CN106342484B - A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker - Google Patents
A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker Download PDFInfo
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- CN106342484B CN106342484B CN201610976844.9A CN201610976844A CN106342484B CN 106342484 B CN106342484 B CN 106342484B CN 201610976844 A CN201610976844 A CN 201610976844A CN 106342484 B CN106342484 B CN 106342484B
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- motor
- fixedly connected
- potentiometer
- finger joint
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
Abstract
The present invention provides a kind of clamping rotary-cutting type drive lackings two to refer to hand grape picker, includes mainly under-actuated finger mechanism, rotating mechanism, delivery device, rotary cutting mechanism, wrist bindiny mechanism, main supporting plate and binocular camera composition；Under-actuated finger mechanism is arranged on main supporting plate both sides, wrist bindiny mechanism connect with rotating mechanism, rotating mechanism is connect with main supporting plate, delivery device is connect with rotating mechanism, rotary cutting mechanism is connect with delivery device, the wrist of wrist bindiny mechanism and mechanical arm connects, motor A driving under-actuated finger mechanism movements, utilize S type pressure sensors, potentiometer, tablet pressure sensor, the effect of tension spring, realize closed loop real-time control and flexible crawl target object of the controller to under-actuated finger mechanism, rotating mechanism and delivery device driving rotary cutting mechanism realize 360 ° of circumference crankmotions and transversal stretching movement, rotary cutting mechanism realizes that the rotary-cut to target carpopodium acts by DC MOTOR CONTROL cylinder blade；Structure of the invention is exquisite, and flexibility is strong, and finger pose working space is big, higher picking success rate can be obtained, and the mechanical damage to plant and fruit can be reduced, can realize the picking to the clusters fruit such as grape, has the characteristics that fruit shapes adaptive ability and contact force are controllable.
Description
Technical field
The present invention relates to field of agricultural robots, and in particular to clamping rotary-cutting type drive lacking two refers to hand grape picker.
Background technology
China's fruits and vegetables industry development achievement protrudes, but in the quick reduction of agricultural workforce and the at full speed of labor cost
It rises, severe challenge is proposed to fruits and vegetables industry development.Fruit and vegetable picking is a time-consuming and laborious job, the season of fruits and vegetables harvest
Section property is strong, needs to put into a large amount of labour, and picking efficiency is relatively low.Therefore, research fruit and vegetable picking robot is to alleviating agriculture
Village's lack of labor saves labour turnover, improves fruit and vegetable picking efficiency and have great significance.
Grape is a kind of berry fruits of cluster growth, and fruit thin skin grain is big, and it is more that juice lacks water, is easily mechanically damaged, this
Kind injury can accelerate the aging of grape corrupt, rotten, seriously affect the quality and economic benefit of grape.Currently, the picking of grape
Mainly by being accomplished manually, picking efficiency is low, and artificial property mechanical damage often occurs.
Invention content
In response to the deficiencies in the existing technology, the present invention provides a kind of clamping rotary-cutting type drive lackings two to refer to the picking of hand grape
Device, the pressure sensor based on force feedback may be implemented the finger mobile phone structure of drive lacking two and carry out flexible crawl to grape cluster fruit, with
And rotary-cut servo mechanism accurately identifies positioning and reliable rotary-cut based on binocular vision system to Grape stems.
The present invention achieves the above technical objects by the following technical means.
A kind of clamping rotary-cutting type drive lacking two refers to hand grape picker, which is characterized in that including under-actuated finger mechanism,
Rotating mechanism, delivery device, rotary cutting mechanism, wrist bindiny mechanism, main supporting plate, binocular camera.
The under-actuated finger mechanism is fixedly connected with main supporting plate, and the under-actuated finger mechanism I includes motor, guide rail
Slide block mechanism and link mechanism.
The guide rail slide block mechanism G includes motor fixing seat A, shaft coupling A, locking nut A, ball-screw A, nut A, cross
To sliding block A, transverse slider B, guide rail slide block A, guide rail A, leading screw fixed seat A, leading screw support base A；The motor fixing seat A and master
Support plate is fixedly connected, and the motor A is fixed on motor fixing seat A, and the motor A is connected by shaft coupling A and ball-screw A
It connects；Nut A and locking nut A are threadingly attached on ball-screw A, and the leading screw fixed seat A and leading screw support base A pass through
Bearing support ball-screw A, the leading screw fixed seat A and leading screw support base A are fixedly connected with main supporting plate respectively, the nut
A is fixedly connected with transverse slider A, and the both ends transverse slider A are fixedly connected by transverse slider B with guide rail slide block A respectively, described to lead
Rail sliding block A is slidably connected with guide rail A, and the guide rail A is fixed on Main shoe plate two medial surface.
The quantity of the link mechanism L is 2 sets, is arranged on main supporting plate both sides, the link mechanism L includes S type pressure
Sensor, fixed block A, drive link, drive rocker, nearly finger joint fixed frame, fixed block B, intermediate connecting rod, nearly finger joint, remote finger joint,
Tension spring, 2 tablet pressure sensors, 3 potentiometers；The S types pressure sensor both ends respectively with transverse slider A and fixed block
A is fixedly connected, and one end of fixed block A and drive link is hinged, sets that there are three hinge holes in the drive rocker, is located at and is shaken
The other end of the centre and both ends of bar, the drive link is hinged with drive rocker by the intermediate hinge hole of drive rocker, drives
The both ends for shaking bar are hinged with intermediate connecting rod and nearly finger joint fixed frame respectively, the other end of intermediate connecting rod and remote knucklejoint, closely
Finger joint fixed frame and nearly knucklejoint, nearly finger joint and remote knucklejoint, the nearly finger joint fixed frame pass through fixation with main supporting plate
Part B is fixedly connected；Potentiometer is arranged with S type pressure sensors hinged place in the drive link, and the nearly finger joint is solid with nearly finger joint
Determine frame hinged place setting potentiometer, nearly finger joint and setting potentiometer at remote knucklejoint, the sensor connection in the nearly finger joint
Through-hole connects with the sensor of remote finger joint and is equipped with tablet pressure sensor on through-hole；It is set between the intermediate connecting rod and remote finger joint
Set tension spring.
