CN107457795A - A kind of tomato absorption clamps synchronous picking mechanical arm end effector - Google Patents
A kind of tomato absorption clamps synchronous picking mechanical arm end effector Download PDFInfo
- Publication number
- CN107457795A CN107457795A CN201710945140.XA CN201710945140A CN107457795A CN 107457795 A CN107457795 A CN 107457795A CN 201710945140 A CN201710945140 A CN 201710945140A CN 107457795 A CN107457795 A CN 107457795A
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- China
- Prior art keywords
- finger
- tomato
- mechanical arm
- profiling
- profiling finger
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of absorption of tomato to clamp synchronous picking mechanical arm end effector,It is related to Agriculture pick robot field,It is by mounting seat,No.1 cylinder,No. two cylinders,Sucker cylinder,U-shaped support,Spring support,Spring,Profiling finger structure,Sucker,What finger platen and telescopic cylinder axle formed,Described profiling finger structure includes left profiling finger,Pressure sensor,Rotating shaft,Left hand refers to half round clamp,The right hand refers to half round clamp and right profiling finger,The present invention provides a kind of tomato absorption and clamps synchronous picking mechanical arm end effector,Complete alignment fruit,Adsorb fruit,Pull clamping and swing fractures the course of work,Overcome existing tomato picked by hand efficiency low,The defects of mechanization degree is low,The present invention is clamped using fruit synchronization is pulled,Then the Softening for the carpopodium that fractures is swung,Solves the low technical barrier of tomato picking efficiency.
Description
Technical field
The present invention relates to Agriculture pick robot field, in particular it relates to which a kind of absorption of tomato clamps synchronous picking mechanical
Hand end effector.
Background technology
As China's tomato in plastic greenhouse planting technology is promoted, cultivated area and annual production are increasing, the fruits nutrition of tomato
It is abundant, have flavour, can eat raw, cook, catsup processing, juice or whole fruit canning, turning into one of staple vegetable of people,
The harvest of tomato in China fully relies on artificial harvesting at present, big in the artificial harvest operation amount of tomato in China, and labor intensity is high, effect
Rate is low, and with the aging of China's Development of China's Urbanization and population, foot phenomenon does not become clear day by day rural laborer, studies and promotes kind
Eggplant autonomous harvesting technology, turns into urgent problem to be solved at this stage.
The growth of 2~5 bunchys of tomato, mutually touching, in picking process end effector be difficult to ideal pose close to and
Clamp fruit, easily cause the failure of clamping and the damage of adjacent fruit, tomato should gently pluck and put down gently when harvesting, when plucking preferably without
Base of fruit, mutually it is wounded by stabbing to prevent fruit in shipment, has in being studied at present for Tomato-harvesting robot by sucker sticking first
Firmly tomato and be pulled away from fruit beam, then clamp the picking method of fruit rotating separation carpopodium, but tomato carpopodium using twisting off or
The mode of breaking is both needed to for a long time, is most labour-saving mode according to the test data analyzer carpopodium that fractures, so this twists off the side of carpopodium
Method picking efficiency is too low.
The arm end effector of Tomato-harvesting robot is mounted in mechanical arm front end, is directly in contact with tomato,
It is the crucial executable portion of harvesting.Arm end effector is for manipulating object and the tenderness of environment, scrambling and answers
The adaptability of miscellaneous polytropy determines the efficiency and success rate of picking fruit, it is therefore desirable to which a kind of tomato absorption clamping is synchronously adopted
Arm end effector is plucked, and this picking mechanical arm end effector in the market is no at present.Mechanical tomato picker tool
The mechanism parameter of hand end effector will have a strong impact on picking efficiency and success rate, and its research and development is to improving agricultural production efficiency
And the market value of tomato plays vital effect.
The content of the invention
For it is above-mentioned in the prior art the defects of, the present invention provides a kind of absorption of tomato and clamps synchronous picking mechanical arm end
Actuator, overcomes the defects of existing tomato picked by hand efficiency is low, mechanization degree is low, and the present invention is pressed from both sides using fruit synchronization is pulled
Hold, then swing the Softening for the carpopodium that fractures, solve the low technical barrier of tomato picking efficiency.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of tomato absorption clamps synchronous picking mechanical arm end effector, is by mounting seat, No.1 cylinder, No. two vapour
Cylinder, sucker cylinder, U-shaped support, spring support, spring, profiling finger structure, sucker, finger platen and telescopic cylinder axle composition
, described profiling finger structure includes left profiling finger, pressure sensor, rotating shaft, left hand refers to half round clamp, the right hand refers to semicircle
Pressing plate and right profiling finger, it is characterized in that：The mounting seat is connected with mechanical arm, and the No.1 cylinder and No. two cylinders are vertical
Installed in mounting seat, the shaft end of the No.1 cylinder and No. two cylinders is connected with U-shaped support, and the sucker cylinder is arranged on U
On type support, the spring support is arranged on U-shaped support both ends, and the spring one end is connected with spring support, and the other end is with imitating
Shape finger structure is connected, and the sucker is arranged on telescopic cylinder shaft end, and the finger platen is arranged on telescopic cylinder axle；Institute
State left profiling finger to be connected with U-shaped support by rotating shaft, the pressure sensor is adhered to left profiling finger surface, the left hand
Refer to half round clamp and be arranged on left profiling finger tips, the right hand refers to half round clamp and is arranged on right profiling finger tips, the left side
The round clamp of finger half and the right hand refer to half round clamp and piece together circle, and the right profiling finger is connected by rotating shaft with U-shaped support.
