CN107223408A - A kind of fruit picking robot and operating method with force sensing function - Google Patents
A kind of fruit picking robot and operating method with force sensing function Download PDFInfo
- Publication number
- CN107223408A CN107223408A CN201710546393.XA CN201710546393A CN107223408A CN 107223408 A CN107223408 A CN 107223408A CN 201710546393 A CN201710546393 A CN 201710546393A CN 107223408 A CN107223408 A CN 107223408A
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- joint
- finger
- thumb
- servomotor
- fruit picking
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of fruit picking robot with force sensing function and operating method, robot includes vehicle body, vehicle front is provided with XY translation transmission mechanisms, the Y-direction top of XY translation transmission mechanisms is provided with camera, translating element in XY translation transmission mechanisms is provided with hydraulically extensible bar, hydraulically extensible bar rod end is rotatably connected to operator in drive lacking fruit picking Dextrous Hand, vehicle body and is worn on magnetorheological force feedback data gloves of wire saws formula on hand realizes mutual induction with drive lacking fruit picking Dextrous Hand by car-mounted computer.The present invention is applied to intelligent fruitsization and plucks field.
Description
Technical field
The present invention relates to fruit picking robot field, specifically a kind of fruit picking robot with force sensing function
And operating method.
Background technology
Fruit picking is the link most wasted time and energy in agricultural production chain, along with the development of robot technology, work
There has been quite gratifying achievement in industry robot, but the robot agriculturally applied is also few.Fruit picking ring
Section needs to consume substantial amounts of manpower and materials, depends merely on the need for hand labor can not meet present fruit picking.With machine
Labor shortage that harm of development, agrochemical and the agricultural chemicals of people's technology to human body is increased and fruit picking aspect runs into etc.
The appearance of problem so that the agricultural robot in terms of invention can be applied to fruit picking increasingly becomes necessary.
Fruit picking robot is main comfortable in solution manpower shortage, reduction labor strength, raising workman's work
Property, mitigate agrochemical and agricultural chemicals to the harm of human body, ensure the safety of plucker and protect the integrality of fruit-picking
In terms of there is very big application potential.
The fruit picking robot studied at present is broadly divided into two kinds：One kind be from principal mode picking robot, it is another to be
Man-machine collaboration type picking robot.From principal mode picking robot due to current sensor technology, technology in terms of control technology
It is difficult to reach the degree of complete intelligence and controls the requirement of cost and control accuracy all higher, it is difficult to fully achieves.So
Man-machine collaboration type picking robot is more satisfactory selection under conditions present.And current man-machine collaboration type picking robot is general
All over the function of not possessing force feedback, then destruction fruit surface, extruding just occur when end effector fruit-picking
Excessively the problems such as.Therefore, it can to develop a kind of decision-making picker, semi-autonomous adopting of feeling to be added in picking process
Robot is plucked, and picking process is completed by picking robot.So for improve picking efficiency, enhancing harvesting security with
And have extremely important meaning in terms of the integrality of protection fruit-picking.
