CN109605409A - A kind of fruit picking robot end effector - Google Patents
A kind of fruit picking robot end effector Download PDFInfo
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- CN109605409A CN109605409A CN201910053790.2A CN201910053790A CN109605409A CN 109605409 A CN109605409 A CN 109605409A CN 201910053790 A CN201910053790 A CN 201910053790A CN 109605409 A CN109605409 A CN 109605409A
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- cylinder
- shearing
- fruit
- end effector
- cutting edge
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- 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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of fruit picking robot end effector, belong to agriculture fruits and vegetables automation picking end effector technical field, the problem of present invention can generate physical damnification to fruit to solve existing picking end effector in picking process, and picking process is complicated, low efficiency.Straight-line feed positioning component and cylinder shearing component, cylinder shearing component is installed on the straight-line feed positioning component, cylinder shearing component can do linear reciprocating motion on straight-line feed positioning component, and straight-line feed positioning component is mountable on the mechanical arm of picking robot.A kind of fruit picking robot end effector of the invention can avoid directly contacting with fruit, versatile, improve picking efficiency.
Description
Technical field
The present invention relates to a kind of end effectors, and in particular to a kind of fruit picking robot end effector belongs to agriculture
Industry fruits and vegetables automate picking end effector technical field.
Background technique
China is maximum fruits and vegetables production and consumption state in the world, according to statistics the orchard of China in 2016, vegetable cultivation area
Respectively 1298.2 ten thousand hm2With 2232.83 ten thousand hm2, fruits and vegetables yield is sure to occupy the first in the world.And fruit and vegetable picking is to produce in chain the most
A time-consuming, laborious link.Currently, domestic majority fruit and vegetable picking, using artificial picking, picking expense accounts for about cost
50% -70%.The Mechaniaed harvest for realizing fruits and vegetables, for solving manpower shortage, the high production cost, production of fruit industry
The problems such as low efficiency and the market competitiveness etc. for improving fruits and vegetables have important meaning.
In recent years, the research of picking robot has become the hot spot of picking mechanical research, and numerous studies personnel adopt fruit
Robot is plucked to be studied.Currently, realize there are mainly two types of the modes of picking, one is design corresponding mechanism to fruit into
Row aid is held, and recycles the rotation in carpal two vertical direction to simulate the movement that manpower breaks stubborn carpopodium, it is required that
Carpopodium and the fruit binding force for picking fruit are small, while needing the size of strict control fruit aid power, power too fruitlet and fruit
Stalk can not separate, and power generates physical damnification to fruit greatly very much.Another kind is to be sucked fruit using sucker, and be dragged in clamping
Between finger, scissors is recycled to interrupt carpopodium, this mode requires to have detected the position and direction of carpopodium, and accurately adjusts
The corresponding picking posture of end effector, to increase control difficulty and mechanism complexity.
Existing research achievement all rests on test development phase mostly, there has been no it is mature, being capable of commercialized product.
The main reason is that: 1) existing picking end effector in picking process inevitably with fruit generation directly contact, right
Fruit generates physical damnification；2) end effector structures are complicated, apparent size is big, using being limited to open, complicated fruit
Vegetable plantation planting environment；3) picking fruit and collecting fruit process are complicated, low efficiency；4) fruit separation uses single cutting-edge knife
Tool cuts off carpopodium, generates biggish active force, fruit branch serious vibration after picking fruit, so that fruit figure to fruit branch in cutting process
As identifying system can not identify determining fruit position, the time between picking twice is extended；5) end effector poor universality,
A kind of end effector is merely able to pick a kind of fruit, and service efficiency is low.
Summary of the invention
The object of the present invention is to provide a kind of fruit picking robot end effectors, are executed with solving existing picking end
The problem of device can generate physical damnification in picking process to fruit, and picking process is complicated, low efficiency.
