CN104798538A - Self-adaptive push-out type fruit and vegetable capturing end executer - Google Patents
Self-adaptive push-out type fruit and vegetable capturing end executer Download PDFInfo
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- CN104798538A CN104798538A CN201510186809.2A CN201510186809A CN104798538A CN 104798538 A CN104798538 A CN 104798538A CN 201510186809 A CN201510186809 A CN 201510186809A CN 104798538 A CN104798538 A CN 104798538A
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Abstract
The invention discloses a self-adaptive push-out type fruit and vegetable capturing end executer. The self-adaptive push-out type fruit and vegetable capturing end executer comprises a base (5), a straight spherical hinge (13), an L-shaped supporting frame (14), a sucker supporting base (9), a push-out mechanism and a clamping mechanism, wherein the L-shaped supporting frame (14) and the straight spherical hinge (13) are fixedly combined by a bolt and are symmetrically distributed on the two sides of the base (5); the push-out mechanism comprises a middle shaft (1), a sleeve (2), a pressure spring (3) and an adjusting nut (4); the clamping mechanism comprises a finger-shaped claw (6), a connecting rod (7) and a vacuum sucker (8); one end of the clamping mechanism is connected with the base (5) through the finger-shaped claw (6) by using pins; the other end of the clamping mechanism is connected with a push-out disc (11) in a pinned manner by the connecting rod (7). The self-adaptive push-out type fruit and vegetable capturing end executer takes a parallel robot as a carrier and can be used just after being installed on a movable platform of the parallel robot. The self-adaptive push-out type fruit and vegetable capturing end executer disclosed by the invention is used for enabling the parallel robot to capture round-likely and lathy fruits, has the advantage of improving the work efficiency and can be applied to agricultural picking and separation operation of fruits and vegetables.
Description
Technical field
The present invention relates to a kind of executing agency, particularly a kind of with the end effector of the artificial carrier of parallel manipulator, specifically a kind of self adaptation eject-type fruits and vegetables based on parallel robot capture end effector.
Background technology
At this in recent years, along with agricultural science and technology development and
the peoplethe raising day by day of living standard, domestic and international fruit and vegetable varieties gets more and more, and the quality of people to fruits and vegetables there has also been higher requirement.In order to improve crudy and the product grade of fruits and vegetables, need to carry out strict deciding grade and level and sorting to it.Traditional screening installation is main mainly with production line, and not only manufacturing cost is high, and the efficiency of separation is low, and likely causes damage to fruits and vegetables in assorting room.Therefore be necessary that a set of cost of design research and development is lower, easily operate, fruits and vegetables screening installation that is quick, accurate and harmlessization can be realized.
Parallel robot is lightweight with it, volume is little, movement velocity is fast, registration, cost are low, efficiency high is widely used in the sorting such as food, medicine industry.Accordingly, inventor proposes parallel robot to be applied to quick, the efficient separation of the realization of agriculture sorting field to fruits and vegetables.But the object that current parallel robot can only be generally plane to outline captures and sorting, be therefore necessary that design is a kind of with the artificial carrier of parallel manipulator, efficient, the reliable end effector of different fruits and vegetables morphological differences can be met.Place keys in background technology and describes paragraph.
Summary of the invention
The object of the invention is exactly generally can only capture for existing parallel robot the deficiency that outline is the object of plane, designs a kind of with the self adaptation eject-type fruits and vegetables of parallel manipulator artificial carrier crawl end effector, is expected to improve the fruits and vegetables efficiency of separation.
the technical scheme that the present invention is adopted for achieving the above object is:
a kind of self adaptation eject-type fruits and vegetables capture end effector, comprise pedestal (5) and configure liner ball hinge (13) be arranged on pedestal (5), L-type bracing frame (14), suction cup support seat (9), ejecting mechanism and clamping device, it is characterized in that liner ball hinge (13) two ends by bolt respectively with pedestal (5) and L-type bracing frame (14) consolidation, and be symmetrically distributed in pedestal (5) both sides, at the upper fixing vacuum cup (8) of L-type bracing frame (14), four paws clamping device is by finger-type pawl (6), vacuum cup (8), suction cup support seat (9), connecting rod (7) is connected in series composition open loop structure by bayonet fittings, each connecting ring (10) coils (11) and is threaded connection fastening with ejecting, ejecting dish (11) is packed on sleeve (2), stage clip (3) in ejecting mechanism presses sleeve (2) upper surface, sleeve (2) lower surface then supports by positioning nut (2), vacuum cup (8) is cemented on suction cup support seat (9), its tail end plug part is then through the spacing hole of finger-type pawl (6) bottom, jackshaft (1) boss lower surface and stage clip (3) near, and be fitted to the top of pedestal (5).
