CN109605409B - End effector of fruit picking robot - Google Patents
End effector of fruit picking robot Download PDFInfo
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- CN109605409B CN109605409B CN201910053790.2A CN201910053790A CN109605409B CN 109605409 B CN109605409 B CN 109605409B CN 201910053790 A CN201910053790 A CN 201910053790A CN 109605409 B CN109605409 B CN 109605409B
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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
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- 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
The invention discloses an end effector of a fruit picking robot, belongs to the technical field of agricultural fruit and vegetable automatic picking end effectors, and aims to solve the problems that an existing picking end effector can physically damage fruits in a picking process, the picking process is complex, and the efficiency is low. The device comprises a linear feeding positioning assembly and a cylinder shearing assembly, wherein the cylinder shearing assembly is installed on the linear feeding positioning assembly, the cylinder shearing assembly can perform reciprocating linear motion on the linear feeding positioning assembly, and the linear feeding positioning assembly can be installed on a mechanical arm of the picking robot. The end effector of the fruit picking robot can avoid direct contact with fruits, has strong universality and improves picking efficiency.
Description
Technical Field
The invention relates to an end effector, in particular to an end effector of a fruit picking robot, and belongs to the technical field of agricultural fruit and vegetable automatic picking end effectors.
Background
China is the largest fruit and vegetable producing and consuming country in the world, and according to statistics, the planting areas of orchards and vegetables in 2016 years are 1298.2 ten thousand hm respectively2And 2232.83 ten thousand hm2The yield of fruits and vegetables is stable in the world. Picking fruits and vegetables is the most time-consuming and labor-consuming link in the production chain. At present, manual picking is adopted for picking most fruits and vegetables in China, and picking cost accounts for 50% -70% of cost. The fruit and vegetable mechanical picking device has important significance for solving the problems of insufficient labor force, high production cost, low production efficiency and the like of the fruit industry, improving the market competitiveness of fruits and vegetables and the like.
In recent years, the research on picking robots has become a hot spot in the research on picking machines, and a great number of researchers have conducted research on fruit picking robots. At present, two main ways for picking are provided, one is to design a corresponding mechanism to firmly hold fruits, and then to simulate the action of twisting the fruit stalks with hands by rotating the wrist joints in two vertical directions, which requires that the binding force between the fruit stalks and the fruits for picking the fruits is small, and at the same time, the size of the holding force of the fruits needs to be strictly controlled, the fruits and the fruit stalks can not be separated, and the fruits are physically damaged by too much force. The other method is that the fruit is firmly sucked by a sucking disc and is dragged between clamping fingers, and then the fruit stalks are broken by scissors, and the mode requires that the positions and the directions of the fruit stalks are detected, and the corresponding picking postures of the end effectors are accurately adjusted, so that the control difficulty and the mechanism complexity are increased.
Most of the existing research results stay in the experimental development stage, and no mature and commercialized product exists. The main reasons are as follows: 1) the existing picking end effector is inevitably in direct contact with fruits in the picking process, so that physical damage is caused to the fruits; 2) the end effector has a complex structure and large appearance size, and the application is limited by an open and complex planting environment of the fruit and vegetable plantation; 3) the fruit picking and collecting processes are complex and the efficiency is low; 4) fruit stem is cut off by a single cutting edge cutter in fruit separation, a large acting force is generated on fruit branches in the cutting process, the fruit branches are seriously vibrated after picking, so that a fruit image recognition system cannot recognize and determine the positions of the fruits, and the time between two picking is prolonged; 5) the end effector has poor universality, one end effector can only pick one kind of fruit, and the use efficiency is low.
Disclosure of Invention
The invention aims to provide an end effector of a fruit picking robot, which aims to solve the problems that the existing end effector for picking can physically damage fruits in the picking process, the picking process is complex and the efficiency is low.