A kind of fruit picking robot end effector includes straight-line feed positioning component and cylinder shearing component, described straight
Cylinder shearing component is installed, cylinder shearing component can do reciprocal straight on straight-line feed positioning component on line feeding positioning component
Line movement, straight-line feed positioning component are mountable on the mechanical arm of picking robot.
Preferred: straight-line feed positioning component includes pedestal, linear guide, hydraulic cylinder hold-down support, first hydraulic cylinder, liquid
Cylinder pressure bracket, movable base plate push jack and movable base plate；
Movable base plate is slidably installed on the base by linear guide, and hydraulic cylinder hold-down support is fixedly mounted under pedestal
On end face, first hydraulic cylinder is hinged on hydraulic cylinder hold-down support by the first straight pin, and the cylinder body of first hydraulic cylinder passes through
Cylinder brackets are fixed on the lower end surface of pedestal, the First piston bar of first hydraulic cylinder output end by movable base plate push jack with
Movable base plate is connected.
Preferred: cylinder shearing component includes shearing actuator, outer shearing cylinder and interior shearing cylinder；
Shearing actuator and outer shearing cylinder are fixedly mounted on movable base plate, and interior shearing cylinder is fixedly mounted on shearing actuator
Output end on, and be located at outer shearing cylinder in.
Preferred: including first, shearing cylinder support, fruit harvesting connector, second shear cylinder branch to shearing actuator outside outside
Seat, hydraulic cylinder upper bracket, hydraulic cylinders bearing bracket, second hydraulic cylinder and hydraulic cylinders bearing；
Outer shearing cylinder is fixedly mounted on the right side of movable base plate by shearing cylinder support outside first outside shearing cylinder support and second
End, hydraulic cylinders bearing are fixedly mounted on the left end of movable base plate, and second hydraulic cylinder is hinged on hydraulic cylinder branch by the second straight pin
On seat, hydraulic cylinders bearing bracket is additionally provided with outside first between shearing cylinder support and hydraulic cylinders bearing, the cylinder body of second hydraulic cylinder is logical
It crosses hydraulic cylinder upper bracket to be fixedly mounted on hydraulic cylinders bearing bracket, the second piston bar of second hydraulic cylinder output end passes through first
Shearing cylinder fixinig plate is connected with interior shearing cylinder in interior shearing cylinder fixinig plate and second, and interior shearing cylinder is located in outer shearing cylinder
Portion, fruit harvesting connector are embedded in the right end of movable base plate, and positioned at the underface of outer shearing cylinder, fruit harvesting connector enters
Mouth end is connected to outer shearing cylinder and interior shearing cylinder, and the outlet end of fruit harvesting connector and collector for fruits or collecting bag connect
It is logical.
Preferred: the left end of pedestal is equipped with mechanical arm connecting plate, and the two sides of mechanical arm connecting plate pass through the first floor
It is reinforced with the second floor and pedestal.
It is preferred: to be provided with X-shaped cut groove on the side wall of outer shearing cylinder, the two sides of X-shaped cut groove are symmetrically provided with the first Y shape and cut
Grooving and the second Y shape cut groove are symmetrically opened there are two trapezoidal cut groove on the side wall of interior shearing cylinder, two trapezoidal cut grooves about
The intersection point of two trapezoidal cut grooves is symmetrical.
It is preferred: X-shaped cut groove include left long guide edge, left cutting edge, left triggering side, left short guide edge, right short-range missile to
In, right triggering, right cutting edge and right long guide edge, the vertical range between the left cutting edge and left short guide edge be equal to fruit
1.2 times of upright diameter, the vertical range between the right cutting edge and right short guide edge are equal to 1.2 times of carpopodium diameter.
Preferred: the first Y shape cut groove on the first L shape guide edge, the first triggering side, the first cutting edge and first including leading
Xiang Bian, the second Y shape cut groove include guide edge on the 2nd L shape guide edge, the second triggering side, the second cutting edge and second.
Preferred: two trapezoidal cut grooves include third cutting edge, the 4th cutting edge, the 5th cutting edge and the 6th cutting
Sword.
