CN107696047B - End effector of cucumber flexible picking manipulator and picking method - Google Patents

End effector of cucumber flexible picking manipulator and picking method Download PDF

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Publication number
CN107696047B
CN107696047B CN201710945164.5A CN201710945164A CN107696047B CN 107696047 B CN107696047 B CN 107696047B CN 201710945164 A CN201710945164 A CN 201710945164A CN 107696047 B CN107696047 B CN 107696047B
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China
Prior art keywords
clamping
cucumber
cutting
fingers
flexible
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CN201710945164.5A
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CN107696047A (en
Inventor
谷新运
张树昌
张莎莎
刘海彬
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XINCHANG DABOLUO AGRICULTURAL DEVELOPMENT Co.,Ltd.
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Xinchang Daboluo Agricultural Development Co ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D45/00Harvesting of standing crops
    • A01D45/008Harvesting of standing crops of cucumbers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers

Abstract

The invention provides a cucumber flexible picking manipulator end effector and a picking method, which relate to the field of agricultural picking robots and are composed of a stepping motor, an optical axis, a screw rod, a mounting plate, a supporting plate, a nut slider, an upper top plate, a visual sensor, a cutting cylinder, cutting fingers, a clamping cylinder, clamping fingers, a spring, a flexible clamping wall, a silica gel key, a laser sensor, a clamping wall rotating shaft and a rotating motor, and are characterized in that: the flexible clamping walls are arranged on two sides of the mounting plate through the clamping wall rotating shafts, the silica gel keys are connected with the flexible clamping walls through the springs, and the working processes of aligning the cucumber, approaching the cucumber, clamping the upper section of the cucumber, flexibly clamping the middle-lower section of the cucumber and cutting off the fruit stems are completed.

