CN109005891A - A kind of end effector of robot towards the picking of tufted tomato - Google Patents
A kind of end effector of robot towards the picking of tufted tomato Download PDFInfo
- Publication number
- CN109005891A CN109005891A CN201811107507.1A CN201811107507A CN109005891A CN 109005891 A CN109005891 A CN 109005891A CN 201811107507 A CN201811107507 A CN 201811107507A CN 109005891 A CN109005891 A CN 109005891A
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- tomato
- tufted
- speed
- cylinder
- picking
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 59
- 239000012636 effector Substances 0.000 title claims abstract description 26
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 56
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 36
- 210000000078 claw Anatomy 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000003306 harvesting Methods 0.000 abstract description 8
- 241000196324 Embryophyta Species 0.000 abstract description 4
- 241000227653 Lycopersicon Species 0.000 abstract 4
- 241000700605 Viruses Species 0.000 abstract 1
- 238000002955 isolation Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000006116 polymerization reaction Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 235000017060 Arachis glabrata Nutrition 0.000 description 1
- 244000105624 Arachis hypogaea Species 0.000 description 1
- 235000010777 Arachis hypogaea Nutrition 0.000 description 1
- 235000018262 Arachis monticola Nutrition 0.000 description 1
- 244000068988 Glycine max Species 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 244000061456 Solanum tuberosum Species 0.000 description 1
- 235000002595 Solanum tuberosum Nutrition 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 244000098338 Triticum aestivum Species 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 235000020232 peanut Nutrition 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- B25J15/0019—End effectors other than grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of end effector of robot, including outer cylinder, inner cylinder, tufted collecting fruit mechanism, fruit relieving mechanism and N number of carpopodium rotary cutting body etc. towards the picking of tufted tomato.The present invention mainly passes through the control that tufted collecting fruit mechanism passes through limit switch and time delay module, make DC speed-reducing and direct current push-pull electromagnet it is successive electric rotation, it drives rotating disk rotation that the more carpopodiums of tufted tomato is forced to polymerize to tighten, is then cut off carpopodium by carpopodium rotary cutting body；Fruit relieving mechanism can fix outer cylinder and handle, then be discharged tomato from inner cylinder by the overturning of mechanical arm.Single operation task of the present invention can harvest cluster several tamato fruits on a plant simultaneously, improve picking robot efficiency；Rotating disk rotation forces the more carpopodiums of tufted tomato to polymerize and tightens, to make the high speed circular motion of cutting blade that can effectively improve the carpopodium Success rate of virus isolation of rotary cutting apparatus.
Description
Technical field
The invention belongs to fields of automation technology, are related to a kind of end effector of robot, in particular to one kind is towards cluster
The end effector of robot of shape tomato picking.
Background technique
Up to now, mechanization can be achieved in field crop such as rice, wheat, corn, rape, soybean, peanut, potato etc.
Harvest, but the harvesting of commercially available fresh tomato is not able to achieve mechanization yet so far.As urban sprawl and urban population increase severely, newly
The market demand of fresh tomato increasingly increases, and the scale of greenhouse tomato cultivation is also by further expansion.In view of cultivated area increases
Add, collecting time is short, large labor intensity, task weight, operating environment is severe, manually harvests the unfavorable factors such as at high cost, grind
Hair greenhouse tomato harvesting robot has become a top priority instead of manual work.However the single of existing fruit and vegetable picking robot is made
Industry task is harvested mainly for the single fruit on tomato plant, and harvest efficiency is lower, is to restrict its master promoted and applied
Want reason.In addition, the mechanical arm of robot requires higher positioning accuracy, can just make end when being directed to single picking fruit
It holds actuator to complete accurately to grasp operation to fruit, to extend decision process and the path planning time of robot, drops
The picking operating efficiency of Di Liao robot.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of towards the picking of tufted tomato
