CN104718892A - Light cutting device universal for garden stuff picking and robot of light cutting device - Google Patents
Light cutting device universal for garden stuff picking and robot of light cutting device Download PDFInfo
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- CN104718892A CN104718892A CN201510104622.3A CN201510104622A CN104718892A CN 104718892 A CN104718892 A CN 104718892A CN 201510104622 A CN201510104622 A CN 201510104622A CN 104718892 A CN104718892 A CN 104718892A
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Abstract
The invention discloses a light cutting device universal for garden stuff picking and a robot of the light cutting device. According to the light cutting device universal for garden stuff picking, cutting tools are fixed to a tool sleeve through screws; the tool sleeve is connected with a motor shaft in matched mode and locked tightly through tightening screws; the motor is arranged inside a shell of an end executor, vertically penetrates through a bottom plate of the end executor, and is installed perpendicular to the bottom plate through a motor base. Six servo motors are adopted in the robot universal for garden stuff picking, combined control over a rotating joint with six degrees of freedom is achieved, and the picking demand at any positions in space can be met with cooperation of the end executor; The robot is flexible in movement, higher in obstacle avoidance capacity compared with a traditional picking robot with four degrees of freedom, and high in picking success rate.
Description
Technical field
The present invention relates to agriculture picking mechanical field, particularly the light-duty cutter sweep of the general fruit and vegetable picking of one and robot thereof.
Background technology
China is as large agricultural country, and fruits and vegetables industry is wherein one of important industry, and fruit and vegetable picking robot is the important means of Development of Morden fruits and vegetables industry, and cutter sweep is the key that fruit and vegetable picking operation success completes.The design of current cutter sweep is confined to certain specific fruits and vegetables mostly, under natural environment during operation, function singleness and baroque cutter sweep add weight, the size of end effector and periphery machine, increase the burden of mechanical arm and travel mechanism, affect inertia force when mechanical arm moves and control method further.As cutter sweep is arranged on outside end effector shell by patent ZL201010565235.7, mechanism is huge and use the robot body of four-degree-of-freedom, and it is more weak to keep away barrier ability.Therefore, the cutter sweep of fruit and vegetable picking robot lightly and can effectively cut, and must can be suitable for the harvesting of multiple fruits and vegetables, and this is also the active demand of fruits and vegetables industry modernization.
Summary of the invention
The object of the invention is to overcome the shortcoming existed in prior art, the light-duty cutter sweep of general fruit and vegetable picking that a kind of cutter sweep is light and handy, little to fruits and vegetables damage, be applicable to pluck multiple fruits and vegetables is provided.
Another object of the present invention is to provide a kind of end effector with above-mentioned light-duty cutter sweep and robot thereof.
Object of the present invention is achieved through the following technical solutions:
The light-duty cutter sweep of a kind of general fruit and vegetable picking, comprises cutting tool 16, cutting tool sleeve 13, motor 18 and control circuit; Cutting tool 16 is fixed on cutting tool sleeve 13 by screw 15, and cutting tool sleeve 13 and motor shaft are connected and are locked by holding screw 14; Motor 18 is arranged at the inside of end effector shell and passes vertically through end effector base plate 19, and by motor cabinet 17 and end effector base plate 19 at right angle setting; Motor 18 is connected with control circuit, by signal of telecommunication adjustment electric machine rotation parameter.During cutter sweep work, controlled the rotating speed of motor 18 by control circuit, the rotation of motor 18 can drive cutting tool 16 to turn round by cutting tool sleeve 13, realizes the quick movement of blade on folder finger direction, thus cuts off fruits and vegetables.
A kind of end effector 12 with the light-duty cutter sweep of general fruit and vegetable picking, comprise the light-duty cutter sweep of above-mentioned general fruit and vegetable picking, clamping device and shell, cutter sweep and clamping device are installed in the inside of end effector; Described shell is the box like structure be made up of end effector base plate 19 and flange jointing plate 20, is bolted between adjacent two connecting plates of flange jointing plate 20; Described clamping device comprises that dynamic folder refers to 22, clamp refers to 23 and translating device 24, dynamic folder refer to 22 and clamp refer to that one end of 23 is arranged at the inside of shell, dynamic folder refer to 22 and clamp refer to that the other end of 23 stretches out shell; Translating device 24 is arranged on the rear side of motor 18, and the signal of telecommunication by adjusting clamping device controls the response of translating device 24, realizes holding action.
