CN106863342B - Picking robot end effector - Google Patents
Picking robot end effector Download PDFInfo
- Publication number
- CN106863342B CN106863342B CN201710178091.1A CN201710178091A CN106863342B CN 106863342 B CN106863342 B CN 106863342B CN 201710178091 A CN201710178091 A CN 201710178091A CN 106863342 B CN106863342 B CN 106863342B
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- Prior art keywords
- cutter
- finger
- fruit
- translation
- trapezoid tooth
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Classifications
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- 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
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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
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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
- A01D46/30—Robotic devices for individually picking crops
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The end effector of the picking robot comprises a translation clamping fruit stem assembly and an oblique cutter cutting fruit stem assembly, wherein the translation clamping fruit stem assembly comprises a translation finger cylinder, a left trapezoid tooth finger, a right trapezoid tooth finger, a baffle, an elastic shading cloth, a correlation photoelectric switch, a visual sensor and a mechanical arm butt joint piece, and the oblique cutter cutting fruit stem assembly comprises a double-rod guide cylinder, a cutter mounting plate, a cutter pressing plate and a cutter. The fruit picking device mainly clamps fruit stalks through the pneumatic trapezoid teeth, the pneumatic oblique knife stretches out to cut off the picking action mode of the fruit stalks, and simultaneously, the picking operation of the fruit is automatically completed by combining camera image recognition and photoelectric switch signals, and the fruit picking device has the advantages of being simple in structure, strong in universality, light in component and free of pollution.
Description
Technical Field
The invention belongs to the technical field of development of automatic picking end effectors for agricultural fruits and vegetables, and particularly relates to an end effector of a picking robot.
Background
In recent years, agricultural fruit and vegetable picking robots are becoming hot spots for research and development at home and abroad in the robot field, and related technologies have achieved a lot of results at home and abroad, but most of the technologies stay in the laboratory research and development stage, and have a great gap from practical commercialization. One of the main reasons for this is the high development requirements for end effectors, which include: 1. the mechanism scheme is simple and small, the weight is light, a complex transmission mechanism is avoided, the compactness and reliability of the whole structure are ensured, and the obstacle avoidance performance of the end effector is improved; 2. the universal mechanical and electrical components are selected as much as possible, so that the component cost is reduced, and the commercialized and practical process is shortened; 3. the sensing control scheme is simple and reliable, and meanwhile, the robustness of an open environment system is guaranteed; 4. the picking success rate and the picking efficiency are high, and the picking action of the end effector is required to be effective and rapid; 5. the fruits are prevented from being damaged in the picking process; 6. the universality of the end effector is improved, and the picking operation capability of various fruits is provided.
Until now, there are two main ways of picking end effectors: the action of breaking-in and twisting-out and the action of cutting and cutting-off. The corresponding mechanism is designed to clamp and hold fruits, then the rotation of the wrist joint in two vertical directions is utilized to simulate the action of manually twisting the fruit stalks, the object of the operation requires that the fruit stalks are easy to separate from the fruit branches, and meanwhile, the force for clamping the fruits needs to be strictly controlled, otherwise, the fruits are extremely vulnerable to damage. The knife cutting and cutting-off type is mainly characterized in that a motor is used for driving a circular saw knife or scissors to directly cut off fruit stalks, and the scheme of a transmission mechanism and a control sensing system of the method are often relatively complex, so that the difficulty of system control and the complexity of the mechanism are increased, and the cost is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the end effector of the fruit picking robot, which has the advantages of compact structure, portability, compactness, reliability, durability, simple control, low cost and strong universality.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the end effector of the picking robot is characterized by comprising a translation clamping fruit stem assembly and an oblique cutter cutting fruit stem assembly; the fruit stem translation clamping assembly comprises a translation finger cylinder, a left trapezoidal tooth finger, a right trapezoidal tooth finger, a baffle and a mechanical arm butt joint piece, and the fruit stem oblique cutter cutting assembly comprises a double-rod guide cylinder, a cutter mounting plate, a cutter pressing plate and a cutter; the left trapezoid tooth finger and the right trapezoid tooth finger are fixedly connected with the left translation finger and the right translation finger of the translation finger cylinder respectively, the front parts of the left trapezoid tooth finger and the right trapezoid tooth finger are respectively provided with a trapezoid tooth structure, the baffle is fixed on the rear side of the trapezoid tooth structure of the left trapezoid tooth finger, the baffle is blocked between the left trapezoid tooth finger and the right trapezoid tooth finger, the mechanical arm butt joint part is fixedly connected with the translation finger cylinder and the double-rod guide cylinder, the cutter mounting plate is mounted on the push plate of the double-rod guide cylinder, and the cutter pressing plate fixedly presses the cutter on the cutter mounting plate.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the bottom surface of cutter mounting panel is installed in the push pedal of twin-screw direction cylinder, and the top surface of cutter mounting panel is equipped with the step face, has seted up the chute of placing the cutter on the step face, the bottom surface of cutter clamp plate is equipped with oblique boss, oblique boss and chute looks adaptation are screwed through the screw, make the cutter fix between cutter mounting panel and cutter clamp plate.