Description

End effector of cucumber flexible picking manipulator and picking method
Technical Field
The invention relates to the field of agricultural picking robots, in particular to an end effector of a cucumber flexible picking manipulator and a picking method.
Background
With the development of greenhouse technology, the cucumber planting area is wide in China at present, the picking operation is the most time-consuming and most labor-consuming link in a cucumber production chain, the seasonality is strong, the labor intensity is high, manual picking is mainly used at present, and the cost is high, so that the timely picking of the cucumber is guaranteed, the harvesting cost is reduced, the important way for increasing the agricultural income is achieved, and the cucumber picking robot suitable for greenhouse environment is of great significance in research.
The analysis of the physical characteristics of the cucumber by test data has three points, namely: the middle section and the lower section of the cucumber contain a large amount of seeds, and the seeds are large, have low pressure resistance and are easy to shake and break; secondly, the method comprises the following steps: the upper section of the cucumber contains few seeds and has good pressure resistance; thirdly, the method comprises the following steps: the upper half of the cucumber has no thorn. The manipulator end effector of the cucumber picking robot is arranged at the front end of a manipulator arm and directly contacted with cucumbers, and is a key execution part for picking. Whether the manipulator end effector can accurately grab the upper cucumber segment or not, flexibly grab the middle and lower cucumber segments and ensure that the lower cucumber segments do not shake, and accurately cut fruit stems, so that the fruit picking efficiency and success rate are determined, and therefore the manipulator end effector and picking method for flexibly picking cucumbers are needed, and the manipulator end effector for flexibly picking cucumbers does not exist in the market at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the end effector of the cucumber flexible picking manipulator and the picking method, which overcome the defects of low efficiency and low mechanization degree of the existing manual cucumber picking.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a flexible picking manipulator end effector of cucumber, is by step motor, optical axis, lead screw, mounting panel, backup pad, nut slider, go up roof, vision sensor, cutting cylinder, cutting finger, centre gripping cylinder, centre gripping finger, spring, flexible centre gripping wall, silica gel button, laser sensor, centre gripping wall pivot and rotating electrical machines and constitutes characterized by: the stepping motor is arranged at the bottom end of the mounting plate, the lower end of the optical axis is connected with the mounting plate and penetrates through the supporting plate, and the upper end of the optical axis is connected with the upper top plate; the utility model discloses a cutting machine, including lead screw, nut slider, cutting cylinder, laser sensor, clamping cylinder, mounting panel, screw lower extreme and step motor, the lead screw lower extreme is connected with the step motor shaft, runs through the backup pad, cooperates with the nut slider, and the roof is connected to the upper end, the backup pad is installed at the mounting panel back, the nut slider is installed on the lead screw, vision sensor installs at the roof front end, the cutting cylinder is connected with the nut slider, the cutting finger is installed on cutting cylinder slide rail, the clamping cylinder is installed in the mounting panel upper end, the clamping finger is installed on the clamping cylinder slide rail, flexible centre gripping wall passes through the centre gripping wall pivot and installs in the mounting panel both sides, the silica gel button passes through the spring and is connected with flexible centre gripping wall.
Preferably, the silica gel button is 3mm wide long strip-shaped 15mm long, is 6 lines of 6 and sets up, clearance 5mm about the clearance 3mm of silica gel button, all silica gel buttons pass through spring and flexible centre gripping wall connection, and on a plane, all silica gel button surface mounting have pressure sensor, flexible centre gripping wall is provided with the arcwall face, and the arcwall face span is 50mm, and the mounting panel both sides respectively set up a flexible centre gripping wall.
Preferably, the distance between the farthest ends of the cutting fingers when the cutting fingers are unfolded is 30mm, and the distance between the farthest ends of the clamping fingers when the clamping fingers are unfolded is 50 mm.
Preferably, the distance between the clamping cylinder and the upper top plate is 60mm, and the upper and lower effective strokes of the cutting cylinder are 40 mm.
