CN106363653B - A kind of end effector of cucumber picking robot - Google Patents
A kind of end effector of cucumber picking robot Download PDFInfo
- Publication number
- CN106363653B CN106363653B CN201610916513.6A CN201610916513A CN106363653B CN 106363653 B CN106363653 B CN 106363653B CN 201610916513 A CN201610916513 A CN 201610916513A CN 106363653 B CN106363653 B CN 106363653B
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- China
- Prior art keywords
- unit
- end effector
- cutter
- visual
- cucumber
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention relates to Intelligent agricultural machinery technical fields, disclose a kind of end effector of cucumber picking robot, comprising: connecting bracket, clamping unit, visual unit, cutter unit and elevating mechanism, wherein, clamping unit is fixed in connecting bracket, visual unit is located above clamping unit, and cutter unit is between clamping unit and visual unit；The end effector further includes control unit, which connect with visual unit, cutter unit, clamping unit and elevating mechanism respectively；The end effector further include above the visual unit for cucumber is blocked push aside push part aside.End effector provided by the invention can pick the cucumber under various circumstance of occlusion, adapt to complicated planting environment, and picking success rate is high.
Description
Technical field
The present invention relates to a kind of execution of the end of Intelligent agricultural machinery technical field more particularly to cucumber picking robot
Device.
Background technique
With the rapid development of computer and automatic control technology, when agricultural machinery will march toward increasingly automated and intelligent
Phase.Robot gradually penetrates into agricultural production, and the use of robot will become agricultural to automation and intelligent development
Important symbol.In fruits and vegetables production operation, harvest picking accounts for about the 40% of entire workload.Pick the direct shadow of quality of quality
Storage, processing and the sale of fruits and vegetables are rung, to finally influence the market price and economic benefit.Due to the complexity of picking, automatically
Change degree is still very low, and country's fruit and vegetable picking substantially still has been manually done at present, and working environment is poor, harvest operation labor intensity
Greatly, therefore research is applicable in greenhouse cucumber picking robot and is of great significance.
Cucumber is best one of the large and medium-sized vegetables of most wide current cultural area, total output highest, economic benefit, and is picked
Operation is a link most time-consuming, most laborious in cucumber production chain.And picking operation is seasonal by force, large labor intensity, takes
With height, therefore guarantee cucumber timely collecting, reduce harvest cost to be the important channel to get agricultural profit.Picking robot is to realize this
The powerful of one target.
For cucumber picking robot, pick operating environment it is complicated and changeable be the great difficult problem that encounters of picking robot it
One.In the planting environment of cucumber, cucumber is blocked vulnerable to plant branch, blade and other cucumber, so as to cause cucumber
Picking success rate it is lower.
Summary of the invention
(1) technical problems to be solved
It is an object of the present invention to provide a kind of end effectors of cucumber picking robot, can pick screening
The cucumber of gear, to improve the picking success rate of picking robot, the practicability of hoisting machine people.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of end effectors of cucumber picking robot comprising:
Connecting bracket, clamping unit, visual unit, cutter unit and elevating mechanism, wherein clamping unit is fixed on connecting bracket
On, visual unit is located at the top of clamping unit, and cutter unit is between clamping unit and visual unit；Elevating mechanism includes
Stepper motor, the support being fixedly connected with stepper motor, ball screw assembly, and optical axis, the ball nut in ball screw assembly, are solid
It is scheduled in connecting bracket, one end of the ball-screw in ball screw assembly, and the output end of stepper motor connect, the other end and view
Feel that unit connect with cutter unit, one end of optical axis is fixed on the support, the other end across connecting bracket and with visual unit and
Cutter unit connection, the axis of the optical axis is parallel with the axis of ball-screw, so that stepper motor drives ball when work
The rotation of lead screw drives visual unit and cutter unit to move up and down under the orientation of optical axis；The end effector also wraps
Control unit is included, which connect with visual unit, cutter unit, clamping unit and elevating mechanism respectively；It holds the end
Row device further include above the visual unit for cucumber is blocked push aside push part aside.
