CN109105001A - A kind of bergamot pear terminal executor of picking robot and picking method - Google Patents
A kind of bergamot pear terminal executor of picking robot and picking method Download PDFInfo
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- CN109105001A CN109105001A CN201811216941.3A CN201811216941A CN109105001A CN 109105001 A CN109105001 A CN 109105001A CN 201811216941 A CN201811216941 A CN 201811216941A CN 109105001 A CN109105001 A CN 109105001A
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- bergamot pear
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- 230000008569 process Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000010008 shearing Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
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- 238000003306 harvesting Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
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- 235000013372 meat Nutrition 0.000 description 2
- 235000021017 pears Nutrition 0.000 description 2
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Classifications
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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
- A01D46/30—Robotic devices for individually picking crops
-
- 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
Abstract
The present invention provides a kind of bergamot pear terminal executor of picking robot and picking method, its device includes the manipulator butt plate docked with robot arm, the motor shell A in transmission mechanism is connected with manipulator butt plate, four knife rests being connected with drive mechanism connecting rod and mounting bracket；Its method includes that camera takes a little, is fixed using sucker, is cut using cambered surface sword, withdraw the arm release bergamot pear and etc..The present invention not only increases shear efficiency, reduces sensing mechanisms to the image recognition of fruit profile and carpopodium and the time-consuming of segmentation, ensure that the precision quality of picking operation, reduce picking difficulty, improve operating efficiency.
Description
Technical field
The invention belongs to agricultural mechanical field more particularly to a kind of bergamot pear terminal executor of picking robot and picking sides
Method.
Background technique
Kuerle delicious pear originates in Xinjiang Kuerle, Luntai and the area Ku Che, has more than 1300 years cultivation histories, is one
Regional extremely strong famous-brand and high-quality kind and this area's even most excellent one of Local Pear Variety in the whole nation.Bergamot pear is in South Sinkiang various regions
It is distributed, it is the mainstay of Xinjiang characteristic fruit that using Kurle region as main producing region, planted area is maximum, best in quality
One of industry.
The bergamot pear generally oval or spindle of circle, is small fruit type, bergamot pear is mainly characterized by that thin skin, pulp are crisp, and fruit juice is more
And without slag, fruity is aromatic.Locality has common saying to claim " bergamot pear falls on the ground Yi Tanshui ", therefore bergamot pear is very fragile, and mechanical resistant is not damaged for pole
Wound.By the end of the present cultivated area of Kuerle delicious pear in 2017 up to 1,000,000 mu, annual output is about 1,000,000 tons, and bergamot pear fruit is adopted
Time receiving machine has a significant impact to yield, quality and property of storage.
Too early, fruit is not yet mature for harvesting, and head is small, low output, hardness are big, and mouthfeel is bad and not storage tolerance；It harvested
Evening, fruit water content reduce, and maturity is excessively high, and fruit quality is poor, are not suitable for long-distance transport and long-term storage.
But currently, the major way of bergamot pear picking is still manually to pick, annual September is the picking time of bergamot pear, plucks pears work
Picking takes between 0.8 yuan to 0.9 yuan of per kilogram.Since bergamot pear tree body is tall and big, most of bergamot pear growth aloft, is greatly given
Artificial picking causes difficulty, high when empty-handedly plucking, and people can only be picked by climbing tree or using ladder, the slightly careless fruit meeting of when picking
It falls down, picking is caused to lose, and people also has unsafe factor when high-altitude is picked, this is also to cause high-altitude bergamot pear
Picking takes the reason of increase.In addition to this, the bergamot pear thin skin meat after maturation is crisp, is not suitable for harvesting using big machineryization, and one
As fruit picker in the picking process of bergamot pear fruit, easily cause bergamot pear pericarp damaged, it is easy to induce rotten fungus and Penicillium notatum
It breeds, accelerates bergamot pear corruption therewith and diffusive infection gives surrounding unmarred bergamot pear.
Therefore, not only picking efficiency is low, difficulty is big for artificial picking, but also the time is short, large labor intensity, causes picking cost
Increase.The problem difficult in face of bergamot pear picking, there is an urgent need to a kind of end effectors of suitable bergamot pear picking to replace artificial picking
This problem, which is picked, solving bergamot pear becomes very necessary.