End effector of robot changes the recovery operations mode of fruit and vegetable picking robot, by the end effector, in single operation
Cluster several tamato fruits on a plant can be harvested in task simultaneously, to improve the picking operation effect of robot
Rate.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of end effector of robot towards the picking of tufted tomato, including outer cylinder 3, inner cylinder 6, tufted fruit are received
Collecting mechanism 10, fruit relieving mechanism 4 and N number of carpopodium rotary cutting body 9, it is characterised in that:
The inner cylinder 6 is fixed on inside outer cylinder 3, and the bottom of outer cylinder 3 is fixed with lower cover 1, the center of inner cylinder 6
There is a cylindrical shaft 6-2；
Tufted collecting fruit mechanism 10 is located in inner cylinder 6, including DC speed-reducing 10-1, limit switch 10-
6, DC speed-reducing output shaft 10-3 is coaxial with cylindrical shaft 6-2 and is located at its front end, on DC speed-reducing output shaft 10-3
Rotating disk 8 is installed, rotating disk 8 is circle, is distributed N number of centrosymmetric through-hole thereon, there is a spring on limit switch 10-6
Piece 10-7, after all tomatoes, which enter inner cylinder 6 from the through-hole of rotating disk 8, meets the spring leaf 10-7 on limit switch 10-6,
DC speed-reducing 10-1 energization starts turning；
The fruit relieving mechanism 4 includes the handle 4-1 being mounted on 3 outer wall of outer cylinder, is had on handle 4-1 for connecting
The ring flange 5 of mechanical arm is connect, handle 4-1 realizes the holding or release of external cylinder 3 by calutron；
N number of carpopodium rotary cutting body 9 is arranged between outer cylinder 3 and inner cylinder 6, and the center along inner cylinder 6 is equal
Even arrangement；
When picking, tomato enters inner cylinder 6 by the through-hole of rotating disk 8, tightens tomato carpopodium by the rotation of rotating disk 8
Together, it is cut by carpopodium rotary cutting body 9.
It is fixed with the baffle 7 of annular on the upside of the inner wall of the outer cylinder 3, is provided with N number of baffle 6-1 in the inner cylinder 6,
The side of each baffle 6-1 is connected to cylindrical shaft 6-2, and the other side is connected to the inner wall of inner cylinder 6, and inner cylinder 6 is divided into N number of sky
Between.
The front end of the cylindrical shaft 6-2 is provided with the going barrel 10-2 with lid 10-5, and DC speed-reducing 10-1 is fixed
Below going barrel 10-2, respectively there are a convex block, clockwork spring on the inner wall and DC speed-reducing output shaft 10-3 of going barrel 10-2
10-4 is upper there are two groove, and two convex blocks are separately mounted on two grooves of clockwork spring 10-4 so that clockwork spring 10-4 respectively with hair
Barrel 10-2 is fixedly connected with DC speed-reducing output shaft 10-3, and when DC speed-reducing 10-1 stops operating, direct current subtracts
Speed motor output shaft 10-3 and rotating disk 8 return to home position under the spring torsion effect of clockwork spring 10-4.
Two grooves on the clockwork spring 10-4 are located at its outer ring and inner ring, the convex block peace on going barrel 10-2 inner wall
On the groove of outer ring, the convex block on DC speed-reducing output shaft 10-3 is mounted on the groove of inner ring.
The calutron is micro electromagnetic brake 4-4, and one end of axis four 4-2 vertical with cylindrical shaft 6-2 is mounted on
On the axle sleeve of micro electromagnetic brake 4-4, the other end is fixedly connected with handle 4-1, shaft shoulder 4-3 respectively with 3 inner wall of outer cylinder and
Micro electromagnetic brake 4-4 is adjacent, prevents its axial movement with four 4-2 of fixing axle.
The structure of N number of carpopodium rotary cutting body 9 is identical, two 9-6 of axis including having two 9-4 of bearing, gear set 2
Pinion gear be installed on the lower end of two 9-6 of axis, three 9-14 of axis is located at the surface of two 9-6 of axis, and lower end connects holding claw device, on
End is connect by L-type plate 9-11 with cutting blade 9-13, and the gear wheel of gear set 2 is center gear, is engaged with each pinion gear, greatly
Gear is installed on 6 external bottom end of inner cylinder, and the lower end of one 9-2 of axis is connected to the center of gear wheel by one 9-3 of bearing, and upper end is logical
The output of shaft coupling 9-1 connection DC speed-reducing 10-1 is crossed, direct current push-pull electromagnet 9- is installed on the inner wall of outer cylinder 3
9, L-type plate 9-11 is mounted on the projecting shaft of direct current push-pull electromagnet 9-9, is connected between L-type plate 9-11 and cutting blade 9-13
It is connected to reset spring 9-12, limit switches 9-10 is installed on L-type plate 9-11.