It is preferred: left triggering while and when right triggering be mounted on force snesor.
The present invention has the effect that compared with existing product
1, inside and outside shearing cylinder does not contact directly with fruit surface, simply by the cutting edge on inside and outside shearing cylinder to carpopodium
It is cut, the clamping device of existing picking end effector and the control section of chucking power is eliminated, due to not connecing directly
Fruit surface is touched, so the case where there is no damage fruits in picking process；
2, between inside and outside shearing cylinder cut groove, without judging the opposite position of detection carpopodium and end effector
It sets, as long as fruit enters in shearing cylinder, the present invention can cut off carpopodium；
3, it is outer shearing cylinder X-shaped and Y-shaped cut groove design can to greatest extent adaptive fruit on fruit branch from
Right growth conditions, while can be reduced by fruit to greatest extent and cut for the shear action of carpopodium by inside and outside shearing cylinder double shear cutting blade
The vibration of fruit branch caused by after cutting, ensure that the progress continuously picked；
4, fruit is directly entered collection device from fruit harvesting connector after carpopodium is cut, and eliminates traditional picking end and holds
The collection of row device acts, and improves picking efficiency；
5, power transmission intermediate link is few, and transmission efficiency is high, is quick on the draw；
6, versatile, it is applicable not only to spherefruit, suitable for can enter the fruit of any shape in shearing cylinder.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of fruit picking robot end effector；
Fig. 2 is the structural schematic diagram of outer shearing cylinder；
Fig. 3 is the structural schematic diagram of interior shearing cylinder；
Fig. 4 is the assembling schematic diagram of inside and outside shearing cylinder；
Fig. 5 is the structural schematic diagram of interface channel；
The trapezoidal structural schematic diagram of the cutting that cutting edge is formed when Fig. 6 is inside and outside shearing cylinder work.
In figure: 1- pedestal, 2- linear guide, 3- hydraulic cylinder hold-down support, the first straight pin of 4-, 5- first hydraulic cylinder, 6-
Cylinder support, 11- fruit are sheared outside cylinder brackets, 7- First piston bar, 8- movable base plate push jack, 9- movable base plate, 10- first
Cylinder support, 13- are sheared outside harvesting connector, 12- second shears cylinder, the first L shape guide edge of 14-, the triggering of 15- first side, 16- outside
The left long guide edge of guide edge, 18- on first cutting edge, 17- first, the left cutting edge of 19-, the left triggering side 20-, the left short-range missile of 21- to
In the right triggering of the right short guide edge of, 22-, 23-, guide edge, 27- the on the right cutting edge of 24-, the right long guide edge of 25-, 26- second
Two cutting edges, 28- second, which trigger side, the 2nd L shape guide edge of 29-, shears cylinder, 31- third cutting edge, 32- the 4th in 30- cuts
Shearing cylinder fixinig plate in sword, the 5th cutting edge of 33-, the 6th cutting edge of 34-, 35- first, shearing cylinder fixinig plate in 36- second,
37- second piston bar, 38- hydraulic cylinder upper bracket, 39- hydraulic cylinders bearing bracket, 40- second hydraulic cylinder, the second straight pin of 41-,
42- hydraulic cylinders bearing, the first floor of 43-, the second floor of 44-, 45- mechanical arm connecting plate, shearing cylinder fruit harvesting connection in 46-
Cylinder fruit harvesting connector interface is sheared outside device interface, 47-.
Specific embodiment
The preferred embodiment of the present invention is elaborated below according to attached drawing.
As shown in Figures 1 to 6, a kind of fruit picking robot end effector of the present invention includes that straight-line feed is fixed
Hyte part and cylinder shearing component are equipped with cylinder shearing component on the straight-line feed positioning component, and cylinder shearing component can
Linear reciprocating motion, the mountable mechanical arm in picking robot of straight-line feed positioning component are done on straight-line feed positioning component
On.