operation principle of the present invention is:
Self adaptation eject-type fruits and vegetables capture end effector with the artificial working material of parallel manipulator, are installed in parallel robot moving platform lower surface by jackshaft (1).First by parallel robot determination object space position during work, utilize to force to eject with the vertical reaction force that object contact produces and coil upward sliding together with (11) same to sleeve (2), thus drive four paws clamping device passes through connecting rod (7) contraction finger-type pawl (6) obvolvent fruit; Vacuum cup (8) can carry out swinging up and down of certain amplitude in the spacing hole of finger-type pawl (6), can carry out automatic attaching for inhomogeneity spheral fruit outer surface, avoids vacuum cup (8) in obvolvent process to the damage of fruits and vegetables outer surface; Perform the crawl to strip fruit by the vacuum cup (8) being positioned at pedestal (5) both sides, liner ball hinge (13) can according to the degree of crook Automatic adjusument angle of variety classes strip fruit, thus be avoided suction phenomenon occurs.The passive delivery crawl of whole crawl process implementation.
the invention has the beneficial effects as follows:
The present invention uses reaction force method cleverly, with the artificial working material of parallel manipulator, four paws clamping device is driven to realize grasping movement by means of ejecting dish (11) with the vertical reaction force produced during object contact during work, the crawl to strip fruit can be realized by position of being assigned a new job, simultaneously in conjunction with parallel robot work characteristics, achieve and the precise positioning of fruits and vegetables is captured and sorting vanning fast, increase work efficiency greatly.
accompanying drawing illustrates:
figure1 is overall structure of the present invention signal
figure
figure2 is the signals of specific embodiment 1 obvolvent form entirety
figure
figure3 is that specific embodiment 2 form is faced
figure
figure4 is that after changing positioning nut location, overall structure is illustrated
figure
figure5 is the signals of clamping device open loop structure
figure
figure6 is finger-type pawl axle sides
figure
figurein 1,1. jackshaft, 2. sleeve, 3. stage clip, 4. transpose nut, 5. pedestal, 6. finger-type pawl, 7. connecting rod, 8. vacuum cup, 9. suction cup support seat, 10. connecting ring, 11. eject dish, 12. locking nuts, 13. liner ball hinges, 14.L type bracing frame, 15. support bars.
embodiment:
Below in conjunction with embodiment and attached
figurethe invention is described in further detail.
embodiment one:
As
figureshown in 1,
a kind of self adaptation eject-type fruits and vegetables capture end effector, comprise pedestal (5) and configure liner ball hinge (13) be arranged on pedestal (5), L-type bracing frame (14), suction cup support seat (9), ejecting mechanism and clamping device, it is characterized in that liner ball hinge (13) two ends by bolt respectively with pedestal (5) and L-type bracing frame (14) consolidation, and be symmetrically distributed in pedestal (5) both sides, at the upper fixing vacuum cup (8) of L-type bracing frame (14), four paws clamping device is by finger-type pawl (6), vacuum cup (8), suction cup support seat (9), connecting rod (7) is connected in series composition open loop structure by bayonet fittings, each connecting ring (10) coils (11) and is threaded connection fastening with ejecting, ejecting dish (11) is packed on sleeve (2), stage clip (3) in ejecting mechanism presses sleeve (2) upper surface, sleeve (2) lower surface then supports by positioning nut (2), vacuum cup (8) is cemented on suction cup support seat (9), its tail end plug part is then through the spacing hole of finger-type pawl (6) bottom, jackshaft (1) boss lower surface and stage clip (3) near, and be fitted to the top of pedestal (5).