The utility model patent of application number 201621393947.4 discloses a kind of fruit picking device suitable for bergamot pear, such as
Shown in Fig. 1, including metal arch ring, picking lever, interior blanket net and the outer string bag, picking lever include Anti-slip cover, loop bar and telescopic rod；Metal
It is provided on arch ring and grasps carpopodium slot, cotton metal arch ring housing is provided with outside metal arch ring；The interior string bag and the outer string bag are all and cotton
The connection of matter metal arch ring housing, the interior string bag are arranged in the outer string bag, and interior string bag lower end is provided with buffer mouth；Outer string bag lower end setting
There is cotton cord hole, cotton cord is provided in cotton cord hole, is provided with spring button on cotton cord.Its bergamot pear Softening is by solid carpopodium slot
After catching bergamot pear carpopodium, loop bar is pulled to break bergamot pear carpopodium.This Softening easily damages fruit, and is pulling loop bar
In the process, very big power can be generated to branch, will cause the shaking of other fruits, and then can generate scraping damage with branch, very
It directly falls off as fruit.
The utility model patent of application number 201120127271.5 discloses a kind of seed ball picking robot end and holds
Row device, as shown in Fig. 2, including rotating electric machine component and arc finger cutting assembly.It passes through shaft coupling component using rotating electric machine
Four cambered blades are driven to carry out circumgyration incision to the carpopodium of any position therebetween.The utility model Softening is reliable, movement
Control difficulty is low, and low in cost, versatility is good.But arc finger cutting assembly does not encase fruit in operation completely, if
Carpopodium, then it is possible that the case where not cutting, and is wrapped when operation when four arc fingers close up in actuator least significant end
The fruit in the space enclosed does not fix, and fruit can roll in finger space after carpopodium cutting, and some pericarps are thin and brittle
Fruits and vegetables will receive mechanical damage (such as Kuerle delicious pear, peach and tomato), be not easy to long-distance transport and long-term storage.
Application number 201710102179.5 discloses a kind of spheral fruit picking robot end execution grabbed and cut integral type
Device, as shown in figure 3, including upper junction plate, lower connecting plate, cutting dise knife, 4 flexible envelope units, flexible envelope pawl whirler
Structure.The end-effector is mainly made of servo motor, 4 flexible fingers and cutting dise knife.Servo motor drives actuator fortune
Dynamic to enhance the controllability of each component movement, the design of flexible finger can be reduced the damage during fruit and vegetable picking to a certain extent
Wound.But grip size and control are less desirable, for some quality and fruits and vegetables of different sizes, grip is crossed conference and is made
It is damaged at fruit, grip is too small, and it is insecure to fruits and vegetables crawl to will cause picking failure, it is considered as the Modulatory character of grip size,
To reach more preferably effect.It is limited to cut dise knife cut coverage, there are carpopodiums to cut blind area.Furthermore the end effector is used
4 servo motors, overall structure and control system are complex, and weight is bigger than normal, will affect picking precision.
For the prior art of Kuerle delicious pear Softening, it would be highly desirable to which the technical problem and disadvantage of solution mainly include
The following aspects:
(1) the current Softening of bergamot pear mainly remains as artificial picking, and not only picking efficiency is low, difficulty for artificial picking
Greatly, period large labor intensity, and people also has unsafe factor when high-altitude is picked；
(2) bergamot pear shape is in irregular shape, and the gripper of most of rigidity is difficult suitably to grab bergamot pear；
(3) bergamot pear thin skin meat is crisp after maturation, easily causes bergamot pear pericarp damaged in picking process, it is easy to induce rotten fungus
It is bred with Penicillium notatum, accelerates bergamot pear corruption therewith and diffusive infection gives surrounding unmarred bergamot pear；
(4) Softening of most end effector and high altitude fruit picking device is generally divided into three kinds: pullling formula, crawl
Kinking formula and knife cut cutting type.It pulls and clamping crawl first is carried out to fruit with torsion type design, then simulate people by rotating
The movement of hand kinking carpopodium when picking, requires strict control to clamp the size of the power of fruit well first, otherwise easily damages fruit
Real, there are carpopodiums to be pullled when picking at this time, reverses the case where breaking or falling, and is not easy to store.Knife cuts cutting type
Directly carpopodium is cut off using motor driven annular saw knife or scissor action, the shearing of cutter and scissors is limited in scope, and there are carpopodiums
The blind area cut, cut, cut.
Summary of the invention
It is an object of the invention to the whole plucking times in order to reduce bergamot pear, improve picking efficiency, reduce artificial labor
Fatigue resistance and meet bergamot pear picking and require, the present invention provides a kind of compact-sized, high-efficient, reliability and durability and intelligentized end
Actuator.
