CN103120070A - Underactuation tail end tool of apple picking robot - Google Patents
Underactuation tail end tool of apple picking robot Download PDFInfo
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- CN103120070A CN103120070A CN2013100056093A CN201310005609A CN103120070A CN 103120070 A CN103120070 A CN 103120070A CN 2013100056093 A CN2013100056093 A CN 2013100056093A CN 201310005609 A CN201310005609 A CN 201310005609A CN 103120070 A CN103120070 A CN 103120070A
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- apple
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Abstract
The invention discloses an underactuation tail end tool of an apple picking robot. The underactuation tail end tool of the apple picking robot comprises a fruit posture self-adaption mechanism and a fruit separating and cutting mechanism, wherein the fruit separating and cutting mechanism is placed on the fruit posture self-adaption mechanism and the fruit posture self-adaption mechanism can be installed on a positioning mechanism of the apple picking robot. The fruit posture self-adaption mechanism of the tail end tool can adjust the fruit separating and cutting mechanism relative to the growing postures of fruit. The entirety of the fruit separating and cutting mechanism of the tail end tool is in an underactuation form, and the same set of action parts is adopted to achieve the order actions of fruit separating and fruit cutting in sequence. The underactuation tail end tool of the apple picking robot can be applied to the robot picking field, so that mechanical picking operation of spherical fruit like apples can be achieved.
Description
Technical field
The present invention relates to a kind of picking fruit equipment, particularly relate to and a kind ofly owe the drives structure end-of-arm tooling for picking robot.
Background technology
In the activity in production of orchard, picking fruit labour used account for whole production process labour's total amounts nearly half.The harvesting operation is complicated, and is seasonal strong, and artificial Softening is used in present orchard mostly, and efficient is low, the amount of labour is large, easily causes the fruit damage.Development Mechaniaed harvest technology can improve picking efficiency, reduces simultaneously the fruit damage ratio, saves labour turnover, and improves orchard worker's economic benefit.
Chinese patent provides a kind of flexible terminal actuator of cone picking robot for No. 200910156624.1, and this end effector comprises frame, and frame is provided with the paw mechanism of crawl fruits and vegetables.Paw mechanism comprises base and finger, and finger comprises the dead lever that is fixed on base and the connecting rod hinged with dead lever.It is connected connecting rod and promotion with respect to rubber tube that dead lever swings, and this rubber tube end sealing, bottom are connected with inflation mechanism, and base is provided with at least three fingers.This invention comprises at least three operation fingers, complicated in mechanical structure, and this invention does not simultaneously comprise the mechanism that cuts off carpopodium.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of for picking robot, but the growth attitude of flexible adaptation apple apple can be separated with the place branch, and cut off the end-of-arm tooling of apple stem.
For solving the problems of the technologies described above, it is to comprise that apple picking robot of the present invention owes to drive the technical scheme that end-of-arm tooling is achieved: fruit attitude-adaptive mechanism, fruit separates, cutting mechanism.Wherein, fruit separation, cutting mechanism are for owing the drives structure form.Fruit separates, cutting mechanism is arranged in fruit attitude-adaptive mechanism, and fruit attitude-adaptive mechanism is installed on the detent mechanism of peripheral hardware apple picking robot.
Fruit attitude-adaptive mechanism comprises: bearing; Be articulated in the housing of bearing by bearing I and bearing I I; Be articulated in the inside casing of housing by bearing pin I and bearing pin II.
Fruit separates, cutting mechanism comprises: inside casing; Be slidably mounted on the left separator in inside casing left side; Be slidably mounted on the left blade of left separator inside; Be fixedly installed in the left guide pad I and the left guide pad II that slide on left blade in left separator gathering sill; Be fixedly installed in the left cylinder in inside casing left side; Be fixedly installed in left action pipe and left reset transistor on left cylinder; Be slidably mounted on the left piston bar in left cylinder; Be fixed in the left branching rod that is connected with the left piston bar on left blade; Be consolidated in the left spring that is connected with left separator left surface on left blade; Be slidably mounted on the right separator on inside casing right side; Be slidably mounted on the right blade of right separator inside; Be fixedly installed in the right guide pad I and the right guide pad II that slide on right blade in right separator gathering sill; Be fixedly installed in the right cylinder on inside casing right side; Be fixedly installed in right action pipe and right reset transistor on right cylinder; Be slidably mounted on the right piston rod in right cylinder; Be consolidated in the right spring that is connected with right separator right flank on right blade; Be connected in the action pipe of left action pipe and right action pipe; Be connected in the reset transistor of left reset transistor and right reset transistor.