Dynamic folder refer to 22 and clamp refer to 23 inner side and the back side post fibre-reinforced plastics (FRP) 25, have quality light, mechanical strength is high, corrosion resistant advantage.
Dynamic folder refers to 22, clamp refers to that the inner side of 23 and the abutting edge of fibre-reinforced plastics (FRP) 25 are inlaid with foil gauge 21, for detecting chucking power size, guarantees to export suitable chucking power.
Dynamic folder refer to 22 and clamp refer to that 23 are processed by plastic-steel material, its stage casing is designed to V-type, is applicable to clamping that is circular and approximate round cross section target.
A kind of general fruit and vegetable picking robot, comprises base 1, robot body and is arranged at the end effector 12 of robot end; Described general fruit and vegetable picking robot is six-DOF robot, adopts six axles based on digital signal processor to jointly control; Robot body comprises robot ' s arm 4 and robot forearm 6, one end of robot ' s arm 4 is arranged on the platform that is connected with the first rotary joint 2 by the second rotary joint 3 be made up of servomotor and harmonic speed reducer, first rotary joint 2 is with mobile robot unitary rotation, and the pitch attitude of robot ' s arm 4 is controlled by the second rotary joint 3; The other end of robot ' s arm 4 is connected with the 3rd rotary joint 5, and the 3rd rotary joint 5 is connected with forearm installation end 8; Robot forearm 6 is arranged on forearm installation end 8 by the 4th rotary joint 9; The pitch attitude of robot forearm 6 is controlled by the 3rd rotary joint 5, and deflection attitude is controlled by the 4th rotary joint 9, thus realizes robot forearm 6 in the rotation perpendicular to the 3rd rotary joint 5 direction; The other end of robot forearm 6 is provided with the orthogonal wrist joint of rotating shaft, and wrist joint is made up of the 5th rotary joint 10 and the 6th rotary joint 11, can realize the rotation of this two places rotary freedom; End effector 12 is arranged on the 6th rotary joint 11, and the attitude of end effector 12 adjusts by wrist joint.
Above-mentioned six rotary joints, by harmonic speed reducer and Serve Motor Control, are delivered to the parts be connected with rotary joint after the power that servomotor produces is exported by decelerator, thus realize rotating; By jointly controlling of six rotary joints, the barriers such as plant cane can be avoided by effective guide tip actuator 12, arrive fruits and vegetables target location and implement to pluck.
The robot forearm 6 of above-mentioned general fruit and vegetable picking robot is provided with stereoscopic vision unit 7, impact point space coordinates can be plucked for picking robot provides, and the attitude of target is identified, for robot motion provides control information, realize the fruit and vegetable picking process based on binocular stereo vision feedback.
Above-mentioned general fruit and vegetable picking robot can be arranged on automatic Guided Vehicle, can move along desired trajectory, expands the working range of robot, improves flexibility and the practicality of robot.
The course of work of general fruit and vegetable picking robot is as follows: when fruit and vegetable picking, robot drives end effector 12 near fruits and vegetables target location, translating device 24 is energized work, drive dynamic folder to refer to clamp, 22 refer to that 23 draw close, dynamic folder refers to that 22 refer to clamp that in the process of movement 23 coordinate and clamped by target fruits and vegetables; Be embedded in dynamic folder refer to 22 and clamp refer to that the foil gauge 21 on 23 can be measured chucking power, move folder when chucking power reaches predetermined threshold and refer to that 22 is out of service, avoid causing Clamping damage to fruits and vegetables; Predetermined threshold calculates target weight according to the empirical equation in database and determines chucking power threshold value after obtaining the data such as female branch diameter, fruit string volume according to the target image that vision is taken; Drive cutting tool 16 to rotate by the motor 18 of cutter sweep after fruits and vegetables are clamped, blade moves along folder finger direction, and fast shut-off fruits and vegetables realize plucking.