The present invention adopts the following technical scheme:
A kind of bergamot pear terminal executor of picking robot, including manipulator butt plate 1, transmission mechanism 2, executing agency 3,
The mechanical handle of manipulator butt plate 1, one end and robot connects, and the other end passes through in bolt and transmission mechanism 2
Motor shell A 22 be connected to one；
Transmission mechanism 2,212 end of connecting rod of transmission mechanism 2 and mounting bracket 213 are logical with the knife rest 31 of executing agency 3
Hinge connection is crossed, the cambered surface cutter 32 for cutting carpopodium is installed on knife rest 31；
Executing agency 3, the vacuum chuck 35 in executing agency 3 pass through the mounting bracket of mounting flange 37 and transmission mechanism 2
The connection of 213 tops.
The further technical solution of the present invention is, in transmission mechanism 2, servo motor A21 is mounted on the interior of motor shell A 22
In chamber, o-ring 26 is mounted on sealing of motor spindle end face, is equipped with motor flange 23 by screw in the axial end of servo motor A21,
Servo motor A21 is connected by signal wire with speed reducer 24, and speed reducer 24 is mounted in connected with outer casing 25, and connected with outer casing 25 passes through
Connecting plate 215 and attachment screw 214 and motor B shell 28 are fixedly linked, and servo motor B 27 is mounted on the interior of motor B shell 28
In chamber, screw rod 210 is connect by shaft coupling 29 with servo motor B 27, and nut 211 is hinged by mounting hole and connecting rod 212, installation
Bracket 213 is fixedly connected by connecting plate 215 and attachment screw 214 with motor B shell 28.
The further technical solution of the present invention is that have 4 mounting holes on the nut 211,4 mounting holes respectively with it is right
Answer the small end of 4 connecting rods 212 hinged.
The further technical solution of the present invention is, in executing agency 3, knife rest 31 is connected to transmission mechanism by hinges
In the big end of connecting rod 212 in 2 and the mounting hole of mounting bracket 213, cambered surface cutter 32 connect composition cut cells with knife rest 31,
One layer of rubber material 33 is bonded in 32 inner cavity of cambered surface cutter, vacuum chuck 34 is mounted on 36 head of connecting tube, 36 middle part of connecting tube
Blow vent 35 is offered, 37 one end of mounting bracket connects the mounting bracket 213 of transmission mechanism 2, and the other end connects connecting tube 36.
The further technical solution of the present invention is that four knife rests 31 are connected to the connecting rod of transmission mechanism 2 by hinges
In 212 big ends and mounting bracket 213, four cambered surface cutters (32a, 32b, 32c, 32d), four knife rests are installed on four knife rests 31
31 and four cambered surface cutters (32a, 32b, 32c, 32d) form cut cells.
The further technical solution of the present invention be further include sensing mechanisms 4, magnetism encoder 41 therein be two, point
It is not mounted on servo motor A21 and the motor shaft of servo motor B 27, for measuring position of magnetic pole and servo motor corner and turning
Speed；Electromagnetic switch b42 and electromagnetic switch a44 is separately fixed on motor B shell 28 and the inner wall of mounting bracket 213, magnet block
43 are mounted on nut 211, and electromagnetic switch b42, electromagnetic switch a44 and magnet block 43 are on same straight line in vertical direction,
The side contacted in two inner cavities cambered surface cutter (32a, 32c) with fruit is stained with force snesor, other two cambered surface cutter (32b,
32d) side contacted in inner cavity with fruit is stained with infrared sensor 47, and vacuum pressure sensor 46 is arranged close to vacuum chuck
At 35, for monitoring vacuum pressure value, it is ensured that sucker persistently reaches safe suction, is equipped on the end face of mounting bracket 213
Range sensor 48, for monitoring the distance of actuator relative target, force snesor 45, vacuum pressure sensor 46, distance are passed
Sensor 48 transmits signal to the control system of robot.
7. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear characterized by comprising
The state of step 1. inspection end effector；
Step 2. starts robot, obtains bergamot pear spatial coordinate location, and mechanical arm drives end effector towards target perfume
The movement of pears direction；
Range sensor 48, infrared sensor 47, vacuum chuck 34, vacuum pressure sensing in step 3. sensing mechanisms 4
Device 46 is shared out the work and help one another, while servo motor B 27 inverts, and prepares state before so that end effector is in shearing work；
Step 4. servo motor B 27 drives the cambered surface cutter closure in executing agency 3, completes cutting for target bergamot pear carpopodium
It is disconnected；Or cambered surface cutter 32 is closed, servo motor A21 starting drives screw rod 210, the nut 211 of transmission mechanism and executing agency
It moves back and forth, completes the cutting to target bergamot pear carpopodium；
Step 5. mechanical handle is withdrawn, and the interior knife rest that end executes opens, and vacuum chuck 35 is inflated, and the bergamot pear of picking is put
It is placed in collecting box；
Step 6. repeats the above steps, until picking terminates.