Preferably, the left hand refer to half round clamp and the right hand to refer to half round clamp to piece together round diameter be 8.5mm, it is described to stretch
Contracting cylinder axis external diameter is 8mm.
Preferably, the finger platen external diameter is 10mm, has 15mm apart from sucker.
It is highly preferred that the left profiling finger and right profiling finger inner surface all have 3mm soft silica gel material.
Specifically, the spring original long status makes left profiling finger and right profiling finger extended distance be 90mm.
A kind of present invention tomato absorption clamp synchronous picking mechanical arm end effector the course of work include alignment fruit,
Absorption fruit, pull clamping and swing fracture, its detailed operation is：Image procossing obtains tomato 3 d space coordinate, machine
Arm end effector is delivered to relevant position by tool arm, completes alignment fruit process；Sucker cylinder operation, telescopic cylinder shaft extension
Go out, finger platen leaves that left hand refers to half round clamp and the right hand refers to half round clamp, left profiling finger and right profiling finger and drawn in spring
90mm is flared under power effect, sticking is lived when sucker touches tomato, completes absorption fruit process；Sucker cylinder operation, stretch
Cylinder axis are retracted, and finger platen heads on that left hand refers to half round clamp and the right hand refers to semicircle presser motion, while left profiling finger and the right side
The tomato that sucker is slowly pulled away from fruit beam by profiling finger clamps, and completion pulls clamping process；No.1 cylinder axis stretching while two
Number cylinder axis is retracted, and then No. two cylinder axis stretch out No.1 cylinder axis simultaneously and retracted, and profiling finger structure swings, carpopodium by
Shearing force and fracture, complete swing snap-off process.
Compared with prior art, the present invention has following beneficial effect：
A kind of tomato absorption that the present invention designs clamps synchronous picking mechanical arm end effector and utilizes multi-joint mechanical arm,
Obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that on the premise of tomato is not damaged,
Completing alignment fruit, absorption fruit, pull clamping and swing fractures the course of work, the present invention is synchronously clamped using pulling fruit,
Then the Softening for the carpopodium that fractures is swung, solves the low technical barrier of tomato picking efficiency.
(1) telescoping mechanism of the invention is used as power from cylinder, can more convenient and quicker adjustment operating rate, and cylinder has
There are higher reliability and longer service life, its responsiveness is generally less than 1M/S, compared with the gentle electric cylinders speed of hydraulic cylinder
Faster；
(2) present invention uses sucker suction fruit, while sucker is slowly pulled away from fruit by left profiling finger and right profiling finger
The tomato of beam clamps, and improves clamping speed；
(3) two cylinders of use of the invention coordinate, and profiling finger structure is swung, using the carpopodium mode that fractures,
Than twisting off carpopodium and to break carpopodium more laborsaving.
(4) left profiling finger of the invention and right profiling finger inner surface all have 3mm soft silica gel material, and have pressure
Sensor detects pressure, avoids the problem of clamping tomato brings damage.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below be used for a further understanding of the present invention, and a part for constitution instruction are provided, its with it is following
Embodiment be used to explain the present invention together, but protection scope of the present invention is not limited to following accompanying drawings and specific real
Apply mode.In the accompanying drawings：
Fig. 1 is the overall structure normal axomometric drawing of the present invention；
Fig. 2 is the profiling finger structure three dimensional structure diagram of the present invention；
Fig. 3 is the alignment fruit working state schematic representation of present invention harvesting step；
Fig. 4 is the absorption fruit working state schematic representation of present invention harvesting step；
Fig. 5 pulls clamping working state schematic representation for present invention harvesting step；
Fig. 6 is that the swing of present invention harvesting step fractures working state schematic representation.