The end effector of the fruit picking robot comprises a linear feeding positioning assembly and a cylinder shearing assembly, wherein the cylinder shearing assembly is installed on the linear feeding positioning assembly, the cylinder shearing assembly can perform reciprocating linear motion on the linear feeding positioning assembly, and the linear feeding positioning assembly can be installed on a mechanical arm of the picking robot.
Preferably: the linear feeding positioning assembly comprises a base, a linear guide rail, a hydraulic cylinder fixing support, a first hydraulic cylinder, a hydraulic cylinder bracket, a movable bottom plate push sheet and a movable bottom plate;
the movable bottom plate is slidably mounted on the base through the linear guide rail, the hydraulic cylinder fixing support is fixedly mounted on the lower end face of the base, the first hydraulic cylinder is hinged to the hydraulic cylinder fixing support through the first cylindrical pin, the cylinder body of the first hydraulic cylinder is fixed on the lower end face of the base through the hydraulic cylinder bracket, and the first piston rod of the output end of the first hydraulic cylinder is connected with the movable bottom plate through the movable bottom plate push piece.
Preferably: the cylindrical shearing assembly comprises a shearing actuator, an outer shearing barrel and an inner shearing barrel;
the shearing actuator and the outer shearing cylinder are fixedly arranged on the movable bottom plate, and the inner shearing cylinder is fixedly arranged on the output end of the shearing actuator and is positioned in the outer shearing cylinder.
Preferably: the shearing actuator comprises a first outer shearing cylinder support, a fruit harvesting connector, a second outer shearing cylinder support, a hydraulic cylinder upper support, a hydraulic cylinder support bracket, a second hydraulic cylinder and a hydraulic cylinder support;
an outer shearing cylinder is fixedly arranged at the right end of the movable bottom plate through a first outer shearing cylinder support and a second outer shearing cylinder support, a hydraulic cylinder support is fixedly arranged at the left end of the movable bottom plate, a second hydraulic cylinder is hinged on the hydraulic cylinder support through a second cylindrical pin, a hydraulic cylinder support bracket is also arranged between the first outer shearing cylinder support and the hydraulic cylinder support, a cylinder body of the second hydraulic cylinder is fixedly arranged on the hydraulic cylinder support bracket through a hydraulic cylinder upper support, a second piston rod at the output end of the second hydraulic cylinder is connected with the inner shearing cylinder through a first inner shearing cylinder fixing piece and a second inner shearing cylinder fixing piece, the inner shearing barrel is positioned in the outer shearing barrel, the fruit harvesting connector is embedded at the right end of the movable bottom plate and is positioned right below the outer shearing barrel, the inlet end of the fruit harvesting connector is communicated with the outer shearing barrel and the inner shearing barrel, and the outlet end of the fruit harvesting connector is communicated with the fruit collecting device or the collecting bag.
Preferably: the arm connecting plate is installed to the left end of base, and the both sides of arm connecting plate are consolidated with the base through first floor and second floor.
Preferably: the lateral wall of the outer shearing barrel is provided with an X-shaped shearing groove, the two sides of the X-shaped shearing groove are symmetrically provided with a first Y-shaped shearing groove and a second Y-shaped shearing groove, the lateral wall of the inner shearing barrel is symmetrically provided with two trapezoidal shearing grooves, and the two trapezoidal shearing grooves are symmetrical about the intersection point of the two trapezoidal shearing grooves.
Preferably: the X-shaped shearing groove comprises a left long guide edge, a left cutting edge, a left triggering edge, a left short guide edge, a right triggering edge, a right cutting edge and a right long guide edge, wherein the vertical distance between the left cutting edge and the left short guide edge is equal to 1.2 times of the diameter of the fruit stem, and the vertical distance between the right cutting edge and the right short guide edge is equal to 1.2 times of the diameter of the fruit stem.
Preferably: the first Y-shaped shearing groove comprises a first L-shaped guide edge, a first triggering edge, a first cutting edge and a first upper guide edge, and the second Y-shaped shearing groove comprises a second L-shaped guide edge, a second triggering edge, a second cutting edge and a second upper guide edge.