The further technical solution of the present invention is that the step 1 includes being in vacuum chuck not open, at knife rest 31
Servo motor A21 and servo motor B 27 remain static in closure, transmission mechanism 2.
The further technical solution of the present invention is that the step 2 further includes, and in motion process, servo motor B 27 is driven
Knife rest 31 is in maximum open configuration.
The further technical solution of the present invention is, in the step 4, after servo motor A21 initiating task, and machine shaft
By the transmission of waveform speed reducer 24, transmission mechanism screw rod 210 and executing agency's nut 211 is driven to carry out reciprocating rotation, corner
Degree is 45 °~180 ° ranges.
1. the object of the invention is primarily directed to disadvantage present in the method for existing Kuerle delicious pear picking at present and not
It proposes enough, such as artificial picking bergamot pear mode, not only picking efficiency is low, difficulty is big, the time is short, large labor intensity, but also people exists
High-altitude also has unsafe factor when picking；Other modes pick bergamot pear using end effector, in picking process, often
There are carpopodium cutting blind areas or picking process easily to cause mechanical damage to bergamot pear, is not easy to the long-distance transport and long-term storage of bergamot pear
Hiding.
2. the present invention provides a kind of bergamot pear picking robot and picking methods.The end effector of the device uses 4
Cambered surface cutter and vacuum chuck are as executing agency, and after sucker suction fixes fruit, cambered surface cutter can guarantee the nothing of carpopodium cutting
Dead angle operation；Transmission mechanism provides power by two DC servo motor rotations for each device of actuator；Perceptron
Structure guarantees actuator accurately close to absorption fruit, and real-time monitoring actuator job state precisely perceives operating environment.The actuator
Shear efficiency is not only increased, reduces sensing mechanisms to the image recognition of fruit profile and carpopodium and the time-consuming of segmentation, Er Qiebao
The precision quality of picking operation is demonstrate,proved.Softening is reliable and secure, has not only reduced picking difficulty, but also improve operating efficiency.
Beneficial effects of the present invention:
1. the present invention provides a kind of bergamot pear terminal executor of picking robot and picking methods, wherein method is novel, dress
It is compact to set compact structure, high reliablity compares traditional artificial picking, on the one hand not only saves manual operation, promotes picking efficiency,
Picking cost is reduced, insecurity factor of the people when high-altitude is picked on the other hand is also avoided.
The end effector is with entire Pear-fruit actually picking object, it is not necessary to calibration identification is carried out to bergamot pear carpopodium position,
The complexity for reducing device, eliminates sensing mechanisms to the image recognition of fruit profile and carpopodium, while avoiding cutting step
In segmentation it is time-consuming；
2. the end effector apparatus is reasonable in design, the envelope crawl of fruit is not only performed, can also be completed
The parallel crawl of fruit, it is of less demanding to the picking pose of actuator, reduce the time that pose adjusts in picking process；
3. executing agency comprehensive can shear carpopodium in such a way that absorption is fixed and cambered surface cutter is cut, have
Effect avoids the presence of carpopodium shearing blind area, improves shearing success rate；
4. four cambered surface cutters in executing agency can form the closed space of big tolerance, it can suitably reduce mechanical arm
Positioning accuracy improves the successful picking rate of bergamot pear；
5. the end effector structures are simple and compact, low in cost, control difficulty is low, has for the picking of round fruits and vegetables
Certain versatility.
Detailed description of the invention
Fig. 1 is a kind of fruit picking apparatus structure schematic diagram suitable for bergamot pear in background technique；
Fig. 2 is a kind of end effector structural schematic diagram in background technique；
Fig. 3 grabs the spheral fruit terminal executor of picking robot structural representation for cutting integral type to be a kind of in background technique
Figure；
Fig. 4 is a kind of overall structure signal for bergamot pear terminal executor of picking robot that the embodiment of the present invention 1 provides
Figure；
Fig. 5 is a kind of internal structure signal for bergamot pear terminal executor of picking robot that the embodiment of the present invention 1 provides
Figure.