It is an object of the invention to provide a kind of fruit picking robot with force sensing function and operation side for the content of the invention
Method, to solve the problem of prior art man-machine collaboration type picking robot does not possess force feedback function.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of fruit picking robot with force sensing function, it is characterised in that：Including moveable vehicle body, vehicle front is set
XY translation transmission mechanisms are equipped with, the Y-direction top of XY translation transmission mechanisms is provided with the translation in camera, XY translation transmission mechanisms
Part is vertically provided with forward hydraulically extensible bar, and hydraulically extensible bar rod end is fixed with servomotor, the rotating shaft of servomotor and connected
Have to also have in drive lacking fruit picking Dextrous Hand, vehicle body and be worn on the magnetorheological force feedback data hand of the wire saws formula of operator on hand
Set, the magnetorheological force feedback data gloves of wire saws formula realize phase mutual inductance with drive lacking fruit picking Dextrous Hand by car-mounted computer
Should, wherein：
Drive lacking fruit picking Dextrous Hand includes palm, and palm rear end is connected in the rotating shaft of servomotor, and servomotor is fixed
In hydraulically extensible bar front end, palm front end is connected with four fingers, and palm side is connected with thumb, and four refer to respectively by the nearly finger joints pass of four fingers
Section, four refer to middle finger joint joint, the remote finger joint joint composition of four fingers, and four finger nearly finger joint joint rear ends are rotatably connected on before palm respectively
End, four refer to nearly finger joint shutdown front end refers to the connection of middle finger joint joint rear end by hinge with corresponding four respectively, and four, which refer to middle finger joint, closes
Section front end is connected by hinge with four finger remote finger joint joint rear ends respectively, and thumb is closed by the nearly finger joint joint of thumb and the remote finger joint of thumb
Section is constituted, and the nearly finger joint joint rear end thereof of thumb is connected to palm side, and thumb nearly finger joint joint front end passes through hinge and thumb
Remote finger joint joint rear end connection, and torsion spring is fitted with respectively on each hinge, during four refer to, each nearly finger joint joint of four fingers, four refer to
It is rotatablely equipped with respectively in remote finger joint joint in truckle, four finger middle finger joint joints and is rotatablely equipped with big pulley, the thumb of thumb
Truckle is rotatablely equipped with nearly finger joint joint, the remote finger joint joint of thumb respectively, the palm correspondence four refers to rear position, thumb
Rear position is respectively equipped with to be respectively fixed with reel, reel on servomotor, the output shaft of servomotor is wound with rope respectively
Rope, wherein four ropes referred on corresponding servomotor reel bypass truckle in the nearly finger joint joint of four fingers, four finger middle fingers successively
Save big pulley, four in joint to refer in remote finger joint joint after truckle, then be fixed on the remote finger joint joint Inner Front End of four fingers, thumb correspondence
Servomotor reel on rope bypass truckle in the nearly finger joint joint of thumb, truckle in the remote finger joint joint of thumb successively
Afterwards, then it is fixed on the remote finger joint joint Inner Front End of thumb；
The magnetorheological force feedback data gloves of wire saws formula include being provided with from left to right successively on rear side of palm frame, palm frame top
Five groups of MR dampers of arrangement, five groups of MR dampers are distinguished before five fingers of respective operations person, palm frame bottom surface
Side by stand to support be supported by five palm pulleys, five palm pulley positions with five groups of MR damper positions one by one
The five fingers are also corresponded in front of correspondence, palm frame and are respectively equipped with fingerstall, finger ring, wherein fingerstall is respectively fitted over operator's finger pars intermedia
Point, finger ring is respectively fitted over operator's finger finger tip, at the top of each fingerstall respectively by stand to support be supported by fingerstall pulley, often
Individual MR damper piston rod rod end is connected to rope, and rope is bypassed after corresponding palm pulley, fingerstall pulley successively
It is fixed on corresponding finger ring；
In servomotor in the drive lacking fruit picking Dextrous Hand, and the magnetorheological force feedback data gloves of wire saws formula
MR damper is connected with car-mounted computer respectively, and driving fruit picking Dextrous Hand and wire saws are realized by car-mounted computer
The mutual induction of the magnetorheological force feedback data gloves of formula.
A kind of described fruit picking robot with force sensing function, it is characterised in that：XY translates transmission mechanism bag
Include along the X Y ball-screws being vertically arranged to horizontally disposed X ball-screws translation platform, along Y-direction and translate platform, wherein X balls
Leading screw translates platform and is arranged on vehicle front by support, and Y ball-screws translation platform is fixed on X ball-screws translation platform
On sliding stand, the Y-direction top of Y ball-screws translation platform is provided with camera, and the hydraulically extensible rod rear end is vertically connected on Y
On the sliding stand of ball-screw translation platform, the horizontal forward extension in hydraulically extensible bar front end, the drive lacking fruit picking is dexterous
Hand is connected in the rotating shaft of servomotor, and servomotor is fixed on hydraulically extensible bar front end.
