CN102550216A - End effector of intelligent harvesting robot - Google Patents
End effector of intelligent harvesting robot Download PDFInfo
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- CN102550216A CN102550216A CN2011104373943A CN201110437394A CN102550216A CN 102550216 A CN102550216 A CN 102550216A CN 2011104373943 A CN2011104373943 A CN 2011104373943A CN 201110437394 A CN201110437394 A CN 201110437394A CN 102550216 A CN102550216 A CN 102550216A
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Abstract
An end effector of an intelligent harvesting robot is composed of a mechanical system, a control system, a sensing system and a power supply system, wherein the mechanical system is mainly composed of a finger grabbing mechanism and a stem separating mechanism. The finger grabbing mechanism adopts a four-finger structure capable of automatically adjusting inclination angles of fingers and carrying out centering grasp of fruits, and the stem separating mechanism adopts a scissors type structure capable of automatically positioning stems and adjusting opening and closing angles of blades. The sensing system is composed of a force sensor, a camera and a proximity sensor, the force sensor monitors whether the finger grasping force is overloaded in real time, the camera senses maturity and space gestures of the fruits and monitors whether relative sliding displacement occurs between the fruits and the fingers in real time, and the proximity sensor detects the space positions of the fruits. The mechanical system, the control system, the sensing system and the power supply system of the end effector are matched with each other, and intelligent harvesting of the fruits is finished. The end effector of the intelligent harvesting robot can achieve intelligent harvesting of various fruits and guarantees quality of the fruits.
Description
Technical field
The present invention relates to the harvesting robot field, particularly a kind of intelligent harvesting robot end effector.
Background technology
During the harvesting robot operation, the direct and fruits and vegetables generation interaction of its end effector.Owing to have carpopodium to link to each other between the scrambling of the unstructuredness of robot manipulating task environment, the diversity of fruits and vegetables kind, shape, the otherness of quality and fruit and the plant; Therefore the harvesting robot end effector fully the perception operating environment, grasp the manipulating object of different size and shape flexibly, accurately locate with separate carpopodium, effectively to prevent to point grasp force excessive and too small.At present both at home and abroad common harvesting robot end effector is like strawberry terminal executor of picking robot (Korea S; KR100784830 (B1)), cucumber picking robot end effector (Japan; JP8056459 (A)), tomato harvester device robot end actuator (Japan; JP2001145412 (A)) and the apple picking robot end effector (China, CN101395989B) waiting all is that results for specific fruit design, and is difficult to expansion; As: the fruit harvest mechanical hand (U.S.; US4663925 (A)), terminal executor of fruit and vegetable picking robot (China; CN101238775B and CN100512621) and fruit picking robot end effector (China; CN101669423B) etc. also can not realize pointing self-centering and firmly grasp the fruits and vegetables of variety classes and shape in the certain size scope, versatility is not strong.The carpopodium separate mode of most of harvesting robot end effectors adopts and twists off, fractures or laser cutting, and finger is bigger to the fruit grasp force when twisting off separation, the fruit easy damaged; The separate mode that fractures only limits to exist in the carpopodium fruit at frangible position; The laser cutting separate mode needs the automatic accurate location of laser beam carpopodium, and difficulty is higher.In addition, the antioverloading of end effector of robot and anti-slip ability a little less than, cause the not good and intelligent degree of its operation effectiveness on the low side.
Summary of the invention
Existing harvesting robot end effector versatility is not strong in order to overcome, the not high defective of the not good and intelligent degree of operation effectiveness; The invention provides a kind of intelligent harvesting robot end effector; Frame for movement through improving its finger grasping mechanism and carpopodium separating mechanism, dispose the camera, range sensor and the force-sensing sensor that are used for perception fruit maturity, spatial pose and monitor the stressed and slip condition of fruit in real time; Improve versatility, operation effectiveness and the intelligent level of harvesting robot end effector, and then realize the intellectuality results of fruit.