A picking method of an end effector of a cucumber flexible picking manipulator comprises the following steps: aims at the cucumber, is close to the cucumber, clamps the upper segment of the cucumber, flexibly clamps the middle and lower segments of the cucumber and cuts off fruit stalks, and the detailed working process is as follows: the method comprises the following steps that a vision sensor shoots cucumber images, three-dimensional coordinates of the upper end space of the cucumber are obtained through image processing, a mechanical arm path is planned to send a manipulator end effector to a specified position, a left flexible clamping wall and a right flexible clamping wall are slowly opened under the driving of a rotating motor, a cutting finger is opened when a cutting cylinder works, and a clamping finger is opened when a clamping cylinder works to finish the cucumber aligning process; the manipulator end effector slowly approaches the cucumber, the upper section of the cucumber enters the middle of the two clamping fingers, the fruit stem of the cucumber enters the middle of the two cutting fingers, and when the distance detected by the laser sensor is less than 30mm, the movement is stopped, so that the cucumber approaching process is completed; the clamping cylinder works, and the two clamping fingers move towards each other to slowly clamp the upper section of the cucumber to finish the process of clamping the upper section of the cucumber; when the pressure sensor on the surface of the silica gel key detects that the picking pressure is within a threshold value, the rotating motor stops rotating to finish the middle-lower segment process of flexibly clamping the cucumber; the stepping motor rotates, the cutting cylinder is driven to a proper position through the nut sliding block, the cutting cylinder works, the two cutting fingers are quickly close to each other, and the fruit stem cutting process is completed.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an end effector of a cucumber flexible picking manipulator and a picking method, which utilize a multi-joint mechanical arm to acquire and sense a working environment and cucumber information in real time through multi-sensor information fusion, and ensure that the working processes of aligning the cucumber, approaching the cucumber, clamping the upper section of the cucumber, flexibly clamping the middle and lower sections of the cucumber and cutting off fruit stems are completed on the premise of not damaging the cucumber.
(1) The cucumber picking machine adopts the flexible clamping wall to clamp the cucumber, the silica gel key of the connecting spring can be adaptive to the outer contour of the cucumber, the middle and lower sections of the cucumber are stabilized, the cucumber is prevented from shaking and being broken, and the nondestructive picking is ensured;
(2) according to the fruit stem cutting machine, the lead screw and the nut sliding block are adopted to drive the cutting cylinder to move up and down, so that the proper position for cutting fruit stems can be adjusted, and the adaptability is stronger;
(3) the invention adopts the picking process of fixing the upper section of the cucumber and then fixing the middle-lower section of the cucumber, thereby reducing the shaking of the cucumber.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The following drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the scope of the invention. In the drawings:
FIG. 1 is an isometric view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention in another direction;
FIG. 3 is a schematic three-dimensional structure of the flexible retaining wall of the present invention;
FIG. 4 is a schematic view of the working state of cucumber aligned for the picking step of the present invention;
FIG. 5 is a schematic view of the working conditions of the invention near the picking step;
FIG. 6 is a schematic view of the working state of the upper section of cucumber clamping in the picking step of the present invention;
FIG. 7 is a schematic view of the working state of the middle and lower sections of the flexible clamping cucumber in the picking step of the present invention;
FIG. 8 is a schematic view of the working state of cutting off the stalks in the picking step of the present invention;
in the figure: 1 step motor, 2 optical axes, 3 lead screws, 4 mounting plates, 5 supporting plates, 6 nut sliders, 7 upper top plates, 8 vision sensors, 9 cutting cylinders, 10 cutting fingers, 11 clamping cylinders, 12 clamping fingers, 13 springs, 14 flexible clamping walls, 15 silica gel keys, 16 laser sensors, 17 clamping wall rotating shafts and 18 rotating motors.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, and it is to be understood that the detailed description is provided for purposes of illustration and explanation and is not intended to limit the scope of the invention.
The invention discloses an end effector of a cucumber flexible picking manipulator and a picking method, which utilize a multi-joint mechanical arm to acquire and sense a working environment and cucumber information in real time through multi-sensor information fusion, and ensure that the working processes of aligning the cucumber, approaching the cucumber, clamping the upper section of the cucumber, flexibly clamping the middle and lower sections of the cucumber and cutting off fruit stems are completed on the premise of not damaging the cucumber.
