CN103548496B - Class circle fruit and vegetable picking end effector, method and robot - Google Patents
Class circle fruit and vegetable picking end effector, method and robot Download PDFInfo
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- CN103548496B CN103548496B CN201310495296.4A CN201310495296A CN103548496B CN 103548496 B CN103548496 B CN 103548496B CN 201310495296 A CN201310495296 A CN 201310495296A CN 103548496 B CN103548496 B CN 103548496B
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Abstract
The invention discloses a kind circle fruit and vegetable picking end effector, method and robot, described end effector comprises casing, clamping device and cutting mechanism, is provided with electromagnet and motor in described casing; Described clamping device comprises elastic movement assembly, fixed block, left pawl mechanical finger, right pawl mechanical finger and the slip constraint disk for controlling left pawl mechanical finger and right pawl mechanical finger opening angle, described left pawl mechanical finger and right pawl mechanical finger are through the constraint disk that slides, and be connected with fixed block respectively by pin, the both sides of described fixed block are respectively equipped with the breach making left pawl mechanical finger and the activity of right pawl mechanical finger; One end of described elastic movement assembly is through electromagnet center, and the other end passes fixed block and retrains disk with slip and is fixedly connected with, and described motor is connected with cutting mechanism.End effector structures of the present invention is simple, easy to use, has certain fruit and vegetable picking versatility, also embodies the lightweight object of Mechanization Development.
Description
Technical field
The present invention relates to a kind of end effector of fruit and vegetable picking, especially a kind circle fruit and vegetable picking end effector, method and robot, belong to fruit and vegetable picking field.
Background technology
The development of Machinery Automation technology is rapid in recent years, and the motive force of development is the efficiency for improving original agricultural operation, the labour intensity reducing agricultural production and reduction agricultural products production cost.Fruit and vegetable harvesting robot is one of Main Means of Development of Morden agricultural production, and the end effector of picking robot directly acts on manipulating object, and what therefore the end effector of picking robot must realize fruits and vegetables directly, effectively wins function.But, relative to developing rapidly of current fruit-growing industry, the achievement obtained the research institute of picking robot is both at home and abroad still fewer, and there is achievement in research and be mainly some easy picking mechanical arms, its versatility is poor, and volume is comparatively large, complex structure, so not only there is the problem that manipulator customization cost is high, also exist and pluck the low inferior problem of timeliness.And for picking robot, compared with the end effector that employing is general, corresponding various operation selects special end effector significantly can reduce cost, convenient control and simplify structure.
And at present to the research many places of the picking robot experimental stage in theoretical simulation stage or laboratory, do not obtain practical application, this becomes the bottleneck problem that restriction picking robot move towards application, and this has researched and proposed higher requirement also to picking robot mechanical automation technology and its end effector.
Summary of the invention
First object of the present invention is the defect in order to solve above-mentioned prior art, provides a kind of structure simple, easy to use, has the class circle fruit and vegetable picking end effector of certain fruit and vegetable picking versatility.
Second object of the present invention is to provide a kind of picking method based on above-mentioned class circle fruit and vegetable picking end effector.
3rd object of the present invention is to provide a kind circle fruit and vegetable picking robot.
First object of the present invention can reach by taking following technical scheme:
Class circle fruit and vegetable picking end effector, is characterized in that: comprise casing, clamping device and cutting mechanism, is provided with electromagnet and motor in described casing; Described clamping device comprises elastic movement assembly, fixed block, left pawl mechanical finger, right pawl mechanical finger and the slip constraint disk for controlling left pawl mechanical finger and right pawl mechanical finger opening angle, described left pawl mechanical finger and right pawl mechanical finger are through the constraint disk that slides, and be connected with fixed block respectively by pin, the both sides of described fixed block are respectively equipped with the breach making left pawl mechanical finger and the activity of right pawl mechanical finger; One end of described elastic movement assembly is through electromagnet center, and the other end passes fixed block and retrains disk with slip and is fixedly connected with, and described motor is connected with cutting mechanism.
As a kind of preferred version, described elastic movement assembly comprises main shaft, parallel axes and shaft coupling, described collar bush is provided with back-moving spring, one end of described main shaft is through electromagnet center, the other end is connected with one end of parallel axes by shaft coupling, and the other end of described parallel axes is through fixed block and be connected into an entirety with slip restrained circle disk center vertical welding.