In order to meet the different spatial requirement of dissimilar fruit and vegetable picking, the robot of six degree of freedom is used to carry out operation, the power that servomotor exports outputs to rotary joint place by decelerator, is jointly controlled by 6 actions of servomotor to robot.Robot is fixedly mounted on base 1, and base 1 can be connected with workbenches such as travelling cars; Can realize rotating between first rotary joint 2 and base 1, the harvesting operative orientation of robot can be changed; Robot ' s arm 4 is arranged on by the second rotary joint 3 on the platform that is connected with rotary joint 2, and the second rotary joint 3 realizes the control of robot ' s arm 4 pose angle; 3rd rotary joint 5 is mutually vertical with the 4th rotary joint 9, can adjust the attitude of robot forearm 6; The pitch attitude of robot forearm 6 is controlled by the 3rd rotary joint 5, and deflection attitude is controlled by the 4th rotary joint 9; The other end of robot forearm 6 is connected with wrist joint, and wrist joint is made up of the 5th rotary joint 10 and the 6th rotary joint 11; End effector 12 is arranged on wrist joint, is regulated the pose of end effector 12 by orthogonal 5th rotary joint 10 and the 6th rotary joint 11.This robot jointly controls work by six servomotors, realizes end effector many spatial poses angle adjustment, and the harvesting demand of meeting spatial diverse location is more flexible than the robot of four-degree-of-freedom.
The present invention compared with prior art tool has the following advantages and effect:
(1) the light-duty cutter sweep of general fruit and vegetable picking of the present invention, rotarily drives cutter by motor and rotates, and blade moves on folder finger direction, by the fruits and vegetables fast shut-off of clamping; When cutting dissimilar fruits and vegetables, target control all can be scanned in scope at blade by clamping device, can realize general fruit and vegetable picking.
(2) cutter in cutter sweep of the present invention is directly connected with motor shaft, can realize synchronous high-speed and rotate, not have the power loss of conventional cutting devices on driving-chain; And cutter sweep is simple and compact for structure, picking rate is fast, and efficiency is high, and maintenance cost is low.
(3) clamping device quality is light and handy, and the application of fibre-reinforced plastics (FRP) enhances the durability of pressing from both sides and referring to.
(4) general fruit and vegetable picking robot of the present invention, adopts 6 servomotors, realizes jointly controlling of six degree of freedom rotary joint, mated ends actuator, the harvesting demand of optional position in energy implementation space; And robot motion flexibly, the picking robot keeping away barrier energy force rate tradition four-degree-of-freedom is stronger, and harvesting success rate is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the general fruit and vegetable picking robot of the present invention.
Fig. 2 is the structural representation of the light-duty cutter sweep of the general fruit and vegetable picking of the present invention.
Fig. 3 is the structural representation of end effector of the present invention.
Fig. 4 is the structural representation of end effector cutter sweep of the present invention and clamping device.
Wherein, 1, base; 2, the first rotary joint; 3, the second rotary joint; 4, robot ' s arm; 5, the 3rd rotary joint; 6, robot forearm; 7, stereoscopic vision unit; 8, forearm installation end; 9, the 4th rotary joint; 10, the 5th rotary joint; 11, the 6th rotary joint; 12, end effector; 13, cutting tool sleeve; 14, holding screw; 15, screw; 16, cutting tool; 17, motor cabinet; 18, motor; 19, end effector base plate; 20, flange jointing plate; 21, foil gauge; 22, dynamic folder refers to; 23, clamp refers to; 24, translating device; 25, fibre-reinforced plastics.
Embodiment
Below in conjunction with embodiment, further detailed description is done to the present invention, but embodiments of the present invention are not limited thereto.