The rotating mechanism includes motor B, rotating support A, rotating support B, rotating support C, rotating support
D, thrust ball bearing, secondary support plate, secondary support plate bracing frame, locking nut B；The both ends the rotating support A are separately fixed at
The lower end of the upper end of rotating support B and rotating support C, the rotating support B and rotating support C are fixed on main support
On plate, motor B is fixed on rotating support A in the following, the rotating support D is fixed on the tops rotating support A, the rotation
It is correspondingly provided with through-hole in supporting rack A, rotating support D and secondary support plate, ensures that the output shaft of motor B can pass through, pair branch
Fagging is located at the top of rotating support D, and thrust ball bearing, thrust ball bearing are equipped between rotating support D and secondary support plate
Be placed in the groove of rotating support D, the output shaft of motor B pass through rotating support A, rotating support D, thrust ball bearing and
The output shaft end of secondary support plate, motor B is locked with locking nut B；The rotating support B is fixed with video camera fixed plate to be connected
It connects, binocular camera is installed in video camera fixed plate.
The delivery device includes motor C, motor fixing seat B, shaft coupling B, guide rail platform, locking nut C, ball-screw
B, leading screw fixed seat B, leading screw support base B, nut B, guide rail slide block B, guide rail B, push guide rod；Motor C and motor fixing seat B is solid
Fixed connection；Motor fixing seat B is fixedly connected with guide rail platform, and guide rail platform is fixed in secondary support plate bracing frame；Motor C and rolling
Ballscrew B is connected by shaft coupling B；The leading screw fixed seat B and leading screw support base B is described by bearing support ball-screw B
Locking nut C and nut B are threadingly attached on ball-screw B, and the nut B is fixedly connected with push guide rod, and push is led
One end of bar is fixedly connected with guide rail slide block B, and guide rail slide block B is slidably connected with guide rail B, and guide rail B is fixed on guide rail platform.
The rotary cutting mechanism IV includes motor D, rotary-cut motor fixing plate, shaft coupling C, axle sleeve, locking nut D, cutting disc
Piece, the rotary-cut motor fixing plate are fixedly connected with the other end of push guide rod, and motor D is fixed with rotary-cut motor fixing plate to be connected
It connects, cylinder blade is fixedly connected with axle sleeve, and the shaft end of axle sleeve is fixedly connected with motor D output shaft ends by shaft coupling C.
The wrist bindiny mechanism V includes wrist connecting chuck, wrist connecting plate, wrist connecting plate fixed seat, the wrist
Portion's connecting plate fixed seat is fixedly connected with main supporting plate, and wrist connecting plate is fixedly connected with wrist connecting plate fixed seat, the wrist
Portion's connecting chuck is fixedly connected with wrist connecting plate；
The motor A, it motor B, motor C, motor D, potentiometer A, potentiometer B, potentiometer C, S type pressure sensor, puts down
Plate pressure sensor and binocular camera are electrically connected with control device.
Preferably, the link mechanism L further includes potentiometer fixing piece A~F, potentiometer fixing piece A and transverse slider A solid
Fixed connection, potentiometer fixing piece B are fixedly connected with drive link, and potentiometer fixing piece C is fixedly connected with fixing piece B, potentiometer
Fixing piece D is fixedly connected with nearly finger joint respectively with potentiometer fixing piece E, and potentiometer fixing piece F is fixedly connected with remote finger joint；Current potential
Device A is fixedly connected with potentiometer fixing piece A and potentiometer fixing piece B, and potentiometer B is fixed with potentiometer fixing piece C and potentiometer
Part D is fixedly connected, and potentiometer C is fixedly connected with potentiometer fixing piece E and potentiometer fixing piece F.
Preferably, the nearly finger joint movement of the nearly finger joint fixed frame end set terminates limited block, the end of the nearly finger joint
Setting limits remote finger joint movement and terminates limited block.
Preferably, each hinged place uses axis pin, split pin hinged in the under-actuated finger mechanism I.
Preferably, one layer of soft silica gel is posted on the surface of the tablet pressure sensor
Preferably, the cylinder blade is fixedly connected by locking nut D and increasing gasket with axle sleeve.
The beneficial effects of the invention are as follows：
(1) under-actuated finger mechanism is used, and uses tension spring as limiting mechanism, function, institute are captured with envelope
Under-actuated finger mechanism I is stated using 2 grades of tandem link mechanism L under the cooperation of the tension spring and the limited block, according to fruit
The real contact position with nearly finger joint and remote finger joint, under-actuated finger mechanism I are capable of the configuration of adaptive fruit shapes.
(2) according to grape sShape features, the link mechanism L-shaped of 2 sets of under-actuated finger mechanisms I refers to hand at drive lacking two, can
With the stability that raising acts, the flexibility of crawl and success rate.