Before use, first close the magnetic valve in vacuum line, make vacuum cup (8) be in vacuum state, be secondly screwed into by 6mm bolt in the top wire hole of jackshaft (1) the boss lateral margin of actuator, what complete with parallel robot moving platform is fixing.Preresearch estimates captures fruits and vegetables external profile diameter
, finally with hand-screw dynamic positioning nut (4), observe the envelope scope that four groups of finger-type pawls (6) are formed simultaneously
, until
stop the rotation nut (4) of transposing;
During work, first determine captured object space position by parallel robot, then driving moving platform to drive this device to perform grasping movement, touching object when ejecting dish (11)
upper tableduring face, object can to ejecting (11) one, dish reaction force vertically upward, force and eject dish (11) and sleeve (2) upward sliding, meanwhile, connecting rod (7), while upper sliding with sleeve (2), drives finger-type pawl (6) inwardly to shrink obvolvent fruit, when vacuum cup (8) touches object side contoured surface, vacuum cup (8) makes double-deck silica gel suction nozzle be adsorbed on fruit surface completely by means of obvolvent clamping force fine setting subtended angle, thus completes the grasping movement to class spherefruit.
When fruit is moved to assigned address by parallel robot, open magnetic valve, vacuum is eliminated, actuator discharges fruit automatically, and sleeve (2) glides under the pressure effect of stage clip (3), gets back to initial position, complete actuator to initialize, prepare to carry out grasping movement next time.
embodiment two:
End effector of the present invention can also capture strip fruit.
Concrete as
figureshown in 3, should
figurewith
figurethe difference of 1 is exactly the height difference of silica gel suction nozzle relative to finger-type pawl (6) bottom of the vacuum cup (8) of pedestal (5) both sides.During work, first bar (14) will be supported to slide backward until be separated with vacuum cup (8), elastic force effect due to vacuum cup (8) causes its silica gel suction nozzle slide downward, now suction nozzle position is lower than finger-type pawl (6) low side, clamping device is unsettled is in off-position, and the vacuum cup (8) of pedestal (5) both sides then enters operating position.After this action is identical with embodiment one, still end effector is driven to have moved grasping movement by parallel robot, L-type bracing frame (13) automatically can change angle according to bar shaped curved fruits degree difference in crawl process, ensure that two groups of vacuum cups (8) all accurately can adsorb fruit surface, avoid and produce suction phenomenon.
Claims (6)
1. self adaptation eject-type fruits and vegetables capture end effector, comprise pedestal (5) and configure liner ball hinge (13) be arranged on pedestal (5), L-type bracing frame (14), suction cup support seat (9), ejecting mechanism and clamping device, it is characterized in that liner ball hinge (13) two ends by bolt respectively with pedestal (5) and L-type bracing frame (14) consolidation, and be symmetrically distributed in pedestal (5) both sides, the upper fixing vacuum cup (8) of L-type bracing frame (14), four paws clamping device is by finger-type pawl (6), vacuum cup (8), suction cup support seat (9), connecting rod (7) is connected in series composition open loop structure by bayonet fittings, each connecting ring (10) coils (11) and is threaded connection fastening with ejecting, ejecting dish (11) is packed on sleeve (2), stage clip (3) in ejecting mechanism presses sleeve (2) upper surface, sleeve (2) lower surface then supports by positioning nut (2), vacuum cup (8) is cemented on suction cup support seat (9), its tail end plug part is then through the spacing hole of finger-type pawl (6) bottom, jackshaft (1) boss lower surface and stage clip (3) near, and be fitted to the top of pedestal (5).
2. self adaptation eject-type fruits and vegetables according to claim 1 capture end effector, it is characterized in that: with the artificial carrier of parallel manipulator, are installed on parallel robot moving platform lower end; For the crawl of class spherefruit, by parallel robot determination object space position, utilize vertical depression to contact reaction force automatically to make to eject dish (11) upward sliding, thus drive four paws clamping device to shrink finger-type pawl (6) obvolvent fruit by connecting rod (7); The passive delivery crawl of whole process implementation.