And a mounting hole connected with the wrist of the picking mechanical arm is reserved at the rear part of the mechanical arm butt joint part.
The translation clamping fruit stem assembly further comprises an elastic shading cloth, a correlation photoelectric switch and a visual sensor.
The opposite-type photoelectric switch is composed of a transmitting end and a receiving end, mounting holes are formed below trapezoid tooth structures of left trapezoid tooth fingers and right trapezoid tooth fingers, the transmitting end and the receiving end are respectively mounted in the mounting holes of the left trapezoid tooth fingers and the right trapezoid tooth fingers, and the transmitting end and the receiving end are opposite to each other.
The two ends of the elastic shading cloth are respectively fixed and firmly pressed on the fingers of the left trapezoid teeth and the fingers of the right trapezoid teeth, and the elastic shading cloth is positioned at the front side of the mounting hole of the opposite-type photoelectric switch.
The vision sensor is fixed at the middle of the lower part of the translational finger cylinder.
The beneficial effects of the invention are as follows: 1. the structure is compact, the weight is light, and the obstacle avoidance performance is good; 2. the power is driven by air pressure, the action is rapid, the device is light in weight, the action amplitude and the acting force are convenient to select and set, a plurality of mechanical sensors for controlling clamping force and a travel position switch for controlling the extension and retraction of the blade with higher cost can be omitted, the control structure is simplified, and the cost and the control difficulty are reduced; 3. the trapezoid tooth structure ensures that the fruit stalks are reliably clamped, the efficiency of the oblique knife for stretching and cutting the fruit stalks is high, the two fingers can continuously clamp the lower-section fruit stalks after cutting the fruit stalks, and the fruits are placed in the collecting device to prevent the fruits from being damaged due to falling after the fruit stalks are broken; 4. the intelligent degree is high, the visual sensor is used for collecting images of fruit positions, and the photoelectric sensor automatically detects fruit in-place information; 5. the universality is strong, the grape can be picked, and fruits such as apples, oranges and the like can also be picked.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a partial cross-sectional view of the present invention.
Fig. 3 is an enlarged view of a portion of the present invention.
The reference numerals are as follows: 1-double-rod guide cylinder, 2-cutter mounting plate, 3-cutter pressing plate, 4-cutter, 5-left trapezoid tooth finger, 6-baffle, 7-elastic shading cloth, 8-correlation photoelectric switch, 9-right trapezoid tooth finger, 10-vision sensor, 11-translation finger cylinder, 12-mechanical arm butt joint piece, 13-chute and 14-oblique boss.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-3, the picking robot end effector comprises a translation clamping fruit stem component and an oblique cutter cutting fruit stem component, wherein the translation clamping fruit stem component comprises a translation finger cylinder 11, a left trapezoid tooth finger 5, a right trapezoid tooth finger 9, a baffle 6, an elastic shading cloth 7, a correlation photoelectric switch 8, a visual sensor 10 and a mechanical arm butt joint part 12, and the oblique cutter cutting fruit stem component comprises a double-rod guide cylinder 1, a cutter mounting plate 2, a cutter pressing plate 3 and a cutter 4.
The mechanical arm butt joint piece 12 is fixedly connected with the translation finger cylinder 11 and the double-rod guide cylinder 1 through screws respectively, and a threaded waist-shaped mounting hole connected with the wrist of the picking mechanical arm is reserved at the rear part of the mechanical arm butt joint piece 12.
The left trapezoid-tooth finger 5 and the right trapezoid-tooth finger 9 are respectively and fixedly connected with left and right translation fingers of the translation finger cylinder 11 through screw screwing, and the left trapezoid-tooth finger 5 and the right trapezoid-tooth finger 9 are respectively provided with trapezoid-tooth structures at corresponding positions in front to ensure that fruit stalks are clamped and cannot slide up and down front and back, ensure that the cutter 4 can effectively cut the fruit stalks and clamp the residual fruit stalks, and put fruits into the collecting basket under the drive of the robot. The opposite-emission photoelectric switch 8 consists of a transmitting end and a receiving end, and is respectively arranged in mounting holes at corresponding positions below the trapezoid tooth structures of the left trapezoid tooth finger 5 and the right trapezoid tooth finger 9 and opposite to each other.