Wherein, visual unit includes computer camera protective cover and the camera in computer camera protective cover, cutter unit
Below camera.
Wherein, it is integrated for pushing part and computer camera protective cover aside.
Wherein, computer camera protective cover is in the " u "-shaped stood upside down.
Wherein, clamping unit includes finger mounted frame, finger pedestal and the air bag finger on finger pedestal, the gas
Capsule finger is connect by finger mounted frame with connecting bracket.
Wherein, cutter unit includes oscillating cylinder, the fly cutter connecting with oscillating cylinder and broach shell matched with fly cutter.
Wherein, the lower end of ball screw is connected by the output end of yielding coupling and stepper motor.
Wherein, elevating mechanism further includes being fixed on connecting bracket and being set in the guide sleeve on optical axis.
Wherein, control unit include the host computer being connect with visual unit, the single-chip microcontroller that is connect with host computer, and respectively
By monolithic processor controlled air-channel system and circuit system, air-channel system, which is provided with, respectively to be connect with clamping unit and cutter unit
Solenoid directional control valve, circuit system controls solenoid directional control valve by electromagnetic relay, and then controls clamping unit and cutter unit
Work；The circuit system drives stepper motor by motor driver.
Wherein, which further includes the mounting flange being installed in connecting bracket.
(3) beneficial effect
End effector provided by the invention can pick the cucumber under various circumstance of occlusion, adapt to complicated plantation ring
Picking success rate is improved in border；And structure is simple, and required cost of parts is low, easy to maintain；In addition, the mechanism uses robot
Vision and circuit control, when machine is run, without human intervention, high degree of automation.
Detailed description of the invention
Fig. 1 is the structural representation according to the end effector of the cucumber picking robot of a preferred embodiment of the present invention
Figure；
Fig. 2 is the control principle drawing according to the end effector of a preferred embodiment of the present invention；
Fig. 3 is the work flow diagram according to the end effector of a preferred embodiment of the present invention.
In figure, 1: mounting flange；2: connecting bracket；3: screw rod bearing；4: primary optic axis support base；5: camera installation
Frame；6: computer camera protective cover；7: camera；8: broach shell；9: fly cutter；10: oscillating cylinder；11: finger mounted frame；12: finger bottom
Seat；13: air bag finger；14: guide sleeve；15: optical axis；16: the second optical axis support bases；17: stepper motor；18: support；19: elasticity
Shaft coupling；20: screw mandrel shaft block；21: ball screw；22: ball nut；23: pushing part aside.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Fig. 1 shows a preferred embodiment of the end effector of cucumber picking robot according to the present invention.Such as Fig. 1
Shown, the end effector in the embodiment includes connecting bracket 2, the clamping unit being fixed in connecting bracket 2, visual unit
Positioned at the top of clamping unit, cutter unit is between clamping unit and visual unit.Specifically, in this embodiment, it presss from both sides
Holding unit includes finger mounted frame 11, finger pedestal 12 and the air bag finger 13 on finger pedestal 12, the air bag finger
13 are connect by finger mounted frame 11 with connecting bracket 2.Visual unit mainly includes computer camera protective cover 6 and passes through camera
Mounting rack 5 is mounted on the camera 7 in computer camera protective cover, which preferably uses monocular cam.Cutter unit setting
The lower section of camera 7 in computer camera protective cover 6.Cutter unit includes oscillating cylinder 10, the fly cutter connecting with oscillating cylinder 10 9
And broach shell 8 matched with fly cutter 9.