Referring to fig. 1 to 3, an end effector of a cucumber flexible picking manipulator is composed of a stepping motor 1, an optical axis 2, a screw rod 3, a mounting plate 4, a support plate 5, a nut slider 6, an upper top plate 7, a vision sensor 8, a cutting cylinder 9, a cutting finger 10, a clamping cylinder 11, a clamping finger 12, a spring 13, a flexible clamping wall 14, a silica gel key 15, a laser sensor 16, a clamping wall rotating shaft 17 and a rotating motor 18, and is characterized in that: the stepping motor 1 is installed at the bottom end of the mounting plate 4, the lower end of the optical shaft 2 is connected with the mounting plate 4 and penetrates through the supporting plate 5, and the upper end of the optical shaft is connected with the upper top plate 7; the lower end of the screw rod 3 is connected with a shaft of the stepping motor 1, penetrates through a support plate 5, is matched with a nut slider 6, is connected with an upper top plate 7 at the upper end, the support plate 5 is arranged at the back of a mounting plate 4, the nut slider 6 is arranged on the screw rod 3, a vision sensor 8 is arranged at the front end of the upper top plate 7, a cutting cylinder 9 is connected with the nut slider 6, a cutting finger 9 is arranged on a sliding rail of the cutting cylinder 9, a clamping cylinder 11 is arranged at the upper end of the mounting plate 4, a clamping finger 12 is arranged on the sliding rail of the clamping cylinder 11, flexible clamping walls 14 are arranged at two sides of the mounting plate 4 through clamping wall rotating shafts 17, a silica gel key 15 is connected with the flexible clamping walls 14 through springs 13, a laser sensor 16 is arranged on the mounting plate 4 and positioned between the flexible clamping, is fixed on the mounting plate 4.
Referring to fig. 3, preferably, the silica gel key 15 is a 3mm wide strip shape 15mm long, and 6 rows and 6 columns of the silica gel key are arranged, the left and right gaps of the silica gel key are 3mm and the upper and lower gaps are 5mm, all the silica gel keys 15 are connected with the flexible clamping wall 14 through the spring 13, on one plane, all the silica gel keys 15 are provided with the pressure sensor on the surface, the flexible clamping wall 14 is provided with an arc-shaped surface, the span of the arc-shaped surface is 50mm, and two sides of the mounting plate 4 are respectively provided with one flexible clamping wall 14.
Referring to fig. 1 and 2, preferably, the cutting fingers 10 are spaced apart by 30mm at the farthest positions, and the gripping fingers 12 are spaced apart by 50mm at the farthest positions.
Referring to fig. 1 and 2, preferably, the distance between the clamping cylinder 11 and the upper top plate 7 is 60mm, and the up-down effective stroke of the cutting cylinder 9 is 40 mm.
To help understand the basic embodiment of the present invention, the working process is described with reference to fig. 4 to 8, and the picking method of the end effector of the flexible cucumber picking manipulator of the present invention includes the following steps: aims at the cucumber, is close to the cucumber, clamps the upper segment of the cucumber, flexibly clamps the middle and lower segments of the cucumber and cuts off fruit stalks, and the detailed working process is as follows: the vision sensor 8 shoots cucumber images, three-dimensional coordinates of the upper end space of the cucumber are obtained through image processing, the mechanical arm path planning sends the mechanical arm end effector to a specified position, the two flexible clamping walls 14 on the left side and the right side are slowly opened under the driving of the rotating motor 18, the cutting fingers 10 are opened when the cutting cylinder 9 works, the clamping fingers 12 are opened when the clamping cylinder 11 works, and the cucumber aligning process is completed; the manipulator end effector slowly approaches the cucumber, the upper section of the cucumber enters the middle of the two clamping fingers 12, the fruit stem of the cucumber enters the middle of the two cutting fingers 9, and when the distance detected by the laser sensor 16 is less than 30mm, the movement is stopped, so that the cucumber approaching process is completed; the clamping cylinder 11 works, and the two clamping fingers 12 move oppositely to slowly clamp the upper section of the cucumber to finish the process of clamping the upper section of the cucumber; when the rotating motor 18 rotates, the included angle between the two flexible clamping walls 14 is gradually reduced, the silica gel key 15 is adaptive to the outer contour of the cucumber, and when the pressure sensor on the surface of the silica gel key 15 detects that the picking pressure is within the threshold value, the rotating motor 18 stops rotating, so that the process of flexibly clamping the middle and lower sections of the cucumber is completed; the stepping motor 1 rotates, the cutting cylinder 9 is driven to a proper position through the nut sliding block 6, the cutting cylinder 9 works, the two cutting fingers 10 are quickly close to each other, and the fruit stem cutting process is completed.
The present invention is not limited to the above embodiments, and various combinations of the above embodiments can be combined in any suitable manner without departing from the scope of the present invention. However, the present invention is not limited to the details of the above embodiments, and it will be apparent to those skilled in the art that the embodiments may be changed, modified, replaced and modified without departing from the principle and spirit of the present invention.