The baffle 6 is fastened at the rear side of the trapezoid tooth structure of the left trapezoid tooth finger 5 through screws in a screwing mode and is used for blocking fruit stalks and preventing the fruit stalks from rushing through the clamping area when the picking speed is too high. The two ends of the elastic shading cloth 7 are respectively fixed and pressed on the front sides of the mounting holes of the opposite-type photoelectric switch 8 on the left trapezoidal tooth finger 5 and the right trapezoidal tooth finger 9 through screws. During actual picking operation, the fruit stalks are driven by the picking mechanical arm to gradually approach the target fruit stalks, and after the fruit stalks enter between two fingers, the elastic shading cloth 7 is pushed to be long and deformed until the light signals of the correlation type photoelectric switch 8 are interrupted, namely the signal state of the correlation type photoelectric switch 8 can be changed, so that the robot obtains information that the target fruit is picked in place.
The vision sensor 10 is fixedly arranged in the middle of the lower part of the translation finger cylinder 11 through a screw, so that the fruit coordinate axis of an acquired image is aligned with the actual picking point coordinate axis, and the deviation rectifying amount of motion control of later picking operation is reduced. The back of the cutter mounting plate 2 is screwed and mounted on a push plate of the double-rod guide cylinder 1 through a screw, the front of the cutter mounting plate 2 is provided with a step surface, and a chute 13 for placing the cutter 4 is formed in the step surface. An inclined boss 14 is machined on the lower bottom surface of the cutter pressing plate 3, the position of the inclined boss corresponds to the inclined groove 13 of the cutter 4 placed on the cutter mounting plate 2, the cutter 3 is firmly pressed between the cutter mounting plate 2 and the cutter pressing plate 3 through screw tightening, and the cutter 4 is installed and fixed, so that the cutter 4 is obliquely installed and fixed between the cutter mounting plate 2 and the cutter pressing plate 3, the action of oblique fruit stem cutting by a cutting edge is realized, the success rate of cutting fruit stems is ensured, and the service life of the cutter is prolonged.
The following is a specific description of the selection of materials and types of the corresponding structure in the specific implementation: the translation finger cylinder 11 is of the type: HFZ-20D (two-finger translation cylinder: 20mm diameter, 10mm travel, magnet attached); the double-rod guide cylinder 1 is of the type: TN16×20 (double-rod double-shaft cylinder: cylinder diameter 16, stroke 20mm, attached magnet); the mechanical arm butt joint part 12, the left trapezoid tooth finger 5, the right trapezoid tooth finger 9, the cutter mounting plate 2 and the cutter pressing plate 3 are made of aluminum alloy materials (model 2A 12) which have relatively high strength and low density; the baffle 6 is made of Q235 cold-rolled sheet with higher strength by sheet metal technology; YG8 tungsten steel blades are selected as the cutters 4; the correlation photoelectric switch 8 selects an infrared correlation tube LED diode with the wavelength of 850nm and the wavelength of 0.3W and 3 mm; the elastic shading cloth 7 is an elastic rubber band with the width of 10 mm; the vision sensor 10 is a miniature high-definition CCD camera.
The working principle of the invention is as follows: in the initial state, the fingers 5 and 9 of the left and right trapezoidal teeth are in an open state, and the piston rod of the double-rod guide cylinder 1 is in a rear position, namely the cutter 4 is in a contracted state. The vision sensor 10 captures three-dimensional images of fruits during picking, the robot acquires coordinates in a vision coordinate system of a fruit centroid through image acquisition, processing and analysis, so that the position of fruit stalks is obtained, then the position of the fruit stalks in the robot coordinate system is obtained through coordinate conversion, the angle inverse solution of the robot joints corresponding to picking points is calculated, and the joints of the mechanical arm are driven to move to the picking position points through linkage of the lower computer and the joints.
When a target fruit stem enters between the left trapezoidal tooth finger 5 and the right trapezoidal tooth finger 9, the fruit stem firstly touches the elastic shading cloth 7, and the elastic shading cloth 7 is pushed and pulled inwards and deformed immediately until the deformed elastic shading cloth 7 shields a signal light path of the opposite-type photoelectric switch 8 behind the fruit stem, and at the moment, the signal state of the opposite-type photoelectric switch 8 changes, namely the robot senses that the fruit stem has reached a picking working position.
