CN103448061A - Kiwi fruit picking end actuator - Google Patents
Kiwi fruit picking end actuator Download PDFInfo
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- CN103448061A CN103448061A CN2013103410234A CN201310341023A CN103448061A CN 103448061 A CN103448061 A CN 103448061A CN 2013103410234 A CN2013103410234 A CN 2013103410234A CN 201310341023 A CN201310341023 A CN 201310341023A CN 103448061 A CN103448061 A CN 103448061A
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Abstract
The invention discloses a kiwi fruit picking end actuator which comprises a clamping mechanism, a rotary picking mechanism, an approaching mechanism, a sensing system and a control system. The clamping mechanism comprises a scissor structure formed by front arc-face finger a rear arc-face finger and is capable of separating and reliable gripping of adjacent fruits. The rotary picking mechanism uses a reduction stepping motor to drive the clamping mechanism to rotate so as to separate stems and fruits. The approaching mechanism drives the front finger to approach the fruits. The sensing system comprises a pressure sensor, an infrared photoelectric switch, a Hall position sensor and a limit switch which are respectively used for detecting a clamping force threshold, fruit positions and mechanism reset information and controlling rotation angle of the reduction stepping motor, wherein the pressure sensor and the infrared photoelectric switch are mounted on the inner side of the front finger, the Hall position sensor and the limit switch are mounted on a frame. The control system comprises a single-chip microcomputer and a stepping motor controller and is used for controlling the whole system by the aid of the sensing system. By the actuator simple in mechanical structure, accurate positioning, separating and reliable gripping of the fruits are achieved, and lossless picking of the fruits is realized.
Description
Technical field
The present invention relates to a kind of picking fruit end effector, relate in particular to a kind of kiwifruit fruit picking end effector, belong to the picking robot field.
Background technology
The picking fruit end effector is the critical component of picking robot, directly acts on fruit, and therefore, the quality of end effector affects the results quality of fruit.More for the research of picking fruit end effector both at home and abroad, but due to fruit nature difference, versatility is not strong.Kiwifruit fruit is short plucking cycle, and labour intensity is high, and standardized cropping pattern is conducive to realize the automation harvesting, but fruit adjoins the characteristics of growth, requires manipulator to have the function of separating fruit." terminal executor of fruit and vegetable picking robot " that Chinese patent CN101019484A announces adopts the mode of sucker absorption to separate fruit, and this structure makes the end effector structural design and controls complicated.Chinese patent CN102187766A has announced " a kind of Kiwi picking end effector ", and this end effector, due to the restriction of own vol, is restricted the harvesting of adjoining fruit.
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Summary of the invention
In order to overcome the deficiency of existing picking method and picker, the invention provides a kind of frame for movement that adopts and realize that fruit separates, sensor-based system obtains the harmless picking end effector of the reliable kiwifruit fruit captured of fruit information realization, based on this end effector, the present invention also provides a kind of simple and effective picking fruit method.
The present invention solves the technical scheme that its technical problem takes:
A kind of kiwifruit fruit picking end effector, comprise clamping device, rotation picking mechanism, nearly connection mechanism, sensor-based system and control system;
Described clamping device comprises front finger, rear finger, cross sliding clock, linear stepping motor I and support I; Described front finger type shape is the Bionic arc face, and side has silica gel material within it, with cross sliding clock, with pin, be connected, described rear finger type shape is the Bionic arc face, adopt pin to be connected with the support I, between front finger and rear finger, the employing pin is connected, and forms scissor structure, the linear stepping motor I drives cross sliding clock to realize the folding of front finger and rear finger, and front finger separates fruit and captures with rear finger in closed process;
Described rotation picking mechanism comprises connector I, connector II, flange, decelerating step motor; Described connector I one end connects motor output shaft, other end connection bracket I, described connector II one end connects decelerating step motor, the other end connects the connector III, described flange is enclosed within on motor output shaft, with the connector I, be connected, decelerating step motor rotarily drives whole clamp mechanism rotation, fruit and carpopodium are acutangulated, and make the carpopodium bearing tension, fractureed reaching carpopodium maximum displacement place, for the decelerating step motor anglec of rotation, limit switch I, II are set, and the position of described limit switch is adjustable;