In figure: 1- manipulator butt plate；
2- transmission mechanism；21- servo motor A, 22- motor shell A, 23- motor flange, 24- speed reducer, 25- connection are outer
Shell, 26-O type ring, 27- servo motor B, 28- motor B shell, 29- shaft coupling, 210- screw rod, 211- nut, 212- connecting rod,
213- mounting bracket, 214- attachment screw, 215- link block；
3- executing agency；(32a- cambered surface cutter a, 32b- cambered surface cutter b, 32c- cambered surface is cut for 31- knife rest, 32- cambered surface cutter
Knife c, 32d- cambered surface cutter d), 33- rubber material, 34- vacuum chuck, 35- blow vent, 36- connecting tube, 37- mounting flange；
4- sensing mechanisms；41- magnetism encoder, 42- electromagnetic switch b, 43- magnet are fast, 44- electromagnetic switch a, 45- power passes
Sensor, 46- vacuum pressure sensor, 47- photoelectric sensor, 48- range sensor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the technical solution below in the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Electromagnetic switch, as the term suggests it is exactly with the switch of magnet control, that is, the combination of electromagnet and switch.When
Electromagnetic attraction is generated after electromagnet coil power, the contact closure when movable core or magnet are adjacent to contact, to connect
Institute's control circuit.
Embodiment 1
A kind of bergamot pear terminal executor of picking robot, by manipulator butt plate 1, transmission mechanism 2,3 and of executing agency
Sensing mechanisms is constituted.
Fixation is bolted in the motor shell A 22 of the manipulator butt plate 1 and transmission mechanism 2.
Servo motor A21 is mounted in the inner cavity of motor shell A 22 in transmission mechanism 2, and o-ring 26 is mounted on motor shaft end
Face (i.e. o-ring is mounted on motor shaft), motor flange 23 are mounted in the axial end of servo motor A21 by screw；Servo
Motor A21 is connected by speed reducer 24 by signal wire, and speed reducer 24 is mounted on inside connected with outer casing 25, and connected with outer casing 25 passes through
Connecting plate 215 and attachment screw 214 are fixedly connected with motor B shell 28；Servo motor B 27 is mounted on the interior of motor B shell 28
In chamber, screw rod 210 is connect by shaft coupling 29 with servo motor B 27；Four mounting holes of nut 211 are identical with four respectively
The small end of connecting rod 212 is hinged, and mounting bracket 213 is fixedly connected by connecting plate 215 and attachment screw 214 with motor B shell 28.
In executing agency 3, four identical knife rests 31 are connected to the big end of the connecting rod 212 in drive rotor 2 by hinges respectively
On 213 mounting hole of mounting bracket, four cambered surface cutters 32 (cut by its internal cambered surface cutter a32a, cambered surface cutter b32b, cambered surface
Knife c32c, cambered surface cutter d32d) composition cut cells are connect with four knife rests 31 respectively, it is fitted in the inner cavity of cambered surface cutter 32
One layer of rubber material 33；Vacuum chuck 34 is mounted on the head of connecting tube 36, and the middle part of connecting tube 36 offers blow vent 35；Peace
It fills 37 one end of flange and connects connecting tube 36, the other end is connected in mounting bracket 213.
Two magnetism encoders 41 in sensing mechanisms 4, are separately mounted to the electricity of servo motor A21 and servo motor B 27
On arbor, for measuring position of magnetic pole and servo motor corner and revolving speed；Electromagnetic switch b24 and electromagnetic switch a44 are fixed respectively
On motor B shell 28 and the internal chamber wall of mounting bracket 213, electromagnetic switch b42 is fixed on the internal chamber wall of motor B shell 28
On, electromagnetic switch a44 is fixed on the internal chamber wall of mounting bracket 213, and magnet block 43 is mounted on nut 211, and electromagnetism is opened
It closes b42, electromagnetic switch a44 and magnet block 43 to be on same vertical axis, passes through the stalling of control motor using electromagnetic switch,
It controls the first transaction of a day's business state of knife rest, is contacted in the inner cavity cambered surface cutter 32 (cambered surface cutter a32a, cambered surface cutter c32c) with fruit
Side is bonded force sensor 45, one contacted in the inner cavity cambered surface cutter (cambered surface cutter b32b, cambered surface cutter d32d) with fruit
Side is stained with infrared sensor 47；Vacuum pressure sensor 46 is arranged close to (be mounted in 36 connecting tubes 36 connected to it, use
In monitoring vacuum pressure value) at vacuum chuck 35, for monitoring vacuum pressure value, it is ensured that sucker persistently reaches safe suction；?
Range sensor 48 is installed, for detecting distance of the actuator relative to objective fruit on the end face of mounting bracket 213.
A method of bergamot pear is picked using bergamot pear terminal executor of picking robot, comprising:
Under step a. original state, vacuum chuck 46 is not opened in end effector executing agency 3, and four knife rests, which are in, to be closed
Conjunction state, servo motor A21 and servo motor B 27 are also at stationary state in transmission mechanism；
When step b. starts to work, staff starts picking robot, and the CCD binocular camera first in robot is used
Acquire the image information of bergamot pear, and carry out processing analysis (processing analysis and CCD binocular camera be on vector machines people,
The work flow of processing analysis and CCD binocular camera control end effector in robot), it is obtained by graphics process
The spatial position coordinate of bergamot pear.
