CN107736124A - Flexible tomato picking end effector and corresponding picking mechanism and method - Google Patents
Flexible tomato picking end effector and corresponding picking mechanism and method Download PDFInfo
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- CN107736124A CN107736124A CN201710945165.XA CN201710945165A CN107736124A CN 107736124 A CN107736124 A CN 107736124A CN 201710945165 A CN201710945165 A CN 201710945165A CN 107736124 A CN107736124 A CN 107736124A
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- 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
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Abstract
The invention provides tomato picking end effector and corresponding picking mechanism and method, it is related to Agriculture pick robot field, is made up of fruit containing box, control cabinet, mobile platform, mechanical arm and arm end effector；The arm end effector includes No.1 cylinder, vision sensor, No. two cylinders, cylinder mounting plate, U-shaped support, spring support, spring, profiling finger structure, sucker, finger platen, sucker cylinder and rotating shaft, described profiling finger structure includes silica gel piano key, microsprings, finger rotating shaft, left profiling finger, left hand refers to half round clamp, the right hand refers to half round clamp and right profiling finger, the present invention completes alignment fruit, adsorb fruit, pull clamping and swing fractures the course of work, the present invention is clamped using fruit synchronization is pulled, some silica gel piano keys have flexible adaptive ability, then the Softening for the carpopodium that fractures is swung, solve that tomato picking efficiency is low and the technical barrier of easy damaged.
Description
Technical field
The present invention relates to Agriculture pick robot field, in particular it relates to flexible tomato picking end effector and corresponding
Picking mechanism and method.
Background technology
The fruits nutrition of tomato enriches, and has flavour, can eat raw, cook, catsup processing, juice or whole fruit canning,
One of staple vegetable as people, as China's tomato in plastic greenhouse planting technology is promoted, cultivated area and annual production are increasing,
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,
And tomato soft and succulency, epidermis once impaired will soon break down, therefore arm end effector must possess it is flexible and
Adaptive ability just can guarantee that the efficiency and success rate of tomato harvesting, it is therefore desirable to flexible tomato picking end effector and corresponding
Picking mechanism and method, and this flexible picking mechanical arm end effector in the market is no at present.Flexible picking mechanical
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 flexible tomato picking end effector and corresponding picking machine
Structure and method, overcome the defects of existing tomato picked by hand efficiency is low, mechanization degree is low, the present invention, which uses, pulls fruit synchronization
Clamping, some silica gel piano keys have flexible adaptive ability, then swing the Softening for the carpopodium that fractures, solve tomato
Picking efficiency is low and the technical barrier of easy damaged.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of flexible tomato picking end effector, it is by No.1 cylinder, vision sensor, No. two cylinders, cylinder installation
What plate, U-shaped support, spring support, spring, profiling finger structure, sucker, finger platen, sucker cylinder and rotating shaft formed, it is described
Profiling finger structure include silica gel piano key, microsprings, finger rotating shaft, left profiling finger, left hand refer to half round clamp, the right side
The round clamp of finger half and right profiling finger, it is characterized in that：The cylinder mounting plate is connected with mechanical arm, the No.1 cylinder and two
Number cylinder is arranged on cylinder mounting plate into 120 ° of angles, and the vision sensor is arranged on cylinder mounting plate, the sucker
Cylinder is arranged on U-shaped support, and the U-shaped support passes through rotating shaft and No.1 cylinder axis and No. two cylinder axis connections, the spring
Support is arranged on U-shaped support both sides, and the spring one end is connected with spring support, and the other end is connected with profiling finger structure, institute
State sucker and be arranged on sucker cylinder shaft end, the finger platen is arranged on sucker cylinder axis；The silica gel piano key passes through
Microsprings are connected with left profiling finger, and the silica gel piano key is connected by microsprings with right profiling finger, the left side
Profiling finger is connected by finger rotating shaft with U-shaped support, and the right profiling finger is connected by finger rotating shaft with U-shaped support, institute
State left hand and refer to half round clamp and be connected with left profiling finger, the right hand refers to half round clamp and is connected with right profiling finger, the right hand
Refer to half round clamp and left hand refers to half round clamp and pieces together a circular hole.