Preferably: the two trapezoidal shear grooves include a third cutting edge, a fourth cutting edge, a fifth cutting edge, and a sixth cutting edge.
Preferably: force sensors are arranged on the left triggering side and the right triggering side.
Compared with the existing product, the invention has the following effects:
1. the inner and outer shearing cylinders are not in direct contact with the surface of the fruit, but only the cutting edges on the inner and outer shearing cylinders cut the fruit stalks, so that a clamping mechanism and a control part of clamping force of the existing picking end effector are omitted, and the fruit surface is not in direct contact, so that the fruit is not damaged in the picking process;
2. by the matching between the shearing grooves of the inner shearing cylinder and the outer shearing cylinder, the relative position of the fruit stem and the end effector does not need to be judged and detected, and the fruit stem can be cut off as long as the fruit enters the shearing cylinder;
3. the design of the X-shaped and Y-shaped shearing grooves of the external shearing cylinder can adapt to the natural growth state of fruits on fruit branches to the maximum extent, and meanwhile, the fruit branches can vibrate after the fruits are sheared to the maximum extent through the shearing action of double shearing blades of the internal shearing cylinder and the external shearing cylinder on fruit stems, so that the continuous picking is ensured;
4. the fruit after the fruit stalks are cut off directly enters the collecting device from the fruit picking connector, so that the collecting action of the traditional picking end actuator is omitted, and the picking efficiency is improved;
5. the power transmission intermediate links are few, the transmission efficiency is high, and the response is sensitive;
6. the universal fruit cutter has strong universality, is suitable for spherical fruits, and is suitable for fruits of any shape which can enter a shearing cylinder.
Drawings
FIG. 1 is a schematic structural view of an end effector of a fruit picking robot;
FIG. 2 is a schematic structural view of an external cutting cartridge;
FIG. 3 is a schematic structural view of an inner shear cylinder;
FIG. 4 is a schematic view of the assembly of the inner and outer cutting cylinders;
FIG. 5 is a schematic view of the structure of a connecting channel;
fig. 6 is a schematic structural view of a cutting trapezoid formed by a cutting edge when the internal and external shearing cylinders work.
In the figure: 1-base, 2-linear guide rail, 3-hydraulic cylinder fixed support, 4-first cylindrical pin, 5-first hydraulic cylinder, 6-hydraulic cylinder bracket, 7-first piston rod, 8-moving bottom plate push sheet, 9-moving bottom plate, 10-first outer shearing barrel support, 11-fruit picking connector, 12-second outer shearing barrel support, 13-outer shearing barrel, 14-first L-shaped guide edge, 15-first trigger edge, 16-first cutting edge, 17-first upper guide edge, 18-left long guide edge, 19-left cutting edge, 20-left trigger edge, 21-left short guide edge, 22-right short guide edge, 23-right trigger edge, 24-right cutting edge, 25-right long guide edge, 26-second upper guide edge, 27-a second cutting edge, 28-a second triggering edge, 29-a second L-shaped guide edge, 30-an inner shearing barrel, 31-a third cutting edge, 32-a fourth cutting edge, 33-a fifth cutting edge, 34-a sixth cutting edge, 35-a first inner shearing barrel fixing piece, 36-a second inner shearing barrel fixing piece, 37-a second piston rod, 38-a hydraulic cylinder upper support, 39-a hydraulic cylinder support bracket, 40-a second hydraulic cylinder, 41-a second cylindrical pin, 42-a hydraulic cylinder support, 43-a first rib plate, 44-a second rib plate, 45-a mechanical arm connecting plate, 46-an inner shearing barrel fruit collecting connector interface and 47-an outer shearing barrel fruit collecting connector interface.