As a kind of preferred version, described cutting mechanism comprises crank, rocking bar and falciform cutter, described falciform cutter is connected with the top of casing with rocking bar by crank, and described rocking bar is positioned at the postmedian of falciform cutter, and described crank is positioned at the rear portion of falciform cutter and is connected with the motor shaft of motor.
As a kind of preferred version, described falciform cutter adopts arcuate serrated blade.
As a kind of preferred version, described left pawl mechanical finger and right pawl mechanical finger are the netted hemispherical dome structure adopting aluminium alloy to process.
As a kind of preferred version, the inner side of described left pawl mechanical finger and right pawl mechanical finger is provided with soft rubber sleeve.
As a kind of preferred version, described main shaft and shaft coupling are positioned at casing, described parallel axes and fixed block extend to casing in casing, described left pawl mechanical finger is connected with the part of fixed block outside casing respectively by pin with one end of right pawl mechanical finger, and the other end is the overall structure formed for clamping fruits and vegetables after retraining disk through sliding.
As a kind of preferred version, described casing side is provided with perforate, and described electromagnet is arranged on the base plate in casing, and described motor is arranged on the top board in casing, and described electromagnet is connected with external power source through after the perforate of casing side with the wire of motor.
Second object of the present invention can reach by taking following technical scheme:
The picking method of class circle fruit and vegetable picking end effector, is characterized in that comprising the following steps:
1) will be parallel to main shaft and be set to X-direction with parallel axis of spindle direction, the direction parallel and vertical with X-direction with the base plate in casing is set to Y direction, and the direction perpendicular to X-axis, Y-axis is set to Z-direction;
2) after electromagnet energising, the electromagnetic attraction that electromagnet produces pulls shaft coupling to move along X-axis negative direction, left pawl mechanical finger and right pawl mechanical finger are opened respectively, circle to be plucked or similar round fruits and vegetables is included in left pawl mechanical finger and right pawl mechanical finger;
3) after electromagnet power-off, the electromagnetic attraction that electromagnet produces disappears, now back-moving spring is in compressive state, thus promotion shaft coupling moves along X-axis positive direction, left pawl mechanical finger and right pawl mechanical finger are intersected and closes up circle or the clamping of similar round fruits and vegetables, expose the carpopodium connected with circular or similar round fruits and vegetables;
4) after electrical power, the XY plane that driven by motor crank is formed in X-axis, Y-axis does concussion motion, thus drive falciform cutter to move back and forth to cut carpopodium.
3rd object of the present invention can reach by taking following technical scheme:
Class circle fruit and vegetable picking robot, comprises robot body structure and is fixed on the binocular camera shooting mechanism in robot body structure, it is characterized in that: the manipulator of described robot body structure is provided with class circle fruit and vegetable picking end effector.
The present invention has following beneficial effect relative to prior art:
1, class circle fruit and vegetable picking end effector structures of the present invention is simple, easy to use, has certain fruit and vegetable picking versatility, also embodies the lightweight object of Mechanization Development.
2, the slip constraint disk of class circle fruit and vegetable picking end effector of the present invention, effectively can control opening angle when left pawl mechanical finger and right pawl mechanical finger operation, and electromagnet can effectively control clamp fruits and vegetables time whole end effector speed and strength, accomplish safer harvesting fruits and vegetables, compare traditional mechanical end actuator, have more easily control, safer advantage.
3, the left pawl mechanical finger of class of the present invention circle fruit and vegetable picking end effector and right pawl mechanical finger are the netted hemispherical dome structure adopting and processed by aluminium alloy, and inner side is provided with soft rubber sleeve, effectively can pluck circle or similar round fruits and vegetables, Mechanical Contact fruits and vegetables can be avoided to cause damage simultaneously.
What 4, the falciform cutter of class of the present invention circle fruit and vegetable picking end effector adopted is arcuate serrated blade, compares common straight type blade, when the operative goals carpopodium of any shape and any angle, can cut off carpopodium and achieve the goal.
Accompanying drawing explanation
Fig. 1 is class of the present invention circle fruit and vegetable picking end effector perspective view.
Fig. 2 is class of the present invention circle fruit and vegetable picking end effector side structure schematic diagram.
Fig. 3 is class of the present invention circle fruit and vegetable picking end effector Facad structure schematic diagram.
Fig. 4 is the sickle-shaped knife lamps structure schematic diagram of class of the present invention circle fruit and vegetable picking end effector.
Fig. 5 is the structural representation of class of the present invention circle fruit and vegetable picking robot when testing.