The end effector further includes elevating mechanism, which mainly includes stepper motor 17, support 18, ball wire
Thick stick pair and optical axis 15, wherein stepper motor 17 and support 18 are located at 2 lower section of connecting bracket, the ball spiral shell in ball screw assembly,
Mother 22 is fixed in connecting bracket 2, and 21 lower end of ball-screw in ball screw assembly, passes through lead screw shaft bearings 20 and stepper motor
17 output end connection, the upper end of ball-screw 21 are connect by lead screw bearing 3 with the computer camera protective cover 6 of visual unit.It is excellent
The lower end of selection of land, ball screw 21 is connect by yielding coupling 19 with the output end of stepper motor 17.The lower end of optical axis 15 is logical
It crosses the second optical axis support base 16 to connect with support 18, the upper end of optical axis 15 passes through connecting bracket 2 and passes through primary optic axis support base 4
Connect with computer camera protective cover 6, the axis of the optical axis 15 with the axis of ball-screw 21 be it is parallel so that 17 turns of stepper motor
When dynamic, ball-screw 21 is driven to rotate, the rotation of ball-screw 21 drives visual unit and cutting single under the orientation of optical axis 15
Member moves up and down.Preferably, elevating mechanism further includes being fixed in connecting bracket 2 and being set in play the guiding role on optical axis 15
Guide sleeve 14.
The end effector further includes control unit, the control unit respectively with visual unit, cutter unit, clamping unit
It is connected with elevating mechanism.As shown in Fig. 2, the control unit includes the host computer connecting with camera 7, the list that connect with host computer
Piece machine, and respectively by monolithic processor controlled air-channel system and circuit system.Wherein, air-channel system includes single with clamping respectively
The first air-channel system and the second air-channel system that member, cutter unit connect, divide on the first air-channel system and the second air-channel system
It is not provided with solenoid directional control valve, single-chip microcontroller controls the solenoid directional control valve on air-channel system by electromagnetic relay respectively, in turn
Control the work of clamping unit and cutter unit.In this embodiment, the air bag finger 13 of the first air-channel system and clamping unit
Connection, to keep air bag finger 13 inflated for deflated under the control of single-chip microcontroller, to clamp or unclamp the visible part of cucumber.The
The connection of the oscillating cylinder 10 of two air-channel systems and cutter unit, to swing oscillating cylinder 10 under the control of single-chip microcontroller, from
And fly cutter 9 is driven to cut off or reset cucumber stalk portion.Circuit system drives stepper motor 17 by motor driver
Rotation so that ball-screw 21 rotates, so that visual unit and cutter unit be driven to move up and down.When picking mechanical arm will be last
After end actuator is sent near the visible part of cucumber, host computer sends a signal to single-chip microcontroller, and single-chip microcontroller passes through low and high level
The switch of variation control electromagnetic relay, to control the solenoid directional control valve of air-channel system, and then controls air bag finger 13 and pendulum
It takes offence the working condition of cylinder 10.Host computer sends a signal to single-chip microcontroller, single-chip microcontroller by motor driver send pulse signal to
Stepper motor 17 is to control the start-stop and direction that stepper motor 17 rotates.
In addition, the end effector further include be fixed on visual unit top be used for cucumber is blocked push aside push part aside
23.Specifically, part 23 is pushed aside to be arranged on computer camera protective cover 6.In this embodiment, computer camera protective cover 6 is in " U " to stand upside down
Shape is used as again and pushes the use of part 23 aside.
In addition, the end effector further includes the mounting flange 1 (as shown in Figure 1) being installed in connecting bracket 2, the end
End actuator is mounted on the picking mechanical arm end of picking robot by the mounting flange 1, therefore picking mechanical arm can be with
Air bag finger 13 is accurately sent to target position, cucumber is clamped, is fixed.Picking robot and cucumber are needed when work
Plant is maintained in a certain range of distance.
The workflow of the end effector of the cucumber picking robot is as follows:
Close: picking mechanical arm send end effector to the visible part of cucumber.Specifically, picking robot is opened
Begin after operation, when its binocular vision unit detects visible cucumber, picking robot stops movement, passes through binocular vision unit
It is converted with the space coordinate of picking mechanical arm, determines the position of cucumber, the movement of picking mechanical arm send the end effector to Huang
Near the visible part (can retained part) of melon.