Apple picking robot of the present invention owes to drive end-of-arm tooling following beneficial effect:
(1) fruit attitude-adaptive mechanism can adjust that fruit separates at both direction, cutting mechanism is with respect to the attitude of plucking the object fruit, adapts to different fruit growth attitudes.
(2) fruit separation, cutting mechanism adopt same group of action, resetting-mechanism for owing the drives structure form, and be simple in structure.This fruit separates, cutting mechanism can be completed fruit and branch successively separates, the cut-out action of fruit carpopodium.
Description of drawings
Fig. 1 is that apple picking robot of the present invention owes to drive end-of-arm tooling overall structure schematic diagram;
Fig. 2 is that apple picking robot of the present invention owes to drive end-of-arm tooling directions X attitude-adaptive adjustment schematic diagram;
Fig. 3 is that apple picking robot of the present invention owes to drive end-of-arm tooling Y-direction attitude-adaptive adjustment schematic diagram;
Fig. 4 is that apple picking robot of the present invention owes to drive the separation of end-of-arm tooling fruit, cutting mechanism schematic diagram;
Fig. 5 is that apple picking robot of the present invention owes to drive the separation of end-of-arm tooling fruit, cutting mechanism is caught the fruit schematic diagram;
Fig. 6 is that apple picking robot of the present invention owes to drive the separation of end-of-arm tooling fruit, cutting mechanism separates the fruit schematic diagram;
Fig. 7 is that apple picking robot of the present invention owes to drive the separation of end-of-arm tooling fruit, cutting mechanism cutting carpopodium schematic diagram;
Reference numeral:
1. bearing 2. housing 3. inside casings
4. the left separator of the left blade 6. of left guide pad I 5.
7. left guide pad II 8. right guide pad I of bearing pin I 9.
10. the right guide pad II of the right blade 12. of right separator 11.
13. the right cylinder of the right spring 15. of bearing pin II 14.
16. right action pipe 18. left springs of right reset transistor 17.
19. the left action pipe of the left reset transistor 21. of left cylinder 20.
22. action pipe. 23. reset transistor 24. branches
25. carpopodium 26. apple 27. bearing I
28. bearing I I 29. left piston bar 30. left branching rods
31. right piston rod
Embodiment
Below in conjunction with embodiment, apple picking robot of the present invention being owed to drive end-of-arm tooling makes a detailed description.
As shown in Figure 1, apple picking robot of the present invention owes to drive end-of-arm tooling, comprising: fruit attitude-adaptive mechanism, fruit separates, cutting mechanism.It is characterized in that, fruit separates, cutting mechanism is placed in fruit attitude-adaptive mechanism, and fruit attitude-adaptive mechanism can be installed on the detent mechanism of apple picking robot.
As shown in Fig. 2,3, fruit attitude-adaptive mechanism comprises: bearing 1; Be articulated in the housing 2 of bearing 1 by bearing I 27 and bearing I I28; Be articulated in the inside casing 3 of housing 2 by bearing pin I8 and bearing pin II13.