Preferably, silica gel piano key is length of side 5mm square, and left profiling finger connects 84 silicon by microsprings altogether
Glue piano key, arrange and set into 7 rows 12, left-right and front-back gap is 2mm, and right profiling finger connects 84 by microsprings altogether
Silica gel piano key, arrange and set into 7 rows 12, left-right and front-back gap is 2mm, and silica gel piano key surface adhesion has pressure sensing
Device.
Preferably, the folding of cylinder mounting plate both sides and horizontal plane angle are 120 °, and No.1 cylinder and No. two cylinders are into 120 °
Angle is arranged on cylinder mounting plate；
Preferably, the left hand refer to half round clamp and the right hand to refer to half round clamp to piece together Circularhole diameter be 8.5mm, the suction
Disk cylinder axis external diameter is 8mm.
Preferably, the finger platen external diameter is 10mm, has 15mm apart from sucker.
Specifically, the spring original long status makes left profiling finger and right profiling finger extended distance be 90mm.
A kind of flexible mechanical tomato picker structure, it is by fruit containing box, control cabinet, mobile platform, mechanical arm and manipulator end
Actuator composition is held, it is characterized in that：The fruit containing box is arranged on mobile platform front portion, and the control cabinet is arranged on movement
Platform interior, the mobile platform top are provided with mechanical arm, and the arm end effector is arranged on mechanical arm tail end；Institute
State arm end effector further comprise No.1 cylinder, vision sensor, No. two cylinders, cylinder mounting plate, U-shaped support,
Spring support, spring, profiling finger structure, sucker, finger platen, sucker cylinder and rotating shaft, described profiling finger structure bag
Include silica gel piano key, microsprings, finger rotating shaft, left profiling finger, left hand refers to half round clamp, the right hand refers to half round clamp and the right side
Profiling finger, the cylinder mounting plate are connected with mechanical arm, and the No.1 cylinder and No. two cylinders are arranged on gas into 120 ° of angles
On cylinder installing plate, the vision sensor is arranged on cylinder mounting plate, and the sucker cylinder is arranged on U-shaped support, the U
For type support by rotating shaft and No.1 cylinder axis and No. two cylinder axis connections, the spring support is arranged on U-shaped support both sides, described
Spring one end is connected with spring support, and the other end is connected with profiling finger structure, and the sucker is arranged on sucker cylinder shaft end, institute
Finger platen is stated on sucker cylinder axis；The silica gel piano key is connected by microsprings with left profiling finger, institute
State silica gel piano key to be connected with right profiling finger by microsprings, the left profiling finger passes through finger rotating shaft and U-shaped branch
Frame is connected, and the right profiling finger is connected by finger rotating shaft with U-shaped support, and the left hand refers to half round clamp and left profiling finger
Connection, the right hand refer to half round clamp and are connected with right profiling finger, and the right hand refers to half round clamp and left hand refers to the spelling of half round clamp
Synthesize a circular hole.
A kind of picking method of flexible mechanical tomato picker structure, comprises the following steps：Alignment fruit, absorption fruit, pull folder
Hold and swing fractures, its detailed operation is：Vision sensor shoots Tomato Image, carries out image procossing and obtains tomato space
Three-dimensional coordinate, control cabinet path planning send instruction, and arm end effector is delivered to relevant position by mechanical arm, completes alignment
Fruit process；Sucker cylinder operation, cylinder axis stretch out, and 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 are flared to 90mm (being easy to tomato to enter clamping zone) under spring tension effect, and sucker touches
Sticking is lived when encountering tomato, completes absorption fruit process；Sucker cylinder operation, cylinder axis are retracted, and finger platen heads on left hand and referred to
Half round clamp and the right hand refer to semicircle presser motion, while left profiling finger and right profiling finger angle slowly diminish, and will slowly inhale
The tomato that disk is pulled away from fruit beam clamps, while silica gel piano key has an adaptive ability, and adaptive tomato outline (avoids kind
Eggplant epidermis is damaged), completion pulls clamping process；No.1 cylinder axis stretch out No. two cylinder axis simultaneously and retracted, then No. two cylinder axis
Stretch out No.1 cylinder axis simultaneously to retract, profiling finger structure is swung, and carpopodium is fractureed by shearing force, is completed swing and was fractureed
Tomato after harvesting is put into fruit containing box by journey, last mechanical arm.