The holding claw device includes a pair of holding claw 9-5 for being respectively hinged at the two sides supporting block 9-7, and supporting block 9-7 is installed on
On disk 9-8, disk 9-8 is mounted on three 9-14 of axis, and disk 9-8 is rotated, two connecting rod 9-16 with the rotation of supporting block 9-7
One end be respectively hinged on two holding claw 9-5, the other end is respectively hinged at the two sides sliding block 9-15, and the lower end of three 9-14 of axis passes through
Disk 9-8 and supporting block 9-7 are connect with sliding block 9-15.
Compared with prior art, end effector through the invention, can harvest one simultaneously in single operation task
Cluster several tamato fruits on plant, improve the picking operating efficiency of robot；Under the Softening, robot vision
System does not need precisely to perceive fruit pose, reduces the positioning accuracy request of mechanical arm, shortens the decision mistake of robot
Journey and path planning time also improve the picking operating efficiency of robot；Rotating disk rotates more fruits for forcing tufted tomato
Stalk polymerization is tightened, so that the carpopodium for making the high speed circular motion of cutting blade that can effectively improve rotary cutting apparatus separates successfully
Rate.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Fig. 2 is tufted collecting fruit structural scheme of mechanism of the present invention.
Fig. 3 is carpopodium rotary cutting body schematic diagram of the present invention.
Fig. 4 is fruit relieving mechanism schematic diagram of the present invention.
Fig. 5 is power supply system schematic diagram of the present invention.
Fig. 6 is work flow diagram of the present invention.
Specific embodiment
With reference to the accompanying drawing with example in detail embodiments of the present invention.
As shown in Figure 1, a kind of end effector of robot towards the picking of tufted tomato, mainly includes outer cylinder 3, inner circle
Cylinder 6, tufted collecting fruit mechanism 10, fruit relieving mechanism 4 and 3 carpopodium rotary cutting body 9, in which:
Inner cylinder 6 is fixed by screws in inside outer cylinder 3, and the two is coaxial, and the bottom of outer cylinder 3 is fixed with by screw
Lower cover 1, lower cover 1 is for protecting gear set 2 not corroded by the external world.There is a cylindrical shaft 6-2 at the center of inner cylinder 6；Outer cylinder 3
Inner wall on the upside of the baffle 7 of annular is fixed with by screw, baffle 7 is for preventing external sundries from entering in outer cylinder 3, protection fruit
Obstruct rotary cutting body 9 and fruit relieving mechanism 4.The side connection of 3 baffles 6-1, each baffle 6-1 are provided in inner cylinder 6
In cylindrical shaft 6-2, the other side is connected to the inner wall of inner cylinder 6, and inner cylinder 6 is divided into 3 spaces, 3 limit switch 10-6
It is mounted on by screw on the inner wall of inner cylinder 6.The effect of baffle 6-1 is prevented after tomato cutting is completed to enter inner cylinder 6
Mutually collision generates damage to tomato in inner cylinder 6, and the effect of limit switch 10-6 is encountered after tomato enters inner cylinder 6
After spring leaf 10-7, DC speed-reducing 10-1 energization is started turning, and rotating disk rotation is driven, so that into the cluster of inner cylinder 6
Shape tomato carpopodium is screwed together.
Tufted collecting fruit mechanism 10 is located in inner cylinder 6, as shown in Figure 2 comprising DC speed-reducing 10-1, cylinder
The front end of axis 6-2 is provided with the going barrel 10-2 with lid 10-5, and DC speed-reducing 10-1 is fixed below going barrel 10-2,
Respectively there is a convex block on the inner wall and DC speed-reducing output shaft 10-3 of going barrel 10-2, the outer ring of clockwork spring 10-4 and inner ring are each
There is a groove, the convex block on going barrel 10-2 inner wall is mounted on the groove of outer ring, on DC speed-reducing output shaft 10-3
Convex block be mounted on the groove of inner ring so that clockwork spring 10-4 respectively with going barrel 10-2 and DC speed-reducing output shaft 10-3
It is fixedly connected.DC speed-reducing output shaft 10-3 is coaxial with cylindrical shaft 6-2 and is located at its front end, DC speed-reducing output shaft
Rotating disk 8 is installed, rotating disk 8 is circle, is distributed 3 centrosymmetric through-holes thereon on 10-3.