A kind of operating method of the fruit picking robot with force sensing function, it is characterised in that：Comprise the following steps：
（1）System initialization is carried out, adjustment sensor, the original state of servomotor, MR damper are in power failure state；
（2）Instruction, adjustment picking robot to an optimal harvesting position are sent by operator；Operator is adopted by camera
Collect the positional information of fruit, by control XY travel mechanisms up and down and right position, hydraulically extensible bar flexible and
Drive lacking fruit picking Dextrous Hand is adjusted to a suitable harvesting position by the angular turn of the servomotor at picking hands rear,
Prepare harvesting；
（3）Start harvesting, the right hand of operator carries out grasp motion, worn in the magnetorheological force feedback data gloves on right hand arm
The angle of operator's right-hand grip, power are felt that information passes to drive lacking fruit picking Dextrous Hand by the processing of computer, made
Picking hands proceed by harvesting；
（4）Drive lacking fruit picking Dextrous Hand starts grasp motion, the process that drive lacking fruit picking Dextrous Hand is grasped
In the magnetorheological force feedback dressed by the processing of computer by operator of suffered force signal, rotational angle signal
Data glove, magnetorheological force feedback data gloves feel size by the size of control electric current come the power that control operation person experiences,
Namely by controlling MR damper to produce certain damping force, and then operator is experienced power feel, come personally with realizing
Sense；
（5）When operator feels that suffered feedback force is not enough to hold fruit, operator gradually increase again the angle of grasping with
Dynamics, is repeated（3）、（4）Process, untill operator experiences suitable feedback force；
（6）When operator, which experiences drive lacking fruit picking Dextrous Hand, to do a good job of it fruit, by controlling drive lacking water
The rotation of the servomotor that is connected of fruit harvesting Dextrous Hand twists off action realize drive lacking fruit picking Dextrous Hand, thus
Fruit and carpopodium can be separated, realize the harvesting of fruit.
The present invention provides a kind of fruit picking robot and operating method with force sensing function, it is adaptable to intelligent fruits
Change harvesting field, with following beneficial effect：
（1）The manpower shortage in fruit picking can be solved the problems, such as, labor strength is reduced, workman's work is improved comfortable
Property, mitigate the harm of agrochemical and agricultural chemicals to human body, it is ensured that the safety of plucker and the integrality for protecting fruit-picking.
（2）MR damper is a kind of energy-dissipating intelligent device, and possessing has safe and stable and small volume etc. excellent
Point.By passive force feedback, certain feedback force is provided for operator by it, is closed in combination with angular transducer detection finger
The scope of activities of section, is conducive to improving the comfort operated, preferably realizes telepresenc.
（3）When operator is grasped, exoskeleton-type force feedback data gloves of the invention then avoid mechanism in hand
Destruction in the palm to telepresenc, makes operator more really experience on the spot in person.
（4）Drive lacking fruit picking Dextrous Hand can be good at envelope fruit, simple in construction, it is not necessary to excessive freedom
Degree, the addition of torsion spring can effectively realize holding with a firm grip and stretching for Dextrous Hand.
Brief description of the drawings
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 is the magnetorheological force feedback data gloves structure chart of wire saws formula of the present invention.
Fig. 3 is the drive lacking fruit picking clever hands figure of the present invention.
Fig. 4 is the XY translation transmission mechanism structure charts of the present invention.
Fig. 5 is the torsion spring scheme of installation of the present invention.
Fig. 6 is the flow chart of the present invention.