As shown in Figure 4, fruit separation, cutting mechanism comprise: inside casing 3; Be slidably mounted on the left separator 6 in inside casing 3 left sides; Be slidably mounted on the left blade 5 of left separator 6 inside; Be fixedly installed in the left guide pad I4 and the left guide pad II7 that slide on left blade 5 in left separator 6 gathering sills; Be fixedly installed in the left cylinder 19 in inside casing 3 left sides; Be fixedly installed in left action pipe 21 and left reset transistor 20 on left cylinder 19; Be slidably mounted on the left piston bar 29 in left cylinder 19; Be fixed in the left branching rod 30 that is connected with left piston bar 29 on left blade 5; Be consolidated in the left spring 18 that is connected with left separator 6 left surfaces on left blade 5; Be slidably mounted on the right separator 10 on inside casing 3 right sides; Be slidably mounted on the right blade 11 of right separator 10 inside; Be fixedly installed in the right guide pad I9 and the right guide pad II12 that slide on right blade 11 in right separator 10 gathering sills; Be fixedly installed in the right cylinder 15 on inside casing 3 right sides; Be fixedly installed in right action pipe 17 and right reset transistor 16 on right cylinder 15; Be slidably mounted on the right piston rod 31 in right cylinder 15; Be consolidated in the right spring 14 that is connected with right separator 10 right flanks on right blade 11; Be connected in the action pipe 22 of left action pipe 21 and right action pipe 17; Be connected in the reset transistor 23 of left reset transistor 20 and right reset transistor 16.
The below will illustrate that apple picking robot of the present invention owes to drive end-of-arm tooling action implementation process
1. fruit attitude-adaptive mechanism attitude-adaptive adjustment action
In Fig. 2, apple 26 place branches 24 tilt at the diagram directions X, cause the growth oblique attitude of apple 26.In Fig. 2 bearing 1 is under the detent mechanism effect of peripheral hardware robot, drives housing 2 and inside casing 3 and is enclosed within straight up apple 26 outsides.Because branch 24 tilts, at first the lower position 24x of branch 24 will touch the 3x position of inside casing 3 or the 2x position of housing 2, and branch 24x position will stop on inside casing 3x position or housing 2x position to be moved.When moving on bearing 1 continues, inside casing 3x position and housing 2x position will promote housing 2 and inside casing 3 counterclockwise rotate at X around bearing I 27 and bearing I I28 in branch 24x drag effect, as shown in Figure 2.The housing 2 of this process capable of regulating end-of-arm tooling and the upper surface of inside casing 3 level off to the vertical direction of carpopodium 25 of apple 26, can make the growth attitude that fruit separates, cutting mechanism adapts to apple 26, are convenient to cut off carpopodium 25.If with shown in Figure 2 opposite, the rotation direction of the housing 2 of end-of-arm tooling and inside casing 3 is diagram X clockwise direction to branch 24 at the incline direction of directions X.
In Fig. 3, apple 26 place branches 24 tilt in the diagram Y-direction, cause the growth oblique attitude of apple 26.In Fig. 3 bearing 1 is externally under the effect of robot detent mechanism, drives housing 2 and inside casing 3 and is enclosed within straight up apple 26 outsides.Because branch 24 tilts, at first the lower position 24y of branch 24 will touch the 3y position of inside casing 3, and branch 24y position will stop on inside casing 3y position to be moved.When moving on bearing 1 continues, inside casing 3y position will promote inside casing 3 in branch 24y drag effect and turn clockwise in Y-direction around bearing pin I8 and bearing pin II13, as shown in Figure 3.The upper surface of the inside casing 3 of this rotation capable of regulating end-of-arm tooling levels off to the vertical direction of carpopodium 25 of apple 26, can make the growth attitude that fruit separates, cutting mechanism adapts to apple 26, is convenient to cut off carpopodium 25.If with shown in Figure 3 opposite, inside casing 3 rotation directions of end-of-arm tooling are the counter clockwise direction of diagram Y to branch 24 at the incline direction of Y-direction.
2. fruit separation, cutting mechanism separate the fruit action
Bearing 1 motion straight up under the detent mechanism effect of peripheral hardware robot in Fig. 5, after left separator 6 and right separator 10 upper surfaces were a little more than apple 26, end-of-arm tooling began to catch and separate the action of apple 26.The interior air pressure of action pipe 22 rises, and namely the air pressure in right action pipe 17 and left action pipe 21 rises, and the right piston rod 31 and the left piston bar 29 in left cylinder 19 that promote respectively in right cylinder 15 move to middle apple 26 directions.Left piston bar 29 promotes left blade 5 by left branching rod 30 and moves right, and left blade 5 promotes left separator 6 to the right by left spring 18.Right piston rod 31 promotes right blade 11 left, and right blade 11 promotes right separator 10 left by right spring 14.