3. self adaptation eject-type fruits and vegetables according to claim 1 capture end effector, it is characterized in that: for the crawl of strip fruit, by the support bar (15) on slip L-type bracing frame (14), unloading vacuum cup (8) elastic force, now vacuum cup (8) suction nozzle is lower than finger-type pawl (6) low side, four paws clamping device is in off-position, the two groups of vacuum cups (8) be positioned on L-type bracing frame (14) are in operating position, crawl work is carried out in preparation, liner ball hinge can according to the degree of crook Automatic adjusument angle of variety classes strip fruit, thus avoid suction phenomenon.
4. self adaptation eject-type fruits and vegetables according to claim 1 capture end effector, it is characterized in that: indirectly control sleeve (2) upper surface opposite base (5) vertical height h by turn nut (4) of transposing, thus change ejects dish (11) initial position, and then have adjusted the initial envelope scope of finger-type pawl, to adapt to the crawl to the large fruitlet of difference.
5. self adaptation eject-type fruits and vegetables according to claim 1 capture end effector, and it is characterized in that: finger-type pawl (6) tail end limited location hole, the diameter of spacing hole is 1.5 times of the double-deck silica gel suction nozzle external diameter on vacuum cup (8).
6. self adaptation eject-type fruits and vegetables according to claim 1 capture end effector, it is characterized in that: described ejects dish (11) lower surface all the time higher than the pin hole that finger-type pawl (6) coordinates with connecting rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186809.2A CN104798538B (en) | 2015-04-20 | 2015-04-20 | A kind of self adaptation ejecting type fruit and vegerable capture end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186809.2A CN104798538B (en) | 2015-04-20 | 2015-04-20 | A kind of self adaptation ejecting type fruit and vegerable capture end effector |
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| CN104798538A true CN104798538A (en) | 2015-07-29 |
| CN104798538B CN104798538B (en) | 2017-03-01 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106068907A (en) * | 2016-07-06 | 2016-11-09 | 巩莉 | A kind of vegetable intelligence production recovery arrangement based on parallel institution |
| CN106171276A (en) * | 2016-07-06 | 2016-12-07 | 徐子桐 | A kind of automatic recovering device of vegetable with root rotary cutting function |
| CN106171080A (en) * | 2016-07-06 | 2016-12-07 | 徐子桐 | A kind of booth vegetable intelligent cultivation robot |
| CN106171285A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of crops vegetable Intelligent watering production recovery arrangement |
| CN106211919A (en) * | 2016-07-06 | 2016-12-14 | 徐子桐 | A kind of harvester that loosens the soil for agricultural product vegetable |
| CN107750630A (en) * | 2017-10-12 | 2018-03-06 | 西南石油大学 | A kind of easy vegetables and fruits picking mechanism |
| CN108367399A (en) * | 2015-12-17 | 2018-08-03 | 标致雪铁龙汽车股份有限公司 | The set station of industrial production line |
| CN109121695A (en) * | 2018-07-06 | 2019-01-04 | 河南理工大学 | Melon and fruit picking machine |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN110063139A (en) * | 2019-05-27 | 2019-07-30 | 苏平 | A kind of triggering apple picking device certainly |
| CN111623191A (en) * | 2020-06-03 | 2020-09-04 | 济南大学 | Umbrella-shaped supporting mechanism of pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108367399A (en) * | 2015-12-17 | 2018-08-03 | 标致雪铁龙汽车股份有限公司 | The set station of industrial production line |
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| CN107750630A (en) * | 2017-10-12 | 2018-03-06 | 西南石油大学 | A kind of easy vegetables and fruits picking mechanism |
| CN109121695A (en) * | 2018-07-06 | 2019-01-04 | 河南理工大学 | Melon and fruit picking machine |
| CN109121695B (en) * | 2018-07-06 | 2021-08-20 | 河南理工大学 | Melon and fruit picking machine |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN110063139A (en) * | 2019-05-27 | 2019-07-30 | 苏平 | A kind of triggering apple picking device certainly |
| CN111623191A (en) * | 2020-06-03 | 2020-09-04 | 济南大学 | Umbrella-shaped supporting mechanism of pipeline robot |
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| CN104798538B (en) | 2017-03-01 |
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