(3) the link mechanism L of under-actuated finger mechanism I is separately installed with tablet pressure in the nearly finger joint and remote finger joint
Sensor avoids excessive contact force from damaging fruit for perceiving fruit contact force.
(4) current potential is arranged in drive link and S type pressure sensors hinged place in the link mechanism L of under-actuated finger mechanism I
Device, nearly finger joint are arranged potentiometer, nearly finger joint and setting potentiometer at remote knucklejoint with nearly finger joint fixed frame hinged place, realize control
It the real time monitoring of the change in location of each connecting rod and is precisely controlled in device linkage L processed.
(5) S type pressure sensings are arranged in the link mechanism L of under-actuated finger mechanism I between transverse slider A and fixing piece A
Device realizes controller to the real-time controls of motor A thrust outputs, and then realizes controller to nearly finger joint and remote finger joint and fruit
The control of contact force size.
(6) rotary cutting mechanism IV realizes that 360 ° of circumference crankmotions, delivery device IV can drive by pushing guide rod
Rotary cutting mechanism IV realizes the transversal stretching movement of 0~160mm.Rotary cutting mechanism IV is determining Grape stems by binocular camera
While position, controller controls the movement of rotating mechanism II and delivery device III so that it is pre- that rotary cutting mechanism IV reaches Grape stems
Positioning sets and realizes the reliable rotary-cut to carpopodium.
Description of the drawings
Fig. 1 is that clamping rotary-cutting type drive lacking two of the present invention refers to hand grape picker axonometric drawing.
Fig. 2 is that clamping rotary-cutting type drive lacking two of the present invention refers to hand grape picker upward view.
Fig. 3 is II structural schematic diagram of rotating mechanism of the present invention.
Fig. 4 is main supporting plate structural schematic diagram of the present invention.
Fig. 5 is wrist connecting chuck structural schematic diagram of the present invention.
Fig. 6 is transverse slider A structural schematic diagrams of the present invention.
Fig. 7 is transverse slider B structure schematic diagram of the present invention.
Fig. 8 is fixed block B structure schematic diagram of the present invention.
Fig. 9 is drive linkage arrangement schematic diagram of the present invention.
Figure 10 is nearly finger joint fixed rack structure schematic diagram of the present invention.
Figure 11 is potentiometer fixing piece C-structure schematic diagram of the present invention.
Figure 12 is nearly finger joint structural schematic diagram of the present invention.
Figure 13 is remote finger joint structural schematic diagram of the present invention.
Figure 14 is rotating support D structural schematic diagrams of the present invention.
Figure 15 is push guide rod structure schematic diagram of the present invention.
Figure 16 is guide rail platform structure schematic diagram of the present invention.
Figure 17 is axle sleeve structure schematic diagram of the present invention.
Wherein：1. motor A；2. shaft coupling A；3. ball-screw A；4. nut A；5. transverse slider A；501. the 7th through-holes；
502. the 8th through-holes；503. the 11st through-holes；504. the 12nd tapped through holes；6. transverse slider B；601. the 9th through-holes；602.
Tenth through-hole；7. guide rail slide block A；8. guide rail A；9.S type pressure sensors；10. fixing piece A；11. drive link；1101. the tenth
Eight through-holes；12. drive rocker；13. nearly finger joint fixed frame；1301. nearly finger joint movements terminate limited block；1302. the 37th is logical
Hole；1303. the 16th through-holes；14. fixing piece B；1401. the 13rd through-holes；1402. the 15th through-holes；15. intermediate connecting rod；16.
Nearly finger joint；1601. remote finger joint movements terminate limited block；1602. the 22nd through-holes；1603. the 19th through-holes；1604. second
Ten through-holes；17. remote finger joint；1701. the 23rd through-holes；1702. the 21st through-holes；1703. the 17th through-holes；18. tension spring；
19. tablet pressure sensor；20. potentiometer A；21. potentiometer fixing piece A；22. potentiometer fixing piece B；23. potentiometer is fixed
Part C；24. potentiometer fixing piece D；25. potentiometer fixing piece E；26. potentiometer fixing piece F；27. main supporting plate；2701. third
18 through-holes；2702. first through hole；2703. the 28th through-holes；2704. the second through-hole；2705. the 25th through-holes；
2706. third through-hole；2707. the 14th through-holes；2708. fourth hole；28. locking nut A；29. leading screw fixed seat A；30. thread
Thick stick support base A；31. motor B；32. rotating support B；3201. the 24th through-holes；3202. the 26th through-holes；33. rotation
Supporting rack C；3301. the 29th through-holes；3302. the 27th through-holes；34. rotating support A；35. rotating support D；
3501. groove；36. thrust ball bearing；37. secondary support plate；38. pair support plate bracing frame；39. locking nut B；40. motor C；
41. shaft coupling B；42. nut B；43. guide rail slide block B；44. guide rail B；45. pushing guide rod；4501. the 35th through-holes；4502.
36th through-hole；46. guide rail platform；4601. the 30th through-holes；4602. the 31st through-holes；4603. the 33rd through-holes；
4604. the 34th through-holes；4605. the 32nd through-holes；47. locking nut C；48. leading screw fixed seat B；49. leading screw support base
B；50. motor D；51. rotary-cut motor fixing plate；52. shaft coupling C；53. axle sleeve；54. locking nut D；55. increasing gasket；56.
Cylinder blade；57. binocular camera；58. video camera fixed plate；59. wrist connecting plate fixed seat；60. wrist connecting plate；61.
