CN107852958B - Fruit harvesting end effector based on touch sensing technology - Google Patents
Fruit harvesting end effector based on touch sensing technology Download PDFInfo
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- CN107852958B CN107852958B CN201711274186.XA CN201711274186A CN107852958B CN 107852958 B CN107852958 B CN 107852958B CN 201711274186 A CN201711274186 A CN 201711274186A CN 107852958 B CN107852958 B CN 107852958B
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- rod
- end effector
- bowl
- fruit harvesting
- screw rod
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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
- A01D46/24—Devices for picking apples or like fruit
Abstract
The invention discloses a fruit harvesting end effector based on a touch sensing technology, which comprises an inverted L-shaped base, wherein the base is provided with a motor, a screw rod and a guide rod, and the screw rod is vertically arranged and connected with an output shaft of the motor; a fixed seat and a movable sliding block are arranged on the vertical guide rod, the fixed seat and the sliding block are matched with the screw rod, and a handle shearing device is arranged at the upper end of the guide rod; the handle shearing device is formed by hinging two symmetrically arranged bowl knives, the upper outer edge of each bowl knife is provided with a blade, and a micro switch is arranged in each bowl knife; the handle shearing device is provided with a buffer rod which is hinged with the sliding block; a base barrel is arranged on the base below the scissor handle device; an up-position travel switch is arranged on the fixed seat, and a down-position travel switch is arranged on the base seat; the motor, the up-position travel switch, the down-position travel switch and the micro switch are electrically connected with the control driver. The invention aims to provide a fruit harvesting end effector based on a touch sensing technology, which is suitable for harvesting long-handled fruits, has sensitive response, improves harvesting efficiency, and replaces manual work to improve safety.
Description
Technical Field
The invention belongs to the technical field of fruit harvesting, and particularly relates to a fruit harvesting end effector based on a touch sensing technology.
Background
Fruit harvesting is an important link in fruit production operation, and quality and yield of fruits are timely and reasonably related to harvesting. When higher long-handled fruits (such as apples, pears and the like) of fruit trees are picked, fruits at high positions are difficult to pick by means of stools and short ladders in an orchard due to uneven ground, the labor intensity is high, safety is not guaranteed when fruits at high positions are picked from workers, and although mechanized equipment for identifying and picking by high-end technologies such as vision, smell and the like appears in the market, the mechanized equipment is not popularized due to the fact that the cost is too high, so that the simple and efficient automatic fruit picking equipment has a great development prospect.
Disclosure of Invention
The invention aims to solve the problems and provide the fruit harvesting end effector based on the touch sensing technology, which is suitable for harvesting long-handled fruits, has sensitive response, improves harvesting efficiency, and replaces manual work to improve safety.
In order to achieve the above purpose, the invention adopts the following technical scheme: the fruit harvesting end effector based on the touch sensing technology comprises an inverted L-shaped base, wherein the base is provided with a motor, a screw rod and a guide rod, and the screw rod is vertically arranged and is coaxially connected with an output shaft of the motor; the guide rod is vertically arranged, the rod part is provided with a fixed seat and a slide block capable of moving vertically, the fixed seat and the slide block are mounted in a matched manner with the screw rod, and the upper end of the guide rod is provided with a handle shearing device; the handle shearing device is formed by hinging two symmetrically arranged bowl knives, the upper outer edges of the bowl knives are provided with blades, and micro switches are arranged in the bowl knives; the handle shearing device is provided with a hinged buffer rod, and the buffer rod is hinged with the sliding block; a base barrel is arranged on the base below the handle shearing device; an up-position travel switch is arranged on the fixed seat, and a down-position travel switch is arranged on the base; the motor, the up-position travel switch, the down-position travel switch and the micro switch are respectively and electrically connected with the control driver.
Further, the buffer rod comprises a push rod, a spring and a rod sleeve, the push rod is provided with a slidable rod sleeve, one end of the spring is connected with the push rod, the other end of the spring is connected with the rod sleeve, and the spring and the rod sleeve are coaxially arranged.
Further, one end of the push rod is provided with a thread, and an adjusting nut matched with the thread is arranged at the thread.
Further, the sliding block is provided with a screw rod hole and a guide rod hole which are parallel to each other, the screw rod hole is matched with the screw rod, the guide rod hole is matched with the guide rod, two sides of the sliding block are provided with buffer rod mounting holes, and the buffer rod mounting holes are hinged to the buffer rods.
Furthermore, the bowl knife hinge joint is provided with a synchronous tooth, and the two bowl knives are meshed through the synchronous tooth.
Further, the micro-switches are uniformly arranged along the circumferential direction of the horizontal section in the bowl knife, and the number of the micro-switches is six.