Further, straight-line feed positioning component includes pedestal 1, linear guide 2, hydraulic cylinder hold-down support 3, first hydraulic cylinder
5, cylinder brackets 6, movable base plate push jack 8 and movable base plate 9；
Movable base plate 9 is slidably mounted on pedestal 1 by linear guide 2, and hydraulic cylinder hold-down support 3 is fixedly mounted on pedestal
On 1 lower end surface, first hydraulic cylinder 5 is hinged on hydraulic cylinder hold-down support 3 by the first straight pin 4, and first hydraulic cylinder 5
Cylinder body is fixed on the lower end surface of pedestal 1 by cylinder brackets 6, and the First piston bar 7 of 5 output end of first hydraulic cylinder passes through shifting
Dynamic bottom plate push jack 8 is connected with movable base plate 9.
Further, cylinder shearing component includes shearing actuator, outer shearing cylinder 13 and interior shearing cylinder 30；
Shearing actuator and outer shearing cylinder 13 are fixedly mounted on movable base plate 9, and interior shearing cylinder 30 is fixedly mounted on shearing
On the output end of actuator, and it is located in outer shearing cylinder 13.
Further, shearing actuator includes shearing cylinder support 10, fruit harvesting connector 11, second outside first to shear cylinder outside
Support 12, hydraulic cylinder upper bracket 38, hydraulic cylinders bearing bracket 39, second hydraulic cylinder 40 and hydraulic cylinders bearing 42；
Outer shearing cylinder 13 is fixedly mounted on mobile bottom by shearing cylinder support 12 outside first outside shearing cylinder support 10 and second
The right end of plate 9, hydraulic cylinders bearing 42 are fixedly mounted on the left end of movable base plate 9, and second hydraulic cylinder 40 passes through the second straight pin 41
It is hinged in hydraulic cylinders bearing 42, is additionally provided with hydraulic cylinders bearing bracket between shearing cylinder support 10 and hydraulic cylinders bearing 42 outside first
39, the cylinder body of second hydraulic cylinder 40 is fixedly mounted on hydraulic cylinders bearing bracket 39 by hydraulic cylinder upper bracket 38, and second is hydraulic
The second piston bar 37 of 40 output end of cylinder is cut by shearing cylinder fixinig plate 36 in the first interior shearing cylinder fixinig plate 35 and second with interior
It cuts cylinder 30 to be connected, and interior shearing cylinder 30 is located inside outer shearing cylinder 13, fruit harvesting connector 11 is embedded in movable base plate 9
Right end, positioned at the underface of outer shearing cylinder 13, the arrival end of fruit harvesting connector 11 and outer shearing cylinder 13 and interior shearing cylinder 30
Connection, the outlet end of fruit harvesting connector 11 is connected to collector for fruits or collecting bag.
Further, the left end of pedestal 1 is equipped with mechanical arm connecting plate 45, and the two sides of mechanical arm connecting plate 45 pass through first
Floor 43 and the second floor 44 are reinforced with pedestal 1.
Further, being provided with X-shaped cut groove on the side wall of shearing cylinder 13 outside, the two sides of X-shaped cut groove are symmetrically provided with the first Y shape
Cut groove and the second Y shape cut groove are symmetrically opened there are two trapezoidal cut groove on the side wall of interior shearing cylinder 30, two trapezoidal cut grooves
Intersection point about two trapezoidal cut grooves is symmetrical.
Further, X-shaped cut groove include left long guide edge 18, left cutting edge 19, left triggering side 20, left short guide edge 21,
Right short guide edge 22, right triggering side 23, right cutting edge 24 and right long guide edge 25, between left cutting edge 19 and left short guide edge 21
Vertical range be equal to 1.2 times of carpopodium diameter, the vertical range between the right cutting edge 24 and right short guide edge 22 is equal to
1.2 times of carpopodium diameter.