Compared with prior art, the present invention has following beneficial effect：
The flexible tomato picking end effector and corresponding picking mechanism and method that the present invention designs utilize multi-joint machinery
Arm, obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that do not damaging the premise of tomato
Under, complete alignment fruit, absorption fruit, pull clamping and swing fractures the course of work, the present invention is synchronously pressed from both sides using pulling fruit
Hold, the adaptive tomato outline of silica gel piano key, then swing the Softening for the carpopodium that fractures, solve tomato picking efficiency
The low and technical barrier of easy damaged.
(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) silica gel piano key of the invention has adaptive ability, adaptive tomato outline, and there is pressure on surface
Sensor detects pressure, avoids the problem of clamping tomato brings damage.
(3) of the invention to use two angle between banks as 120 °, one stretches contracting cooperation, makes profiling finger structure or so pendulum
Dynamic, carpopodium is broken by shearing force, using the carpopodium mode that fractures, than twisting off carpopodium and to break carpopodium more laborsaving.
(4) when sucker of the invention is close to fruit, left profiling finger and right profiling finger angle slowly become big, are easy to tomato
Into clamping zone, profiling finger and right profiling finger angle slowly become while sucker sticking lives tomato and is pulled away from fruit beam
It is small, tomato is clamped, improves clamping speed.
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 arm end effector normal axomometric drawing of the present invention；
Fig. 3 is the profiling finger structure three dimensional structure diagram of the present invention；
Fig. 4 is the left profiling finger three dimensional structure diagram of the present invention；
Fig. 5 is the alignment fruit working state schematic representation of present invention harvesting step；
Fig. 6 is the absorption fruit working state schematic representation of present invention harvesting step；
Fig. 7 pulls clamping working state schematic representation for present invention harvesting step；
Fig. 8 is that the swing of present invention harvesting step fractures working state schematic representation.
In figure：1 fruit containing box, 2 control cabinets, 3 mobile platforms, 4 mechanical arms, 5 arm end effectors, 501 No.1s
Cylinder, 502 vision sensors, 503 No. two cylinders, 504 cylinder mounting plates, 505U type supports, 506 spring supports, 507 springs,
508 profiling finger structures, 509 suckers, 510 finger platens, 511 sucker cylinders, 512 rotating shafts, 5081 silica gel piano keys, 5082
Microsprings, 5083 finger rotating shafts, 5084 left profiling fingers, 5085 left hands refer to half round clamp, and 5086 right hands refer to half round clamp,
5087 right profiling fingers.
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.
The flexible tomato picking end effector and corresponding picking mechanism and method that the present invention designs utilize multi-joint machinery
Arm, obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that do not damaging the premise of tomato
Under, complete alignment fruit, absorption fruit, pull clamping and swing fractures the course of work, the present invention is synchronously pressed from both sides using pulling fruit
Hold, the adaptive tomato outline of silica gel piano key, then swing the Softening for the carpopodium that fractures, solve tomato picking efficiency
The low and technical barrier of easy damaged.