Further, the seat barrel is of a hollow structure, and the lower end of the seat barrel is provided with a collecting bag.
Further, the inner wall of the seat barrel is provided with an elastic pad which is attached to the inner wall of the seat barrel, and the collecting bag is made of elastic materials.
Further, a coupler is arranged between the motor output shaft and the screw rod.
Furthermore, two ends of the screw rod are provided with matched bearings.
The invention has the beneficial effects that:
1. the device is suitable for picking various fruits with long handles, can realize shearing and bag falling of the fruits at the same time, and the bowl-shaped handle shearing device can shear the fruit handles at any angle above the fruits;
2. the micro switch is used for sensing, the reaction is sensitive, and the quick confirmation and harvest of fruits can be realized;
3. the bowl-shaped handle shearing device completely wraps the fruits when shearing is performed, only the handles are sheared, and the stabbing damage of the branches to the fruits is reduced;
4. the screw-nut transmission pair in the scheme can realize the effect of inputting small power and outputting large shearing force, and has the advantages of simple structure and easy implementation;
5. the blade and the bowl knife are fixed by screws, so that the blade can be conveniently and quickly replaced after being worn or damaged.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic diagram of a front view structure of the present invention.
FIG. 3 is a schematic view of a slider structure according to the present invention.
Fig. 4 is a schematic structural view of a handle shearing device according to the present invention.
FIG. 5 is a schematic view of the structure of a buffer rod of the present invention.
The text labels in the figures are expressed as: 1. a base; 2. a motor; 3. a screw rod; 301. a bearing; 4. a guide rod; 5. a fixing seat; 6. a slide block; 601. a screw hole; 602. a guide rod hole; 603. a buffer rod mounting hole; 7. a handle shearing device; 701. bowl knife; 7011. synchronizing teeth; 7012. a bowl cutter hinge hole; 7013. a buffer rod connection hole; 702. a blade; 703. a micro-switch; 8. a buffer rod; 801. a push rod; 802. a spring; 803. a rod sleeve; 9. a seat barrel; 901. an elastic pad; 91. a collection bag; 10. an up-to-position travel switch; 11. a down-to-position travel switch; 12. controlling a driver; 13. a coupling.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present invention, the following detailed description of the present invention with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present invention.
As shown in fig. 1-5, the specific structure of the invention is as follows: the fruit harvesting end effector based on the touch sensing technology comprises an inverted L-shaped base 1, wherein the base 1 is provided with a motor 2, a screw rod 3 and a guide rod 4, the motor 2 is arranged on a side plate below the base 1, and the screw rod 3 is vertically arranged and is coaxially connected with an output shaft of the motor 2; the guide rod 4 is vertically arranged, and a fixed seat 5 and a slide block 6 capable of vertically moving are arranged at the rod part; the number of the guide rods 4 is two, and the lower ends of the guide rods are fixed on the base 1; the fixed seat 5 and the sliding block 6 are matched with the screw rod 3, one end of the fixed seat 5 is arranged on the guide rod 4 and locked by a screw, and the other end of the fixed seat is arranged on the screw rod 3; the upper end of the guide rod 4 is provided with a handle shearing device 7; the handle shearing device 7 is formed by hinging two bowl-shaped cutters 701 which are symmetrically arranged in half, namely, the bowl-shaped cutters are meshed through bowl-shaped cutter hinging holes 7012, a cutter blade 702 is arranged at the upper outer edge of each bowl-shaped cutter 701, the cutter blade 702 and the bowl-shaped cutters 701 are fixed by adopting screws, and a micro switch 703 is arranged in each bowl-shaped cutter 701; the handle shearing device 7 is provided with a hinged buffer rod 8, namely the buffer rod 8 is hinged with a buffer rod connecting hole 7013 to provide shearing force for the handle shearing device 7, and the buffer rod 8 is hinged with the sliding block 6; a base barrel 9 is arranged on the base 1 below the handle shearing device 7; an up-position travel switch 10 is arranged on the fixed seat 5, the contact is downward, a down-position travel switch 11 is arranged on the base 1, and the contact is upward; the motor 2, the up-position travel switch 10, the down-position travel switch 11 and the micro switch 703 are respectively and electrically connected with the control driver 12.
Preferably, the buffer rod 8 comprises a push rod 801, a spring 802 and a rod sleeve 803, the push rod 801 is provided with a slidable rod sleeve 803, one end of the spring 802 is connected with the push rod 801, the other end of the spring 802 is connected with the rod sleeve 803 and is coaxially arranged with the rod sleeve 803, when the shearing handle device 7 is used for shearing a blade 702 by mistake or the fruit handle is too thick, the push rod 801 continues to rise, however, the rod sleeve 803 stops rising, and the spring 802 is compressed to play a role of buffering.