When DC speed-reducing 10-1 obtains electric rotation, DC speed-reducing output shaft 10-3 drives clockwork spring 10-4 and rotation
Disk 8 rotates, and when DC speed-reducing 10-1 power loss stops operating, DC speed-reducing output shaft 10-3 and rotating disk 8 are being sent out
Home position is returned under the spring torsion effect of 10-4, in order to which cylindrical shaft 6-2 goes out after preventing the rotation of rotating disk 8 from stopping
In the through-hole of present rotating disk 8, tomato is hindered to enter inner cylinder 6 from through-hole.When picking, tomato is entered by the through-hole of rotating disk 8
Inner cylinder 6 is screwed together tomato carpopodium by the rotation of rotating disk 8, is cut by carpopodium rotary cutting body 9.
The structure of 3 carpopodium rotary cutting bodies 9 is identical, is arranged between outer cylinder 3 and inner cylinder 6, and along inner cylinder 6
Center be evenly arranged.As shown in Figure 3 comprising two 9-6 of axis with two 9-4 of bearing, two 9-6 of bearing are mounted on outer cylinder 6
On, a center gear wheel and 3 constitute gear set 2, the lower end installation of two 9-6 of axis with the pinion gear of the gear wheel engaged
In a pinion gear, three 9-14 of axis is located at the surface of two 9-6 of axis, and lower end connects holding claw device, when holding claw device is filled the span of a man's arms,
Promptly two 9-6 of axis.Specifically, holding claw device includes a pair of holding claw 9-5, supporting block 9-7 for being respectively hinged at the two sides supporting block 9-7
It is mounted on disk 9-8 by screw, disk 9-8 is mounted on three 9-14 of axis, is supported with support frame, and disk 9-8 can be with support
The rotation of block 9-7 and rotate, one end of two connecting rod 9-16 is respectively hinged on two holding claw 9-5, and the other end is respectively hinged at
The two sides sliding block 9-15, the lower end of three 9-14 of axis pass through disk 9-8 and supporting block 9-7 and connect with sliding block 9-15, and three 9-14's of axis is upper
End is connect by L-type plate 9-11 with cutting blade 9-13.
The center gear wheel of gear set 2 is installed on 6 external bottom end of inner cylinder, and the lower end of one 9-2 of axis is connected by one 9-3 of bearing
It connects at the center of gear wheel, upper end passes through the output of shaft coupling 9-1 connection DC speed-reducing 10-1, and one 9-3 of bearing is mounted on
On inner cylinder 6.
Direct current push-pull electromagnet 9-9 is equipped with by screw on the inner wall of outer cylinder 3, L-type plate 9-11 is mounted on direct current
On the projecting shaft of push-pull electromagnet 9-9, reset spring 9-12, L-type plate are connected between L-type plate 9-11 and cutting blade 9-13
Limit switches 9-10 is installed on 9-11.When cutting blade 9-13 setting in motion, it will pull reset spring 9-12 and move together,
After cutting blade 9-13 meets limit switch 9-10 by circular motion, cutting blade 9-13 meeting stop motion is resetting bullet
Initial position is returned under the pulling force effect of spring 9-12.
When DC speed-reducing 10-1 is powered, DC speed-reducing 10-1 turns one 9-2 of axis by shaft coupling 9-1
Dynamic, the rotation driven gear group 2 of one 9-2 of axis rotates, and rotation band two 9-6 of moving axis of gear set 2 is rotated；When the plug-type electromagnetism of direct current
When iron 9-9 is powered, the projecting shaft of direct current push-pull electromagnet 9-9 is moved upwards, and L-type plate 9-11 and three 9-14 of axis is driven to transport upwards
Dynamic, moving upwards for three 9-14 of axis pulls sliding block 9-15 to move upwards, and moving upwards for sliding block 9-15 drives connecting rod 9-16 and embrace
Pawl 9-5 closes up, when holding claw 9-5 catches two 9-6 of axis rotated, holding claw 9-5, sliding block 9-15, connecting rod 9-16, supporting block 9-
7, disk 9-8, axis three 9-14 and cutting blade 9-13 can be rotated with the rotation of two 9-6 of axis, while cutting blade 9-13
Rotation can cut the carpopodium of tomato, enter tomato inside inner cylinder, after cutting blade 9-13 meets limit switch 9-10,
Direct current push-pull electromagnet 9-9 and DC speed-reducing 10-1 will be powered off, and projecting shaft moves back down to original position, holding claw 9-
5 will open, so that holding claw 9-5, sliding block 9-15, connecting rod 9-16, supporting block 9-7, disk 9-8, three 9-14 of axis and cutting blade
9-13 stops operating, and cutting blade 9-13 returns to initial position under the active force of reset spring 9-12.