Embodiment 1
As shown in Figure 1, a kind of general fruit and vegetable picking robot, comprises base 1, robot and is arranged at the end effector 12 of robot end.Described general fruit and vegetable picking robot is six-DOF robot, adopt six axles based on digital signal processor to jointly control, can be arranged on automatic Guided Vehicle, can move along desired trajectory, expand the working range of robot, improve flexibility and the practicality of robot.Robot comprises robot ' s arm 4 and robot forearm 6, one end of robot ' s arm 4 is arranged on the platform that is connected with the first rotary joint 2 by the second rotary joint 3 be made up of servomotor and harmonic speed reducer, first rotary joint 2 is with mobile robot unitary rotation, and the pitch attitude of robot ' s arm 4 is controlled by the second rotary joint 3; The other end of robot ' s arm 4 is connected with the 3rd rotary joint 5, and the 3rd rotary joint 5 is connected with forearm installation end 8; Robot forearm 6 is arranged on forearm installation end 8 by the 4th rotary joint 9; The pitch attitude of robot forearm 6 is controlled by the 3rd rotary joint 5, and deflection attitude is controlled by the 4th rotary joint 9, thus realizes robot forearm 6 in the rotation perpendicular to the 3rd rotary joint 5 direction; The other end of robot forearm 6 is provided with the orthogonal wrist joint of rotating shaft, and wrist joint is made up of the 5th rotary joint 10 and the 6th rotary joint 11, can realize the rotation of this two places rotary freedom; End effector 12 is arranged on the 6th rotary joint 11, and the attitude of end effector 12 adjusts by wrist joint.The robot forearm 6 of above-mentioned general fruit and vegetable picking robot is provided with stereoscopic vision unit 7, impact point space coordinates can be plucked for picking robot provides, and the attitude of target is identified, for robot motion provides control information, realize the fruit and vegetable picking process based on binocular stereo vision feedback.
As shown in Figure 2, the light-duty cutter sweep of general fruit and vegetable picking, comprises cutting tool 16, cutting tool sleeve 13, motor 18 and control circuit; Cutting tool 16 is fixed on cutting tool sleeve 13 by screw 15, and cutting tool sleeve 13 and motor shaft are connected and are locked by holding screw 14; Motor 18 is arranged at the inside of end effector shell and passes vertically through end effector base plate 19, and by motor cabinet 17 and base plate 19 at right angle setting, reduces the longitudinal spatial scale size of cutter sweep; Motor 18 is connected with control circuit, by signal of telecommunication adjustment electric machine rotation parameter.During cutter sweep work, controlled the rotating speed of motor 18 by control circuit, the rotation of motor 18 can drive cutting tool 16 to turn round by cutting tool sleeve 13, realizes the quick movement of blade on folder finger direction, thus cuts off fruits and vegetables.
With the end effector 12 of the light-duty cutter sweep of general fruit and vegetable picking, comprise the light-duty cutter sweep of above-mentioned general fruit and vegetable picking, clamping device and shell; Described shell is the box like structure be made up of end effector base plate 19 and flange jointing plate 20, and flange jointing plate 20 is bolted.As shown in Figure 3 and Figure 4, described clamping device comprises that dynamic folder refers to 22, clamp refers to 23 and translating device 24, dynamic folder refer to 22 and clamp refer to that one end of 23 is arranged at the inside of shell, dynamic folder refer to 22 and clamp refer to that the other end of 23 stretches out shell, translating device 24 is arranged on the rear side of motor 18, the signal of telecommunication by adjusting clamping device controls the response of translating device 24, realizes holding action.Dynamic folder refer to 22 and clamp refer to 23 inner side and the back side post fibre-reinforced plastics (FRP) 25, have quality light, mechanical strength is high, corrosion resistant advantage.Dynamic folder refer to 22 and clamp refer to that 23 are processed by plastic-steel material, its stage casing is designed to V-type, is applicable to clamping that is circular and approximate round cross section target.Dynamic folder refers to 22, clamp refers to that the inner side of 23 and the abutting edge of fibre-reinforced plastics (FRP) 25 are inlaid with foil gauge 21, for detecting chucking power size, guarantees to export suitable chucking power.