The technical solution adopted for the present invention to solve the technical problems is: the finger grasping mechanism of end effector adopts can regulate the finger face inclination angle and promptly four finger structures of fruit of feeling relieved automatically, and this executing agency only drags with a motor; The carpopodium separating mechanism adopts the scissor structure of customized position carpopodium and Self-adjusting blade folding angular shearing carpopodium; Sensory perceptual system is made up of force-sensing sensor, camera and range sensor; Whether force-sensing sensor is monitored the finger grasp force in real time and is transshipped; Camera perception fruit maturity and spatial attitude and monitor fruit in real time and finger between whether have relative slide displacement, range sensor is measured the locus of fruit.The mechanical system of end effector, control system, sensory perceptual system and electric power system cooperatively interact, and accomplish the intellectuality results of fruit.
The invention has the beneficial effects as follows: the finger grasping mechanism can self-centering be firmly grasped the fruits and vegetables of interior variety classes of certain size scope and shape, has improved the versatility and the grasp stability of end effector of robot; The carpopodium separating mechanism can be caught the carpopodium of crawled fruit automatically and cut off, and has improved the carpopodium separate mode of end effector of robot; Sensory perceptual system can monitor in real time whether the finger grasp force transships and whether fruit slides on the finger face, realized the intellectuality results of fruit, and guaranteed fruit quality.End effector of robot uniqueness reasonable in design, novel, intelligent degree height, highly versatile.
Description of drawings
Fig. 1 is the system construction drawing of the intelligent harvesting robot end effector of the present invention, and Fig. 2 is the structure chart of finger grasping mechanism in the structure shown in Figure 1, and Fig. 3 is the structure chart of carpopodium separating mechanism in the structure shown in Figure 1.
Among Fig. 1: 1. housing, 2. camera, 3. range sensor, 4. finger grasping mechanism, 5. carpopodium separating mechanism; 6. calculator is 7. controlled cable, and 8. lower support is 9. gone up supporter; 10. lithium battery group, 11. voltage stabilizings and transformation module, 12. motion controllers, 13. drivers.
Among Fig. 2: 4-1. support bar, 4-2. driver plate, 4-3. connecting plate, 4-4. turning cylinder, 4-5. turning cylinder, 4-6. turning cylinder; 4-7. left hand refers to foam-rubber cushion 1, the 4-8. force-sensing sensor, and the 4-9. left hand refers to 1, the 4-10. left hand refers to foam-rubber cushion 2, the 4-11. reverse-flighted screw; 4-12. the minisize dc servomotor, the 4-13. left hand refers to 2,4-14. force-sensing sensor, 4-15. driver plate, 4-16. gear; 4-17. gear, the 4-18. connecting plate, the 4-19. right hand refers to foam-rubber cushion 2, the 4-20. right hand refers to 2, the 4-21. force-sensing sensor; 4-22. turning cylinder, the 4-23. right hand refers to foam-rubber cushion 1, the 4-24. force-sensing sensor, and the 4-25. right hand refers to 1, the 4-26. turning cylinder; 4-27. sliding sleeve, 4-28. guide pad, 4-29. sliding sleeve, 4-30. turning cylinder, 4-31. guide pad.
Among Fig. 3: 5-1. turning cylinder, 5-2. guide post, 5-3. connector, the right blade of 5-4., 5-5. turning cylinder; 5-6. turning cylinder, 5-7. left side blade, 5-8. driver plate, 5-9. bearing, 5-10. gear; 5-11. gear, 5-12. minisize dc servomotor, 5-13. screw rod, 5-14. bearing.
Embodiment
Intelligent harvesting robot end effector (like Fig. 1) is made up of mechanical system, control system, sensory perceptual system and electric power system.Wherein mechanical system is made up of finger grasping mechanism (4), carpopodium separating mechanism (5) and housings support mechanism, and housings support mechanism comprises housing (1), goes up supporter (9) and lower support (8); The control system is made up of motion controller (12), driver (13) and minisize dc servomotor (4-12,5-12); Electric power system is made up of lithium battery group (10) and voltage stabilizing and transformation module (11); Sensory perceptual system is made up of force-sensing sensor (4-8,4-14,4-21 and 4-24), camera (2) and range sensor (3).