The described mechanism that approaches comprises linear stepping motor II, upright slide block, connector III, support II, guide plate; Described upright slide block slides at the slide rail of support II, and is connected with the nut of linear stepping motor II, and leading screw and the motor output shaft of described linear stepping motor II have a style of one's own, and the leading screw other end is connected with the support II with bearing; Described connector III connects and the connector II for the vertical connecting slide block, and its length is slightly larger than the leading screw length of linear stepping motor II; Have hole in the middle of described guide plate, the connector III is through this hole; Connector III one end connects the connector II, and the other end is connected with upright slide block, and upright slide block makes the nearly fruit of remote holder finger reach and plucks position under the driving of linear stepping motor II;
Described sensor-based system comprises pressure sensor, Photoelectric infrared switch sensor, hall position sensor I, II, III; It is inboard that described pressure sensor is arranged on front finger; Described Photoelectric infrared switch installation of sensors is at front finger and defensive position span finger tip 1/3rd places, front finger mounted transmitting terminal, rear finger mounted receiving terminal; Described hall position sensor I is arranged on the support I; Described hall position sensor II, III are installed on the two ends of support II; On described connector I, limit switch I, II are installed, for detection of the anglec of rotation of decelerating step motor, the position of described limit switch I, II is adjustable.
Described control system comprises single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer, by I/O mouth control step motor driver I, stepper motor driver II, stepper motor driver III, by the serial ports sensor-lodging, is realized the FEEDBACK CONTROL of system.
The operation principle of kiwifruit fruit picking end effector of the present invention:
Step 1: start the linear stepping motor I, the motor forward, front finger is from the close fruit in fruit bottom;
Step 2: start the linear stepping motor II, the motor forward is caught fruit, and keeps promptly posture;
Step 3: start decelerating step motor, the motor forward, front finger and rear finger envelope catch fruit to turn clockwise, and carpopodium is straightened gradually and acutangulates with the fruit axes of inertia, when the pulling force born when carpopodium is greater than the pulling force that base of fruit can bear, carpopodium fractures from base of fruit.
Kiwifruit fruit picking end effector prior art of the present invention is compared, and has following beneficial effect:
The present invention adopts Single-chip Controlling, the characteristics of adjoining growth for kiwifruit fruit, clamp mechanism is utilized front finger and rear finger length difference, the difference in height of pin link position in the middle of cross sliding clock and remote holder stylus pin nail link position and front and back finger, and rear finger relatively rotates with support and front finger had both rotated relative to support the version moved, realizing that front finger and rear finger close up in process not only rises overally but also mobile movement locus forward, front finger is from the close fruit in fruit bottom, effectively realized adopting frame for movement to complete separation and the crawl of adjoining fruit, adopt rotary process, the fruit axes of inertia and carpopodium are acutangulated and break carpopodium from base of fruit while reaching the carpopodium maximum rotating radius, reduced the carpopodium separating force, complete and pluck action by the anglec of rotation of controlling end effector, frame for movement and control have been simplified, the position of limit switch is adjustable, thereby the anglec of rotation that guarantees decelerating step motor is adjustable, FEEDBACK CONTROL by sensor, improved control accuracy, realized the harmless harvesting of fruit.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is clamping device structural representation of the present invention;
Fig. 3 is rotation picking structure schematic diagram of the present invention;
Fig. 4 is the structural representation that approaches of the present invention;
Fig. 5 is control system schematic diagram of the present invention;
Fig. 6 is that kiwifruit fruit of the present invention is plucked flow chart.
The specific embodiment
Referring to Fig. 1 and Fig. 2, a kind of kiwifruit fruit picking end effector, by clamping device, the rotation picking mechanism, approach mechanism, sensor-based system and composition of the control system, described clamping device comprises connector I 1, hall position sensor I 3, cross sliding clock 4, support I 6, front finger 7, rear finger 10, linear stepping motor I 12.
Described clamping device comprises that front finger 7 and rear finger 10 form scissor structure, between front finger 7 and rear finger 10, adopt pin to connect, front finger 7 other ends are connected by pin with cross sliding clock 4, rear finger 10 other ends adopt pin to be connected with support I 6, described cross sliding clock 4 is connected with linear stepping motor I 12 by nut I 2, in the slide rail of support I 6, moves horizontally; Described front finger and rear finger inboard all adopt silica gel to do liner.