Wrist connecting chuck；6101. fifth hole；6102. the 6th through-holes；62. ball-screw；63. motor fixing seat B；64. motor is solid
Reservation A；65. axis pin；66, split pin；67, potentiometer B；68, potentiometer C.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As illustrated in fig. 1 and 2, it includes under-actuated finger mechanism that a kind of clamping rotary-cutting type drive lacking two, which refers to hand grape picker,
I, rotating mechanism II, delivery device III, rotary cutting mechanism IV, wrist bindiny mechanism V, main supporting plate 27 and binocular camera 57.
As illustrated in fig. 1 and 2, the under-actuated finger mechanism I includes motor A1, guide rail slide block mechanism G and link mechanism L；
The guide rail slide block mechanism G includes motor fixing seat A64, shaft coupling A2, locking nut A28, ball-screw A3, nut A4, cross
To sliding block A5, transverse slider B6, guide rail slide block A7, guide rail A8, leading screw fixed seat A29, leading screw support base A30；The main support
The structure of plate 27 passes through as shown in figure 4, main supporting plate 27 is fixedly connected by the second through-hole 2704 with leading screw fixed seat A29
Three through-holes 2706 are fixedly connected with leading screw support base A30.Motor A1 is fixed on motor fixing seat A64, motor fixing seat A64 with
38th through-hole 2701 of main supporting plate 27 is fixedly connected.The motor A1 is connect by shaft coupling A2 with ball-screw A3,
Nut A4 and locking nut A28 are threadingly attached on ball-screw A3, the leading screw fixed seat A29 and leading screw support base
A30 passes through bearing support ball-screw A3；The structure of transverse slider A5 is as shown in fig. 6, the transverse slider A5 is logical by the 7th
Hole 501 is fixedly connected with nut A4, and transverse slider A5 passes through the 9th of the 8th through-hole 502 and transverse slider B6 (as shown in Figure 7)
Through-hole 601 is fixedly connected, and transverse slider B6 is fixedly connected by the tenth through-hole 602 with guide rail slide block A7；Guide rail slide block A7 with lead
Rail A8 is slidably connected, and guide rail A8 is fixed on two medial surfaces of main supporting plate 27 by the fourth hole 2708 on main supporting plate 27.
As illustrated in fig. 1 and 2, the link mechanism L includes S types pressure sensor 9, fixed block A10, drive link 11, drives
Shake bar 12, nearly finger joint fixed frame 13, fixed block B14, intermediate connecting rod 15, nearly finger joint 16, remote finger joint 17, tension spring 18, flat-plate compressed
Force snesor 19, potentiometer A20, potentiometer 67, potentiometer 68；Transverse slider A5 (as shown in Figure 6) passes through the 11st through-hole 503
It is fixedly connected with one end of S types pressure sensor 9, the other end of S types pressure sensor 9 is fixedly connected with fixed block A10, S types
Pressure sensor 9 realizes real-time control of the controller to motor A1 thrust outputs, and then realization controller is to nearly finger joint 16 and far
The control of finger joint 17 and the contact force size of fruit.Fixed block A10 and one end of drive link 11 (as shown in Figure 9) are hinged, drive
The other end of dynamic connecting rod 11 and the centre of drive rocker 12 are hinged, and the both ends of drive rocker 12 refer to intermediate connecting rod 15 and closely respectively
The 37th through-hole 1302 for saving fixed frame 13 is hinged, and the other end of intermediate connecting rod is hinged with remote finger joint 17, nearly finger joint fixed frame
13 the 37th through-hole 1302 and one end of nearly finger joint 16 are hinged, and one end of nearly finger joint 16 is hinged with remote finger joint 17, described close
The 15th through-hole that finger joint fixed frame 13 (as shown in Figure 10) passes through the 16th through-hole 1303 and fixed block B14 (as shown in Figure 8)
1402 are fixedly connected, and fixed block B14 is fixedly connected by the 13rd through-hole 1401 with the 14th through-hole 2707 of main supporting plate 27；
1703 installation bolt of the 17th through-hole of the remote finger joint 17, and between the axis pin of 15 hinged place of remote finger joint 17 and intermediate connecting rod
Tension spring 18 is set.
3 potentiometers and corresponding potentiometer fixing piece (as shown in figure 11) are additionally provided on the link mechanism L, it is laterally sliding
Block A5 is fixedly connected by 504 through-hole of the 12nd screw thread with potentiometer fixing piece A21, and drive link 11 passes through the 18th through-hole
1101 are fixedly connected with potentiometer fixing piece B22, and potentiometer A20 is fixed at potentiometer fixing piece A21 and potentiometer is fixed
Between part B22；Fixing piece B14 is fixedly connected by the 13rd through-hole 1401 with potentiometer fixing piece C23, and nearly finger joint 16 passes through
19 through-holes 1603 are fixedly connected with potentiometer fixing piece D24, and potentiometer 67 is fixed at potentiometer fixing piece C23 and current potential
Between device fixing piece D24；Nearly finger joint 16 is fixedly connected by the 20th through-hole 1604 with potentiometer fixing piece E25, remote finger joint 17
It is fixedly connected with potentiometer fixing piece F26 by the 21st through-hole 1702, potentiometer 68 is fixed at potentiometer fixing piece
Between E25 and potentiometer fixing piece F26.By the installation of potentiometer, realize controller to drive link 11, nearly finger joint 16, remote
The real time monitoring of 17 change in location of finger joint, and then pass through S types pressure sensor 9, tablet pressure sensor 19 and potentiometer A20
Collective effect realizes that controller refers to drive lacking two the real-time closed-loop feedback control of mobile phone structure I, completes under-actuated finger mechanism I
Not damaged crawl to objective fruit.