As shown in figure 4, fruit relieving mechanism 4 includes the handle 4-1 being mounted on 3 outer wall of outer cylinder, have on handle 4-1
Ring flange 5, handle 4-1 realize the holding or release of external cylinder 3 by calutron.
Specifically, calutron is micro electromagnetic brake 4-4, and one end of axis four 4-2 vertical with cylindrical shaft 6-2 is installed
On the axle sleeve of micro electromagnetic brake 4-4, the other end is fixedly connected with handle 4-1 by screw, shaft shoulder 4-3 respectively with outer circle
3 inner walls of cylinder and micro electromagnetic brake 4-4 are adjacent, and its purpose is to four 4-2 of fixing axle, prevent the axial movement of four 4-2 of axis,
Ring flange 5 is connect by screw with mechanical arm, makes end effector installation on the robotic arm.
When picking, by the visual identifying system of robot body, the available quantity to tomato to be picked works as end
After actuator is located at the underface of tufted tomato, mechanical arm drags it and moves vertically upwards, and tomato is entered by the through-hole of rotating disk 8
Then inner cylinder 6 is screwed together the rotation of tomato carpopodium by the rotation of rotating disk 8, due to the space ratio inside inner cylinder
Through-hole when tomato enters is big, so through-hole can stop tomato to be drawn out during rotating disk 8 rotates, it is ensured that carpopodium rotation
Turn cutting mechanism (9) to be cut.
When mechanical arm drives end effector close to tamato fruit, the handle 4-1 of end effector can be with mechanical arm
Movement and move, but outer cylinder 3 can by self gravitation effect always perpendicular to ground, so robotic vision system is not required to
Fruit pose precisely perceived, reduce the positioning accuracy request of mechanical arm, shorten decision process and the path of robot
Planning time.After end effector is completed to pick, tomato can enter in inner cylinder 6, and then mechanical arm will drive end execution
Device moves to tomato and collects above basket, and then micro electromagnetic brake 4-4 is powered, and the energization of micro electromagnetic brake 4-4 can make
It obtains four 4-3 of axis and is in locking state, handle 4-1 and end effector are in all in stationary state at this time, will not be with machinery
The movement of arm and move, tomato that end effector pick is poured into tomato collection by the through-hole of rotating disk 8 by mechanical arm overturning
Basket is completed picking and is collected.
With reference to Fig. 5, the present invention can be used battery be DC speed-reducing 10-1, direct current push-pull electromagnet 9-9 and
Micro electromagnetic brake 4-4 power supply, battery by limit switch 10-6 and limit switch 9-10 respectively with DC speed-reducing
10-1 and direct current push-pull electromagnet are in parallel, and a delay mould is connected between limit switch 9-10 and direct current push-pull electromagnet
Block.It is the opening time for postponing direct current push-pull electromagnet that it, which is acted on, and battery is connect by switch with micro electromagnetic brake；
Limit switch 10-6 is in an off state when flat, and closed state is in when limit switch 9-10 is flat.