Described rotation picking mechanism comprises decelerating step motor 11, flange 13, connector II 14(is shown in Fig. 3), the output shaft of described decelerating step motor 11 and connector I 1, flange 13 connects by key, decelerating step motor 11 is connected with connector II 14, described connector II 14 with approach mechanism and be connected, decelerating step motor 11 projecting shafts rotarily drive whole clamping device rotation, on described connector I, limit switch is installed, limit switch is controlled the anglec of rotation of decelerating step motor, realize the adjustment of the decelerating step motor anglec of rotation by the position of regulating limit switch.
The described mechanism that approaches comprises guide plate 16, support II 18, connector III 20, upright slide block 21, linear stepping motor II 24, described upright slide block 21 is connected with linear stepping motor II 24 by nut II 22, in the slide rail of support II 18, move up and down, described connector III 20 is connected on upright slide block 21, the other end is connected with connector II 14, drive whole clamping device and move up and down with the rotation picking mechanism, realize approaching the purpose of fruit.
Described sensor-based system comprises pressure sensor 8, Photoelectric infrared switch sensor 9, hall position sensor I 3, hall position sensor II 17, hall position sensor III 23; Described pressure sensor 8 is arranged on front finger 7 inboards; Described Photoelectric infrared switch sensor 9 is the correlation combination, and front finger 7 is installed transmitting terminal, and rear finger 10 is installed receiving terminal; Described hall position sensor I 3 is arranged on support I 6, for detection of the initial position of cross sliding clock 4, be installed on front finger and defensive position finger ends 1/3rd places, for detection of the position of fruit, it is inboard that described pressure sensor 8 is arranged on front finger, for detection of default chucking power; Described hall position sensor II 17 and hall position sensor III 23 are arranged on respectively inner top side place and the inside lower end place (see figure 4) of support II 18, for detection of upright slide block repositioning information anti-locking mechanism, bump.
Described control system comprises single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer, by I/O control step motor driver I, stepper motor driver II, stepper motor driver III, by serial ports sensor-lodging (see figure 5), forms FEEDBACK CONTROL, reaches the accurate location of whole system.
For weight reduction, end effector except standard component, the employings aluminium alloy such as front finger and rear finger adopt plastic material, other supports and match steel and make;
This system authority is simple, control is convenient, possesses the separation fruit, accurately captures the function of separating with carpopodium, for the kiwifruit fruit picking robot provides the key technology support.
Referring to Fig. 6, a kind of kiwifruit fruit picking end effector action flow chart.
Concrete steps are as follows:
1, the end effector all parts resets, linear stepping motor I, decelerating step motor, the reversion of linear stepping motor II, Hall element I, III, whether detection level slide block and upright slide block get back to initial position respectively, decelerating step motor revolution set angle, after having resetted, motor stops operating, wait command;
2, end effector approaches fruit, and linear stepping motor II forward, during the Photoelectric infrared switch output low level, thinks that fruit has entered front finger interior, and the linear stepping motor II stops operating;
3, end effector captures fruit, during Photoelectric infrared switch sensor output low level, the linear stepping motor II stops operating, the linear stepping motor I starts forward simultaneously, front finger and rear finger envelope capture fruit, until pressure sensor detects while reaching preset pressure value, the linear stepping motor I stops operating;
4, end effector rotating separation carpopodium, when pressure sensor detects preset pressure, the linear stepping motor I stops operating, and decelerating step motor starts to rotate simultaneously, until reach default angle, stops;
5, end effector discharges fruit and plans and adjoin the picking fruit path, after decelerating step motor reaches preset angles, complete the carpopodium separating action, then decelerating step motor resets, end effector is sent to the fruit harvest device, the reversion of linear stepping motor I discharges fruit, end effector is after the harvesting that completes a fruit, calculate on the basis of present position and arrive the next displacement that the fruit coordinate need to be walked of adjoining, carry out the harvesting of next fruit, until whole picking fruits that computer provides complete after, motor all resets.