As shown in Figure 12,13, the nearly finger joint movement of the end set of the nearly finger joint fixed frame 13 terminates limited block 1301, institute
The end set for stating nearly finger joint 16 limits remote finger joint movement termination limited block 1601.22nd through-hole in the nearly finger joint 16
1602 and remote finger joint 17 the 23rd through-hole 1701 on tablet pressure sensor 19 is installed, for perceiving the contact of fruit
One layer of soft silica gel is posted on the surface of power, the tablet pressure sensor 19, and excessive contact force is avoided to damage fruit.
According to the sShape features of fruits and vegetables, it is divided to row two sets of identical under-actuated fingers in 27 both sides of main supporting plate
The link mechanism L-shaped of mechanism I refers to hand at drive lacking two, can improve stability and the flexibility of grasping movement.
The wrist bindiny mechanism V includes wrist connecting chuck 61, wrist connecting plate 60, wrist connecting plate fixed seat 59,
The wrist connecting chuck 61 (as shown in Figure 5) is fixedly connected by fifth hole 6101 with the wrist of mechanical arm, the wrist
Connecting chuck 61 is fixedly connected by the 6th through-hole 6102 with wrist connecting plate 60；Wrist connecting plate 60 is fixed with wrist connecting plate
Seat 59 is fixedly connected；Wrist connecting plate fixed seat 59 is fixedly connected with the 28th through-hole 2701 of main supporting plate 27.
The wrist connecting chuck 61 is connect with the wrist of mechanical arm, when the invention is guided to target position in company with mechanical arm
When setting, the stepper motor A1 that the drive lacking two refers to hand receives instruction rotating forward, and the motor A1 passes through shaft coupling A2 and drives ball
Nut A4 on leading screw A3 is laterally moved, and then the transverse slider A5 drive links mechanism by being fixedly connected with nut A4
L is moved.At this point, transverse slider B6, guide rail slide block A7, S type pressure sensor 9, fixing piece A10 can regard that rigidity is as
One, moves together in company with the transverse slider A5, and the fixing piece A10 drives drive rocker by the drive link 11
12 swing at the hinge joint of the nearly finger joint 16 and the nearly finger joint fixed frame 13, the nearly finger joint 16, remote finger joint 17 and
Connected intermediate connecting rod 15 can regard that rigidity is integrated as, be moved together in company with the transverse slider A5.The motor A1
It is rotated further, 16 contacting fruit of nearly finger joint is considered as fixation.The motor A1 is rotated further, and the intermediate connecting rod 15 drives
The remote finger joint 17 is swung at the hinge joint of the nearly finger joint 16 and the remote finger joint 17, under the cooperation of the tension spring 18,
The remote finger joint 17 touches fruit.In this way, the link mechanism L for often covering the under-actuated finger mechanism I completes above-mentioned action,
2 point contacts are at least formed with fruit, are at most formed 4 point contacts, be ensure that the stability of grasping movement.2 sets of drive lacking hands
Refer to the link mechanism L of mechanism I by motor A1 independent controls.When the invention unloads fruit position in company with mechanical arm arrival, the motor
A1 receives instruction reversion, and under the cooperation of the tension spring 18 and finger joint limited block, the nearly finger joint 16 and remote finger joint 17 are gradually returned
To initial position, the under-actuated finger mechanism I, which is realized, decontrols fruit action.
As shown in figure 3, the rotating mechanism II includes motor B31, rotating support A34, rotating support B32, rotation
Supporting rack C33, rotating support D35, thrust ball bearing 36, secondary support plate 37, secondary support plate bracing frame 38, locking nut B39；
Rotating support B32 is fixedly connected by the 24th through-hole 3201 with the 25th through-hole 2705 of main supporting plate 27, rotation
Supporting rack B32 is fixedly connected by the 26th through-hole 3202 with video camera fixed plate 58, and binocular camera 57 is installed on camera shooting
In machine fixed plate 58, rotating support C33 passes through the 28th through-hole 2703 of the 27th through-hole 3302 and main supporting plate 27
It is fixedly connected, rotating support C33 is fixedly connected by the 29th through-hole 3301 with wrist connecting plate 60, rotating support
The both ends of A34 are fixedly connected with rotating support B32 and rotating support C33 respectively, and motor B31 is fixed on rotating support
A34 is in the following, (as shown in figure 14) fix of the rotating support D35 passes through the 38th through-hole 3502 and rotating support A34
It is correspondingly provided with through-hole in top, the rotating support A34, rotating support D35 and secondary support plate 37, ensures motor B31
Output shaft can pass through, rotating support D35 is located at the top of secondary support plate 37, pair support plate bracing frame 38 and secondary support plate
37 are fixedly connected, and are equipped with thrust ball bearing 36 between rotating support D35 and secondary support plate 37, thrust ball bearing 36 is placed in rotation
In 3501 slots of supporting rack D35, the output shaft of motor B31 passes through rotating support A34, rotating support D35 and secondary support plate
The output shaft end of through-hole on 37, motor B31 is locked with locking nut B39.Under the driving of the motor B31, by pushing away
The effect of power ball bearing 36 drives secondary support plate 37, and then drives the delivery device III on secondary support plate bracing frame 38 and rotation
It cuts mechanism IV and carries out forward or reverse.After 57 camera of binocular camera acquires grape fruit and its carpopodium position, acquisition is believed
Breath feeds back to controller, and then controller carries out processing analysis to data, subsequently makes action command to each motor.