Driving manipulator armband is moved end effector and is moved towards target bergamot pear direction, in motion process, servo motor B 27
Start work, nut 211 is in the state that inside contracts in leadscrew-nut mechanism, and nut 211 is driven at four knife rests 31 by connecting rod 212
In open configuration, when the magnet block 43 being located on nut is in the underface of the electromagnetic switch B42 on motor B shell, correspondence
Electromagnetic switch be triggered, servo motor B 27 stops operating, and knife rest 31 is in maximum open configuration；
Step c. sensing mechanisms starts work, and range sensor 48 is opposite with target bergamot pear to actuator in motion process
Position is detected, when infrared sensor 47 detects that target bergamot pear detects that target bergamot pear has entered end effector shearing model
When enclosing interior, sensing mechanisms perception end effector arrived working position, control mechanical handle stop motion.
Vacuum chuck 34 after movement stops in executing agency 3 is started to work, and starting vacuum equipment suction makes to produce in sucker
Raw negative pressure, to the bergamot pear with picking be adsorbed secured.Wherein, the vacuum pressure sensor 46 in sensing mechanisms 4, access are true
Suction disk 35 is close to sucker end, 46 real-time monitoring vacuum pressure value of vacuum pressure sensor, it is ensured that vacuum chuck persistently reaches peace
Full suction can start to execute shearing work.Servo motor B 27 rotates backward, and feed screw nut does drawback movement, nut 211 this
When be in overhanging state.
For step d. when objective fruit is less than the enclosure space that the closure of cambered surface cutter 32 is formed, nut 211 drives connecting rod 212
Movement makes four knife rest closures, and cambered surface cutter 32 is closed and then is cut off with knife rest 31 target bergamot pear carpopodium, completes shearing work,
When the magnet block 43 being mounted on nut 211 is in the underface of the electromagnetic switch a44 in mounting bracket 213, corresponding electricity
Magnetic switch is triggered, and when the nut 211 in transmission mechanism 2 is in overhanging extreme position, servo motor B 27 stops operating, and executes
3 intermediate slide 31 of mechanism is closed completely, and four closures of cambered surface cutter 32 will form enclosure space；
Step e. is when objective fruit is greater than the enclosure space that the closure of cambered surface cutter 32 is formed, in order to avoid cambered surface cutter 32
The power of inner wall contacting fruit crosses macrolesion fruit, and the force snesor 45 on 32 inner wall of cambered surface cutter obtains the contact of each inner wall
Signal is fed back to servo motor B 27, servo motor when the force snesor 45 of contact surface reaches the grasp force of setting by power
B27 stops operating, at this time servo motor A21 initiating task, and machine shaft passes through the transmission of waveform speed reducer 24, band feed screw nut
Transmission mechanism and executing agency 3 carry out reciprocating rotation, and 45 ° of -180 ° of ranges of degree of rotation can adjust as the case may be certainly and turn
Angle.
Under normal circumstances, cambered surface cutter 32 can carry out secondary rotating cutting to the bergamot pear carpopodium not cut off, when, upon rotating arc
In the case that carpopodium is not cut in face, picking operation can also be carried out to the clamping of fruit and reciprocal torsion by knife rest 31, in turn
Guarantee cut quality, promotes picking efficiency.
Step f. is after the executing agency of end effector completes the absorption shearing work to target terminal bud bergamot pear, robot
Control system driving manipulator armband move end effector reach collecting fruit case, servo motor B 27 inverts again, four knives
Frame 31 is in open configuration, meanwhile, vacuum chuck device, which is smoothly inflated, to be entered in vacuum chuck 35, make in vacuum chuck 35 by
Negative pressure becomes zero air pressure or slightly positive air pressure, the absorption of 35 breakaway bergamot pear of vacuum chuck, and bergamot pear is placed to fruit
In collecting box, this bergamot pear picks operation and completes.
Further technical solution is to repeat the above operating process, it is known that CCD camera field range internal labeling
Bergamot pear all after picking, mechanical arm drives end effector to be moved to initial reset state, and picking robot starts pair
Next bergamot pear picking operation area carries out information collection, and executes the above overall process picked, and makees until completing whole bergamot pear pickings
Industry.