When fruit and vegetable picking, the present embodiment is the six degree of freedom picking robot that use 6 servomotors carry out jointly controlling.Robot body is arranged on travelling car, and dolly can near autonomous operation to target fruit tree.Can realize rotating between first rotary joint 2 of robot and base 1, its anglec of rotation, by the first Serve Motor Control, can change the harvesting operative orientation of robot; Robot ' s arm 4 is that the power that the second rotary joint 3, second servomotor exports outputs to the second rotary joint 3 place by decelerator with the connection of base 1, realizes the control of robot ' s arm 4 pose angle; Robot forearm 6 luffing angle is controlled by the 3rd rotary joint 5, and the attitude of robot forearm 6 is controlled by the 4th rotary joint 9, and the 3rd rotary joint 5 is mutually vertical with the 4th rotary joint 9; The other end of forearm 6 is connected with wrist joint, and end effector 12 is arranged on wrist joint, is provided with orthogonal 4th rotary joint 9 and the 5th rotary joint 10 herein, in order to regulate the pose of end effector 12.Robot drives end effector 12 near fruits and vegetables target location, and translating device 24 is energized work, drives dynamic folder to refer to clamp, 22 refer to that 23 draw close, and dynamic folder refers to that 22 refer to clamp that in the process of movement 23 coordinate and clamped by target fruits and vegetables; Be embedded in dynamic folder refer to 22 and clamp refer to that the foil gauge 21 on 23 can be measured chucking power, move folder when chucking power reaches predetermined threshold and refer to that 22 is out of service, avoid causing Clamping damage to fruits and vegetables; Predetermined threshold calculates target weight according to the empirical equation in database and determines chucking power threshold value after obtaining the data such as female branch diameter, fruit string volume according to the target image that vision is taken; Drive cutting tool 16 to rotate by the motor 18 of cutter sweep after fruits and vegetables are clamped, blade moves along folder finger direction, and fast shut-off fruits and vegetables realize plucking.
Claims (6)
1. the light-duty cutter sweep of general fruit and vegetable picking, is characterized in that: comprise cutting tool, cutting tool sleeve, motor and control circuit; Cutting tool is fixed by screws on cutting tool sleeve, and cutting tool sleeve and motor shaft are connected and are locked by holding screw; Motor is arranged at the inside of end effector shell and passes vertically through end effector base plate, and by motor cabinet and end effector base plate at right angle setting; Motor is connected with control circuit, by signal of telecommunication adjustment electric machine rotation parameter.
2. the end effector with the light-duty cutter sweep of general fruit and vegetable picking, it is characterized in that: comprise the light-duty cutter sweep of general fruit and vegetable picking according to claim 1, clamping device and shell, cutter sweep and clamping device are installed in the inside of end effector; Described shell is the box like structure be made up of end effector base plate and flange jointing plate; Described clamping device comprises that dynamic folder refers to, clamp refers to and translating device, and dynamic folder refers to that the one end referred to clamp is arranged at the inside of shell, and the other end stretches out shell; Translating device is arranged on the rear side of motor.
3. the end effector with the light-duty cutter sweep of general fruit and vegetable picking according to claim 2, is characterized in that: dynamic folder refers to that fibre-reinforced plastics is posted at the inner side that refers to clamp and the back side.
4. the end effector with the light-duty cutter sweep of general fruit and vegetable picking according to claim 2, is characterized in that: the inner side that dynamic folder refers to, clamp refers to and the abutting edge of fibre-reinforced plastics are inlaid with foil gauge.