Claims (3)
1. a kiwifruit fruit picking end effector, comprise clamping device, and the rotation picking mechanism, approach mechanism, and sensor-based system and control system is characterized in that:
Described clamping device by connector I (1), cross sliding clock (4), support I (6), front finger (7),, rear finger (10), linear stepping motor I (12) form; Between described front finger (7) and rear finger (10), pin is connected to form scissor structure, described front finger (7) other end is connected with cross sliding clock (4) pin, described rear finger (10) other end is connected with support I (6) pin, and described cross sliding clock (4) is connected with linear stepping motor I (12) by nut I (2);
Described rotation picking mechanism is comprised of decelerating step motor (11), flange (13), connector II (14), the output shaft of described decelerating step motor (11) is connected by key with connector I (1), flange (13), decelerating step motor (11) and connector II (14) are connected, described connector II (14) with approach mechanism and be connected;
The described mechanism that approaches is comprised of guide plate (16), support II (18), connector III (20), upright slide block (21), linear stepping motor II (24), described upright slide block (21) is connected with linear stepping motor II (24) by nut II (22), described connector III (20) is connected on upright slide block (21), the other end is connected with connector II (14)
Described sensor-based system comprises pressure sensor (8), Photoelectric infrared switch sensor (9), hall position sensor I (3), hall position sensor II (17), hall position sensor III (23); Described pressure sensor (8) is arranged on front finger (7) inboard; Described Photoelectric infrared switch sensor (9) is the correlation combination, and front finger (7) is installed transmitting terminal, and rear finger (10) is installed receiving terminal; Described hall position sensor I (3) is arranged on support I (6); Described hall position sensor II (17) and hall position sensor III (23) are arranged on respectively the inboard upper/lower terminal of support II (18);
Described control system is comprised of single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer is by I/O control step motor driver I, stepper motor driver II, stepper motor driver III, by the serial ports sensor-lodging.
2. kiwifruit fruit picking end effector according to claim 1, is characterized in that, described front finger (7) is the Bionic arc face, adopts silica gel to do liner.
3. kiwifruit fruit picking end effector according to claim 1, is characterized in that, described rear finger (10) is the Bionic arc face, adopts silica gel to do liner.
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| CN201310341023.4A CN103448061B (en) | 2013-08-07 | 2013-08-07 | A kind of kiwifruit fruit picking end effector |
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| CN201310341023.4A CN103448061B (en) | 2013-08-07 | 2013-08-07 | A kind of kiwifruit fruit picking end effector |
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| CN103448061A true CN103448061A (en) | 2013-12-18 |
| CN103448061B CN103448061B (en) | 2015-08-12 |
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Cited By (20)
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|---|---|---|---|---|
| CN105466338A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Tomato lateral branch position detection device |
| CN106292410A (en) * | 2015-06-03 | 2017-01-04 | 安顺市晶英科技研发有限责任公司 | A kind of tea picking machine pressure monitoring system |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106584446A (en) * | 2017-03-14 | 2017-04-26 | 四川农业大学 | Tea-leaf picking manipulator |
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN106941882A (en) * | 2017-03-23 | 2017-07-14 | 西北农林科技大学 | The automatic picking end effector of fruit more than cam move toward one another formula Kiwi berry in a row |
| CN107852958A (en) * | 2017-12-06 | 2018-03-30 | 湖南电气职业技术学院 | Fruit harvesting end effector based on tactile induction technology |