(1) a kind of bergamot pear terminal executor of picking robot for designing of the present invention, the cut cells in actuator are designed as
The Softening of four comprehensive cuttings of cambered surface cutter, for fruit of different sizes, there are two types of the mode of cutting carpopodium, fruits
When being closed the enclosure space to be formed less than cambered surface cutter, cambered surface cutter closed amputation target bergamot pear carpopodium, when objective fruit is greater than
When cambered surface cutter is closed the enclosure space to be formed, cambered surface cutter can carry out secondary rotating cutting to bergamot pear carpopodium, guarantee cutting matter
Amount promotes picking efficiency；
(2) for the picking unit in executing agency in such a way that vacuum chuck absorption is fixed, vacuum chuck adsorbs fruit can
Guarantee carpopodium shearing when and shearing after fruit fixation, will not because of fruit shaking and cause mechanical damage, cambered surface cutter
It is interior it is intracavitary use one layer of rubber material, avoid gripper to the rigid contact of fruit, reduce and fruit is squeezed, furthermore in order to avoid
The power of cambered surface cutter inner wall contacting fruit crosses macrolesion fruit, and it is each that the force snesor on cambered surface cutter inner wall implements monitoring acquisition
The contact force of inner wall, when the force snesor of contact surface reaches the grasp force of setting, knife rest stops closure, realizes to fruit
Appropriateness crawl shearing, maximumlly avoids picking process from causing mechanical damage to fruit.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of bergamot pear terminal executor of picking robot, including manipulator butt plate (1), transmission mechanism (2), executing agency
(3), which is characterized in that
The mechanical handle of manipulator butt plate (1), one end and robot connects, and the other end passes through in bolt and transmission mechanism (2)
Motor shell A (22) be connected to one；
Transmission mechanism (2), knife of connecting rod (212) end and mounting bracket (213) of transmission mechanism (2) with executing agency (3)
Frame (31) is connected by a hinge, and the cambered surface cutter (32) for cutting carpopodium is equipped on knife rest (31)；
Executing agency (3), the vacuum chuck (35) in executing agency (3) pass through the peace of mounting flange (37) and transmission mechanism (2)
Fill the connection of bracket (213) top.
2. a kind of bergamot pear terminal executor of picking robot according to claim 1, which is characterized in that transmission mechanism (2)
In, servo motor A (21) is mounted in the inner cavity of motor shell A (22), and o-ring (26) is mounted on sealing of motor spindle end face, servo
It is equipped with motor flange (23) in the axial end of motor A (21) by screw, servo motor A (21) passes through signal wire and speed reducer
(24) it is connected, speed reducer (24) is mounted in connected with outer casing (25), and connected with outer casing (25) passes through connecting plate (215) and attachment screw
(214) it is fixedly linked with motor B shell (28), servo motor B (27) is mounted in the inner cavity of motor B shell (28), screw rod
(210) it is connect by shaft coupling (29) with servo motor B (27), nut (211) passes through mounting hole and connecting rod (212) hingedly, peace
Dress bracket (213) is fixedly connected by connecting plate (215) and attachment screw (214) with motor B shell (28).
3. a kind of bergamot pear terminal executor of picking robot according to claim 1, which is characterized in that the nut
(211) there are 4 mounting holes on, 4 mounting holes are hinged with the small end of corresponding 4 connecting rods (212) respectively.
4. a kind of bergamot pear terminal executor of picking robot according to claim 1 or 2 or 3, which is characterized in that execute machine
In structure (3), knife rest (31) is connected to the big end and mounting bracket of the connecting rod (212) in transmission mechanism (2) by hinges
(213) on mounting hole, cambered surface cutter (32) connect composition cut cells with knife rest (31), is bonded in cambered surface cutter (32) inner cavity
One layer of rubber material (33), vacuum chuck (34) are mounted on connecting tube (36) head, offer blow vent in the middle part of connecting tube (36)
(35), the mounting bracket (213) of mounting bracket (37) one end connection transmission mechanism (2), the other end connect connecting tube (36).
5. a kind of bergamot pear terminal executor of picking robot according to claim 4, which is characterized in that four knife rests (31)
It is connected in connecting rod (212) big end and mounting bracket (213) of transmission mechanism (2) by hinges, on four knife rests (31)
Four cambered surface cutters (32a, 32b, 32c, 32d), four knife rests (31) and four cambered surface cutters (32a, 32b, 32c, 32d) are installed
Form cut cells.