In figure：1 mounting seat, 2 No.1 cylinders, 3 No. two cylinders, 4 sucker cylinders, 5U type supports, 6 spring supports, 7 bullets
Spring, 8 profiling finger structures, 801 left profiling fingers, 802 pressure sensors, 803 rotating shafts, 804 left hands refer to half round clamp, and 805 is right
The round clamp of finger half, 806 right profiling fingers, 9 suckers, 10 finger platens, 11 telescopic cylinder axles.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
A kind of tomato absorption that the present invention designs clamps synchronous picking mechanical arm end effector and utilizes multi-joint mechanical arm,
Obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that on the premise of tomato is not damaged,
Completing alignment fruit, absorption fruit, pull clamping and swing fractures the course of work, the present invention is synchronously clamped using pulling fruit,
Then the Softening for the carpopodium that fractures is swung, solves the low technical barrier of tomato picking efficiency.
Referring to shown in Fig. 1 to Fig. 2, a kind of tomato absorption clamps synchronous picking mechanical arm end effector, is by installing bottom
Seat 1, No.1 cylinder 2, No. two cylinders 3, sucker cylinder 4, U-shaped support 5, spring support 6, spring 7, profiling finger structure 8, suckers
9th, finger platen 10 and telescopic cylinder axle 11 form, and described profiling finger structure 8 includes left profiling finger 801, pressure passes
Sensor 802, rotating shaft 803, left hand refers to half round clamp 804, the right hand refers to half round clamp 805 and right profiling finger 806, it is characterized in that：
The mounting seat 1 is connected with mechanical arm, and the No.1 cylinder 2 and No. two cylinders 3 are installed perpendicular to mounting seat 1, and described one
The shaft end of number cylinder 2 and No. two cylinders 3 is connected with U-shaped support 5, and the sucker cylinder 4 is arranged on U-shaped support 5, the spring
Support 6 is arranged on the U-shaped both ends of support 5, and described one end of spring 7 is connected with spring support 6, and the other end connects with profiling finger structure 8
Connect, the sucker 9 is arranged on the end of telescopic cylinder axle 11, and the finger platen 10 is arranged on telescopic cylinder axle 11；The left side
Profiling finger 801 is connected by rotating shaft 803 with U-shaped support 5, and the pressure sensor 802 is adhered to the left table of profiling finger 801
Face, the left hand refer to half round clamp 804 and are arranged on the left end of profiling finger 801, and the right hand refers to half round clamp 805 and is arranged on the right side
The end of profiling finger 806, the left hand refers to half round clamp 804 and the right hand refers to half round clamp 805 and pieces together circle, the right profiling
Finger 806 is connected by rotating shaft 803 with U-shaped support 5.
Preferably, the left hand refer to half round clamp 804 and the right hand to refer to half round clamp 805 to piece together round diameter be 8.5mm,
The external diameter of telescopic cylinder axle 11 is 8mm.
Preferably, the external diameter of finger platen 10 is 10mm, has 15mm apart from sucker 9.
It is highly preferred that the left profiling finger 801 and the right inner surface of profiling finger 806 all have 3mm soft silica gel material.
Specifically, the 7 former long status of spring makes left profiling finger 801 and the right extended distance of profiling finger 806 be 90mm.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 3 to Fig. 6 is operated procedure declaration, this
Invent a kind of absorption of tomato clamp synchronous picking mechanical arm end effector the course of work include alignment fruit, absorption fruit,
Pull clamping and swing fractures, its detailed operation is：Image procossing obtains tomato 3 d space coordinate, and mechanical arm is by machinery
Hand end effector delivers to relevant position, completes alignment fruit process；Sucker cylinder 4 works, and telescopic cylinder axle 11 stretches out, finger
Platen 10 leaves that left hand refers to half round clamp 804 and the right hand refers to half round clamp 805, and left profiling finger 801 and right profiling finger 806 exist
90mm is flared under the pulling force effect of spring 7, sticking is lived when sucker 9 touches tomato, completes absorption fruit process；Sucker cylinder 4
Work, telescopic cylinder axle 11 retracts, and finger platen 10 heads on that left hand refers to half round clamp 804 and the right hand refers to half round clamp 805 and moved,
Sucker 9 is slowly pulled away from the tomato of fruit beam and clamped by left profiling finger 801 and right profiling finger 806 simultaneously, and completion pulls clamping
Process；The shaft extension of No.1 cylinder 2 goes out while No. two axles of cylinder 3 are retracted, and then No. two shaft extensions of cylinder 3 go out while the axle of No.1 cylinder 2 contracts
Return, profiling finger structure 8 is swung, and carpopodium is fractureed by shearing force, completes to swing snap-off process.