Detailed Description
Preferred embodiments of the present invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the end effector of the fruit picking robot provided by the invention comprises a linear feeding positioning assembly and a cylinder shearing assembly, wherein the cylinder shearing assembly is mounted on the linear feeding positioning assembly, the cylinder shearing assembly can perform reciprocating linear motion on the linear feeding positioning assembly, and the linear feeding positioning assembly can be mounted on a mechanical arm of the picking robot.
Further: the linear feeding positioning assembly comprises a base 1, a linear guide rail 2, a hydraulic cylinder fixing support 3, a first hydraulic cylinder 5, a hydraulic cylinder bracket 6, a movable bottom plate push sheet 8 and a movable bottom plate 9;
the movable bottom plate 9 is slidably mounted on the base 1 through the linear guide rail 2, the hydraulic cylinder fixing support 3 is fixedly mounted on the lower end face of the base 1, the first hydraulic cylinder 5 is hinged to the hydraulic cylinder fixing support 3 through the first cylindrical pin 4, the cylinder body of the first hydraulic cylinder 5 is fixed on the lower end face of the base 1 through the hydraulic cylinder bracket 6, and the first piston rod 7 at the output end of the first hydraulic cylinder 5 is connected with the movable bottom plate 9 through the movable bottom plate push piece 8.
Further: the cylinder shearing assembly comprises a shearing actuator, an outer shearing cylinder 13 and an inner shearing cylinder 30;
the shearing actuator and the outer shearing cylinder 13 are fixedly arranged on the movable bottom plate 9, and the inner shearing cylinder 30 is fixedly arranged on the output end of the shearing actuator and is positioned in the outer shearing cylinder 13.
Further: the shearing actuator comprises a first outer shearing cylinder support 10, a fruit harvesting connector 11, a second outer shearing cylinder support 12, a hydraulic cylinder upper support 38, a hydraulic cylinder support bracket 39, a second hydraulic cylinder 40 and a hydraulic cylinder support 42;
the outer shearing cylinder 13 is fixedly arranged at the right end of the movable bottom plate 9 through a first outer shearing cylinder support 10 and a second outer shearing cylinder support 12, a hydraulic cylinder support 42 is fixedly arranged at the left end of the movable bottom plate 9, a second hydraulic cylinder 40 is hinged on the hydraulic cylinder support 42 through a second cylindrical pin 41, a hydraulic cylinder support bracket 39 is further arranged between the first outer shearing cylinder support 10 and the hydraulic cylinder support 42, the cylinder body of the second hydraulic cylinder 40 is fixedly arranged on the hydraulic cylinder support bracket 39 through a hydraulic cylinder upper support 38, a second piston rod 37 at the output end of the second hydraulic cylinder 40 is connected with the inner shearing cylinder 30 through a first inner shearing cylinder fixing plate 35 and a second inner shearing cylinder fixing plate 36, the inner shearing cylinder 30 is positioned inside the outer shearing cylinder 13, the fruit harvesting connector 11 is embedded at the right end of the movable bottom plate 9 and is positioned right below the outer shearing cylinder 13, the inlet end of the fruit harvesting connector 11 is communicated with the outer shearing cylinder 13 and the inner shearing cylinder 30, the outlet end of the fruit harvesting connector 11 communicates with a fruit collection device or bag.
Further: a mechanical arm connecting plate 45 is installed at the left end of the base 1, and both sides of the mechanical arm connecting plate 45 are reinforced with the base 1 by the first rib plate 43 and the second rib plate 44.
Further: an X-shaped shearing groove is formed in the side wall of the outer shearing cylinder 13, a first Y-shaped shearing groove and a second Y-shaped shearing groove are symmetrically formed in two sides of the X-shaped shearing groove, two trapezoidal shearing grooves are symmetrically formed in the side wall of the inner shearing cylinder 30, and the two trapezoidal shearing grooves are symmetrical about the intersection point of the two trapezoidal shearing grooves.