Further, the first Y shape cut groove includes the first L shape guide edge 14, first triggering side 15, the first cutting edge 16 and the
Guide edge 17 on one, the second Y shape cut groove include that the 2nd L shape guide edge 29, second triggers side 28, the second cutting edge 27 and second
Upper guide edge 26.
Wherein the first L shape guide edge 14, first triggering side 15, guide edge 17, left length are led on the first cutting edge 16 and first
To in 18, left cutting edge 19, left triggering 20, left short guide edge 21, right short guide edge 22, right triggering side 23, right cutting edge 24,
Guide edge 26, the second cutting edge 27, second triggering side 28 and the 2nd L shape guide edge 29 are sequentially first on right long guide edge 25, second
Tail is connected.
Further, two trapezoidal cut grooves include third cutting edge 31, the 4th cutting edge 32, the 5th cutting edge 33 and the 6th
Cutting edge 34；Third cutting edge 31, the 4th cutting edge 32, the 5th cutting edge 33 and the 6th cutting edge 34 sequentially join end to end.
Further, left triggering 23 is mounted on force snesor at 20 and right triggering.
Interior shearing cylinder 30 and outer shearing cylinder 13 are when executing shear action, and the of the second Y shape cut groove of outer shearing cylinder 13
Guide edge 26, second triggers side 28 on two, the 6th cutting edge 34 of the second cutting edge 27 and interior shearing cylinder 30 constitutes closed cut
It cuts trapezoidal.
Interior shearing cylinder 30 and outer shearing cylinder 13 are when executing shear action, and the of the first Y shape cut groove of outer shearing cylinder 13
Guide edge 17, first triggers side 15 on one, the third cutting edge 31 of the first cutting edge 16 and interior shearing cylinder 30 constitutes closed cut
It cuts trapezoidal.
When executing shear action, the left cut of the X-shaped cut groove of outer shearing cylinder 13 is cut for interior shearing cylinder 30 and outer shearing cylinder 13
It is trapezoidal that sword 19, left triggering side 20, left short guide edge 21 and interior the 4th cutting edge 32 for shearing cylinder 30 constitute closed cutting.
When executing shear action, the right cut of the X-shaped cut groove of outer shearing cylinder 13 is cut for interior shearing cylinder 30 and outer shearing cylinder 13
It is trapezoidal that sword 24, right triggering side 28, right short guide edge 29 and interior the 5th cutting edge 33 for shearing cylinder 30 constitute closed cutting.
Working principle:
(1) carpopodium positions；After first hydraulic cylinder 5 is passed through the hydraulic oil of respective direction, First piston bar 7 passes through movable base plate
Push jack 8 drives movable base plate 9 is whole to move forward, and fruit enters inside outer shearing cylinder 13, and carpopodium is oriented to according to self-position edge
Side adaptively enters X-shaped or Y-shaped cut groove；
(2) carpopodium and collecting fruit are cut off；After carpopodium enters cut groove, First piston bar 7 continues to stretch out until carpopodium touches
Encounter the triggering side triggering strain gauge of X-shaped or Y-shaped cut groove, the stopping of First piston bar 7 of first hydraulic cylinder 5 is stretched
Out, the second piston bar 37 of second hydraulic cylinder 40, which is stretched out, pushes interior shearing cylinder 30 to advance, on outer shearing cylinder 13 and interior shearing cylinder 30
Cut groove constitute that closed cutting is trapezoidal and be enclosed in carpopodium in, second piston bar 37 continues to stretch out, until closed cutting
Trapezoidal area is zero, and in the process, the cutting edge collective effect of outer shearing cylinder 13 and interior shearing cylinder 30 realizes carpopodium cutting
Function, fruit slides into interior shearing cylinder fruit harvesting connector interface 46 along the inner wall of interior shearing cylinder 30 after carpopodium cutting, and wears
It crosses outer shearing cylinder fruit harvesting connector interface 47 and enters fruit harvesting connector 11, fruit falls into collector for fruits immediately
Interior, wherein the stroke of second hydraulic cylinder 40 can be determined by cutting the position that trapezoidal area is zero, to eliminate hydraulic pump drive
The travel switch of required limiting displacement when cylinder 30 is sheared in dynamic；Shearing force between interior shearing cylinder 30 and outer shearing 13 cutting edge of cylinder
It is determined by the pressure of working fluid.