As shown in Figure 1, the delivery device III includes motor C40, motor fixing seat B63, shaft coupling B41, guide rail platform
46, locking nut C47, ball-screw B62, leading screw fixed seat B48, leading screw support base B49, nut B42, guide rail slide block B43, lead
Rail B44, push guide rod 45；Motor C40 is fixedly connected with motor fixing seat B63；The guide rail platform 46 passes through the 30th through-hole
4601 are fixedly connected with motor fixing seat B63, and the guide rail platform 46 passes through the 31st through-hole 4602 and leading screw fixed seat B48
It is fixedly connected, the guide rail platform 46 is fixedly connected by the 32nd through-hole 4605 with leading screw support base B49, and the guide rail is flat
Platform 46 is fixedly connected by the 33rd through-hole 4603 with pair support plate bracing frame 38, and the guide rail platform 46 passes through the 34th
Through-hole 4604 is fixedly connected with guide rail B44.Motor C40 is connect with ball-screw B62 by shaft coupling B41；The leading screw is fixed
Seat B48 and leading screw support base B49 passes through screw thread by bearing support ball-screw B62, the locking nut C47 and nut B42
It is connected on ball-screw B62, push guide rod 45 is fixedly connected by the 35th through-hole 4501 with nut B42, and guide rod is pushed
45 are fixedly connected by the 36th through-hole 4502 with guide rail slide block B43, and nut B42 is threadedly coupled with ball-screw B62, guide rail
B44 is fixed on guide rail platform 46.When the motor C40 starts to work, ball screw turns are driven by shaft coupling B41, into
And nut B42 is driven to realize transverse movement, at this point, it is one that nut B42, push guide rod 45, guide rail slide block B43, which can regard rigidity as,
Body, guide rail slide block B43 are slidably connected with guide rail B44, and nut B42 drives push guide rod 45 and guide rail slide block B43 transverse movements, into
And it pushes rotary cutting mechanism IV and moves to carpopodium position.
As shown in Figure 1, the rotary cutting mechanism IV includes motor D50, rotary-cut motor fixing plate 51, shaft coupling C52, axle sleeve
53, locking nut D54, increasing gasket 55, cylinder blade 56.Rotary-cut motor fixing plate 51 and the other end of push guide rod 45 are solid
Fixed connection, motor D50 is fixedly connected with rotary-cut motor fixing plate 51, and as shown in Fig. 1 and Figure 17, cylinder blade 56 passes through locking screw
Female D54 and increasing gasket 55 are fixedly connected with axle sleeve 53, and shaft end and the motor D50 output shaft ends of axle sleeve 53 pass through shaft coupling C52
It is fixedly connected；When the motor D50 starts to work, axle sleeve 53 is driven to rotate by shaft coupling C52, at this point, axle sleeve 53, locking screw
Female D54, it gasket 55 and cylinder blade 56 are increased can regard as rigid unitary, and then axle sleeve 53 drives the realization of cylinder blade 56 to cut
Cut the action of carpopodium.
The motor A1, motor B31, motor C40, motor D50, S type pressure sensor 9, tablet pressure sensor 19 with
And 57 uniformity controller of binocular camera electrical connection.
The achievable operating mode of the present invention be by binocular camera 57 acquire the maturity of grape fruit, size,
Then acquisition information is fed back to controller by the information such as position and the position of carpopodium, controller passes through collected information
Algorithm carries out processing analysis and carries out machine vision calibration to ripening fruits and its carpopodium, and controller is driven by motor driver
Each motor works independently.On the one hand, under-actuated finger mechanism I works independently under the driving of motor A, realizes to ripening fruits
Holding action.On the other hand, for rotary cutting mechanism IV while positioning of the binocular camera to Grape stems, controller passes through electricity
Machine B and motor C drives the rotating mechanism II and delivery device III that rotary cutting mechanism IV is sent to predetermined carpopodium position, and realizes
Cutting action of the rotary cutting mechanism IV to target carpopodium under the driving of motor D.
The embodiment is the preferred embodiments of the present invention, but present invention is not limited to the embodiments described above, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification all belongs to the scope of protection of the present invention.