Further: the X-shaped shearing groove comprises a left long guide edge 18, a left cutting edge 19, a left triggering edge 20, a left short guide edge 21, a right short guide edge 22, a right triggering edge 23, a right cutting edge 24 and a right long guide edge 25, wherein the vertical distance between the left cutting edge 19 and the left short guide edge 21 is equal to 1.2 times of the diameter of the fruit stem, and the vertical distance between the right cutting edge 24 and the right short guide edge 22 is equal to 1.2 times of the diameter of the fruit stem.
Further: the first Y-shaped cutting slot comprises a first L-shaped guiding edge 14, a first triggering edge 15, a first cutting edge 16 and a first upper guiding edge 17, and the second Y-shaped cutting slot comprises a second L-shaped guiding edge 29, a second triggering edge 28, a second cutting edge 27 and a second upper guiding edge 26.
Wherein the first L-shaped guide edge 14, the first triggering edge 15, the first cutting edge 16 and the first upper guide edge 17, the left long guide edge 18, the left cutting edge 19, the left triggering edge 20, the left short guide edge 21, the right short guide edge 22, the right triggering edge 23, the right cutting edge 24, the right long guide edge 25, the second upper guide edge 26, the second cutting edge 27, the second triggering edge 28 and the second L-shaped guide edge 29 are sequentially connected end to end.
Further: the two trapezoidal shear grooves include a third cutting edge 31, a fourth cutting edge 32, a fifth cutting edge 33, and a sixth cutting edge 34; the third cutting edge 31, the fourth cutting edge 32, the fifth cutting edge 33, and the sixth cutting edge 34 are sequentially connected end to end.
Further: force sensors are mounted on both the left trigger edge 20 and the right trigger edge 23.
When the inner cutting cylinder 30 and the outer cutting cylinder 13 perform a cutting action, the second upper guide edge 26, the second trigger edge 28, the second cutting edge 27 and the sixth cutting edge 34 of the inner cutting cylinder 30 of the second Y-shaped cutting groove of the outer cutting cylinder 13 form a closed cutting trapezoid.
When the inner cutting cylinder 30 and the outer cutting cylinder 13 perform a cutting action, the first upper guide edge 17, the first trigger edge 15, the first cutting edge 16 and the third cutting edge 31 of the first Y-shaped cutting groove of the outer cutting cylinder 13 form a closed cutting trapezoid.
When the inner cutting cylinder 30 and the outer cutting cylinder 13 perform a cutting action, the left cutting edge 19, the left triggering edge 20, the left short guiding edge 21 of the X-shaped cutting groove of the outer cutting cylinder 13 and the fourth cutting edge 32 of the inner cutting cylinder 30 form a closed cutting trapezoid.
When the inner cutting cylinder 30 and the outer cutting cylinder 13 perform a cutting action, the right cutting edge 24, the right triggering edge 28, the right short guiding edge 29 of the X-shaped cutting groove of the outer cutting cylinder 13 and the fifth cutting edge 33 of the inner cutting cylinder 30 form a closed cutting trapezoid.