Clamping: control unit control clamping unit clamps the visible part of cucumber.Specifically, the host computer hair of control unit
The number of delivering letters gives single-chip microcontroller, and single-chip microcontroller controls the electromagnetism on the first air-channel system connecting with air bag finger 13 by electromagnetic relay
Reversal valve inflates air bag finger 13, leads to its deformation that curves inwardly, clamp the visible part of cucumber, be fixed.
Cutting: control unit controls elevating mechanism and rises, and the shelter of cucumber can be divided into two classes at this time, and a kind of distance is yellow
Melon farther out, does not impact rising, another kind of closer from cucumber, and computer camera protective cover 6 can be opened.While rising,
7 captured in real-time of camera, and image is returned into control unit, when camera reaches cucumber stalk portion, visual unit identifies this
Signal is issued control unit by one image, is stopped by control unit control elevating mechanism, and then, control unit control cutting is single
Member work, cutting cucumber stalk.Specifically, the single-chip microcontroller of control system signals to motor driver, and stepper motor 17 operates, and leads to
Crossing yielding coupling 19 drives ball screw 21 to rotate, and is fixed on the matched ball nut 22 of ball-screw 21 connect branch at this time
On frame 2, therefore ball-screw 21 drives cutter unit and visual unit under the orientation of optical axis 15, moves upwards.Rise
In the process, push aside part 23 can by front blocking before cucumber open, remove while block, 7 captured in real-time of camera
The appearance of cucumber, and image is returned into host computer, when camera 7 reaches top, that is, cucumber stalk portion of cucumber, visual unit
It identifies this image, signal is issued into single-chip microcontroller, single-chip microcontroller control stepper motor 17 shuts down, and then, host computer is sent out again
Send instruction that oscillating cylinder 11 is made to execute movement, fly cutter 9 swings certain angle, cuts off cucumber stalk portion, and cucumber is made to be detached from cucumber plant；
Put fruit: control unit controls elevating mechanism decline, to drive visual unit and cutter unit to drop to original position, together
When, picking mechanical arm resets, and control unit control clamping unit puts fruit, and then control unit control cutter unit resets.Specifically
The host computer on ground, control unit signals to single-chip microcontroller, to control the reversion of stepper motor 17, so that elevating mechanism is driven to decline,
Original position is returned to, meanwhile, picking mechanical arm also carries out resetting movement, returns to picking initial position, the i.e. basket of robot receipts cucumber
After top, end effector and picking mechanical arm resetting movement, host computer sends a signal to single-chip microcontroller, single-chip microcontroller control the
One air-channel system makes air bag finger 13 deflate, and curved finger resiles, and unclamps cucumber, and cucumber falls into basket.Then upper
Machine sends signal to single-chip microcontroller, and single-chip microcontroller, which controls the second air-channel system, goes back to oscillating cylinder 10, and fly cutter 9 resets, such as Fig. 3 institute
Show.
This subjob is completed, if the cucumber that can also pick in robot view field, executes movement again, if not having, and machine
People walks on, and until occurring the cucumber that can be picked in the visual field, executes movement again.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of end effector of cucumber picking robot characterized by comprising connecting bracket, clamping unit, vision list
Member, cutter unit and elevating mechanism, wherein clamping unit is fixed in connecting bracket, and visual unit is located at clamping unit
Top, cutter unit is between clamping unit and visual unit；Elevating mechanism includes stepper motor and the fixed company of stepper motor
Support, ball screw assembly, and the optical axis connect, the ball nut in ball screw assembly, are fixed in connecting bracket, ball screw assembly,
In one end of ball-screw and the output end of stepper motor connect, the other end connect with visual unit and cutter unit, optical axis
One end it is fixed on the support, the other end passes through connecting bracket and connect with visual unit and cutter unit, the axis of the optical axis
It is parallel with the axis of ball-screw, so that stepper motor drives the rotation of ball-screw in the orientation of optical axis when work
Under, drive visual unit and cutter unit to move up and down；The end effector further includes control unit, the control unit respectively with
Visual unit, cutter unit, clamping unit are connected with elevating mechanism；The end effector further includes being located above visual unit to use
In cucumber is blocked push aside push part aside；
The single-chip microcontroller that control unit includes the host computer connecting with visual unit, is connect with host computer, and respectively by single-chip microcontroller
The air-channel system and circuit system of control, air-channel system are provided with the electromagnetic switch connecting respectively with clamping unit and cutter unit
Valve, circuit system controls solenoid directional control valve by electromagnetic relay, and then controls the work of clamping unit and cutter unit；The electricity
Road system drives stepper motor by motor driver.