When being picked using a kind of fruit picking robot end effector, it is specifically divided into three steps:
(1) fruit picking robot first by visual identifying system acquires image to fruit picking reality, by collecting
The processing analysis of fruit image obtain the spatial coordinate location of fruit, then linked by each joint of robot control mechanical arm,
The present invention is driven to move to wait pick on position, straight-line feed positioning component of the invention is in shape to be picked in the process
State, it may be assumed that the holding of First piston bar 7 of first hydraulic cylinder 5 does not extend out state, and the displacement of 9 opposite base 1 of movable base plate is minimum, protects
The displacement maximum fruit that the outer shearing cylinder 13 of card can advance can smoothly enter into outer shearing cylinder 13；
(2) when fruit is in 13 front of outer shearing cylinder, and fruit is entirely located in the direction of advance of shearing cylinder 13 outside
The inside of outer shearing 13 place cylinder of cylinder, i.e. end effector reach specified picking position, are driven by control first hydraulic cylinder 5
The stretching of its First piston bar 7 is moved, moves forward movable base plate 9 integrally by movable base plate push jack 8, fruit enters outer shearing cylinder
Inside 13, carpopodium adaptively enters X-shaped or Y-shaped cut groove according to self-position along guide edge, until carpopodium touches " X "
Strain gauge is triggered on the triggering side of shape or Y-shaped cut groove, and then the First piston bar 7 of first hydraulic cylinder 5 stops stretching out, the
The second piston bar 37 of two hydraulic cylinders 40, which is stretched out, pushes interior shearing cylinder 30 to advance, the shearing on outer shearing cylinder 13 and interior shearing cylinder 30
In slot constitutes that closed cutting is trapezoidal and is enclosed in carpopodium, second piston bar 37 continues to stretch out, until closed cutting is trapezoidal
Area is zero, and second piston bar 37 reaches range, and in the process, the cutting edge of outer shearing cylinder 13 and interior shearing cylinder 30 is total
Same-action cuts off carpopodium；
(3) fruit slides into interior shearing cylinder fruit harvesting connector interface 46 along the inner wall of interior shearing cylinder 30, and passes through and cut outside
It cuts a fruit harvesting connector interface 47 and enters fruit harvesting connector 11, fruit is fallen into collector for fruits immediately, so far,
End effector completes the overall process to a picking fruit.
Above-mentioned fruit harvesting connector 11 can be the square tube with ring flange.
Straight-line feed positioning component is used to guarantee that cylinder shearing component carries out tandem movement under the driving of hydraulic cylinder,
Realize that any position fruit enters in outer shearing cylinder, carpopodium adaptively enters the X-shaped or " Y " of outer shearing cylinder according to self-position
In shape cut groove, this avoids actuators to contact with the direct of fruit, also eliminates the detection to carpopodium position；Cylinder shearing group
Part is used to guarantee the acquisition of the smooth cutting and fruit of carpopodium, constitutes closing by the cut groove on outer shearing cylinder and interior shearing cylinder
Cutting it is trapezoidal carpopodium is enclosed in, as the stretching of hydraulic cylinder piston rod cuts trapezoidal area is progressively smaller until to be 0
When, the cutting edge collective effect of outer shearing cylinder and interior shearing cylinder cuts off carpopodium, this is without judging that detection carpopodium and end execute
The relative position of device eliminates the clamping device of picking end effector and the control section of chucking power, carpopodium is cut off consequence
The dither effect of branch is reduced to minimum, ensure that the progress continuously picked, and fruit passes through fruit harvesting connector after carpopodium cutting,
It falls into collector for fruits.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (10)
1. a kind of fruit picking robot end effector, it is characterised in that: sheared including straight-line feed positioning component and cylinder
Component is equipped with cylinder shearing component on the straight-line feed positioning component, and cylinder shearing component can be in straight-line feed positioning group
Linear reciprocating motion is done on part, straight-line feed positioning component is mountable on the mechanical arm of picking robot.