Referring to shown in Fig. 2 to Fig. 4, a kind of flexible tomato picking end effector, is by No.1 cylinder 501, visual sensing
Device 502, No. two cylinders 503, cylinder mounting plate 504, U-shaped support 505, spring support 506, spring 507, profiling finger structures
508th, sucker 509, finger platen 510, sucker cylinder 511 and rotating shaft 512 form, and described profiling finger structure 508 includes
Silica gel piano key 5081, microsprings 5082, finger rotating shaft 5083, left profiling finger 5084, left hand refer to half round clamp 5085,
The right hand refers to half round clamp 5086 and right profiling finger 5087, it is characterized in that：The cylinder mounting plate 504 is connected with mechanical arm 4, institute
State No.1 cylinder 501 and No. two cylinders 503 are arranged on cylinder mounting plate 504 into 120 ° of angles, the vision sensor 502 is set
Put on cylinder mounting plate 504, the sucker cylinder 511 is arranged on U-shaped support 505, and the U-shaped support 505 passes through rotating shaft
512 are arranged on the U-shaped both sides of support 505, institute with the axle of No.1 cylinder 501 and No. two axis connections of cylinder 503, the spring support 506
State the one end of spring 507 to be connected with spring support 506, the other end is connected with profiling finger structure 508, and the sucker 509 is arranged on
The shaft end of sucker cylinder 511, the finger platen 510 are arranged on the axle of sucker cylinder 511；The silica gel piano key 5081 passes through
Microsprings 5082 are connected with left profiling finger 5084, and the silica gel piano key 5081 passes through microsprings 5082 and right profiling
Finger 5087 is connected, and the left profiling finger 5084 is connected by finger rotating shaft 5083 with U-shaped support 505, the right profiling hand
Refer to 5087 to be connected with U-shaped support 505 by finger rotating shaft 5083, the left hand refers to half round clamp 5085 and left profiling finger 5084
Connection, the right hand refer to half round clamp 5086 and are connected with right profiling finger 5087, and the right hand refers to half round clamp 5086 and left hand
Refer to half round clamp 5085 and piece together a circular hole.
It is shown in Figure 4, it is preferable that silica gel piano key 5081 is length of side 5mm square, and left profiling finger 5084 passes through
Microsprings 5082 connect 84 silica gel piano keys 5081 altogether, arrange and set into 7 rows 12, and left-right and front-back gap is 2mm, and the right side is imitative
Shape finger 5087 connects 84 silica gel piano keys 5081 altogether by microsprings 5082, arranges and sets into 7 rows 12, between left-right and front-back
Gap is 2mm, and the surface adhesion of silica gel piano key 5081 has pressure sensor.
It is shown in Figure 2, it is preferable that the both sides folding of cylinder mounting plate 504 is 120 ° with horizontal plane angle, No.1 cylinder
501 and No. two cylinders 503 be arranged on into 120 ° of angles on cylinder mounting plate 504；
It is shown in Figure 3, it is preferable that the left hand refers to half round clamp 5085 and the right hand refers to half round clamp 5086 and pieces together circle
Bore dia is 8.5mm, and the axle external diameter of sucker cylinder 511 is 8mm.
It is shown in Figure 2, it is preferable that the external diameter of finger platen 510 is 10mm, has 15mm apart from sucker 509.
It is shown in Figure 2, specifically, 507 former long status of the spring makes left profiling finger 5084 and right profiling finger
5087 extended distances are 90mm.
It is shown in Figure 1, a kind of flexible mechanical tomato picker structure, it is by fruit containing box 1, control cabinet 2, mobile platform 3, machine
What tool arm 4 and arm end effector 5 formed, it is characterized in that：The fruit containing box 1 is arranged on the front portion of mobile platform 3, institute
State control cabinet 2 to be arranged on inside mobile platform 3, the top of mobile platform 3 is provided with mechanical arm 4, and the arm end is held
Row device 5 is arranged on the end of mechanical arm 4.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 5 to Fig. 8 is operated procedure declaration, this
Inventing the course of work of flexible tomato picking end effector and corresponding picking mechanism includes alignment fruit, absorption fruit, pulls
Clamping and swing fracture, and its detailed operation is：Vision sensor 502 shoots Tomato Image, carries out image procossing acquisition kind
Eggplant 3 d space coordinate, the path planning of control cabinet 2 send instruction, and arm end effector 5 is delivered to corresponding positions by mechanical arm 4
Put, complete alignment fruit process；Sucker cylinder 511 works, and cylinder axis stretch out, and finger platen 510 leaves left hand and refers to half round clamp
5085 and the right hand refer to half round clamp 5086, left profiling finger 5084 and right profiling finger 5087 are under the pulling force effect of spring 507
Open to 90mm (being easy to tomato to enter clamping zone), sticking is lived when sucker 509 touches tomato, completes absorption fruit process；Inhale
Disk cylinder 511 is worked, and cylinder axis are retracted, and finger platen 510 heads on that left hand refers to half round clamp 5085 and the right hand refers to half round clamp
5086 motions, while left profiling finger 5084 and the right angle of profiling finger 5087 slowly diminish, and sucker slowly is pulled away from into fruit beam
Tomato clamps, while silica gel piano key 5081 has an adaptive ability, adaptive tomato outline (avoid tomato epidermis by
Damage), completion pulls clamping process；The shaft extension of No.1 cylinder 501 goes out while No. two axles of cylinder 503 are retracted, then No. two cylinder axis 503
Stretch out the axle of No.1 cylinder 501 simultaneously to retract, profiling finger structure 508 is swung, and carpopodium is fractureed by shearing force, completes to swing
Tomato after harvesting is put into fruit containing box 1 by snap-off process, last mechanical arm 4.
