcoming existed in prior art, provide a kind of pluck polymorphic type fruit, clamping position accurately, fruit is damaged to the magnetorheological suitable type clamper of little polymorphic type fruit and vegetable picking.
Another object of the present invention is to provide a kind of robot with above-mentioned magnetorheological suitable type clamper.
Purpose of the present invention is achieved through the following technical solutions:
A kind of magnetorheological suitable type clamper of polymorphic type fruit and vegetable picking, comprise grip shank 13, magnetic flow liquid bag 16, shell 15 and grip shank translation mechanism; The grip shank translation mechanism is comprised of stepper motor 11, Timing Belt 12 and ball screw 14, and stepper motor 11 drives the translational motion of ball screw 14 by Timing Belt 12; One end of grip shank 13 is located at the inside of clamper shell 15, and is connected with the ball screw 14 of grip shank translation mechanism, realizes the close action of 13 pairs of target fruits and vegetables of grip shank by the translation operation of ball screw 14; Magnetic flow liquid bag 16 is installed on the inboard of the other end of grip shank 13; Magnetic flow liquid is equipped with in the inside of magnetic flow liquid bag 16, and is connected with control circuit, regulates to realize the appearance profile function of the most applicable fruits and vegetables clamping by electromagnetic excitation.
Described shell 15 forms box like structure by plural connecting plate, between adjacent two connecting plates, is bolted.
A kind of polymorphic type fruit and vegetable picking robot, the end effector 10 that comprises workbench, manipulator and be arranged at arm end, described end effector 10 is comprised of above-mentioned magnetorheological suitable type clamper and cutting mechanism; Cutting mechanism is comprised of cutter 18 and performer motor 17, and cutter 18 is located at the inboard of clamper shell 15, and performer motor 17 directly is connected with cutter 18, carries out cutting action.
Described end effector 10 also is provided with binocular vision unit or monocular vision unit, thereby realize the accuracy of fruit and vegetable picking, can form the fruit and vegetable picking robot based on vision system with the control system based on Digital Signal Processing (DSP) and field programmable gate array (FPGA).
Described manipulator comprises the large arm 6 of manipulator and manipulator forearm 8; One end of the large arm 6 of manipulator is fixedly mounted on workbench by the servomotor 3 with harmonic speed reducer, driving gear set 4, rotary joint 5, the power that servomotor 3 produces is delivered to rotary joint 5 by driving gear set 4 after harmonic speed reducer output, thus the rotation of the large arm 6 of driving mechanical hand; The other end of the large arm 6 of manipulator is connected with an end of manipulator forearm 8 by rotary joint 7, servomotor; The other end of manipulator forearm 8 is connected with end effector 10 by rotary joint 9, servomotor.
Described workbench is realized its spinning movement by rotary moveable joint 1 and servomotor 2; Described workbench is the crawler type dolly, can meet mobile at any time requirement, realizes the convenience of plucking.
When polymorphic type fruit and vegetable picking robot of the present invention carries out fruit and vegetable picking, stepper motor 11 energising work, the transmission by Timing Belt 12 drives ball screw 14 and carries out translational motion, makes grip shank 13 near fruits and vegetables; Simultaneously, being separately fixed at two electromagnetic excitations on grip shank 13 generates an electromagnetic field, under the effect of magnetic field force, magnetic flow liquid bag 16 starts distortion, characteristic due to the soft flexibility and changeability of magnetic flow liquid, magnetic flow liquid bag 16 can form random appearance profile size to adapt to the fruits and vegetables of different profiles, then drive cutter 18 by performer motor 17 and rotate and cut fruits and vegetables, thereby realize polytype fruit and vegetable picking.
And, in order to meet the different spatial requirement of dissimilar fruits and vegetables, adopt altogether 4 servomotors and rotary joint to carry out and jointly control the polymorphic type fruit and vegetable picking robot.Manipulator is fixedly mounted on workbench, and servomotor 3 is regulated manipulator first anglec of rotation by the angle of controlling rotary joint 5; Being connected between the large arm 6 of manipulator and workbench is to adopt two unequal coaxial transmission gear trains 4 of size, thereby reaches the function that increases square and the adjusting of the pose angle of the large arm 6 of manipulator is controlled of slowing down; To the control of the pose angle of manipulator forearm 8, take equally servomotor and rotary joint 9 to regulate; End effector 10 is connected with manipulator forearm 8, and end effector pose angle is controlled and adopted servomotor, rotary joint 9 to regulate.This manipulator jointly controls work by 4 servomotors, realizes end effector spatial pose more than 10 angle, and then the harvesting of any diverse location of meeting spatial needs.