Steps are as follows for complete job of the invention:
When work, after robot body determines tomato quantity, end effector of the present invention is first dragged to kind by mechanical arm
Immediately below eggplant, it is dragged later and is moved vertically upwards, enters tomato inside inner cylinder 6 from the through-hole of rotating disk 8, when tomato touches
After spring leaf 10-7 on to limit switch 10-6, DC speed-reducing 10-1 obtain it is electric start turning, while driving 8 He of rotating disk
Gear set 2 rotates, and the rotation of rotating disk 8 is tightened so that rotating into the tomato carpopodium inside inner cylinder 6, is delayed by two seconds
Journey, direct current push-pull electromagnet 9-9 obtain electric, which ensure that the angle that rotation is tightened, and prevent rotation angle during this
It spends small or excessive and causes carpopodium that can not tighten or the problem of tamato fruit is drawn out, delay process is super by QF1023
Long delay module realizes that the projecting shaft of direct current push-pull electromagnet 9-9 moves upwards so that the axis that holding claw 9-5 is promptly rotating
The cutting blade 9- of two 9-6, holding claw 9-5, sliding block 9-15, connecting rod 9-16, supporting block 9-7, disk 9-8, three 9-14 of axis and arc
13 rotate with the rotation of two 9-6 of axis, are cut tomato carpopodium using the rotation of cutting blade 9-13, fall to tomato interior
Inside cylinder 6, after cutting blade 9-13 meets limit switch 9-10, direct current push-pull electromagnet 9-9 and DC speed-reducing
10-1 power-off, projecting shaft move back down to original position, and holding claw 9-5 opens, holding claw 9-5, sliding block 9-15, connecting rod 9-16, supporting block
9-7, disk 9-8, axis three 9-14 and cutting blade 9-13 stop operating, active force of the cutting blade 9-13 in reset spring 9-12
Under, return to initial position.Then mechanical arm drives end effector to move to tomato and collects above basket, which is fixed on machine
On the mobile platform of device human body, the movement can be accurately completed by the fixation motion path of mechanical arm.Micro electromagnetic braking
Device 4-4 is powered, so that four 4-3 of axis is in locking state, handle 4-1 and outer cylinder 3 be all in stationary state at this time, will not be with
The movement of mechanical arm and move, the tomato that end effector is picked is poured into tomato by the through-hole of rotating disk 8 by mechanical arm overturning
Basket is collected, picking is completed and is collected.
To sum up, the present invention mainly passes through the more fruits that tufted collecting fruit mechanism drives rotating disk rotation to force tufted tomato
Stalk polymerization is tightened, and is then cut off carpopodium by carpopodium rotary cutting body；Fruit relieving mechanism can consolidate outer cylinder and handle
It is fixed, then tomato is discharged from inner cylinder by the overturning of mechanical arm.Single operation task of the present invention can harvest one simultaneously
Cluster several tamato fruits on plant improve picking robot efficiency；Rotating disk rotates more fruits for forcing tufted tomato
Stalk polymerization is tightened, so that the carpopodium for making the high speed circular motion of cutting blade that can effectively improve rotary cutting apparatus separates successfully
Rate.
Claims (7)
1. a kind of end effector of robot towards the picking of tufted tomato, including outer cylinder (3), inner cylinder (6), tufted fruit
Collecting mechanism (10), fruit relieving mechanism (4) and N number of carpopodium rotary cutting body (9), it is characterised in that:
The inner cylinder (6) is fixed on outer cylinder (3) inside, and the bottom of outer cylinder (3) is fixed with lower cover (1), inner cylinder (6)
Center have a cylindrical shaft (6-2)；
Tufted collecting fruit mechanism (10) is located in inner cylinder (6), including DC speed-reducing (10-1), limit switch
The spring leaf in rotating disk (8) and limit switch (10-6) installed on (10-6), DC speed-reducing output shaft (10-3)
(10-7), wherein DC speed-reducing output shaft (10-3) is coaxial with cylindrical shaft (6-2) and is located at its front end, and rotating disk (8) is
Circle is distributed N number of centrosymmetric through-hole thereon, when all tomatoes being detected enter inner circle from the through-hole of rotating disk (8)
After cylinder (6) encounters the spring leaf (10-7) on limit switch (10-6), DC speed-reducing (10-1) energization is started turning；
The fruit relieving mechanism (4) includes the handle (4-1) being mounted on outer cylinder (3) outer wall, useful on handle (4-1)
In the ring flange (5) of connection mechanical arm, handle (4-1) realizes the holding or release of external cylinder (3) by calutron；
N number of carpopodium rotary cutting body (9) is arranged between outer cylinder (3) and inner cylinder (6), along inner cylinder (6)
The heart is evenly arranged；
When picking, tomato enters inner cylinder (6) by the through-hole of rotating disk (8), twists tomato carpopodium by the rotation of rotating disk (8)
Tightly together, it is cut by carpopodium rotary cutting body (9).
2. the end effector of robot according to claim 1 towards the picking of tufted tomato, which is characterized in that the outer circle
It is fixed with the baffle (7) of annular on the upside of the inner wall of cylinder (3), is provided with N number of baffle (6-1), each baffle in the inner cylinder (6)
The side of (6-1) is connected to cylindrical shaft (6-2), and the other side is connected to the inner wall of inner cylinder (6), inner cylinder (6) is divided into N number of
Space.