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 (8)
1. a kind of flexible tomato picking end effector, it is characterized in that：It is by No.1 cylinder, vision sensor, No. two cylinders, gas
Cylinder installing plate, U-shaped support, spring support, spring, profiling finger structure, sucker, finger platen, sucker cylinder and rotating shaft composition
, described profiling finger structure refers to semicircle including silica gel piano key, microsprings, finger rotating shaft, left profiling finger, left hand
Pressing plate, the right hand refer to half round clamp and right profiling finger, and the cylinder mounting plate is connected with mechanical arm, the No.1 cylinder and No. two
Cylinder is arranged on cylinder mounting plate into 120 ° of angles, and the vision sensor is arranged on cylinder mounting plate, the sucker gas
Cylinder is arranged on U-shaped support, and the U-shaped support passes through rotating shaft and No.1 cylinder axis and No. two cylinder axis connections, the spring branch
Frame is arranged on U-shaped support both sides, and the spring one end is connected with spring support, and the other end is connected with profiling finger structure, described
Sucker is arranged on sucker cylinder shaft end, and the finger platen is arranged on sucker cylinder axis；The silica gel piano key passes through micro-
Type spring is connected with left profiling finger, and the silica gel piano key is connected by microsprings with right profiling finger, described left imitative
Shape finger is connected by finger rotating shaft with U-shaped support, and the right profiling finger is connected by finger rotating shaft with U-shaped support, described
Left hand refers to half round clamp and is connected with left profiling finger, and the right hand refers to half round clamp and is connected with right profiling finger, and the right hand refers to
Half round clamp and left hand refer to half round clamp and piece together a circular hole.
2. a kind of flexible tomato picking end effector according to claim 1, it is characterized in that：Silica gel piano key is side
Long 5mm square, left profiling finger connect 84 silica gel piano keys by microsprings altogether, arrange and set into 7 rows 12, before left and right
Post gap is 2mm, and right profiling finger connects 84 silica gel piano keys by microsprings altogether, arranges and sets into 7 rows 12, left and right
Aft gap is 2mm, and silica gel piano key surface adhesion has pressure sensor.
3. a kind of flexible tomato picking end effector according to claim 1, it is characterized in that：Roll over cylinder mounting plate both sides
Page is 120 ° with horizontal plane angle, and No.1 cylinder and No. two cylinders are arranged on cylinder mounting plate into 120 ° of angles.
4. a kind of flexible tomato picking end effector according to claim 1, it is characterized in that：The left hand refers to semicircle pressure
It is 8.5mm that plate and the right hand, which refer to half round clamp to piece together Circularhole diameter, and the sucker cylinder axis external diameter is 8mm.
5. a kind of flexible tomato picking end effector according to claim 1, it is characterized in that：The finger platen external diameter
For 10mm, there is 15mm apart from sucker.
6. a kind of flexible tomato picking end effector according to claim 1, it is characterized in that：The spring original long status
It is 90mm to make left profiling finger and right profiling finger extended distance.