Finger grasping mechanism (4) is as shown in Figure 2, comprises that support bar (4-1), driver plate (4-2 and 4-15), connecting plate (4-3 and 4-18), turning cylinder (4-4,4-5,4-6,4-22,4-26 and 4-30), left hand refer to that foam-rubber cushion 1 (4-7), left hand refer to that 1 (4-9), left hand refer to that foam-rubber cushion 2 (4-10), reverse-flighted screw (4-11), left hand refer to that 2 (4-13), gear (4-16 and 4-17), the right hand refer to that foam-rubber cushion 2 (4-19), the right hand refer to that 2 (4-20), the right hand refer to that foam-rubber cushion 1 (4-23), the right hand refer to 1 (4-25), sliding sleeve (4-27 and 4-29) and guide pad (4-28 and 4-31).The right hand refers to that 1 (4-25) inboard pastes sheet type force-sensing sensor (4-24); Force-sensing sensor (4-24) inboard is pasted the right hand and is referred to foam-rubber cushion 1 (4-23); Because force-sensing sensor (4-24) refers to that with the right hand 1 (4-25) and the right hand refer to that the interaction face area of foam-rubber cushion 1 (4-23) is identical; So when different sizes refer to that with the right hand foam-rubber cushion 1 contacts at an arbitrary position with the fruit of shape; Force-sensing sensor (4-24) can be monitored the right hand in real time and referred to the grasp force size of 1 (4-25) to fruit, prevents that excessive finger grasp force from making fruit produce mechanical damage.When finger grasped fruit, foam-rubber cushion 1 (4-23) contacted with fruit in advance, had reduced fruit to a certain extent and had produced the probability that grasps collsion damage.Connecting plate (4-18) is connected with sliding sleeve (4-29) through turning cylinder (4-30); Sliding sleeve (4-29) is formed sliding pair with guide pad (4-31); Guide pad (4-31) is fixed on the outside that the right hand refers to 1 (4-25) through screw; When different sizes referred to that with the right hand foam-rubber cushion 1 contacts in a certain position with the fruit of shape, the right hand referred to that 1 (4-25) moving axis (4-30) rotation that can rotate regulates its angle of inclination automatically.The combined machine structure of other 3 fingers similarly.It is hinged through turning cylinder (4-22) that the right hand refers to that 1 (4-25) and the right hand refer between 2 (4-20); It is hinged through turning cylinder (4-5) that left hand refers to that 1 (4-9) and left hand refer between 2 (4-13); When fruit is positioned at left hand and refers to that the foam-rubber cushion 1 (4-7) and the right hand refer between the foam-rubber cushion 1 (4-23); Refer to that with left hand (4-9 and 4-13) refers to parallel the closing up of (4-20 and 4-25) with the right hand; Left hand refers to that the foam-rubber cushion 1 (4-7) and the right hand refer to that foam-rubber cushion 1 (4-23) contacts with fruit surface respectively; Foam-rubber cushion at first is compressed; Left hand refers to that 1 (4-9) and the right hand refer to that 1 (4-25) is according to the contact position of fruit and foam-rubber cushion moving axis (4-6) and turning cylinder (4-30) its angle of inclination of rotation adjustment automatically that rotates respectively; Simultaneously the right hand refers to that 1 (4-25) and the right hand refer to that 2 (4-20) moving axis (4-22) that rotates rotates and forms V-type; Left hand refers to that 1 (4-9) and left hand refer to that 2 (4-13) moving axis (4-5) that rotates rotates and forms V-type, and fruit refers to that leftward 1 (4-9) and the right hand refer to that the direction of end-effector housing (1) under the grasp force effect of 1 (4-25) moves, and the part left side semi-surface while of fruit refers to that with left hand foam-rubber cushion (4-7,4-10) contacts; The right semi-surface of the part of fruit refers to that with the right hand foam-rubber cushion (4-19,4-23) contacts simultaneously; Left hand refers to that 1 (4-9) and left hand refer to 2 (4-13) according to the shape of fruit left side half-plane and size its V-type aperture of the rotational automatic adjustment of moving axis (4-5) that rotates, and the right hand refers to that 2 (4-20) and the right hand refer to 1 (4-25) according to the shape of fruit RHP and size its V-type aperture of the rotational automatic adjustment of moving axis (4-22) that rotates, and final realization is pointed the self-centering of fruit is firmly grasped.The right hand refers to that 2 (4-20) and the right hand refer to that the V-type aperture of 1 (4-25) can be because sliding sleeve (4-27) and sliding sleeve (4-29) can be in guide pad (4-28) and upward slips of guide pad (4-31) when moving axis that rotates respectively (4-26) and turning cylinder (4-30) rotate by automatic adjusting, and left hand refers to that V-type aperture adjusting that 1 (4-9) and left hand refer to 2 (4-13) similarly.