Claims (6)
1. a kind of clamping rotary-cutting type drive lacking two refers to hand grape picker, which is characterized in that including under-actuated finger mechanism
(I), rotating mechanism (II), delivery device (III), rotary cutting mechanism (IV), wrist bindiny mechanism (V), main supporting plate (27), binocular
Camera (57)；
The under-actuated finger mechanism (I) is fixedly connected with main supporting plate (27), and the under-actuated finger mechanism (I) includes motor
A (1), guide rail slide block mechanism G and link mechanism L；
The guide rail slide block mechanism G includes motor fixing seat A (64), shaft coupling A (2), locking nut A (28), ball-screw A
(3), nut A (4), transverse slider A (5), transverse slider B (6), guide rail slide block A (7), guide rail A (8), leading screw fixed seat A (29),
Leading screw support base A (30)；The motor fixing seat A (64) is fixedly connected with main supporting plate (27), and the motor A (1) is fixed on
On motor fixing seat A (64), the motor A (1) is connect by shaft coupling A (2) with ball-screw A (3)；Nut A (4) and locking
Nut A (28) is threadingly attached on ball-screw A (3), and the leading screw fixed seat A (29) and leading screw support base A (30) are logical
Cross bearing support ball-screw A (3), the leading screw fixed seat A (29) and leading screw support base A (30) respectively with main supporting plate (27)
It is fixedly connected, the nut A (4) is fixedly connected with transverse slider A (5), and transverse slider A (5) both ends pass through transverse slider B respectively
(6) it is fixedly connected with guide rail slide block A (7), the guide rail slide block A (7) is slidably connected with guide rail A (8), and the guide rail A (8) is fixed
In two medial surfaces of main supporting plate (27)；
The quantity of the link mechanism L is 2 sets, is arranged on main supporting plate (27) both sides, the link mechanism L includes S type pressure
Sensor (9), fixed block A (10), drive link (11), drive rocker (12), nearly finger joint fixed frame (13), fixed block B (14),
Intermediate connecting rod (15), nearly finger joint (16), remote finger joint (17), tension spring (18), tablet pressure sensor (19), potentiometer A (20), electricity
Position device B (67), potentiometer C (68)；S types pressure sensor (9) both ends respectively with transverse slider A (5) and fixed block A (10)
It is fixedly connected, one end of fixed block A (10) and drive link (11) is hinged, sets that there are three hinged on the drive rocker (12)
Hole, is located at the centre and both ends of rocking bar, and the other end of the drive link (11) is cut with scissors by the intermediate of drive rocker (12)
Connect that hole and drive rocker (12) are hinged, the both ends of drive rocker (12) respectively with intermediate connecting rod (15) and nearly finger joint fixed frame (13)
Hinged, the other end of intermediate connecting rod is hinged with remote finger joint (17), and nearly finger joint fixed frame (13) is hinged with nearly finger joint (16), nearly finger joint
(16) hinged with remote finger joint (17), the nearly finger joint fixed frame (13) connects with main supporting plate (27) by the way that fixing piece B (14) is fixed
It connects；The drive link (11) and S types pressure sensor (9) hinged place setting potentiometer A (20), the nearly finger joint (16) with it is close
Potentiometer B (67), nearly finger joint (16) and remote finger joint (17) hinged place setting potentiometer C is arranged in finger joint fixed frame (13) hinged place
(68), the sensor connection through-hole (1602) on the nearly finger joint (16) connects through-hole (1701) with the sensor of remote finger joint (17)
On tablet pressure sensor (19) is installed；Tension spring (18) is set between the intermediate connecting rod (15) and remote finger joint (17)；
The rotating mechanism (II) includes motor B (31), rotating support A (34), rotating support B (32), rotating support C
(33), rotating support D (35), thrust ball bearing (36), secondary support plate (37), secondary support plate bracing frame (38), locking nut B
(39)；Rotating support A (34) both ends are separately fixed at the upper end of rotating support B (32) and rotating support C (33),
The lower end of the rotating support B (32) and rotating support C (33) are fixed on main supporting plate (27), and motor B (31) is fixed
In rotating support A (34) in the following, the rotating support D (35) is fixed on above rotating support A (34), the rotation branch
It is correspondingly provided with through-hole on support A (34), rotating support D (35) and secondary support plate (37), ensures the output shaft of motor B (31)
It can pass through, secondary support plate (37) is located at the top of rotating support D (35), rotating support D (35) and secondary support plate (37)
Between be equipped with thrust ball bearing (36), thrust ball bearing (36) is placed in the grooves (3501) of (35) rotating support D, motor B
(31) output shaft passes through rotating support A (34), rotating support D (35), thrust ball bearing (36) and secondary support plate (37),
The output shaft end of motor B (31) is locked with locking nut B (39)；The rotating support B (32) and video camera fixed plate
(58) it is fixedly connected, binocular camera (57) is installed in video camera fixed plate (58)；
The delivery device (III) includes motor C (40), motor fixing seat B (63), shaft coupling B (41), guide rail platform (46), lock
Tight nut C (47), ball-screw B (62), leading screw fixed seat B (48), leading screw support base B (49), nut B (42), guide rail slide block B
(43), guide rail B (44), push guide rod (45)；Motor C (40) is fixedly connected with motor fixing seat B (63)；Motor fixing seat B
(63) it is fixedly connected with guide rail platform (46), guide rail platform (46) is fixed on secondary support plate bracing frame (38)；Motor C (40) with
Ball-screw B (62) is connected by shaft coupling B (41)；The leading screw fixed seat B (48) and leading screw support base B (49) pass through bearing
Ball-screw B (62), the locking nut C (47) and nut B (42) is supported to be threadingly attached on ball-screw B (62),
The nut B (42) is fixedly connected with push guide rod (45), one end and the fixed companies of guide rail slide block B (43) of push guide rod (45)
It connects, guide rail slide block B (43) and guide rail B (44) is slidably connected, and guide rail B (44) is fixed on guide rail platform (46)；
The rotary cutting mechanism (IV) includes motor D (50), rotary-cut motor fixing plate (51), shaft coupling C (52), axle sleeve (53), circle
Disc blades (56), the rotary-cut motor fixing plate (51) are fixedly connected with the other end of push guide rod (45), motor D (50) and rotation
It cuts motor fixing plate (51) to be fixedly connected, cylinder blade (56) is fixedly connected with axle sleeve (53), shaft end and the motor D of axle sleeve (53)
(50) output shaft end is fixedly connected by shaft coupling C (52)；
The wrist bindiny mechanism (V) includes wrist connecting chuck (61), wrist connecting plate (60), wrist connecting plate fixed seat
(59), the wrist connecting plate fixed seat (59) is fixedly connected with main supporting plate (27), and wrist connecting plate (60) is connect with wrist
Plate fixed seat (59) is fixedly connected, and the wrist connecting chuck (61) is fixedly connected with wrist connecting plate (60)；
The motor A (1), motor B (31), motor C (40), motor D (50), potentiometer A (20), potentiometer B (67), potentiometer
C (68), S types pressure sensor (9), tablet pressure sensor (19) and binocular camera (57) are electrically connected with control device
It connects.