7. a kind of flexible mechanical tomato picker structure, it is characterized in that：It is by fruit containing box, control cabinet, mobile platform, mechanical arm and machine
Tool hand end effector composition, the fruit containing box is arranged on mobile platform front portion, and the control cabinet is arranged on mobile flat
Inside platform, the mobile platform top is provided with mechanical arm, and the arm end effector is arranged on mechanical arm tail end；It is described
Arm end effector further comprises No.1 cylinder, vision sensor, No. two cylinders, cylinder mounting plate, U-shaped support, bullet
Spring bracket, spring, profiling finger structure, sucker, finger platen, sucker cylinder and rotating shaft, described profiling finger structure include
Silica gel piano key, microsprings, finger rotating shaft, left profiling finger, left hand refers to half round clamp, the right hand refers to half round clamp and the right side is imitated
Shape finger, the cylinder mounting plate are connected with mechanical arm, and the No.1 cylinder and No. two cylinders are arranged on cylinder into 120 ° of angles
On installing plate, the vision sensor is arranged on cylinder mounting plate, and the sucker cylinder is arranged on U-shaped support, described U-shaped
Support is arranged on U-shaped support both sides, the bullet by rotating shaft and No.1 cylinder axis and No. two cylinder axis connections, the spring support
Spring one end is connected with spring support, and the other end is connected with profiling finger structure, and the sucker is arranged on sucker cylinder shaft end, described
Finger platen is arranged on sucker cylinder axis；The silica gel piano key is connected by microsprings with left profiling finger, described
Silica gel piano key is connected by microsprings with right profiling finger, and the left profiling finger passes through finger rotating shaft and U-shaped support
Connection, the right profiling finger are connected by finger rotating shaft with U-shaped support, and the left hand refers to half round clamp and connected with left profiling finger
Connect, the right hand refers to half round clamp and is connected with right profiling finger, and the right hand refers to half round clamp and left hand refers to half round clamp split
Into a circular hole.
8. a kind of picking method of flexible mechanical tomato picker structure according to claim 7, it is characterized in that：Including following step
Suddenly：
1) it is directed at fruit
Vision sensor shoots Tomato Image, carries out image procossing and obtains tomato 3 d space coordinate, control cabinet path planning hair
Instruction is sent, arm end effector is delivered to relevant position by mechanical arm, completes alignment fruit process；
2) fruit is adsorbed
Sucker cylinder operation, cylinder axis stretch out, and 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 are flared to 90mm under spring tension effect, and sticking is lived when sucker touches tomato, complete absorption fruit
Real process；
3) clamping is pulled
Sucker cylinder operation, 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, together
When left profiling finger and right profiling finger angle slowly diminish, the tomato that sucker is slowly pulled away to fruit beam clamps, while silica gel
Piano key has adaptive ability, adaptive tomato outline, and completion pulls clamping process；
4) swing and fracture
No.1 cylinder axis stretch out No. two cylinder axis simultaneously and retracted, and then No. two cylinder axis stretch out No.1 cylinder axis simultaneously and retracted, and imitate
Shape finger structure is swung, and carpopodium is fractureed by shearing force, completes to swing snap-off process, last mechanical arm is by kind after harvesting
Eggplant is put into fruit containing box.
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| CN201710945165.XA CN107736124A (en) | 2017-10-12 | 2017-10-12 | Flexible tomato picking end effector and corresponding picking mechanism and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109005891A (en) * | 2018-09-21 | 2018-12-18 | 西北农林科技大学 | A kind of end effector of robot towards the picking of tufted tomato |
| CN109429700A (en) * | 2018-12-18 | 2019-03-08 | 山东农业大学 | A kind of end effector and collecting method suitable for white asparagus selectivity mechanized harvesting |
| CN109531571A (en) * | 2018-12-10 | 2019-03-29 | 浙江树人学院 | A kind of flexible mechanical arm end effector control method |
| CN110589478A (en) * | 2019-10-16 | 2019-12-20 | 深圳市星通明塑胶电子有限公司 | Rubber disc feeding machine and feeding method thereof |
| CN112640650A (en) * | 2020-12-12 | 2021-04-13 | 西北农林科技大学 | Negative pressure-based tomato picking machine and working method thereof |
| CN114982478A (en) * | 2022-04-29 | 2022-09-02 | 山东省农业机械科学研究院 | Self-suction type fruit twisting picking manipulator, equipment and method |
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