Claims (2)

1. The utility model provides a manipulator end effector is picked to cucumber flexibility, characterized by: the device comprises a stepping motor, an optical axis, a lead screw, a mounting plate, a supporting plate, a nut slider, an upper top plate, a vision sensor, a cutting cylinder, cutting fingers, a clamping cylinder, clamping fingers, a spring, a flexible clamping wall, silica gel buttons, a laser sensor, a clamping wall rotating shaft and a rotating motor, wherein the stepping motor is mounted at the bottom end of the mounting plate, the lower end of the optical axis is connected with the mounting plate and penetrates through the supporting plate, and the upper end of the optical axis is connected with the upper top plate; the lower end of the screw rod is connected with a stepping motor shaft, penetrates through a supporting plate and is matched with a nut sliding block, the upper end of the screw rod is connected with an upper top plate, the supporting plate is installed on the back face of an installation plate, the nut sliding block is installed on the screw rod, the vision sensor is installed at the front end of the upper top plate, the cutting cylinder is connected with the nut sliding block, the cutting fingers are installed on a cutting cylinder sliding rail, the clamping cylinder is installed at the upper end of the installation plate, the clamping fingers are installed on the clamping cylinder sliding rail, the flexible clamping walls are installed on two sides of the installation plate through clamping wall rotating shafts, the silica gel keys are connected with the flexible clamping walls through springs, the laser sensor is arranged on the installation plate and located between the flexible;
the silica gel keys are in strip shapes with the width of 3mm and the length of 15mm and are arranged in 6 rows and 6 columns, the left gap and the right gap of the silica gel keys are 3mm, the upper gap and the lower gap of the silica gel keys are 5mm, all the silica gel keys are connected with the flexible clamping walls through springs, pressure sensors are arranged on the surfaces of all the silica gel keys on one plane, the flexible clamping walls are provided with arc-shaped surfaces, the span of the arc-shaped surfaces is 50mm, and two flexible clamping walls are respectively arranged on two sides of the mounting;
the distance between the farthest ends of the cutting fingers is 30mm when the cutting fingers are unfolded, and the distance between the farthest ends of the clamping fingers is 50mm when the clamping fingers are unfolded;
the distance between the clamping cylinder and the upper top plate is 60mm, and the upper and lower effective strokes of the cutting cylinder are 40 mm.
2. The picking method of the end effector of the cucumber flexible picking manipulator as claimed in claim 1, which is characterized in that: the method comprises the following steps:
1) alignment cucumber
The method comprises the following steps that a vision sensor shoots cucumber images, three-dimensional coordinates of the upper end space of the cucumber are obtained through image processing, a mechanical arm path is planned to send a manipulator end effector to a specified position, flexible clamping walls on the left side and the right side are slowly opened under the driving of a rotating motor, a cutting cylinder works to open cutting fingers, and a clamping cylinder works to open clamping fingers to finish the cucumber aligning process;
2) close to cucumber
The manipulator end effector slowly approaches the cucumber, the upper section of the cucumber enters the middle of the two clamping fingers, the fruit stem of the cucumber enters the middle of the two cutting fingers, and when the distance detected by the laser sensor is less than 30mm, the movement is stopped, so that the cucumber approaching process is completed;
3) clamping upper section of cucumber
The clamping cylinder works, and the two clamping fingers move towards each other to slowly clamp the upper section of the cucumber to finish the process of clamping the upper section of the cucumber;
4) flexible clamping cucumber middle and lower segments
When the pressure sensor on the surface of the silica gel key detects that the picking pressure is within a threshold value, the rotating motor stops rotating to finish the middle-lower segment process of flexibly clamping the cucumber;
5) cutting off fruit stalks
The stepping motor rotates, the cutting cylinder is driven to a proper position through the nut sliding block, the cutting cylinder works, the two cutting fingers are quickly close to each other, and the fruit stem cutting process is completed.
CN201710945164.5A 2017-10-12 2017-10-12 End effector of cucumber flexible picking manipulator and picking method Active CN107696047B (en)

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CN107696047B true CN107696047B (en) 2020-11-03

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108575423A (en) * 2018-03-27 2018-09-28 芜湖天梦信息科技有限公司 A kind of agricultural planting device
DE102018132888A1 (en) * 2018-12-19 2020-06-25 Martin Bergmann Gripping device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011211969A (en) * 2010-03-31 2011-10-27 National Agriculture & Food Research Organization Peduncle removing apparatus and fruit harvesting apparatus
CN203860064U (en) * 2014-05-14 2014-10-08 河北农业大学 Rigid and flexible mixed tail end actuator for picking strawberry
CN106363653A (en) * 2016-10-20 2017-02-01 中国农业大学 End effector of cucumber picking robot
CN106737781A (en) * 2016-12-26 2017-05-31 广东利迅达机器人系统股份有限公司 A kind of robot clamp of adjust automatically

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011211969A (en) * 2010-03-31 2011-10-27 National Agriculture & Food Research Organization Peduncle removing apparatus and fruit harvesting apparatus
CN203860064U (en) * 2014-05-14 2014-10-08 河北农业大学 Rigid and flexible mixed tail end actuator for picking strawberry
CN106363653A (en) * 2016-10-20 2017-02-01 中国农业大学 End effector of cucumber picking robot
CN106737781A (en) * 2016-12-26 2017-05-31 广东利迅达机器人系统股份有限公司 A kind of robot clamp of adjust automatically

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Effective date of registration: 20201013

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