Embodiment
As shown in figure 1, a kind of fruit picking robot with force sensing function, including moveable vehicle body 5, vehicle body 5
Front is provided with XY translation transmission mechanisms 2, and the Y-direction top of XY translation transmission mechanisms 2 is provided with camera 7, XY translation drivers
Translating element in structure 2 is vertically provided with forward hydraulically extensible bar 8, and the rod end of hydraulically extensible bar 8 is fixed with servomotor, drive lacking water
Fruit harvesting Dextrous Hand 1 is arranged in the rotating shaft of servomotor, is also had in vehicle body 5 and is worn on the wire saws formula magnetic of operator 4 on hand
Rheology force feedback data gloves 3, the magnetorheological force feedback data gloves 3 of wire saws formula, drive lacking fruit picking Dextrous Hand 1 and are watched
Take motor and mutual induction is realized by car-mounted computer 6, wherein：
As shown in Fig. 2 drive lacking fruit picking Dextrous Hand 1 includes palm 1.7, the rear end of palm 1.7 is connected to turning for servomotor
On axle, servomotor is fixed on the front end of hydraulically extensible bar 8, and the front end of palm 1.7 is connected with four fingers, and the side of palm 1.7 is connected with thumb
Refer to, four fingers refer to the nearly remote finger joint joint 1.2 of finger of the finger middle finger joint of finger joint joints 1.5, four joint 1.4, four by four respectively and constituted, and four refer to closely
The rear end of finger joint joint 1.5 is rotatably connected on the front end of palm 1. 7 respectively, four refer to nearly finger joints shut down 1.5 front ends respectively by hinge with
Corresponding four refer to the rear end connection of middle finger joint joint 1.4, and four refer to the front end of middle finger joint joint 1.4 refers to remote finger joint by hinge and four respectively
The rear end of joint 1.2 is connected, and thumb is made up of the nearly finger joint joint 1.9 of thumb and the remote finger joint joint 1.10 of thumb, and the nearly finger joint of thumb is closed
Save 1.9 rear end thereofs and be connected to the side of palm 1.7, the nearly front end of finger joint joint 1. 9 of thumb passes through hinge and the remote finger joint joint of thumb
1.10 rear ends are connected, and are fitted with torsion spring 1.11 respectively on each hinge, during four refer to, and each four, which refer to nearly finger joint joint 1.5, four, refers to
It is rotatablely equipped with respectively in remote finger joint joint 1.2 in truckle 1.1, four finger middle finger joint joints 1.4 and is rotatablely equipped with big pulley
1.3, the nearly finger joint joint 1.9 of thumb of thumb, thumb are rotatablely equipped with truckle, palm 1.7 respectively in remote finger joint joint 1.10
Correspondence four refers to rear position, thumb rear position and is respectively equipped with servomotor 1.6, the output shaft of servomotor 1.6 respectively admittedly
Surely have and be wound with rope 1.12 respectively on reel 1.8, reel 1.8, wherein four refer to rope on corresponding servomotor reel according to
It is secondary to bypass truckle in the nearly finger joint joint 1.5 of four fingers, four refer to big pulley, four in middle finger joint joints 1.4 and refer in remote finger joint joints 1.2
After truckle, then the rope being fixed on the remote Inner Front End of finger joint joint 1.2 of four fingers, the corresponding servomotor reel of thumb successively around
Cross truckle in the nearly finger joint joint 1.9 of thumb, in the remote finger joint joint 1.10 of thumb after truckle, then be fixed on the remote finger joint of thumb and close
Save 1.10 Inner Front Ends；
In the present invention, drive lacking fruit picking Dextrous Hand 1 is made up of finger and palm 1.7, and thumb is closed by the nearly finger joint of thumb
Section 1.9 and the remote finger joint joint 1.10 of thumb are constituted.The structure of other four fingers is identical, is all to refer to nearly finger joint joint by four