Carpopodium separating mechanism (5) is as shown in Figure 3, comprises turning cylinder (5-1,5-5 and 5-6), guide post (5-2), connector (5-3), right blade (5-4), left blade (5-7), driver plate (5-8), bearing (5-9 and 5-14), gear (5-10 and 5-11) and screw rod (5-13).Left side blade (5-7), right blade (5-4) and guide post (5-2) are hinged through turning cylinder (5-5); The following table plane of going up table plane and right blade (5-4) of left side blade (5-7) is tangent; Guide post (5-2) is installed on the topmost of turning cylinder (5-5); Retrain on left blade (5-7) and the right blade (5-4) and move, connector (5-3) is connected with left blade (5-7) with right blade (5-4) with turning cylinder (5-6) through turning cylinder (5-1) respectively, on left blade (5-7) and the right blade (5-4) slide slot is arranged.When carpopodium is positioned at the left front of right blade (5-4); (5-3) moves forward with connector; It is that central shaft is rotated counterclockwise certain angle that right blade (5-4) touches behind the carpopodium with turning cylinder (5-1) automatically, and driving left blade (5-7) through turning cylinder (5-5) simultaneously is the central shaft certain angle that turns clockwise with turning cylinder (5-6), and left blade (5-7) and right blade (5-4) are V-shaped at this moment; Guide post (5-2) is compressed motion certain displacement backward; Connector (5-3) moves forward, and carpopodium is placed the center of left blade (5-7) and right blade (5-4) automatically, is then cut off.The work flow of intelligent harvesting robot end effector: the maturity of camera (2) perception fruit and the residing spatial attitude of fruit; Range sensor (3) perception fruit is to the distance of end effector, and the information Control end effector that robot is obtained according to camera (2) and range sensor (3) arrives predetermined pose.When fruit is positioned at left hand and refers to that the foam-rubber cushion 1 (4-7) and the right hand refer between the foam-rubber cushion 1 (4-23); Motion controller (12) and driver (13) control minisize dc servomotor (4-12) drag spur gear (4-17) through its output shaft and move in a circle along clockwise direction; Spur gear (4-17) and spur gear (4-16) constitute the gear pair engaged transmission; Spur gear (4-17) drives spur gear (4-16) along counterclockwise moving in a circle; Spur gear (4-16) drags reverse-flighted screw (4-11) along counterclockwise moving in a circle; Driver plate (4-15) and driver plate (4-2) are done move toward one another with being rotated counterclockwise of reverse-flighted screw (4-11) under the support of support bar (4-1), refer to that (4-9,4-13) and the right hand refer to that (4-20,4-25) closes up thereby make connecting plate (4-3) and connecting plate (4-18) drive left hand.Left hand refers to that (4-9,4-13) is according to the shape of fruit left side half-plane and size rotate moving axis (4-5) its angle of inclination of rotational automatic adjustment and relative opening degree; The right hand refers to (4-20,4-25) according to the shape of fruit RHP and size rotate moving axis (4-22) its angle of inclination of rotational automatic adjustment and relative opening degree, finally accomplishes finger to the centering of fruit promptly.Motion controller (12) and driver (13) control minisize dc servomotor (5-12) drag spur gear (5-11) through its output shaft and move in a circle along clockwise direction; Spur gear (5-11) and spur gear (5-10) constitute the gear pair engaged transmission; Spur gear (5-11) drives spur gear (5-10) along counterclockwise moving in a circle; Spur gear (5-10) drags screw rod (5-13) and counterclockwise moves in a circle in the