Wherein, 1-casing, 2-electromagnet, 3-motor, 4-perforate, 5-fixed block, the left pawl mechanical finger of 6-, the right pawl mechanical finger of 7-, 8-slides and retrains disk, 9-main shaft, 10-parallel axes, 11-shaft coupling, 12-breach, 13-crank, 14-rocking bar, 15-falciform cutter, 16-fruits and vegetables, 17-carpopodium, 18-robot body structure, 19-binocular camera shooting mechanism, 20-test platform.
Embodiment
Embodiment 1:
As shown in Figure 1-Figure 3, the class circle fruit and vegetable picking end effector of the present embodiment, comprise casing 1, clamping device and cutting mechanism, base plate in described casing 1 is provided with electromagnet 2, mounting of roof plate has motor 3, described casing 1 side is provided with perforate 4, and described electromagnet 2 is connected with external power source through after the perforate 4 of casing 1 side with the wire of motor 3; Described clamping device comprises elastic movement assembly, fixed block 5, left pawl mechanical finger 6, right pawl mechanical finger 7 and the constraint disk 8 that slides, described elastic movement assembly comprises main shaft 9, parallel axes 10 and shaft coupling 11, described main shaft 9 is arranged with back-moving spring, one end of described main shaft 9 is through electromagnet 2 center, the other end is connected with one end of parallel axes 10 by shaft coupling 11, and the other end of described parallel axes 10 passes fixed block 5 and retrains disk 8 central vertical with slip and is welded into an entirety; Described main shaft 9 and shaft coupling 11 are positioned at casing 1, described parallel axes 10 and fixed block 5 extend to casing 1 in casing 1, described left pawl mechanical finger 6 is connected with the part of fixed block 5 outside casing 1 respectively by pin with one end of right pawl mechanical finger 7, the other end is forming the structure for clamping fruits and vegetables 16 through the rear entirety of constraint disk 8 of sliding, the both sides of described fixed block 5 are respectively equipped with the breach 12 making left pawl mechanical finger 6 and the activity of right pawl mechanical finger 7; Described cutting mechanism comprises crank 13, rocking bar 14 and falciform cutter 15, described falciform cutter 15 is connected with the top of crank 13 with casing 1 by rocking bar 14, described rocking bar 14 is positioned at the postmedian of falciform cutter 15, and described crank 13 is positioned at the rear portion of falciform cutter 15 and is connected with the motor shaft of motor 3.
In the present embodiment, will be parallel to main shaft 9 and parallel axes 10 center line direction is set to X-direction, the direction parallel and vertical with X-direction with the base plate in casing 1 is set to Y direction, and the direction perpendicular to X-axis, Y-axis is set to Z-direction.
Described casing 1 for supporting whole end effector, and plays the effect of protection mechanical end actuator vitals.
Described electromagnet 2 is for pulling by main shaft 9 or promoting shaft coupling 11, left pawl mechanical finger 6 and right pawl mechanical finger 7 is made to open or close up, and keeping predetermined frequency, when can effectively control to clamp fruits and vegetables 16, the speed and strength of whole end effector, accomplishes safer harvesting fruits and vegetables 16.
Described motor 3 does concussion motion for driving crank 13 in the XY plane formed in X-axis, Y-axis, thus drives falciform cutter 15 to move back and forth cutting carpopodium 17.
Described fixed block 5 is for stable parallel axes 10, to ensure that parallel axes 10 can stretch work and can not have relative displacement with casing 1 after long working stably.
Described left pawl mechanical finger 6 and right pawl mechanical finger 7 are the netted hemispherical dome structure adopting aluminium alloy to process; for clamping operation target fruits and vegetables 16; and in the process of clamping, ensure its original shape; the inner side (namely with fruits and vegetables 16 contact position) of left pawl mechanical finger 6 and right pawl mechanical finger 7 is provided with soft rubber sleeve; the fruits and vegetables 16 that harvesting can be made to arrive are injury-free, protect rapid wear, tender and lovely fruit well.
The described constraint disk 8 that slides, for controlling left pawl mechanical finger 6 and right pawl mechanical finger 7 opening angle (namely clamping movement angle during fruits and vegetables 16), keeps best clamping effect when adjustable angle.
The sheathed back-moving spring of described main shaft 9 is used for after left pawl mechanical finger 6 and the end of job of right pawl mechanical finger 7, interlock main shaft 9 make left pawl mechanical finger 6 and right pawl mechanical finger 7 stable clamp fruits and vegetables 16, and reduce the state of main shaft 9 before clamping fruits and vegetables 16.