| CN108076821A (en) * | 2017-12-13 | 2018-05-29 | 谷新运 | A kind of latex three refers to inverted pendulum string pendulum dynamic formula apple-picking end effector |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108406757A (en) * | 2018-05-18 | 2018-08-17 | 河南理工大学 | A kind of manipulator and robot movement method |
| CN108419526A (en) * | 2018-05-09 | 2018-08-21 | 浙江工业大学 | Hand-held orange device for picking |
| CN109392462A (en) * | 2018-12-18 | 2019-03-01 | 北方民族大学 | Pick the robot and method of day lily |
| CN110896732A (en) * | 2019-11-14 | 2020-03-24 | 塔里木大学 | Method and device for picking fruits |
| CN110972716A (en) * | 2018-10-03 | 2020-04-10 | 成都大学 | Automatic end effector of fruit picking robot |
| CN111975764A (en) * | 2019-05-24 | 2020-11-24 | 京瓷办公信息系统株式会社 | Robot device and holding method |
| CN112660441A (en) * | 2020-12-31 | 2021-04-16 | 河北医科大学第二医院 | Device is got to infant's ground rice ration title |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN114793628A (en) * | 2022-05-19 | 2022-07-29 | 温州大学激光与光电智能制造研究院 | Rotary peach picking device |
| CN115004948A (en) * | 2022-06-22 | 2022-09-06 | 河南科技大学 | End effector for picking fruits and vegetables of spheroidal small fruits and control method thereof |
| CN115589849A (en) * | 2022-10-18 | 2023-01-13 | 大连理工大学（Cn） | Spherical fruit and vegetable picking device |
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| CN106292410A (en) * | 2015-06-03 | 2017-01-04 | 安顺市晶英科技研发有限责任公司 | A kind of tea picking machine pressure monitoring system |
| CN105466338B (en) * | 2016-01-13 | 2018-03-20 | 浙江大学 | Tomato side shoot positional detecting device |
| CN105466338A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Tomato lateral branch position detection device |
| CN106258209A (en) * | 2016-08-03 | 2017-01-04 | 安庆蓝珊瑚生态农业科技有限公司 | A kind of Fructus oleae europaeae fruit picking |
| CN106584446A (en) * | 2017-03-14 | 2017-04-26 | 四川农业大学 | Tea-leaf picking manipulator |
| CN106941882A (en) * | 2017-03-23 | 2017-07-14 | 西北农林科技大学 | The automatic picking end effector of fruit more than cam move toward one another formula Kiwi berry in a row |
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN107852958A (en) * | 2017-12-06 | 2018-03-30 | 湖南电气职业技术学院 | Fruit harvesting end effector based on tactile induction technology |
| CN108076821A (en) * | 2017-12-13 | 2018-05-29 | 谷新运 | A kind of latex three refers to inverted pendulum string pendulum dynamic formula apple-picking end effector |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108419526A (en) * | 2018-05-09 | 2018-08-21 | 浙江工业大学 | Hand-held orange device for picking |
| CN108419526B (en) * | 2018-05-09 | 2023-07-14 | 浙江工业大学 | Hand-held orange picker |
| CN108406757A (en) * | 2018-05-18 | 2018-08-17 | 河南理工大学 | A kind of manipulator and robot movement method |
| CN110972716A (en) * | 2018-10-03 | 2020-04-10 | 成都大学 | Automatic end effector of fruit picking robot |
| CN109392462A (en) * | 2018-12-18 | 2019-03-01 | 北方民族大学 | Pick the robot and method of day lily |
| CN109392462B (en) * | 2018-12-18 | 2023-11-17 | 北方民族大学 | Robot and method for picking daylily |
| CN111975764A (en) * | 2019-05-24 | 2020-11-24 | 京瓷办公信息系统株式会社 | Robot device and holding method |
| CN111975764B (en) * | 2019-05-24 | 2023-06-27 | 京瓷办公信息系统株式会社 | Robot device and holding method |
| CN110896732A (en) * | 2019-11-14 | 2020-03-24 | 塔里木大学 | Method and device for picking fruits |
| CN112660441A (en) * | 2020-12-31 | 2021-04-16 | 河北医科大学第二医院 | Device is got to infant's ground rice ration title |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN114793628A (en) * | 2022-05-19 | 2022-07-29 | 温州大学激光与光电智能制造研究院 | Rotary peach picking device |
| CN115004948A (en) * | 2022-06-22 | 2022-09-06 | 河南科技大学 | End effector for picking fruits and vegetables of spheroidal small fruits and control method thereof |
| CN115004948B (en) * | 2022-06-22 | 2023-08-15 | 河南科技大学 | End effector for picking fruits and vegetables of spheroid small fruits and control method thereof |
| CN115589849A (en) * | 2022-10-18 | 2023-01-13 | 大连理工大学（Cn） | Spherical fruit and vegetable picking device |
| CN115589849B (en) * | 2022-10-18 | 2023-06-30 | 大连理工大学 | Spherical fruit and vegetable picker |
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