3. the end effector of robot according to claim 1 towards the picking of tufted tomato, which is characterized in that the cylinder
The front end of axis (6-2) is provided with the going barrel (10-2) with lid (10-5), and DC speed-reducing (10-1) is fixed on going barrel
Below (10-2), respectively there are a convex block, clockwork spring on the inner wall and DC speed-reducing output shaft (10-3) of going barrel (10-2)
There are two groove on (10-4), two convex blocks are separately mounted on two grooves of clockwork spring (10-4), so that clockwork spring (10-4) point
It is not fixedly connected with going barrel (10-2) and DC speed-reducing output shaft (10-3), stops turning at DC speed-reducing (10-1)
When dynamic, DC speed-reducing output shaft (10-3) and rotating disk (8) return to original in the case where the spring torsion of clockwork spring (10-4) acts on
Position.
4. the end effector of robot according to claim 3 towards the picking of tufted tomato, which is characterized in that the clockwork spring
Two grooves on (10-4) are located at its outer ring and inner ring, and the convex block on going barrel (10-2) inner wall is mounted on the recessed of outer ring
On slot, the convex block on DC speed-reducing output shaft (10-3) is mounted on the groove of inner ring.
5. the end effector of robot according to claim 1 towards the picking of tufted tomato, which is characterized in that the electromagnetism
Device is micro electromagnetic brake (4-4), and one end of the axis four (4-2) vertical with cylindrical shaft (6-2) is mounted on micro electromagnetic system
On the axle sleeve of dynamic device (4-4), the other end is fixedly connected with handle (4-1), the shaft shoulder (4-3) respectively with outer cylinder (3) inner wall and micro-
Type electromagnetic brake (4-4) is adjacent, prevents its axial movement with fixing axle four (4-2).
6. the end effector of robot according to claim 1 towards the picking of tufted tomato, which is characterized in that described N number of
The structure of carpopodium rotary cutting body (9) is identical, the axis two (9-6) including having bearing two (9-4), the small tooth of gear set (2)
Wheel is installed on the lower end of axis two (9-6), and axis three (9-14) is located at the surface of axis two (9-6), and lower end connects holding claw device, on
End is connect by L-type plate (9-11) with cutting blade (9-13), and the gear wheel of gear set (2) is center gear, with each pinion gear
Engagement, gear wheel are installed on inner cylinder (6) external bottom end, and the lower end of axis one (9-2) is connected to gear wheel by bearing one (9-3)
Center, upper end is installed on the inner wall of outer cylinder (3) by the output of shaft coupling (9-1) connection DC speed-reducing (10-1)
Have direct current push-pull electromagnet (9-9), L-type plate (9-11) is mounted on the projecting shaft of direct current push-pull electromagnet (9-9), L-type
It is connected between plate (9-11) and cutting blade (9-13) reset spring (9-12), limit switches is installed on L-type plate (9-11)
(9-10)。
7. the end effector of robot according to claim 5 towards the picking of tufted tomato, which is characterized in that the holding claw
Device includes the holding claw (9-5) that a pair is respectively hinged at the two sides supporting block (9-7), and supporting block (9-7) is installed on disk (9-8)
On, disk (9-8) is mounted on axis three (9-14), and disk (9-8) rotates, two connecting rod (9- with the rotation of supporting block (9-7)
16) one end is respectively hinged on two holding claws (9-5), and the other end is respectively hinged at the two sides sliding block (9-15), axis three (9-14)
Lower end pass through disk (9-8) and supporting block (9-7) and connect with sliding block (9-15).
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| CN201811107507.1A CN109005891B (en) | 2018-09-21 | 2018-09-21 | Robot end effector for cluster tomato picking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811107507.1A CN109005891B (en) | 2018-09-21 | 2018-09-21 | Robot end effector for cluster tomato picking |
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| CN109005891A true CN109005891A (en) | 2018-12-18 |
| CN109005891B CN109005891B (en) | 2023-10-24 |
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| CN109605375A (en) * | 2019-01-08 | 2019-04-12 | 太原工业学院 | A kind of control method of intelligence Tomato-harvesting robot |
| CN109792887A (en) * | 2019-03-20 | 2019-05-24 | 西北农林科技大学 | A kind of Amygdalus pedunculata collector and its collecting method |
| 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 |
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| CN109005891B (en) | 2023-10-24 |
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