Described parallel axes 10 is fixed on and slides on constraint disk 8, keeps desired trajectory for making left pawl mechanical finger 6 and right pawl mechanical finger 7 in the telescopic moving of operation.
Described shaft coupling 11, for fixed main shaft 9 and parallel axes 10, makes main shaft 9 and parallel axes 10 co-ordination, keeps operating frequency.
Described crank 13, for connecting falciform cutter 15, makes falciform cutter 15 and motor 3 form interlock effect; Described rocking bar 14, for supporting falciform cutter 15, makes falciform cutter 15 keep normal position to work.
As shown in Figure 4, described falciform cutter 15 is for cutting carpopodium 17, and it adopts arcuate serrated blade, compares common perpendicular type blade, when the operative goals carpopodium 17 of any shape and any angle, can cut off carpopodium 17 and achieve the goal.
As shown in Figure 1-Figure 3, the operation principle of the class circle fruit and vegetable picking end effector of the present embodiment is as follows:
1) after electromagnet 2 is energized, the electromagnetic attraction that electromagnet 2 produces pulls shaft coupling 11 to move along X-axis negative direction, left pawl mechanical finger 6 and right pawl mechanical finger 7 are opened respectively, circle to be plucked or similar round fruits and vegetables 16 is included in left pawl mechanical finger 6 and right pawl mechanical finger 7;
2) after electromagnet 2 power-off, the electromagnetic attraction that electromagnet 2 produces disappears, now back-moving spring is in compressive state, thus promotion shaft coupling 11 moves along X-axis positive direction, left pawl mechanical finger 6 and right pawl mechanical finger 7 intersection are closed up circle or similar round fruits and vegetables 16 are clamped, such effect that can reach conformal clamping, exposes the carpopodium 17 connected with circular or similar round fruits and vegetables 16;
3) after motor 3 is energized, the XY plane that motor 3 drives crank 13 to form in X-axis, Y-axis does concussion motion, thus drive falciform cutter 15 to move back and forth to cut carpopodium 17.
Embodiment 2:
As shown in Figure 5, the class circle fruit and vegetable picking robot of the present embodiment comprises robot body structure 18 and is fixed on the binocular camera shooting mechanism 19 in robot body structure 18, the manipulator of described robot body structure 18 is provided with the end effector of above-described embodiment 1, now the circular fruits and vegetables 16 on test platform 20 is captured and cutting experiment.
The operation principle that the class circle fruit and vegetable picking robot of the present embodiment carries out in experimentation is:
In order to realize accurately catching dissimilar circular fruits and vegetables 16 and win, by circular fruits and vegetables 16 are placed on test platform 20, then the image of the fruits and vegetables 16 on binocular camera shooting mechanism 19 acquisition test platform 20 is utilized, the space coordinates of target fruits and vegetables 16 barycenter is determined by vision location, feed back to robot body structure 18, robot body structure 18, by the position of robot movement to location, utilizes end effector to carry out the crawl of fruits and vegetables 16 and the cutting of carpopodium 17.
End effector of the present invention under natural environment, carries out the crawl of dissimilar circular fruits and vegetables to picking robot and harvesting provides technological means; This end effector is industrial robot simultaneously, the crawl of field work robot to the circular target lightweight that realizes mechanism provides theoretical direction and technical support.
The above; be only patent preferred embodiment of the present invention; but the protection domain of patent of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the scope disclosed in patent of the present invention; be equal to according to the technical scheme of patent of the present invention and patent of invention design thereof and replaced or change, all belonged to the protection domain of patent of the present invention.
Claims (10)
1. class circle fruit and vegetable picking end effector, is characterized in that: comprise casing, clamping device and cutting mechanism, is provided with electromagnet and motor in described casing; Described clamping device comprises elastic movement assembly, fixed block, left pawl mechanical finger, right pawl mechanical finger and the slip constraint disk for controlling left pawl mechanical finger and right pawl mechanical finger opening angle, described left pawl mechanical finger and right pawl mechanical finger are through the constraint disk that slides, and be connected with fixed block respectively by pin, the both sides of described fixed block are respectively equipped with the breach making left pawl mechanical finger and the activity of right pawl mechanical finger; One end of described elastic movement assembly is through electromagnet center, and the other end passes fixed block and retrains disk with slip and is fixedly connected with, and described motor is connected with cutting mechanism.