Preferably, a thread 8011 is provided at one end of the push rod 801, and an adjusting nut 8012 matched with the thread 8011 is provided at the position of the thread 8011, so as to adjust the compression force of the spring 802, that is, adjust the shearing force on the shearing handle device 7.
Preferably, the sliding block 6 is provided with a screw rod hole 601 and a guide rod hole 602 which are parallel to each other, the screw rod hole 601 is matched with the screw rod 3, the guide rod hole 602 is matched with the guide rod 4 and moves up and down along the guide rod 4, two sides of the sliding block 6 are provided with buffer rod mounting holes 603, and the buffer rod mounting holes 603 are hinged with the buffer rods 8.
Preferably, the hinge joint of the bowl knives 701 is provided with a synchronizing tooth 7011, and the two bowl knives 701 are meshed through the synchronizing tooth 7011, so that the two bowl knives 701 are ensured to act simultaneously, thereby enabling the knife blade 702 to act synchronously and shearing the fruit stalks at the same time.
Preferably, the micro-switches 703 are uniformly arranged along the circumferential direction of the horizontal cross section in the bowl cutter 701, and the number of the micro-switches is six.
Preferably, the barrel 9 is hollow, and a collecting bag 91 is provided at a lower end thereof for collecting fruits.
Preferably, the inner wall of the barrel 9 is provided with an elastic pad 901 which is attached to the inner wall, and the collecting bag 91 is made of an elastic material, so that the fruits are prevented from being damaged during collection.
Preferably, a coupling 13 is arranged between the output shaft of the motor 2 and the screw rod.
Preferably, two ends of the screw rod 3 are provided with matched bearings 301.
When the device is specifically used, the end effector is arranged at the tail end of the manipulator, the manipulator performs a matrix type (an X-Y coordinate system is arranged according to the graph projected onto the ground by the fruit tree, a coordinate point is formed by each small cell of the manipulator along the X coordinate or the Y coordinate, all points formed by the graph projected onto the ground by the fruit tree on the coordinate system form a matrix, the manipulator walks an S-shaped route on the matrix until all points formed by the projection on the ground are walked), when the micro switch 703 in the bowl knife 701 detects an object, a feedback signal is given to the control driver 12, the micro switch 703 is sensitive in response, and quick confirmation and harvesting of fruits can be realized. A. If the feedback signals are smaller than 3 or no signals, the control driver 12 judges that the leaves and branches interfere or do not detect the real object, the upward detection is finished, the manipulator drives the end effector to return to the initial position, and the manipulator horizontally moves a position according to the X coordinate or the Y coordinate and then performs the next upward detection; B. if the feedback signals are 3 or more than 3, the control driver 12 judges that fruits fall into the bowl knives 701, the control driver 12 drives the motor 2 to rotate positively to drive the screw rod 3, so that the sliding block 6 moves upwards, namely, the buffer rod 8 pushes the bowl knives 7 to move in a meshing manner around the bowl knife hinge holes 7012, when the bowl mouth is closed, the blades 702 cut implemented fruit stalks, the fruits enter the collecting bag 91 through the seat barrel 9, the bowl-shaped scissor handle device 7 is suitable for picking various fruits with long handles, the fruit stalks with any angle above the fruits can be cut, the bowl-shaped scissor handle device 7 completely wraps the fruits when cutting is implemented, only the fruit stalks are cut, and the stabbing of branches to the fruits is reduced. Subsequently, the driver 12 is controlled to drive the motor 2 to rotate reversely to enable the screw rod 3 to rotate reversely, the sliding block 6 moves downwards, the buffer rod 8 enables the bowl knife 7 to open, meanwhile, the manipulator drives the end effector to return to the initial position, and the manipulator moves horizontally for one position continuously and then performs next upward detection, so that fruit harvesting work is circulated sequentially. The device has improved the efficiency of gathering of fruit, replaces artifical work, has improved the security of operation.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this invention, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the invention, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.