The present invention compared with prior art has following advantage and effect:
(1) magnetorheological suitable type clamper of the present invention, when plucking dissimilar fruits and vegetables, by the electromagnet activated on clamper, the magnetic flow liquid yield stress of contacting fruit side is increased, thereby form the profile that adapts to fruit and play holding function, this Softening is less to the damage of fruit, need not change the harvesting that the clamping apparatus can adapt to various fruits, picking efficiency is high; The cutting mechanism adopted, simple in structure feasible, cutting mechanism, under the drive of motor, drives blade to be sheared, and its picking rate is fast, and picking efficiency is high.
(2) polymorphic type fruit and vegetable picking robot of the present invention, adopt 4 servomotors and 4 rotary joints to jointly control, make the harvesting demand that end effector can any diverse location of meeting spatial, flexibly, the step motor control that servomotor uses than traditional picking mechanical arm is also more accurate in its motion.
The accompanying drawing explanation
The structural representation that Fig. 1 is polymorphic type fruit and vegetable picking robot of the present invention.
The structural representation that Fig. 2 is the magnetorheological suitable type clamper of the present invention.
The principle schematic that Fig. 3 is end effector of the present invention.
In figure, 1, the rotary moveable joint; 2, servomotor; 3, servomotor; 4, driving gear set; 5, rotary joint; 6, the large arm of manipulator; 7, rotary joint; 8, manipulator forearm; 9, rotary joint; 10, end effector; 11, stepper motor; 12, Timing Belt; 13, grip shank; 14, ball screw; 15, shell; 16, magnetic flow liquid bag; 17, performer motor; 18, cutter.
Embodiment
Below in conjunction with embodiment, the present invention is done to further detailed description, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, polymorphic type fruit and vegetable picking robot, the end effector 10 that comprises workbench, manipulator and be arranged at arm end.
End effector 10 is comprised of magnetorheological suitable type clamper and cutting mechanism.As shown in Figure 2, magnetorheological suitable type clamper, comprise two grip shank 13, magnetic flow liquid bag 16, shell 15 and grip shank translation mechanism; The grip shank translation mechanism is comprised of stepper motor 11, Timing Belt 12 and ball screw 14, and stepper motor 11 drives the translational motion of ball screw 14 by Timing Belt 12; One end of grip shank 13 is located at the inside of clamper shell 15, and is connected with the ball screw 14 of grip shank translation mechanism, realizes the close action of 13 pairs of target fruits and vegetables of grip shank by the translation operation of ball screw 14; Magnetic flow liquid bag 16 is installed on the inboard of the other end of grip shank 13; Magnetic flow liquid is equipped with in the inside of magnetic flow liquid bag 16, and is connected with control circuit, regulates to realize the appearance profile function of the most applicable fruits and vegetables clamping by electromagnetic excitation.Clamper shell 15 forms box like structure by plural connecting plate, between adjacent two connecting plates, is bolted.
As shown in Figure 3, cutting mechanism is comprised of cutter 18 and performer motor 17, and cutter 18 is located at the inboard of clamper shell 15, and performer motor 17 directly is connected with cutter 18, carries out cutting action.
End effector 10 is provided with the binocular vision unit, thereby realizes the accuracy of fruit and vegetable picking, can form the fruit and vegetable picking robot based on vision system with the control system based on DSP+FPGA.
Manipulator comprises the large arm 6 of manipulator and manipulator forearm 8; One end of the large arm 6 of manipulator is fixedly mounted on workbench by the servomotor 3 with harmonic speed reducer, driving gear set 4, rotary joint 5, the power that servomotor 3 produces is delivered to rotary joint 5 by driving gear set 4 after harmonic speed reducer output, thus the rotation of the large arm 6 of driving mechanical hand; The other end of the large arm 6 of manipulator is connected with an end of manipulator forearm 8 by rotary joint 7, servomotor; The other end of manipulator forearm 8 is connected with end effector 10 by rotary joint 9, servomotor.
Workbench is the crawler type dolly, can meet mobile at any time requirement, realizes the convenience of plucking.Workbench is installed on fixed mechanism, and workbench is provided with the junction of fixed mechanism rotary moveable joint 1 and the servomotor 2 be connected, and realizes its spinning movement.
Each several part structure in robot (shell, large arm, forearm etc.) all adopts the design of material manufacture of lightweight, in the hope of effectively alleviating the own wt of robot.