The working principle is as follows:
(1) positioning the fruit stalks; after hydraulic oil in the corresponding direction is introduced into the first hydraulic cylinder 5, the first piston rod 7 drives the moving bottom plate 9 to integrally move forwards through the moving bottom plate push sheet 8, fruits enter the outer shearing cylinder 13, and the fruit stalks self-adaptively enter the X-shaped or Y-shaped shearing groove along the guide edge according to the self positions of the fruit stalks;
(2) cutting off fruit stalks and collecting fruits; after the fruit stalks enter the shearing grooves, the first piston rod 7 continuously extends until the fruit stalks touch the triggering edge of the X-shaped or Y-shaped shearing grooves to trigger the stress sensor, the first piston rod 7 of the first hydraulic cylinder 5 stops extending, the second piston rod 37 of the second hydraulic cylinder 40 extends to push the inner shearing cylinder 30 to advance, the outer shearing cylinder 13 and the shearing grooves on the inner shearing cylinder 30 form a closed cutting trapezoid to seal the fruit stalks in, the second piston rod 37 continuously extends until the area of the closed cutting trapezoid is zero, in the process, the cutting edges of the outer shearing cylinder 13 and the inner shearing cylinder 30 jointly act to realize the function of cutting off the fruit stalks, after the fruit stalks are cut off, the fruit slides to the fruit collecting connector interface 46 of the inner shearing cylinder 30 along the inner wall of the fruit collecting connector 47 of the outer shearing cylinder and enters the fruit collecting connector 11, and the fruit falls into the fruit collecting device, the stroke of the second hydraulic cylinder 40 can be determined by the position where the area of the cut trapezoid is zero, so that a stroke switch for limiting displacement when the hydraulic pump drives the inner shearing cylinder 30 is omitted; the shear force between the cutting edges of the inner shear cylinder 30 and the outer shear cylinder 13 is determined by the pressure of the working fluid.
When the end effector of the fruit picking robot is used for picking, the fruit picking robot is divided into three steps:
(1) firstly, a fruit picking robot collects images of fruits to be picked through a visual recognition system, spatial coordinate positions of the fruits are obtained through processing and analyzing the collected fruit images, then the robot controls each joint of a mechanical arm to be linked to drive the fruit picking robot to move to the positions to be picked, and in the process, a linear feeding positioning assembly of the fruit picking robot is in a state to be picked, namely: the first piston rod 7 of the first hydraulic cylinder 5 is kept in a non-extending state, the displacement of the movable bottom plate 9 relative to the base 1 is minimum, and the maximum displacement fruit which can move forwards of the outer shearing cylinder 13 can be ensured to smoothly enter the outer shearing cylinder 13;
(2) when the fruit is positioned in front of the external shearing cylinder 13 and the fruit is all positioned in the cylinder of the external shearing cylinder 13 in the advancing direction of the external shearing cylinder 13, namely the end effector reaches the designated picking position, the first hydraulic cylinder 5 is controlled to drive the first piston rod 7 to extend out, the moving bottom plate 9 is moved forwards integrally by moving the bottom plate push sheet 8, the fruit enters the external shearing cylinder 13, the fruit stem enters the X-shaped or Y-shaped shearing groove along the guide edge in a self-adaptive manner according to the self position until the fruit stem touches the triggering edge of the X-shaped or Y-shaped shearing groove to trigger the stress sensor, then the first piston rod 7 of the first hydraulic cylinder 5 stops extending out, the second piston rod 37 of the second hydraulic cylinder 40 extends out to push the internal shearing cylinder 30 to advance, the shearing grooves on the external shearing cylinder 13 and the internal shearing cylinder 30 form a closed cutting trapezoid to seal the fruit stem, the second piston rod 37 continues to extend out until the area of the closed cutting trapezoid is zero, the second piston rod 37 reaches the maximum stroke, and in the process, the fruit stalks are cut off under the combined action of the cutting edges of the outer shearing cylinder 13 and the inner shearing cylinder 30;
(3) the fruit slides along the inner wall of the inner shearing cylinder 30 to the inner shearing cylinder fruit picking connector interface 46 and passes through the outer shearing cylinder fruit picking connector interface 47 to enter the fruit picking connector 11, and the fruit falls into the fruit collecting device immediately, so that the end effector completes the whole process of picking a fruit.
The fruit picking connector 11 may be a square pipe having a flange.