2. class circle fruit and vegetable picking end effector according to claim 1, it is characterized in that: described elastic movement assembly comprises main shaft, parallel axes and shaft coupling, described collar bush is provided with back-moving spring, one end of described main shaft is through electromagnet center, the other end is connected with one end of parallel axes by shaft coupling, and the other end of described parallel axes is through fixed block and be connected into an entirety with slip restrained circle disk center vertical welding.
3. class circle fruit and vegetable picking end effector according to claim 2, it is characterized in that: described cutting mechanism comprises crank, rocking bar and falciform cutter, described falciform cutter is connected with the top of casing with rocking bar by crank, described rocking bar is positioned at the postmedian of falciform cutter, and described crank is positioned at the rear portion of falciform cutter and is connected with the motor shaft of motor.
4. class circle fruit and vegetable picking end effector according to claim 3, is characterized in that: described falciform cutter adopts arcuate serrated blade.
5. class circle fruit and vegetable picking end effector according to claim 1, is characterized in that: described left pawl mechanical finger and right pawl mechanical finger are the netted hemispherical dome structure adopting aluminium alloy to process.
6. class circle fruit and vegetable picking end effector according to claim 1, is characterized in that: the inner side of described left pawl mechanical finger and right pawl mechanical finger is provided with soft rubber sleeve.
7. class circle fruit and vegetable picking end effector according to claim 2, it is characterized in that: described main shaft and shaft coupling are positioned at casing, described parallel axes and fixed block extend to casing in casing, described left pawl mechanical finger is connected with the part of fixed block outside casing respectively by pin with one end of right pawl mechanical finger, and the other end is the overall structure formed for clamping fruits and vegetables after retraining disk through sliding.
8. class circle fruit and vegetable picking end effector according to claim 1, it is characterized in that: described casing side is provided with perforate, described electromagnet is arranged on the base plate in casing, described motor is arranged on the top board in casing, and described electromagnet is connected with external power source through after the perforate of casing side with the wire of motor.
9., based on the picking method of class circle fruit and vegetable picking end effector described in claim 3, it is characterized in that comprising the following steps:
1) will be parallel to main shaft and be set to X-direction with parallel axis of spindle direction, the direction parallel and vertical with X-direction with the base plate in casing is set to Y direction, and the direction perpendicular to X-axis, Y-axis is set to Z-direction;
2) after electromagnet energising, the electromagnetic attraction that electromagnet produces pulls shaft coupling to move along X-axis negative direction, left pawl mechanical finger and right pawl mechanical finger are opened respectively, circle to be plucked or similar round fruits and vegetables is included in left pawl mechanical finger and right pawl mechanical finger;
3) after electromagnet power-off, the electromagnetic attraction that electromagnet produces disappears, now back-moving spring is in compressive state, thus promotion shaft coupling moves along X-axis positive direction, left pawl mechanical finger and right pawl mechanical finger are intersected and closes up circle or the clamping of similar round fruits and vegetables, expose the carpopodium connected with circular or similar round fruits and vegetables;
4) after electrical power, the XY plane that driven by motor crank is formed in X-axis, Y-axis does concussion motion, thus drive falciform cutter to move back and forth to cut carpopodium.
10. class circle fruit and vegetable picking robot, comprise robot body structure and be fixed on the binocular camera shooting mechanism in robot body structure, it is characterized in that: the manipulator of described robot body structure is provided with the class circle fruit and vegetable picking end effector described in any one of claim 1-8.
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| CN104365278B (en) * | 2014-11-03 | 2017-02-15 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
| CN104686073B (en) * | 2015-03-31 | 2016-07-27 | 湖北工业大学 | A kind of fruit passively captures end effector |
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| CN109005912B (en) * | 2018-09-28 | 2024-04-23 | 华中农业大学 | End effector for strawberry flexible picking |
| CN109392460A (en) * | 2018-10-30 | 2019-03-01 | 西安交通大学 | Full-automatic gantry strawberry picking machine and its picking method |
| CN109829387B (en) * | 2019-01-07 | 2023-06-16 | 江苏大学 | Method for determining grabbing priority of stacked serial fruits based on depth of main fruit stalks for parallel robot |
| CN112136539B (en) * | 2020-08-24 | 2022-07-01 | 北京农业智能装备技术研究中心 | Fruit and vegetable pruning and leaf beating actuator and pruning robot |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
| 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 |
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