2. end effector as described in claim 1, which is characterized in that visual unit includes computer camera protective cover and is located at
Camera in computer camera protective cover, cutter unit are located at below camera.
3. end effector as claimed in claim 2, which is characterized in that it is integrated for pushing part and computer camera protective cover aside.
4. end effector as claimed in claim 2, which is characterized in that computer camera protective cover is in the " u "-shaped stood upside down.
5. end effector as described in claim 1, which is characterized in that clamping unit includes finger mounted frame, finger pedestal
And the air bag finger on finger pedestal, the air bag finger are connect by finger mounted frame with connecting bracket.
6. end effector as described in claim 1, which is characterized in that cutter unit includes oscillating cylinder and oscillating cylinder
The fly cutter of connection and broach shell matched with fly cutter.
7. end effector as described in claim 1, which is characterized in that the lower end of ball screw passes through yielding coupling and step
Output end into motor connects.
8. end effector as described in claim 1, which is characterized in that elevating mechanism further includes being fixed on connecting bracket and covering
The guide sleeve being located on optical axis.
9. end effector as described in claim 1, which is characterized in that the end effector further includes being installed in connecting bracket
On mounting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916513.6A CN106363653B (en) | 2016-10-20 | 2016-10-20 | A kind of end effector of cucumber picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916513.6A CN106363653B (en) | 2016-10-20 | 2016-10-20 | A kind of end effector of cucumber picking robot |
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| Publication Number | Publication Date |
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| CN106363653A CN106363653A (en) | 2017-02-01 |
| CN106363653B true CN106363653B (en) | 2018-12-28 |
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| CN201610916513.6A Active CN106363653B (en) | 2016-10-20 | 2016-10-20 | A kind of end effector of cucumber picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107046933B (en) * | 2017-04-19 | 2019-08-06 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
| CN107322607A (en) * | 2017-07-14 | 2017-11-07 | 河南科技学院 | A kind of watermelon picking robot |
| CN107696047B (en) * | 2017-10-12 | 2020-11-03 | 新昌县大菠萝农业发展有限公司 | End effector of cucumber flexible picking manipulator and picking method |
| CN107567815B (en) * | 2017-10-12 | 2020-08-18 | 绍兴市柯桥区欧祥机械有限公司 | Air bag type citrus picking manipulator end effector |
| CN107553512B (en) * | 2017-10-12 | 2020-08-14 | 绍兴市柯桥区欧祥机械有限公司 | Air bag type cucumber picking manipulator end effector and picking method |
| EP3539735A1 (en) * | 2018-03-13 | 2019-09-18 | Soluciones Robóticas Agrícolas S.L. | Robotic arm end effector for fruit harvesting |
| CN108770486B (en) * | 2018-08-03 | 2023-10-27 | 浙江机电职业技术学院 | Pineapple picking machine and picking method thereof |
| MX2021003767A (en) * | 2018-10-08 | 2021-05-27 | Advanced Farm Tech Inc | Autonomous crop harvester. |
| CN109571437B (en) * | 2018-12-25 | 2022-10-18 | 江南大学 | Robot that monocular was made a video recording |
| CN111011004B (en) * | 2019-12-28 | 2021-08-03 | 河南理工大学 | Picking equipment |
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| CN106363653A (en) | 2017-02-01 |
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