After the apple 26 certain strokes of direction motion, in the bottom of left separator 6 and right separator 10, concave spherical surface will press close to surround the first half evagination sphere of apple 26 by initial position in Fig. 5 for the left separator 6 of Fig. 6 and right separator 10.Under the pressure of action pipe 22 interior gases and left spring 18,14 effects of right spring, in the bottom of left separator 6 and right separator 10, concave spherical surface will pack tightly the first half evagination sphere of apple 26 and jointly with its downward extruding, make apple 26 away from branch 24, and left separator 6 and right separator 10 are between apple 26 and branch 24, complete separating of apple 26 and place branch 24.Because left action pipe 21 and right action pipe 17 are connected to action pipe 22 jointly, therefore left separator 6 and right separator 10 are to the speed of apple 26 motions and apple 26 is surrounded the extruding force equal and opposite in directions.
3. fruit separation, the action of cutting mechanism cutting carpopodium
After the left separator 6 of Fig. 6 and right separator 10 were completed and surrounded extruding apple 26 and make it and branch 24 separates, left separator 6 and right separator 10 were due to the obstruction stop motion of apple 26.Increase the air pressure in action pipe 22, the air pressure in left action pipe 21 and right action pipe 17 rises, and the right piston rod 31 and the left piston bar 29 in left cylinder 19 that promote in right cylinder 15 continue motion to middle apple 26 directions.The pulling force that the left piston bar 29 left blades 5 of promotion overcome left spring 18 moves right, and right piston rod 31 promotes right blades 11 and overcomes the pulling force of right spring 14 to left movement.Carpopodium 25 is surrounded in rhombic sealing on left blade 5 and right blade 11, and finally cuts off carpopodium 25, completes cutting action, as shown in Figure 7.
4. end-of-arm tooling homing action
After the left blade 5 of Fig. 7 and right blade 11 cut off carpopodium 25, the air pressure in reset transistor 23 increased.The left reset transistor 20 that is connected with reset transistor 23 and right reset transistor 16 internal pressures rise.Left reset transistor 20 promotes the interior left piston bar 29 of left cylinder 19 to left movement, and the right piston rods 31 that right reset transistor 16 promotes in right cylinders 15 move right.Left piston bar 29 promotes left blade 5 and left separator 6 moves to its initial position left, and right piston rod 31 promotes right blade 11 and right separator 10 moves right to its initial position, completes the homing action of end-of-arm tooling.
Claims (3)
1. an apple picking robot owes to drive end-of-arm tooling, comprising: fruit attitude-adaptive mechanism, fruit separates, cutting mechanism.It is characterized in that, fruit separates, cutting mechanism is placed in fruit attitude-adaptive mechanism, and fruit attitude-adaptive mechanism can be installed on the apple picking robot detent mechanism of peripheral hardware.
2. apple picking robot according to claim 1 owes to drive end-of-arm tooling, it is characterized in that, described fruit attitude-adaptive mechanism comprises: bearing (1); Be articulated in the housing (2) of bearing (1) by bearing I (27) and bearing I I (28); Be articulated in the inside casing (3) of housing (2) by bearing pin I (8) and bearing pin II (13).