Claims (8)
1. The fruit harvesting end effector based on the touch sensing technology comprises an inverted L-shaped base (1), and is characterized in that the base (1) is provided with a motor (2), a screw rod (3) and a guide rod (4), and the screw rod (3) is vertically arranged and coaxially connected with an output shaft of the motor (2); the guide rod (4) is vertically arranged, a fixed seat (5) and a vertically movable sliding block (6) are arranged at the rod part, the fixed seat (5) and the sliding block (6) are installed in a matched mode with the screw rod (3), and a handle shearing device (7) is arranged at the upper end of the guide rod (4); the handle shearing device (7) is formed by hinging two symmetrically arranged bowl knives (701), a blade (702) is arranged at the upper outer edge of each bowl knife (701), and a micro switch (703) is arranged in each bowl knife (701); the shearing handle device (7) is provided with a hinged buffer rod (8), the buffer rod (8) comprises a push rod (801), a spring (802) and a rod sleeve (803), the push rod (801) is provided with a slidable rod sleeve (803), one end of the spring (802) is connected with the push rod (801) and the other end is connected with the rod sleeve (803), and the spring is coaxially arranged with the rod sleeve (803);
the buffer rod (8) is hinged with the sliding block (6); a seat barrel (9) is arranged on the base (1) below the handle shearing device (7), the seat barrel (9) is of a hollow structure, and a collecting bag (91) is arranged at the lower end of the seat barrel;
an up-position travel switch (10) is arranged on the fixed seat (5), and a down-position travel switch (11) is arranged on the base (1); the motor (2), the up-position travel switch (10), the down-position travel switch (11) and the micro switch (703) are respectively and electrically connected with the control driver (12).
2. The fruit harvesting end effector based on the tactile sensing technology according to claim 1, wherein a thread (8011) is provided at one end of the push rod (801), and an adjusting nut (8012) is provided at the thread (8011) and is matched with the thread.
3. The fruit harvesting end effector based on the tactile induction technology according to claim 1, wherein the sliding block (6) is provided with a screw rod hole (601) and a guide rod hole (602) which are parallel to each other, the screw rod hole (601) is matched with the screw rod (3), the guide rod hole (602) is matched with the guide rod (4), two sides of the sliding block (6) are provided with buffer rod mounting holes (603), and the buffer rod mounting holes (603) are hinged with the buffer rods (8).
4. The fruit harvesting end effector based on the tactile sensing technology according to claim 1, wherein the bowl knife (701) is provided with a synchronizing tooth (7011) at the hinge, and the bowl knife (701) is engaged by the synchronizing tooth (7011).
5. The fruit harvesting end effector based on the tactile sensing technology according to claim 1, wherein the micro-switches (703) are uniformly arranged along the circumferential direction of the horizontal cross section in the bowl knife (701), and the number of the micro-switches is six.
6. The fruit harvesting end effector based on the tactile sensing technology according to claim 1, wherein an elastic pad (901) is attached to the inner wall of the barrel (9), and the collecting bag (91) is made of an elastic material.
7. The fruit harvesting end effector based on the tactile induction technology according to claim 1, wherein a coupling (13) is arranged between the output shaft of the motor (2) and the screw rod.
8. The fruit harvesting end effector based on the tactile induction technique according to claim 1, characterized in that the two ends of the screw (3) are provided with matched bearings (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711274186.XA CN107852958B (en) | 2017-12-06 | 2017-12-06 | Fruit harvesting end effector based on touch sensing technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711274186.XA CN107852958B (en) | 2017-12-06 | 2017-12-06 | Fruit harvesting end effector based on touch sensing technology |
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| Publication Number | Publication Date |
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| CN107852958A CN107852958A (en) | 2018-03-30 |
| CN107852958B true CN107852958B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711274186.XA Active CN107852958B (en) | 2017-12-06 | 2017-12-06 | Fruit harvesting end effector based on touch sensing technology |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109168609B (en) * | 2018-09-20 | 2023-11-17 | 安徽农业大学 | High-clearance crawler-type inter-row tea-leaf picker based on hybrid power |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2616619A1 (en) * | 1987-06-22 | 1988-12-23 | Chauvin Gilbert | Harvesting device, without shears, without a cutting or non-cutting edge, for small and large fruit |
| JP3564750B2 (en) * | 1994-08-29 | 2004-09-15 | 井関農機株式会社 | Harvesting robot for cucumber |
| CN101653082B (en) * | 2009-09-11 | 2011-02-16 | 宁波伊司达工具有限公司 | Charge type brush cutter |
| CN103448061B (en) * | 2013-08-07 | 2015-08-12 | 西北农林科技大学 | A kind of kiwifruit fruit picking end effector |
| CN103718750A (en) * | 2013-12-12 | 2014-04-16 | 衡阳湖沙农业科技发展有限公司 | Fruit picker |
| CN106472008A (en) * | 2016-12-07 | 2017-03-08 | 集美大学 | Electric drive fruit picking |
| CN207560810U (en) * | 2017-12-06 | 2018-07-03 | 湖南电气职业技术学院 | Fruit harvesting end effector based on tactile induction technology |
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- 2017-12-06 CN CN201711274186.XA patent/CN107852958B/en active Active
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| CN107852958A (en) | 2018-03-30 |
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