2. clamping rotary-cutting type drive lacking two according to claim 1 refers to hand grape picker, which is characterized in that the company
Linkage L, which further includes that potentiometer fixing piece A~F (21~26), potentiometer fixing piece A (21) and transverse slider A (5) are fixed, to be connected
It connects, potentiometer fixing piece B (22) is fixedly connected with drive link (11), and potentiometer fixing piece C (23) and fixing piece B (14) is fixed
Connection, potentiometer fixing piece D (24) are fixedly connected with nearly finger joint (16) respectively with potentiometer fixing piece E (25), and potentiometer is fixed
Part F (26) is fixedly connected with remote finger joint (17)；Potentiometer A (20) and potentiometer fixing piece A (21) and potentiometer fixing piece B (22)
It is fixedly connected, potentiometer B (67) is fixedly connected with potentiometer fixing piece C (23) and potentiometer fixing piece D (24), potentiometer C
(68) it is fixedly connected with potentiometer fixing piece E (25) and potentiometer fixing piece F (26).
3. clamping rotary-cutting type drive lacking two according to claim 1 refers to hand grape picker, which is characterized in that described close
The nearly finger joint movement of end set of finger joint fixed frame (13) terminates limited block (1301), the end set limit of the nearly finger joint (16)
It makes remote finger joint movement and terminates limited block (1601).
4. clamping rotary-cutting type drive lacking two according to claim 1 refers to hand grape picker, which is characterized in that described to owe
Each hinged place in finger mechanism (I) is driven to use axis pin (65), split pin (66) hinged.
5. clamping rotary-cutting type drive lacking two according to claim 1 refers to hand grape picker, which is characterized in that described flat
Post one layer of soft silica gel in the surface of plate pressure sensor (19).
6. clamping rotary-cutting type drive lacking two according to claim 1 refers to hand grape picker, which is characterized in that the circle
Disc blades (56) are fixedly connected by locking nut D (54) and increasing gasket (55) with axle sleeve (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976844.9A CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976844.9A CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
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| Publication Number | Publication Date |
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| CN106342484A CN106342484A (en) | 2017-01-25 |
| CN106342484B true CN106342484B (en) | 2018-11-06 |
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| CN201610976844.9A Active CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
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Families Citing this family (16)
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| 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 |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107873229B (en) * | 2017-11-25 | 2023-07-14 | 张家港市华新园艺景观工程有限公司 | Mounting device of blade for garden machine |
| CN108668637A (en) * | 2018-04-25 | 2018-10-19 | 江苏大学 | A kind of machine vision places grape cluster crawl independent positioning method naturally |
| CN108481353B (en) * | 2018-05-28 | 2024-03-19 | 吉林大学 | Hand device is picked to fruit vegetables |
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN108522016B (en) * | 2018-06-24 | 2023-06-30 | 华北理工大学 | Pineapple auxiliary picking device |
| CA3103919A1 (en) | 2018-06-26 | 2020-01-02 | Root Ai, Inc. | Gripper with tunable compliance for dexterous object manipulation |
| CN108811756B (en) * | 2018-08-03 | 2023-05-26 | 华中农业大学 | Multifunctional pear picking device and picking method |
| CN109079744A (en) * | 2018-10-10 | 2018-12-25 | 东南大学 | fruit and vegetable picking robot |
| CN109514531A (en) * | 2018-11-30 | 2019-03-26 | 东莞理工学院 | A kind of manipulator |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN113370248A (en) * | 2021-05-20 | 2021-09-10 | 上海大学 | Flexible end effector of fruit and vegetable picking robot with force sensing function |
| CN113575108B (en) * | 2021-07-19 | 2022-05-13 | 杭州电子科技大学 | Garlic sprout harvester and garlic sprout harvesting method thereof |
| CN113892346A (en) * | 2021-09-10 | 2022-01-07 | 山东农业大学 | Under-actuated arc finger fruit picking manipulator |
| CN116061226B (en) * | 2023-02-09 | 2024-03-29 | 广东工业大学 | Under-actuated modularized charging gun clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060101798A1 (en) * | 2004-11-17 | 2006-05-18 | Ramero Luis A | Grape collection machine |
| FR2888466B1 (en) * | 2005-07-12 | 2008-12-05 | Pellenc Sa | SELF-CENTERING COLD RECOVERY HEAD FOR A SMALL-FRUIT RECOVERY MACHINE, AND MACHINE EQUIPPED WITH SUCH A HARVESTING HEAD. |
| CN104838809B (en) * | 2015-04-10 | 2016-12-07 | 江苏大学 | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker |
| CN105875056A (en) * | 2016-05-16 | 2016-08-24 | 山东润竹山农业科技有限公司 | Grape picking clamp |
| CN105900610B (en) * | 2016-06-08 | 2017-08-29 | 山东农业大学 | The lossless harvesting hierarchical intelligence all-in-one of Table Grape and its control method |
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