support lower edge of bearing (5-9 and 5-14); Driver plate (5-8) is done the rectilinear motion forward away from end effector housing (1) with being rotated counterclockwise of screw rod (5-13), and connecting plate (5-3), left blade (5-7) and right blade (5-4) are also done identical rectilinear motion forward.After left blade (5-7) and right blade (5-4) touched the carpopodium of fruit, (5-3) travelled forward with connector, and carpopodium is placed the center of left blade (5-7) and right blade (5-4) automatically, is then cut off.Motion controller (12) control minisize dc servomotor (5-12) drags spur gear (5-11) along counterclockwise moving in a circle; Spur gear (5-10) drags screw rod (5-13) and moves in a circle along clockwise direction, and driver plate (5-8), connecting plate (5-3), left blade (5-7) and right blade (5-4) are done the rectilinear motion backward near end effector housing (1) with turning clockwise of screw rod (5-13).When the rear end of guide post (5-2) contacts with the front end face of upper backup pad (9); Left side blade (5-7) and right blade (5-4) are the strong point with the front end of guide post (5-2); With turning cylinder (5-5) is the opposing rotation of rotating shaft; Move backward with driver plate (5-8) and connecting plate (5-2), left blade (5-7) and right blade (5-4) return to initial open configuration under the thrust of guide post (5-2).Camera (2) monitors between fruit and the finger whether have relative slide displacement in real time, prevents fruit landing from finger, produces and falls damage.
Claims (5)
1. intelligent harvesting robot end effector; It is characterized in that: end effector of robot is made up of mechanical system, control system, sensory perceptual system and electric power system; Wherein mechanical system is made up of finger grasping mechanism (4), carpopodium separating mechanism (5) and housings support mechanism, and sensory perceptual system is made up of force-sensing sensor (4-8,4-14,4-21 and 4-24), camera (2) and range sensor (3); The finger grasping mechanism comprises support bar (4-1); Driver plate (4-2 and 4-15); Connecting plate (4-3 and 4-18); Turning cylinder (4-4; 4-5; 4-6; 4-22; 4-26 and 4-30); Left hand refers to foam-rubber cushion 1 (4-7); Left hand refers to 1 (4-9); Left hand refers to foam-rubber cushion 2 (4-10); Reverse-flighted screw (4-11); Left hand refers to 2 (4-13); Gear (4-16 and 4-17); The right hand refers to foam-rubber cushion 2 (4-19); The right hand refers to 2 (4-20); The right hand refers to foam-rubber cushion 1 (4-23); The right hand refers to 1 (4-25); Sliding sleeve (4-27 and 4-29) and guide pad (4-28 and 4-31); Carpopodium separating mechanism (5) comprises turning cylinder (5-1,5-5 and 5-6), guide post (5-2), connector (5-3), right blade (5-4), left blade (5-7), driver plate (5-8), bearing (5-9 and 5-14), gear (5-10 and 5-11) and screw rod (5-13).
2. intelligent harvesting robot end effector according to claim 1; It is characterized in that: the sheet type force-sensing sensor is pasted in the finger inboard in the finger grasping mechanism (5); The finger foam-rubber cushion is pasted in the force-sensing sensor inboard; Force-sensing sensor is identical with the interaction face area of finger and foam-rubber cushion; So when the fruit of different sizes and shape contacted with the finger foam-rubber cushion at an arbitrary position, force-sensing sensor can be monitored the grasp force size of finger to fruit in real time, prevented that excessive finger grasp force from making fruit produce mechanical damage; When finger grasped fruit, foam-rubber cushion contacted with fruit in advance, prevented that fruit from producing collsion damage.