1.5th, four finger middle finger joint joints 1.4 and the four remote finger joint joints 1.2 of finger are constituted.In the nearly finger joint joint 1.9 of thumb and the remote finger joint of thumb
The center section in joint 1.10 is respectively mounted a truckle, and rope is connected to the peace of the remote front end of finger joint joint 1.10 of thumb first
Fill on hole, two truckles are then wound respectively and are then attached on the reel above corresponding servomotor；Refer to four and closely refer to
Save joint 1.5 and four and refer to the remote center section of finger joint joint 1.2 installation truckle 1.1, four refer to the center section in middle finger joint joints 1.4
One big pulley 1.3 is installed, rope is connected on the mounting hole of the remote front end of finger joint joint 1.2 of four fingers, is then wound around three cunnings
On wheel, on the reel 1.8 for being eventually connected to corresponding servomotor 1.6.In joint and the junction and joint in joint and hand
The junction of the palm is connected with torsion spring 1.11 respectively, it is ensured that between joint and joint, joint and palm from recovery capacity.In palm
Reel 1.8 is separately installed with five servomotors 1. 6 of upper distribution, motor shaft.Five ropes 1.12 are respectively wound around servo electricity
On reel 1.8 on machine 1.6, rotated, protected by the setting of torsion spring 1.11 with diarthrodial by the winding of rope 1.12
Demonstrate,prove automatically replying for finger.The control rotational band running rope rope 1.12 of servomotor 1.6 when picking hands need to be grasped
Pull, then drive each joint to proceed by grasping movement, servomotor 1.6 is inverted when needing to reply, and passes through torsion spring
1.11 ensure replying certainly for joint.Realize that the progress of picking hands freely grasps and unfolded motion with this.
As shown in figure 3, the magnetorheological force feedback data gloves of wire saws formula include palm frame 3.3, the top of palm frame 3.3
Rear side is provided with five groups of MR dampers 3.2 being arranged in order from left to right, and five groups of MR dampers 3.2 distinguish respective operations
Five fingers of person, on front side of the bottom surface of palm frame 3.3 by stand to support be supported by five palm pulleys 3.4, five palms are slided
Take turns 3.4 positions to correspond with five groups of positions of MR damper 3.2, the front of palm frame 3.3 also corresponds to the five fingers and is respectively equipped with
Fingerstall 3.7, finger ring 3.8, wherein fingerstall 3.7 are respectively fitted over the finger center section of operator 4, and finger ring 3.8 is respectively fitted over operator 4
Finger finger tip, the top of each fingerstall 3.7 respectively by stand to support be supported by fingerstall pulley 3.5, each MR damper
3.2 piston rod rod ends are connected to rope 3.1, and rope 3.1 is bypassed after corresponding palm pulley 3.4, fingerstall pulley 3.5 successively
It is fixed on corresponding finger ring 3.8；
In the present invention, the magnetorheological force feedback data gloves 3 of cable type be by palm frame 3.3, finger ring 3.8, fingerstall pulley 3.5,
Palm pulley 3.4, MR damper 3.2 and rope 3.1 are constituted.A finger ring on the tip portion set of every finger
3.8, the fingerstall pulley 3.5 on the center section set of finger, correspondence is respectively mounted five metacarpal bone pulleys 3.4 and five on metacarpal bone
MR damper 3.2, by rope 3.1 by finger ring 3.8, fingerstall pulley 3.5, metacarpal bone pulley 3.4 and MR damper
3.2 connect.Conductor loop 3.6 is additionally provided with, is changed the direction of thumb rope by conductor loop 3.6.When picking hands selection
After good position, the hand of operator proceeds by simulation grasping movement, is driven during the grasping of operator by rope 3.1
The piston of MR damper 3.2 is moved, and the big of magnetic field is controlled by controlling the size of current of MR damper 3.2
Small, different feedback forces can be experienced during grasping by ensureing the hand of operator with this.