The embodiment of the present invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, above-mentioned specific real
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention no longer separately illustrates to various combinations of possible ways.It is but of the invention
The detail being not limited in above-mentioned embodiment, for the ordinary skill in the art, according to the religion of the present invention
Lead, in the case where not departing from the principle of the present invention and spirit, the changes, modifications, replacement and the modification that are carried out to embodiment
Still fall within protection scope of the present invention.
Claims (5)
1. a kind of tomato absorption clamps synchronous picking mechanical arm end effector, it is characterized in that：It is by mounting seat, No.1 gas
Cylinder, No. two cylinders, sucker cylinder, U-shaped support, spring support, spring, profiling finger structure, sucker, finger platen and flexible gas
Cylinder shaft composition, described profiling finger structure refers to half round clamp, the right side including left profiling finger, pressure sensor, rotating shaft, left hand
The round clamp of finger half and right profiling finger, the mounting seat are connected with mechanical arm, and the No.1 cylinder and No. two cylinders are vertical
Installed in mounting seat, the shaft end of the No.1 cylinder and No. two cylinders is connected with U-shaped support, and the sucker cylinder is arranged on U
On type support, the spring support is arranged on U-shaped support both ends, and the spring one end is connected with spring support, and the other end is with imitating
Shape finger structure is connected, and the sucker is arranged on telescopic cylinder shaft end, and the finger platen is arranged on telescopic cylinder axle；Institute
State left profiling finger to be connected with U-shaped support by rotating shaft, the pressure sensor is adhered to left profiling finger surface, the left hand
Refer to half round clamp and be arranged on left profiling finger tips, the right hand refers to half round clamp and is arranged on right profiling finger tips, the left side
The round clamp of finger half and the right hand refer to half round clamp and piece together circle, and the right profiling finger is connected by rotating shaft with U-shaped support.
2. a kind of tomato absorption according to claim 1 clamps synchronous picking mechanical arm end effector, it is characterized in that：Institute
State left hand refer to half round clamp and the right hand to refer to half round clamp to piece together round diameter be 8.5mm, the telescopic cylinder axle external diameter is
8mm。
3. a kind of tomato absorption according to claim 1 clamps synchronous picking mechanical arm end effector, it is characterized in that：Institute
It is 10mm to state finger platen external diameter, has 15mm apart from sucker.
4. a kind of tomato absorption according to claim 1 clamps synchronous picking mechanical arm end effector, it is characterized in that：Institute
State the soft silica gel material that left profiling finger and right profiling finger inner surface all have 3mm.
5. a kind of tomato absorption according to claim 1 clamps synchronous picking mechanical arm end effector, it is characterized in that：Institute
Stating spring original long status makes left profiling finger and right profiling finger extended distance be 90mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945140.XA CN107457795A (en) | 2017-10-12 | 2017-10-12 | A kind of tomato absorption clamps synchronous picking mechanical arm end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945140.XA CN107457795A (en) | 2017-10-12 | 2017-10-12 | A kind of tomato absorption clamps synchronous picking mechanical arm end effector |
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| CN107457795A true CN107457795A (en) | 2017-12-12 |
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| CN201710945140.XA Pending CN107457795A (en) | 2017-10-12 | 2017-10-12 | A kind of tomato absorption clamps synchronous picking mechanical arm end effector |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927786A (en) * | 2018-08-06 | 2018-12-04 | 燕山大学 | The force adaptive of Omni-mobile picks and places robot |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN109937706A (en) * | 2019-04-22 | 2019-06-28 | 石河子大学 | A kind of three finger drawing type safflower picking end effectors |
| WO2020076616A1 (en) * | 2018-10-08 | 2020-04-16 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| CN111055261A (en) * | 2020-01-16 | 2020-04-24 | 商丘师范学院 | Library self-service book returning vehicle |
| CN112248001A (en) * | 2020-09-30 | 2021-01-22 | 湖北工程学院 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
| CN112404940A (en) * | 2020-11-30 | 2021-02-26 | 珠海格力智能装备有限公司 | Assembly system of air conditioner right side board |
| CN114793612A (en) * | 2022-04-11 | 2022-07-29 | 河南科技大学 | Tomato picking manipulator with self-balancing adaptive grabbing force |
| US12004451B2 (en) | 2019-10-03 | 2024-06-11 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
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| CN112248001A (en) * | 2020-09-30 | 2021-01-22 | 湖北工程学院 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
| CN112404940A (en) * | 2020-11-30 | 2021-02-26 | 珠海格力智能装备有限公司 | Assembly system of air conditioner right side board |
| CN114793612A (en) * | 2022-04-11 | 2022-07-29 | 河南科技大学 | Tomato picking manipulator with self-balancing adaptive grabbing force |
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Application publication date: 20171212 |