The linear feeding positioning assembly is used for ensuring that the cylindrical shearing assembly linearly moves back and forth under the driving of the hydraulic cylinder, so that fruits at any position enter the outer shearing cylinder, and the fruit stalks adaptively enter an X-shaped or Y-shaped shearing groove of the outer shearing cylinder according to the self positions of the fruit stalks, so that the direct contact between an actuator and the fruits is avoided, and the detection of the positions of the fruit stalks is also omitted; the cylinder shearing assembly is used for guaranteeing smooth cutting of fruit stalks and collection of fruits, the fruit stalks are sealed in a sealed cutting trapezoid formed by shearing grooves in the outer shearing cylinder and the inner shearing cylinder, the area of the cutting trapezoid gradually decreases along with the extension of a piston rod of the hydraulic cylinder until the area is 0, the fruit stalks are cut off under the combined action of cutting edges of the outer shearing cylinder and the inner shearing cylinder, the relative positions of the fruit stalks and the end effector do not need to be judged and detected, a clamping mechanism of the picking end effector and a control part of clamping force are omitted, the vibration effect of fruit branches after the fruit stalks are cut off is reduced to the minimum, continuous picking is guaranteed, and the fruits after the fruit stalks are cut off fall into the fruit collecting device through the fruit collecting connector.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (7)
1. An end effector of a fruit picking robot, which is characterized in that: the picking robot comprises a linear feeding positioning assembly and a cylinder shearing assembly, wherein the cylinder shearing assembly is mounted on the linear feeding positioning assembly, the cylinder shearing assembly makes reciprocating linear motion on the linear feeding positioning assembly, and the linear feeding positioning assembly is mounted on a mechanical arm of the picking robot;
the linear feeding positioning assembly comprises a base (1), a linear guide rail (2), a hydraulic cylinder fixing support (3), a first hydraulic cylinder (5), a hydraulic cylinder bracket (6), a movable bottom plate push sheet (8) and a movable bottom plate (9);
the movable bottom plate (9) is slidably mounted on the base (1) through a linear guide rail (2), the hydraulic cylinder fixing support (3) is fixedly mounted on the lower end face of the base (1), the first hydraulic cylinder (5) is hinged to the hydraulic cylinder fixing support (3) through a first cylindrical pin (4), the cylinder body of the first hydraulic cylinder (5) is fixed on the lower end face of the base (1) through a hydraulic cylinder bracket (6), and a first piston rod (7) at the output end of the first hydraulic cylinder (5) is connected with the movable bottom plate (9) through a movable bottom plate push sheet (8);
the cylindrical shearing assembly comprises a shearing actuator, an outer shearing cylinder (13) and an inner shearing cylinder (30);
the shearing actuator and the outer shearing cylinder (13) are fixedly arranged on the movable bottom plate (9), and the inner shearing cylinder (30) is fixedly arranged on the output end of the shearing actuator and is positioned in the outer shearing cylinder (13);
when the inner shearing cylinder (30) and the outer shearing cylinder (13) perform shearing action, a second upper guide edge (26), a second triggering edge (28), a second cutting edge (27) and a sixth cutting edge (34) of the inner shearing cylinder (30) of a second Y-shaped shearing groove of the outer shearing cylinder (13) form a closed cutting trapezoid;
when the inner shearing cylinder (30) and the outer shearing cylinder (13) perform shearing action, a first upper guide edge (17), a first triggering edge (15), a first cutting edge (16) and a third cutting edge (31) of a first Y-shaped shearing groove of the outer shearing cylinder (13) form a closed cutting trapezoid;
when the inner shearing cylinder (30) and the outer shearing cylinder (13) perform shearing action, a left cutting edge (19), a left triggering edge (20), a left short guiding edge (21) and a fourth cutting edge (32) of an X-shaped shearing groove of the outer shearing cylinder (13) form a closed cutting trapezoid;
when the inner shearing cylinder (30) and the outer shearing cylinder (13) execute shearing action, a right cutting edge (24), a right triggering edge (23), a right short guide edge (22) and a fifth cutting edge (33) of an X-shaped shearing groove of the outer shearing cylinder (13) form a closed cutting trapezoid;
mechanical arm connecting plates (45) are installed at the left ends of the linear feeding positioning assemblies, and two sides of each mechanical arm connecting plate (45) are reinforced through first ribbed plates (43) and second ribbed plates (44) and the base (1).