After the robot controls the mechanical arm to keep the existing position and the existing gesture and controls the translation finger cylinder 11 to introduce the working air pressure in the corresponding direction, the actions of clamping the fruit stalks by the left trapezoidal tooth finger 5 and the right trapezoidal tooth finger 9 are completed, then the double-rod guide cylinder 1 acts to enable the cutter 4 to perform linear extending movement and cut the fruit stalks, in the process, the translation finger cylinder 11 keeps the ventilation direction unchanged, and the left trapezoidal tooth finger 5 and the right trapezoidal tooth finger 9 keep the fruit stalk clamping state.
The robot drives the end effector to move to the fruit collecting device, the ventilation direction of the translation finger cylinder 11 is changed, the left trapezoidal tooth finger 5 and the right trapezoidal tooth finger 9 are opened, and fruits fall into the fruit collecting device immediately, so that the end effector finishes the whole process of picking one fruit.
It should be noted that the terms like "upper", "lower", "left", "right", "front", "rear", and the like are also used for descriptive purposes only and are not intended to limit the scope of the invention in which the invention may be practiced, but rather the relative relationship of the terms may be altered or modified without materially altering the teachings of the invention.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (2)
1. The end effector of the picking robot is characterized by comprising a translation clamping fruit stem assembly and an oblique cutter cutting fruit stem assembly; the fruit stem translation clamping assembly comprises a translation finger cylinder (11), a left trapezoid tooth finger (5), a right trapezoid tooth finger (9), a baffle (6) and a mechanical arm butt joint piece (12), and the fruit stem oblique cutter cutting assembly comprises a double-rod guide cylinder (1), a cutter mounting plate (2), a cutter pressing plate (3) and a cutter (4); the left trapezoid tooth finger (5) and the right trapezoid tooth finger (9) are respectively and fixedly connected with left and right translation fingers of the translation finger cylinder (11), the front parts of the left trapezoid tooth finger (5) and the right trapezoid tooth finger (9) are respectively provided with trapezoid tooth structures, the baffle piece (6) is fixed at the rear side of the trapezoid tooth structure of the left trapezoid tooth finger (5), the baffle piece (6) is blocked between the left trapezoid tooth finger (5) and the right trapezoid tooth finger (9), the mechanical arm butt joint piece (12) is fixedly connected with the translation finger cylinder (11) and the double-rod guide cylinder (1), the cutter mounting plate (2) is mounted on a pushing plate of the double-rod guide cylinder (1), and the cutter pressing plate (3) fixedly presses the cutter (4) on the cutter mounting plate (2); the bottom surface of the cutter mounting plate (2) is mounted on a push plate of the double-rod guide cylinder (1), the top surface of the cutter mounting plate (2) is provided with a step surface, the step surface is provided with a chute (13) for placing a cutter (4), the bottom surface of the cutter pressing plate (3) is provided with an inclined boss (14), and the inclined boss (14) is matched with the chute (13) and screwed by a screw, so that the cutter (4) is fixed between the cutter mounting plate (2) and the cutter pressing plate (3); the translation clamping fruit stem assembly further comprises an elastic shading cloth (7), a correlation photoelectric switch (8) and a visual sensor (10); the opposite-emission photoelectric switch (8) consists of a transmitting end and a receiving end, wherein mounting holes are formed below the trapezoid tooth structures of the left trapezoid tooth finger (5) and the right trapezoid tooth finger (9), the transmitting end and the receiving end are respectively arranged in the mounting holes of the left trapezoid tooth finger (5) and the right trapezoid tooth finger (9), and the transmitting end and the receiving end are opposite to each other; the two ends of the elastic shading cloth (7) are respectively fixed and firmly pressed on the left trapezoidal tooth finger (5) and the right trapezoidal tooth finger (9), and the elastic shading cloth (7) is positioned at the front side of the mounting hole of the opposite-type photoelectric switch (8); the vision sensor (10) is fixed at the middle of the lower part of the translation finger cylinder (11).
2. The picking robot end effector as set forth in claim 1, wherein: and a mounting hole connected with the wrist of the picking mechanical arm is reserved at the rear part of the mechanical arm butt joint part (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178091.1A CN106863342B (en) | 2017-03-23 | 2017-03-23 | Picking robot end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178091.1A CN106863342B (en) | 2017-03-23 | 2017-03-23 | Picking robot end effector |
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| CN106863342A CN106863342A (en) | 2017-06-20 |
| CN106863342B true CN106863342B (en) | 2023-09-15 |
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| CN113021378A (en) * | 2021-04-02 | 2021-06-25 | 一度智能科技(深圳)有限公司 | Intelligent agricultural picking robot control system and method |
| US11730084B2 (en) * | 2021-04-30 | 2023-08-22 | Zordi, Inc. | System and method for automatically gripping and cutting fruits and plants |
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