The harvesting process: the present embodiment is to use 4 four-degree-of-freedom picking robots that servomotor is jointly controlled.The manipulator body is arranged on workbench, between workbench and base, can realize rotating (the first rotary joint), and this joint adopts gear couplings, and the angle of rotation is controlled by the first servomotor; Large arm is the second rotary joint with the junction of workbench, be delivered to joint after the deceleration of the power of the second servomotor output by harmonic gear reducer increases square, thereby realization is to the control of the pose angle of large arm; Forearm is the 3rd rotary joint with the junction of large arm, and the pose angle of forearm is controlled by the 3rd servomotor herein; The synchronous pulley that the pose angle of end effector is connected by the 4th servomotor with being arranged on the forearm end is controlled.This manipulator can be regulated the locus of end effector by the duty that changes 4 servomotors, realizes plucking the function of fruits and vegetables.During concrete the harvesting, while carrying out fruit and vegetable picking, stepper motor 11 energising work, the transmission by Timing Belt 12 drives ball screw 14 and carries out translational motion, makes grip shank 13 near fruits and vegetables; Simultaneously, being separately fixed at two electromagnetic excitations on grip shank 13 generates an electromagnetic field, under the effect of magnetic field force, magnetic flow liquid bag 16 starts distortion, characteristic due to the soft flexibility and changeability of magnetic flow liquid, magnetic flow liquid bag 16 can form random appearance profile size to adapt to the fruits and vegetables of different profiles, then drive cutter 18 by performer motor 17 and rotate and cut fruits and vegetables, thereby realize polytype fruit and vegetable picking.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention, not is used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify, all contained by the claims in the present invention scope required for protection.
Claims (6)
1. the magnetorheological suitable type clamper of a polymorphic type fruit and vegetable picking, is characterized in that: comprise grip shank, magnetic flow liquid bag, shell and grip shank translation mechanism; The grip shank translation mechanism is comprised of stepper motor, Timing Belt and ball screw, and stepper motor is by synchronously bringing the translational motion that drives ball screw; One end of grip shank is located at the inside of clamper shell, and is connected with the ball screw of grip shank translation mechanism; The magnetic flow liquid bag is installed on the inboard of the other end of grip shank; Magnetic flow liquid is equipped with in the inside of magnetic flow liquid bag, and is connected with control circuit, regulates to realize being applicable to the appearance profile function of fruits and vegetables clamping by electromagnetic excitation.
2. the magnetorheological suitable type clamper of polymorphic type fruit and vegetable picking according to claim 1, it is characterized in that: described shell forms box like structure by plural connecting plate, between adjacent two connecting plates, is bolted.
3. a polymorphic type fruit and vegetable picking robot, it is characterized in that: comprise workbench, manipulator and the end effector that is arranged at arm end, described end effector is comprised of the described magnetorheological suitable type clamper of claim 1 or 2 and cutting mechanism; Cutting mechanism is comprised of cutter and performer motor, and cutter is located at the inboard of clamper shell, and performer motor directly is connected with cutter, carries out cutting action.
4. polymorphic type fruit and vegetable picking robot according to claim 3, it is characterized in that: described end effector is provided with binocular vision unit or monocular vision unit.
5. polymorphic type fruit and vegetable picking robot according to claim 3, it is characterized in that: described manipulator comprises the large arm of manipulator and manipulator forearm; One end of the large arm of manipulator is fixedly mounted on workbench by the servomotor with harmonic speed reducer (3), driving gear set, rotary joint (5), the power that servomotor (3) produces is delivered to rotary joint (5) by driving gear set after harmonic speed reducer output, thus the rotation of the large arm of driving mechanical hand; The other end of the large arm of manipulator is connected with an end of manipulator forearm by rotary joint (7), servomotor; The other end of manipulator forearm is connected with end effector by rotary joint (9), servomotor.
6. polymorphic type fruit and vegetable picking robot according to claim 3, it is characterized in that: described workbench is the crawler type dolly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210011049 CN102550215B (en) | 2012-01-13 | 2012-01-13 | Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables |
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| CN 201210011049 CN102550215B (en) | 2012-01-13 | 2012-01-13 | Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables |
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| CN102550215A CN102550215A (en) | 2012-07-11 |
| CN102550215B true CN102550215B (en) | 2013-12-25 |
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| CN102794774B (en) * | 2012-08-10 | 2014-10-15 | 谢宁 | Magneto-rheological intelligent anti-skid skin |
| CN103053277B (en) * | 2012-12-25 | 2015-04-15 | 中国科学院深圳先进技术研究院 | Fruit and vegetable picking device |
| CN103039197B (en) * | 2012-12-25 | 2015-12-09 | 中国科学院深圳先进技术研究院 | Fruit and vegetable picking equipment and fruit and vegetable picking method |
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| 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 |
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
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| CN112889481B (en) * | 2021-04-02 | 2021-11-26 | 一度智能科技(深圳)有限公司 | Fruit and vegetable picking manipulator, picking robot and picking method thereof |
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| JPH08174451A (en) * | 1994-12-27 | 1996-07-09 | Ochiai Nekusasu:Kk | Horizontal moving mechanism for robot device |
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| CN102550215A (en) | 2012-07-11 |
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Effective date of registration: 20211011 Address after: 528251 605, floor 6, block a, Jingu Zhichuang industrial community, No. 2, Yong'an North Road, Dawei community, Guicheng Street, Nanhai District, Foshan City, Guangdong Province Patentee after: Foshan Zhongke agricultural robot and Intelligent Agricultural Innovation Research Institute Address before: 510642 No. five, 483 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA AGRICULTURAL University |