Servomotor 1.6 in drive lacking fruit picking Dextrous Hand 1, and the magnetorheological force feedback data gloves of wire saws formula
MR damper 3.2 in 3 is connected with car-mounted computer 6 respectively, realizes that driving fruit picking is dexterous by car-mounted computer 6
The mutual induction of hand 1 and the magnetorheological force feedback data gloves 3 of wire saws formula,
As shown in figure 4, XY translation transmission mechanisms 2 include translating platform 2.2 along X to horizontally disposed X ball-screws, erected along Y-direction
The Y ball-screws translation platform 2.1 directly set, wherein X ball-screws translation platform 2.2 is arranged on the front of vehicle body 5 by support,
Y ball-screws translation platform 2.1 is fixed on the sliding stand of X ball-screws translation platform 2.2, Y ball-screws translation platform 2.1
Y-direction top camera 7 is installed, the rear end of hydraulically extensible bar 8 is vertically connected on the sliding stand that Y ball-screws translate platform 2.1
On, the horizontal forward extension in the front end of hydraulically extensible bar 8, drive lacking fruit picking Dextrous Hand 1 is rotatably connected on before hydraulically extensible bar 8
End.
In the present invention, XY translates transmission mechanism and translates platform 2.2, Y ball-screws translation platform 2.1, liquid by X ball-screws
Pressure expansion link 8 and servomotor 2.3 are constituted.The sliding stand and Y ball-screws translation platform of X ball-screws translation platform 2.2
2.1 are fixedly connected, and the sliding stand that Y ball-screws translate platform 2.1 is fixedly connected with hydraulically extensible bar 8, the bottom of servomotor 2.3
Portion is fixed on the top of hydraulically extensible bar 8.
As shown in Figure 2 and Figure 4, the hydraulically extensible bar 8 of the sliding stand setting on the upper strata of transmission mechanism 2 is translated by XY, is watched
Take motor 2.3 to connect the rotating shaft of the palm portion and servomotor of drive lacking fruit picking Dextrous Hand 1, thus formed
One can ensure that drive lacking fruit picking Dextrous Hand is moved up and down, the mechanism for moving left and right and rotating.Also just protect
The positioning of drive lacking fruit picking Dextrous Hand, the realization for the motion for twisting off and grasping are demonstrate,proved.
As shown in figure 5, connected the nearly finger joint joint 1.9 of thumb and the remote finger joint joint 1.10 of thumb by torsion spring, when
When there is relative motion in two joints, torsion spring can be made to carry out certain rotation, it is ensured that connecting rod can be automatically replied when rope loosens
To original position.Four fingers are ensured using identical structure from reply.
As shown in fig. 6, a kind of operating method of the fruit picking robot with force sensing function, specific implementation step is such as
Under：
（1）System initialization is carried out, adjustment sensor, the original state of servomotor, MR damper are in power failure state.
（2）Instruction, adjustment picking robot to an optimal harvesting position are sent by operator.Operator passes through shooting
Head collects the positional information of fruit, by control XY travel mechanisms up and down and right position, hydraulically extensible bar it is flexible
And drive lacking fruit picking Dextrous Hand is adjusted to a suitable harvesting by the angular turn of the servomotor at picking hands rear
Position, prepares harvesting.
（3）Start harvesting, the right hand of operator carries out grasp motion, worn in the magnetorheological force feedback data on right hand arm
It is dexterous that the information such as the angle of operator's right-hand grip, power feel are passed to drive lacking fruit picking by gloves by the processing of computer
Hand, makes picking hands proceed by harvesting.
（4）Drive lacking fruit picking Dextrous Hand starts grasp motion, and drive lacking fruit picking Dextrous Hand is grasped
During suffered force signal, rotational angle signal etc. by computer processing by operator dressed it is magnetorheological
Force feedback data gloves, magnetorheological force feedback data gloves are felt by the size of control electric current come the power that control operation person experiences
Size, that is, by controlling MR damper to produce certain damping force, and then operator is experienced power feel, to realize
Telepresenc.