2. A fruit picking robot end effector according to claim 1, characterised in that: the shearing actuator comprises a first outer shearing barrel support (10), a fruit harvesting connector (11), a second outer shearing barrel support (12), a hydraulic cylinder upper support (38), a hydraulic cylinder support bracket (39), a second hydraulic cylinder (40) and a hydraulic cylinder support (42);
the outer shearing cylinder (13) is fixedly arranged at the right end of the movable bottom plate (9) through a first outer shearing cylinder support (10) and a second outer shearing cylinder support (12), a hydraulic cylinder support (42) is fixedly arranged at the left end of the movable bottom plate (9), a second hydraulic cylinder (40) is hinged on the hydraulic cylinder support (42) through a second cylindrical pin (41), a hydraulic cylinder support bracket (39) is further arranged between the first outer shearing cylinder support (10) and the hydraulic cylinder support (42), a cylinder body of the second hydraulic cylinder (40) is fixedly arranged on the hydraulic cylinder support bracket (39) through a hydraulic cylinder upper support (38), a second piston rod (37) at the output end of the second hydraulic cylinder (40) is connected with the inner shearing cylinder (30) through a first inner shearing cylinder fixing piece (35) and a second inner shearing cylinder fixing piece (36), and the inner shearing cylinder (30) is positioned inside the outer shearing cylinder (13), the fruit harvesting connector (11) is embedded at the right end of the movable bottom plate (9) and is positioned under the outer shearing barrel (13), the inlet end of the fruit harvesting connector (11) is communicated with the outer shearing barrel (13) and the inner shearing barrel (30), and the outlet end of the fruit harvesting connector (11) is communicated with a fruit collecting device or a collecting bag.
3. A fruit picking robot end effector according to claim 1, characterised in that: the side wall of the outer shearing barrel (13) is provided with an X-shaped shearing groove, two sides of the X-shaped shearing groove are symmetrically provided with a first Y-shaped shearing groove and a second Y-shaped shearing groove, the side wall of the inner shearing barrel (30) is symmetrically provided with two trapezoidal shearing grooves, and the two trapezoidal shearing grooves are symmetrical about the intersection point of the two trapezoidal shearing grooves.
4. A fruit picking robot end effector according to claim 3, characterised in that: the X-shaped shearing groove comprises a left long guide edge (18), a left cutting edge (19), a left triggering edge (20), a left short guide edge (21), a right short guide edge (22), a right triggering edge (23), a right cutting edge (24) and a right long guide edge (25), wherein the vertical distance between the left cutting edge (19) and the left short guide edge (21) is equal to 1.2 times of the diameter of the fruit stem, and the vertical distance between the right cutting edge (24) and the right short guide edge (22) is equal to 1.2 times of the diameter of the fruit stem.
5. A fruit picking robot end effector according to claim 3, characterised in that: the first Y-shaped shearing groove comprises a first L-shaped guide edge (14), a first triggering edge (15), a first cutting edge (16) and a first upper guide edge (17), and the second Y-shaped shearing groove comprises a second L-shaped guide edge (29), a second triggering edge (28), a second cutting edge (27) and a second upper guide edge (26).
6. A fruit picking robot end effector according to claim 3, characterised in that: the two trapezoidal shear grooves include a third cutting edge (31), a fourth cutting edge (32), a fifth cutting edge (33), and a sixth cutting edge (34).
7. A fruit picking robot end effector as claimed in claim 4, characterised in that: force sensors are arranged on the left triggering side (20) and the right triggering side (23).
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 |
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| 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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| CN109605409A CN109605409A (en) | 2019-04-12 |
| CN109605409B true CN109605409B (en) | 2022-04-29 |
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| CN201910053790.2A Active CN109605409B (en) | 2019-01-21 | 2019-01-21 | End effector of fruit picking robot |
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| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
| 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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