3. intelligent harvesting robot end effector according to claim 1; It is characterized in that: finger grasping mechanism (5) right-of-center in political views points 1 (4-25) and the right hand refers between 2 (4-20) hinged through turning cylinder (4-22); It is hinged through turning cylinder (4-5) that left hand refers to that 1 (4-9) and left hand refer between 2 (4-13); When fruit is positioned at left hand and refers to that the foam-rubber cushion (4-7 and 4-10) and the right hand refer between the foam-rubber cushion (4-19 and 4-23); Left hand refers to that 1 (4-9) and left hand refer to that 2 (4-13) are according to the shape of fruit left side half-plane and size its V-type aperture of the rotational automatic adjustment of moving axis (4-5) that rotates; The right hand refers to that 2 (4-20) and the right hand refer to 1 (4-25) according to the shape of fruit RHP and size its V-type aperture of the rotational automatic adjustment of moving axis (4-22) that rotates, and finally realizes that finger to the self-centering of fruit promptly.
4. intelligent harvesting robot end effector according to claim 1; It is characterized in that: left blade (5-7) and right blade (5-4) are done rectilinear motion forward in the carpopodium separating mechanism (5); After waiting to touch carpopodium, be that central shaft is rotated into V-type in opposite directions, automatically carpopodium placed two blade center with turning cylinder (5-1,5-5,5-6); Continue to do forward rectilinear motion with driver plate (5-8); Two blades close up automatically cuts off carpopodium, then returns initial position, and two blades return to initial open configuration under the thrust of guide post (5-2).
5. intelligent harvesting robot end effector according to claim 1 is characterized in that: camera in the sensory perceptual system (2) judges between fruit and the finger whether have relative slip through whether there being relative displacement between real-time monitoring fruit and the finger.
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| CN201110437394.3A CN102550216B (en) | 2011-12-15 | 2011-12-15 | End effector of intelligent harvesting robot |
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| CN201110437394.3A CN102550216B (en) | 2011-12-15 | 2011-12-15 | End effector of intelligent harvesting robot |
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| CN102550216B CN102550216B (en) | 2014-02-26 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103144094A (en) * | 2013-03-25 | 2013-06-12 | 河南理工大学 | Gripping robot for irregular object |
| CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
| CN107127780A (en) * | 2017-03-15 | 2017-09-05 | 北京为孜科技有限公司 | A kind of force feedback gripper with visual performance |
| CN108818596A (en) * | 2018-09-28 | 2018-11-16 | 合肥合茂电子科技有限公司 | A kind of novel robot wrist structure |
| CN109156161A (en) * | 2018-08-31 | 2019-01-08 | 靖西海越农业有限公司 | A kind of fertile mandarin orange picking robot of intelligence |
| CN110583241A (en) * | 2019-09-24 | 2019-12-20 | 江苏大学 | Flight type walnut picking device |
| CN111418351A (en) * | 2020-05-19 | 2020-07-17 | 江西农业大学 | Fruit picking device |
| CN111418350A (en) * | 2020-04-22 | 2020-07-17 | 广州铁路职业技术学院（广州铁路机械学校） | Fruit harvesting device |
| CN111820008A (en) * | 2020-08-21 | 2020-10-27 | 石河子大学 | Safflower picking and positioning method |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103144094A (en) * | 2013-03-25 | 2013-06-12 | 河南理工大学 | Gripping robot for irregular object |
| CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
| CN107127780A (en) * | 2017-03-15 | 2017-09-05 | 北京为孜科技有限公司 | A kind of force feedback gripper with visual performance |
| CN109156161A (en) * | 2018-08-31 | 2019-01-08 | 靖西海越农业有限公司 | A kind of fertile mandarin orange picking robot of intelligence |
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| CN110583241A (en) * | 2019-09-24 | 2019-12-20 | 江苏大学 | Flight type walnut picking device |
| CN111418350A (en) * | 2020-04-22 | 2020-07-17 | 广州铁路职业技术学院（广州铁路机械学校） | Fruit harvesting device |
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| CN111820008A (en) * | 2020-08-21 | 2020-10-27 | 石河子大学 | Safflower picking and positioning method |
| CN111820008B (en) * | 2020-08-21 | 2023-06-23 | 石河子大学 | Safflower picking and positioning method |
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
| CN115067076B (en) * | 2022-06-13 | 2023-07-25 | 嘉应学院 | Intelligent orange picking machine and picking method |
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| CN102550216B (en) | 2014-02-26 |
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