（5）When operator feels that suffered feedback force is not enough to hold fruit, operator gradually increases the angle of grasping again
Degree and dynamics, are repeated（3）、（4）Process, untill operator experiences suitable feedback force.
（6）When operator, which experiences drive lacking fruit picking Dextrous Hand, to do a good job of it fruit, owe to drive by control
The rotation for the servomotor that dynamic fruit picking Dextrous Hand is connected twists off action realize drive lacking fruit picking Dextrous Hand, this
Sample can just be separated fruit and carpopodium, realize the harvesting of fruit.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (2)
1. a kind of fruit picking robot with force sensing function, it is characterised in that：Including moveable vehicle body, vehicle front
XY translation transmission mechanisms are provided with, the Y-direction top of XY translation transmission mechanisms is provided with putting down in camera, XY translation transmission mechanisms
Move part and hydraulically extensible bar is vertically installed forward, hydraulically extensible bar rod end, which is fixed with servomotor, the rotating shaft of servomotor, to be connected
It is connected to also have in drive lacking fruit picking Dextrous Hand, vehicle body and is worn on the magnetorheological force feedback data of wire saws formula of operator on hand
Gloves, the magnetorheological force feedback data gloves of wire saws formula are realized mutual with drive lacking fruit picking Dextrous Hand by car-mounted computer
Sensing, wherein：
Drive lacking fruit picking Dextrous Hand includes palm, and palm rear end is connected in the rotating shaft of servomotor, and servomotor is fixed
In hydraulically extensible bar front end, palm front end is connected with four fingers, and palm side is connected with thumb, and four refer to respectively by the nearly finger joints pass of four fingers
Section, four refer to middle finger joint joint, the remote finger joint joint composition of four fingers, and four finger nearly finger joint joint rear ends are rotatably connected on before palm respectively
End, four refer to nearly finger joint shutdown front end refers to the connection of middle finger joint joint rear end by hinge with corresponding four respectively, and four, which refer to middle finger joint, closes
Section front end is connected by hinge with four finger remote finger joint joint rear ends respectively, and thumb is closed by the nearly finger joint joint of thumb and the remote finger joint of thumb
Section is constituted, and the nearly finger joint joint rear end thereof of thumb is connected to palm side, and thumb nearly finger joint joint front end passes through hinge and thumb
Remote finger joint joint rear end connection, and torsion spring is fitted with respectively on each hinge, during four refer to, each nearly finger joint joint of four fingers, four refer to
It is rotatablely equipped with respectively in remote finger joint joint in truckle, four finger middle finger joint joints and is rotatablely equipped with big pulley, the thumb of thumb
Truckle is rotatablely equipped with nearly finger joint joint, the remote finger joint joint of thumb respectively, the palm correspondence four refers to rear position, thumb
Rear position is respectively equipped with to be respectively fixed with reel, reel on servomotor, the output shaft of servomotor is wound with rope respectively
Rope, wherein four ropes referred on corresponding servomotor reel bypass truckle in the nearly finger joint joint of four fingers, four finger middle fingers successively
Save big pulley, four in joint to refer in remote finger joint joint after truckle, then be fixed on the remote finger joint joint Inner Front End of four fingers, thumb correspondence
Servomotor reel on rope bypass truckle in the nearly finger joint joint of thumb, truckle in the remote finger joint joint of thumb successively
Afterwards, then it is fixed on the remote finger joint joint Inner Front End of thumb；
The magnetorheological force feedback data gloves of wire saws formula include being provided with from left to right successively on rear side of palm frame, palm frame top
Five groups of MR dampers of arrangement, five groups of MR dampers are distinguished before five fingers of respective operations person, palm frame bottom surface
Side by stand to support be supported by five palm pulleys, five palm pulley positions with five groups of MR damper positions one by one