3. apple picking robot according to claim 1 owes to drive end-of-arm tooling, it is characterized in that, described fruit separates, cutting mechanism comprises: inside casing (3); Be slidably mounted on the left separator (6) in inside casing (3) left side; Be slidably mounted on the inner left blade (5) of left separator (6); Be fixedly installed in the left guide pad I (4) and the left guide pad II (7) that slide on left blade (5) in left separator (6) gathering sill; Be fixedly installed in the left cylinder (19) in inside casing (3) left side; Be fixedly installed in left action pipe (21) and left reset transistor (20) on left cylinder (19); Be slidably mounted on the left piston bar (29) in left cylinder (19); Be fixed in the upper left branching rod (30) that is connected with left piston bar (29) of left blade (5); Be consolidated in the upper left spring (18) that is connected with left separator (6) left surface of left blade (5); Be slidably mounted on the right separator (10) on inside casing (3) right side; Be slidably mounted on the inner right blade (11) of right separator (10); Be fixedly installed in the right guide pad I (9) and the right guide pad II (12) that slide on right blade (11) in right separator (10) gathering sill; Be fixedly installed in the right cylinder (15) on inside casing (3) right side; Be fixedly installed in right action pipe (17) and right reset transistor (16) on right cylinder (15); Be slidably mounted on the right piston rod (31) in right cylinder (15); Be consolidated in the upper right spring (14) that is connected with right separator (10) right flank of right blade (11); Be connected in the action pipe (22) of left action pipe (21) and right action pipe (17); Be connected in the reset transistor (23) of left reset transistor (20) and right reset transistor (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310005609.3A CN103120070B (en) | 2013-01-08 | 2013-01-08 | Apple picking robot drive lacking end-of-arm tooling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310005609.3A CN103120070B (en) | 2013-01-08 | 2013-01-08 | Apple picking robot drive lacking end-of-arm tooling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103120070A true CN103120070A (en) | 2013-05-29 |
| CN103120070B CN103120070B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310005609.3A Expired - Fee Related CN103120070B (en) | 2013-01-08 | 2013-01-08 | Apple picking robot drive lacking end-of-arm tooling |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
| CN105123126A (en) * | 2015-10-10 | 2015-12-09 | 南京工程学院 | End effector of spherical fruit picking robot |
| CN108557143A (en) * | 2018-05-01 | 2018-09-21 | 浙江工业大学 | A kind of fruit picking packing machine |
| CN110122064A (en) * | 2019-06-21 | 2019-08-16 | 王云霞 | A kind of umbrella stand type picking structure that the banana applied to different volumes is won |
| CN110536598A (en) * | 2017-03-14 | 2019-12-03 | 美通公司 | Automatic harvester actuator |
| TWI771767B (en) * | 2020-09-30 | 2022-07-21 | 國立臺灣師範大學 | Automatic collection system, method and collection module |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023193086A1 (en) * | 2022-04-05 | 2023-10-12 | Vineland Research And Innovation Centre | Instrumented end-effector for horticultural crop management tasks |
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| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN102259340A (en) * | 2011-07-11 | 2011-11-30 | 浙江理工大学 | Underactuated end effector |
| CN102416624A (en) * | 2011-12-15 | 2012-04-18 | 余胜东 | Flexible adaptive under-actuated robot paw |
| CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
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2013
- 2013-01-08 CN CN201310005609.3A patent/CN103120070B/en not_active Expired - Fee Related
Patent Citations (6)
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| JPH07205215A (en) * | 1994-01-21 | 1995-08-08 | Murata Mach Ltd | Structure of chuck part of gate cutter |
| KR20010108960A (en) * | 2000-06-01 | 2001-12-08 | 이중구 | Robot hand system with electrical driving means |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
| CN105123126A (en) * | 2015-10-10 | 2015-12-09 | 南京工程学院 | End effector of spherical fruit picking robot |
| CN110536598A (en) * | 2017-03-14 | 2019-12-03 | 美通公司 | Automatic harvester actuator |
| CN108557143A (en) * | 2018-05-01 | 2018-09-21 | 浙江工业大学 | A kind of fruit picking packing machine |
| CN108557143B (en) * | 2018-05-01 | 2023-07-18 | 浙江工业大学 | Fruit picking bagging machine |
| CN110122064A (en) * | 2019-06-21 | 2019-08-16 | 王云霞 | A kind of umbrella stand type picking structure that the banana applied to different volumes is won |
| TWI771767B (en) * | 2020-09-30 | 2022-07-21 | 國立臺灣師範大學 | Automatic collection system, method and collection module |
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| CN103120070B (en) | 2016-01-20 |
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