5. a general fruit and vegetable picking robot, is characterized in that: comprise base, robot body and be arranged at the end effector described in any one of claim 2 ~ 4 of robot end; Robot body comprises robot ' s arm and robot forearm, one end of robot ' s arm is arranged on the platform that is connected with the first rotary joint by the second rotary joint, first rotary joint band mobile robot unitary rotation, the pitch attitude of robot ' s arm is controlled by the second rotary joint; The other end of robot ' s arm is connected with the 3rd rotary joint, and the 3rd rotary joint is connected with forearm installation end; Robot forearm is arranged on forearm installation end by the 4th rotary joint, and the pitch attitude of robot forearm is controlled by the 3rd rotary joint, and deflection attitude is controlled by the 4th rotary joint; The other end of robot forearm is provided with the orthogonal wrist joint of rotating shaft, and wrist joint is made up of the 5th rotary joint and the 6th rotary joint; End effector is arranged on the 6th rotary joint, and the attitude of end effector is adjusted by wrist joint.
6. general fruit and vegetable picking robot according to claim 5, is characterized in that: robot forearm is provided with stereoscopic vision unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510104622.3A CN104718892A (en) | 2015-03-10 | 2015-03-10 | Light cutting device universal for garden stuff picking and robot of light cutting device |
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| CN201510104622.3A CN104718892A (en) | 2015-03-10 | 2015-03-10 | Light cutting device universal for garden stuff picking and robot of light cutting device |
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Cited By (10)
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| CN106856837A (en) * | 2017-01-23 | 2017-06-20 | 华南农业大学 | A kind of intelligent FRP clamping devices and its application |
| CN107214716A (en) * | 2017-06-14 | 2017-09-29 | 中国计量大学 | Tamato fruit string picking end effector and its picking method |
| CN108161458A (en) * | 2018-01-31 | 2018-06-15 | 杭州辉昂科技有限公司 | A kind of ultrasonic cutting machine people |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN108811768A (en) * | 2018-07-11 | 2018-11-16 | 贵州工程应用技术学院 | A kind of fruit picking robot |
| CN110171241A (en) * | 2019-04-16 | 2019-08-27 | 中国计量大学 | Fruits and vegetables carving device |
| CN111002397A (en) * | 2019-12-31 | 2020-04-14 | 河池学院 | Plate cutting system and control method thereof |
| CN111747291A (en) * | 2020-06-17 | 2020-10-09 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom automatic adjustment universal hoisting device |
| CN112818781A (en) * | 2021-01-21 | 2021-05-18 | 重庆文理学院 | Method for judging interference type of serial fruit mother branches based on visual scaling method |
| CN115039572A (en) * | 2022-07-22 | 2022-09-13 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
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| CN106856837A (en) * | 2017-01-23 | 2017-06-20 | 华南农业大学 | A kind of intelligent FRP clamping devices and its application |
| CN106856837B (en) * | 2017-01-23 | 2019-03-12 | 华南农业大学 | A kind of intelligent fiber enhancing composite material clamping device and its application |
| CN107214716A (en) * | 2017-06-14 | 2017-09-29 | 中国计量大学 | Tamato fruit string picking end effector and its picking method |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN108161458A (en) * | 2018-01-31 | 2018-06-15 | 杭州辉昂科技有限公司 | A kind of ultrasonic cutting machine people |
| CN108811768A (en) * | 2018-07-11 | 2018-11-16 | 贵州工程应用技术学院 | A kind of fruit picking robot |
| CN110171241A (en) * | 2019-04-16 | 2019-08-27 | 中国计量大学 | Fruits and vegetables carving device |
| CN110171241B (en) * | 2019-04-16 | 2020-11-03 | 中国计量大学 | Fruit and vegetable carving device |
| CN111002397A (en) * | 2019-12-31 | 2020-04-14 | 河池学院 | Plate cutting system and control method thereof |
| CN111747291A (en) * | 2020-06-17 | 2020-10-09 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom automatic adjustment universal hoisting device |
| CN112818781A (en) * | 2021-01-21 | 2021-05-18 | 重庆文理学院 | Method for judging interference type of serial fruit mother branches based on visual scaling method |
| CN112818781B (en) * | 2021-01-21 | 2021-09-14 | 重庆文理学院 | Method for judging interference type of serial fruit mother branches based on visual scaling method |
| CN115039572A (en) * | 2022-07-22 | 2022-09-13 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
| CN115039572B (en) * | 2022-07-22 | 2023-11-14 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
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