The five fingers are also corresponded in front of correspondence, palm frame and are respectively equipped with fingerstall, finger ring, wherein fingerstall is respectively fitted over operator's finger pars intermedia
Point, finger ring is respectively fitted over operator's finger finger tip, at the top of each fingerstall respectively by stand to support be supported by fingerstall pulley, often
Individual MR damper piston rod rod end is connected to rope, and rope is bypassed after corresponding palm pulley, fingerstall pulley successively
It is fixed on corresponding finger ring；
In servomotor in the drive lacking fruit picking Dextrous Hand, and the magnetorheological force feedback data gloves of wire saws formula
MR damper is connected with car-mounted computer respectively, and driving fruit picking Dextrous Hand and wire saws are realized by car-mounted computer
The mutual induction of the magnetorheological force feedback data gloves of formula,
A kind of fruit picking robot with force sensing function according to claim 1, it is characterised in that：XY translations are passed
Motivation structure includes translating platform along the Y ball-screws that X is vertically arranged to horizontally disposed X ball-screws translation platform, along Y-direction,
Wherein X ball-screws translation platform is arranged on vehicle front by support, and Y ball-screws translation platform is fixed on X ball-screws
On the sliding stand for translating platform, the Y-direction top of Y ball-screws translation platform is provided with camera, the hydraulically extensible rod rear end
On the sliding stand for being vertically connected on Y ball-screws translation platform, the horizontal forward extension in hydraulically extensible bar front end, the drive lacking water
Fruit harvesting Dextrous Hand is connected in the rotating shaft of servomotor, and servomotor is fixed on hydraulically extensible bar front end.
2. the operating method of the fruit picking robot with force sensing function described in a kind of claim 1, it is characterised in that：Bag
Include following steps：
（1）System initialization is carried out, adjustment sensor, the original state of servomotor, MR damper are in power failure state；
（2）Instruction, adjustment picking robot to an optimal harvesting position are sent by operator；Operator is adopted by camera
Collect the positional information of fruit, by control XY travel mechanisms up and down and right position, hydraulically extensible bar flexible and
Drive lacking fruit picking Dextrous Hand is adjusted to a suitable harvesting position by the angular turn of the servomotor at picking hands rear,
Prepare harvesting；
（3）Start harvesting, the right hand of operator carries out grasp motion, worn in the magnetorheological force feedback data gloves on right hand arm
The angle of operator's right-hand grip, power are felt that information passes to drive lacking fruit picking Dextrous Hand by the processing of computer, made
Picking hands proceed by harvesting；
（4）Drive lacking fruit picking Dextrous Hand starts grasp motion, the process that drive lacking fruit picking Dextrous Hand is grasped
In the magnetorheological force feedback dressed by the processing of computer by operator of suffered force signal, rotational angle signal
Data glove, magnetorheological force feedback data gloves feel size by the size of control electric current come the power that control operation person experiences,
Namely by controlling MR damper to produce certain damping force, and then operator is experienced power feel, come personally with realizing
Sense；
（5）When operator feels that suffered feedback force is not enough to hold fruit, operator gradually increase again the angle of grasping with
Dynamics, is repeated（3）、（4）Process, untill operator experiences suitable feedback force；
（6）When operator, which experiences drive lacking fruit picking Dextrous Hand, to do a good job of it fruit, by controlling drive lacking water
The rotation of the servomotor that is connected of fruit harvesting Dextrous Hand twists off action realize drive lacking fruit picking Dextrous Hand, thus
Fruit and carpopodium can be separated, realize the harvesting of fruit.
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| CN111052936A (en) * | 2019-12-30 | 2020-04-24 | 陈光福 | Fruit picking cart |
| CN111360854A (en) * | 2020-03-09 | 2020-07-03 | 雷国华 | Mechanical arm |
| CN111512254A (en) * | 2018-01-02 | 2020-08-07 | 通用电气公司 | System and method for robot learning of industrial tasks based on human demonstration |
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