6. a kind of bergamot pear terminal executor of picking robot according to claim 1 or 5, which is characterized in that further include sense
Know mechanism (4), magnetism encoder (41) therein is two, is separately mounted to servo motor A (21) and servo motor B (27)
On motor shaft, for measuring position of magnetic pole and servo motor corner and revolving speed；Electromagnetic switch b (42) and electromagnetic switch a (44) points
It is not fixed on motor B shell (28) and the inner wall of mounting bracket (213), magnet block (43) is mounted on nut (211), electromagnetism
Switch b (42), electromagnetic switch a (44) and magnet block (43) are on same straight line in vertical direction, two cambered surface cutters (32a,
32c) side contacted in inner cavity with fruit is stained with force snesor (45), in the inner cavity other two cambered surface cutter (32b, 32d) with
The side of fruit contact is stained with infrared sensor (47), and vacuum pressure sensor (46) is arranged close at vacuum chuck (35),
For monitoring vacuum pressure value, it is ensured that sucker persistently reaches safe suction, is equipped with distance on the end face of mounting bracket (213)
Sensor (48), for monitoring the distance of actuator relative target, force snesor (45), vacuum pressure sensor (46), distance
Sensor (48) transmits signal to the control system of robot.
7. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear characterized by comprising
The state of step 1. inspection end effector；
Step 2. starts robot, obtains bergamot pear spatial coordinate location, and mechanical arm drives end effector towards target bergamot pear side
To movement；
Range sensor (48), infrared sensor (47), vacuum chuck (34), vacuum pressure in step 3. sensing mechanisms (4)
Sensor (46) is shared out the work and help one another, while servo motor B (27) inverts, and prepares state before so that end effector is in shearing work；
Step 4. servo motor B (27) drives the cambered surface cutter closure in executing agency (3), completes cutting for target bergamot pear carpopodium
It is disconnected；Or cambered surface cutter (32) closure, servo motor A (21) start, the screw rod (210) of drive transmission mechanism and executing agency,
Nut (211) moves back and forth, and completes the cutting to target bergamot pear carpopodium；
Step 5. mechanical handle is withdrawn, and the interior knife rest that end executes opens, and the bergamot pear of picking is placed in vacuum chuck (34) inflation
In collecting box；
Step 6. repeats the above steps, until picking terminates.
8. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear according to claim 7, special
Sign is that the step 1 includes being in vacuum chuck not open, and knife rest (31) is in closure, servo in transmission mechanism (2)
Motor A (21) and servo motor B (27) remain static.
9. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear according to claim 7, special
Sign is that the step 2 further includes, and in motion process, servo motor B (27) band movable knife rack (31) is in maximum and opens shape
State.
10. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear according to claim 7, special
Sign is, in the step 4, after servo motor A (21) initiating task, machine shaft passes through the transmission of speed reducer (24), band
Dynamic transmission mechanism screw rod (210) and executing agency's nut (211) carry out reciprocating rotation, and corner degree is 45 °~180 ° ranges.
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| CN201811216941.3A CN109105001B (en) | 2018-10-18 | 2018-10-18 | End effector of bergamot pear picking robot and picking method |
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|---|---|---|---|
| CN201811216941.3A CN109105001B (en) | 2018-10-18 | 2018-10-18 | End effector of bergamot pear picking robot and picking method |
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| CN109105001B CN109105001B (en) | 2024-01-30 |
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| CN113442152A (en) * | 2021-06-24 | 2021-09-28 | 华南农业大学 | Flexible finger with lateral wrapping property for fruit picking |
| CN113733149B (en) * | 2021-09-02 | 2024-03-19 | 浙江大学 | Soft finger manipulator for sensing fruit hardness and detection method |
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| CN113994813B (en) * | 2021-10-13 | 2022-08-02 | 大连理工大学 | Single-motor-driven rotary picking end effector |
| CN113994813A (en) * | 2021-10-13 | 2022-02-01 | 大连理工大学 | Single-motor-driven rotary picking end effector |
| CN114175922A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Unmanned robot capable of picking fruits without damage |
| CN114161436A (en) * | 2021-11-24 | 2022-03-11 | 新疆钵施然智能农机股份有限公司 | Mechanical gripper for picking fruits without damage |
| CN114175926A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Picking machine gripper capable of adsorbing fruits |
| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
| CN114451144B (en) * | 2022-03-17 | 2023-07-25 | 河北省科学院应用数学研究所 | Fruit picking end effector |
| CN114494441A (en) * | 2022-04-01 | 2022-05-13 | 广东机电职业技术学院 | Grape and picking point synchronous identification and positioning method and device based on deep learning |
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| CN114916313A (en) * | 2022-06-20 | 2022-08-19 | 南京林业大学 | Flexible sensible tea tender shoot picking clamping jaw |
| CN115443812A (en) * | 2022-10-27 | 2022-12-09 | 四川农业大学 | Spherical shear type fruit picking end effector and method thereof |
| CN115443812B (en) * | 2022-10-27 | 2023-05-16 | 四川农业大学 | Spherical shearing type fruit picking end effector and method thereof |
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