2. a kind of fruit picking robot end effector according to claim 1, it is characterised in that: the straight-line feed
Positioning component includes pedestal (1), linear guide (2), hydraulic cylinder hold-down support (3), first hydraulic cylinder (5), cylinder brackets
(6), movable base plate push jack (8) and movable base plate (9)；
The movable base plate (9) is slidably mounted on pedestal (1) by linear guide (2), the fixed peace of hydraulic cylinder hold-down support (3)
On the lower end surface of pedestal (1), first hydraulic cylinder (5) is hinged on hydraulic cylinder hold-down support (3) by the first straight pin (4)
On, and the cylinder body of first hydraulic cylinder (5) is fixed on the lower end surface of pedestal (1) by cylinder brackets (6), first hydraulic cylinder
(5) First piston bar (7) of output end is connected by movable base plate push jack (8) with movable base plate (9).
3. a kind of fruit picking robot end effector according to claim 2, it is characterised in that: the cylinder shearing
Component includes shearing actuator, outer shearing cylinder (13) and interior shearing cylinder (30)；
The shearing actuator and outer shearing cylinder (13) are fixedly mounted on movable base plate (9), and interior shearing cylinder (30) is fixedly mounted
On the output end of shearing actuator, and it is located in outer shearing cylinder (13).
4. a kind of fruit picking robot end effector according to claim 3, it is characterised in that: the shearing executes
Device includes shearing cylinder support (10) outside first, fruit harvesting connector (11), shearing cylinder support (12) outside second, props up on hydraulic cylinder
Seat (38), hydraulic cylinders bearing bracket (39), second hydraulic cylinder (40) and hydraulic cylinders bearing (42)；
The outer shearing cylinder (13) is fixedly mounted on by shearing cylinder support (12) outside first outside shearing cylinder support (10) and second
The right end of movable base plate (9), hydraulic cylinders bearing (42) are fixedly mounted on the left end of movable base plate (9), and second hydraulic cylinder (40) is logical
The second straight pin (41) is crossed to be hinged on hydraulic cylinders bearing (42), outside first shearing cylinder support (10) and hydraulic cylinders bearing (42) it
Between be additionally provided with hydraulic cylinders bearing bracket (39), the cylinder body of second hydraulic cylinder (40) is fixedly mounted on by hydraulic cylinder upper bracket (38)
On hydraulic cylinders bearing bracket (39), the second piston bar (37) of second hydraulic cylinder (40) output end is fixed by the first interior shearing cylinder
Shearing cylinder fixinig plate (36) is connected with interior shearing cylinder (30) in piece (35) and second, and interior shearing cylinder (30) is located at outer shearing cylinder
(13) internal, fruit harvesting connector (11) is embedded in the right end of movable base plate (9), is located at the underface of outer shearing cylinder (13),
The arrival end of fruit harvesting connector (11) is connected to outer shearing cylinder (13) and interior shearing cylinder (30), fruit harvesting connector (11)
Outlet end be connected to collector for fruits or collecting bag.
5. a kind of fruit picking robot end effector according to claim 1, it is characterised in that: the straight-line feed
The left end of positioning component is equipped with mechanical arm connecting plate (45), the two sides of mechanical arm connecting plate (45) by the first floor (43) and
Second floor (44) and pedestal (1) reinforce.
6. a kind of fruit picking robot end effector according to claim 3, it is characterised in that: the outer shearing cylinder
(13) X-shaped cut groove is provided on side wall, the two sides of X-shaped cut groove are symmetrically provided with the first Y shape cut groove and the shearing of the second Y shape
Slot is symmetrically opened there are two trapezoidal cut groove on the side wall of interior shearing cylinder (30), and two trapezoidal cut grooves are about two trapezoidal shearings
The intersection point of slot is symmetrical.
7. a kind of fruit picking robot end effector according to claim 6, it is characterised in that: the X-shaped shearing
Slot include left long guide edge (18), left cutting edge (19), left triggering side (20), left short guide edge (21), right short guide edge (22),
Right triggering side (23), right cutting edge (24) He Youchang guide edge (25), the left cutting edge (19) and left short guide edge (21) it
Between vertical range be equal to 1.2 times of carpopodium diameter, between the right cutting edge (24) and the short guide edge (22) in the right side it is vertical away from
From 1.2 times equal to carpopodium diameter.
8. a kind of fruit picking robot end effector according to claim 6, it is characterised in that: first Y shape
Cut groove includes guide edge (17) on the first L shape guide edge (14), the first triggering side (15), the first cutting edge (16) and first,
Second Y shape cut groove on the 2nd L shape guide edge (29), the second triggering side (28), the second cutting edge (27) and second including being oriented to
Side (26).
9. a kind of fruit picking robot end effector according to claim 6, it is characterised in that: described two trapezoidal
Cut groove includes third cutting edge (31), the 4th cutting edge (32), the 5th cutting edge (33) and the 6th cutting edge (34).
10. a kind of fruit picking robot end effector according to claim 7, it is characterised in that: the left triggering
At (20) and right triggering, (23) are mounted on force snesor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910053790.2A CN109605409B (en) | 2019-01-21 | 2019-01-21 | End effector of fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910053790.2A CN109605409B (en) | 2019-01-21 | 2019-01-21 | End effector of fruit picking robot |
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| Publication Number | Publication Date |
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| CN109605409A true CN109605409A (en) | 2019-04-12 |
| CN109605409B CN109605409B (en) | 2022-04-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4099367A (en) * | 1976-06-17 | 1978-07-11 | Yoshikane Ito | Fruit plucking device |
| KR20080078212A (en) * | 2007-02-22 | 2008-08-27 | 조순호 | Fruit thinning device for use in fruit trees |
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| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN106856825A (en) * | 2017-04-08 | 2017-06-20 | 储小燕 | A kind of floral disc of sunflower automates picking robot |
| CN108513802A (en) * | 2018-06-05 | 2018-09-11 | 章建群 | A kind of universal fruit picker |
| CN109076787A (en) * | 2018-08-15 | 2018-12-25 | 长春理工大学 | Semi-automatic apple-picking device |
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2019
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|---|---|---|---|---|
| US4099367A (en) * | 1976-06-17 | 1978-07-11 | Yoshikane Ito | Fruit plucking device |
| KR20080078212A (en) * | 2007-02-22 | 2008-08-27 | 조순호 | Fruit thinning device for use in fruit trees |
| JP5120991B1 (en) * | 2012-03-28 | 2013-01-16 | 秀二郎 乙武 | Harvesting hand equipment |
| CN203407239U (en) * | 2013-08-10 | 2014-01-29 | 何兆务 | Snake abdominal electric fruit picker |
| CN103947380A (en) * | 2014-04-18 | 2014-07-30 | 金陵科技学院 | Double-arm fruit picking robot and fruit picking method |
| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN106856825A (en) * | 2017-04-08 | 2017-06-20 | 储小燕 | A kind of floral disc of sunflower automates picking robot |
| CN108513802A (en) * | 2018-06-05 | 2018-09-11 | 章建群 | A kind of universal fruit picker |
| CN109076787A (en) * | 2018-08-15 | 2018-12-25 | 长春理工大学 | Semi-automatic apple-picking device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
| CN115989748B (en) * | 2022-12-30 | 2023-07-21 | 北京中科原动力科技有限公司 | Picking device |
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| Publication number | Publication date |
|---|---|
| CN109605409B (en) | 2022-04-29 |
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