CN110896734B - Fruit picking robot and picking method thereof - Google Patents
Fruit picking robot and picking method thereof Download PDFInfo
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- CN110896734B CN110896734B CN201911287605.2A CN201911287605A CN110896734B CN 110896734 B CN110896734 B CN 110896734B CN 201911287605 A CN201911287605 A CN 201911287605A CN 110896734 B CN110896734 B CN 110896734B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000010008 shearing Methods 0.000 claims description 37
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 6
- 229910052802 copper Inorganic materials 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000004936 Bromus mango Nutrition 0.000 description 1
- 240000007228 Mangifera indica Species 0.000 description 1
- 235000014826 Mangifera indica Nutrition 0.000 description 1
- 235000009184 Spondias indica Nutrition 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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
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Abstract
The invention provides a fruit picking robot and a picking method thereof, belonging to the field of agricultural picking machinery, comprising: the clamping and picking mechanism is used for adjusting the clamping force and picking fruits; the mechanical arm is provided with six degrees of freedom and is used for controlling the movement position of the tail end of the clamping and picking mechanism; and one end of the steering connecting piece is connected to the front end of the mechanical arm, and the other end of the steering connecting piece is connected with the clamping and picking mechanism and is used for switching different clamping and picking mechanisms. The robot for picking different fruits can be realized by directly converting the proper clamping mechanism, so that the application range is enlarged, and the manufacturing cost is reduced.
Description
Technical Field
The invention relates to the field of agricultural picking machinery, in particular to a fruit picking robot and a fruit picking method.
Background
At present, manual picking still takes the dominant role in fruit picking, so that the picking labor intensity is high and the working efficiency is low. Along with the development of the technology level, the novel fruit picking device is mature increasingly, and the picking efficiency is greatly improved. The grabbing type broken type picking tool applied to the market at present, for example, a fruit picker disclosed in CN201821918169.5 adopts grabbing type hand grabbers matched with a shearing blade at the tail end of the hand grabbers, and can realize picking of soft skin fruits such as mangoes, but when fruits with different volumes are encountered, the picking hand structure is fixed, the picking force is not adjustable, and the fruits are easy to scratch.
The picking device applied to the current market is single, has poor universality, and needs to be provided with a plurality of picking hand-grasping tools for the situation of picking various fruits, so that the cost is high and the use is troublesome.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is to overcome the defects that a picking tool in the prior art is single and the fruit is damaged in the picking process, so that the fruit picking robot is provided.
The embodiment of the invention provides a fruit picking robot, which comprises the following components: the clamping and picking mechanism is used for adjusting the clamping force and picking fruits; the mechanical arm is provided with six degrees of freedom and is used for controlling the movement position of the tail end of the clamping and picking mechanism; and one end of the steering connecting piece is connected with the front end of the mechanical arm, and the other end of the steering connecting piece is connected with the clamping and picking mechanism and is used for switching different clamping and picking mechanisms.
Preferably, the method comprises the steps of,
The clamping and picking mechanism comprises a belt clamping and picking mechanism, and the belt clamping and picking mechanism comprises a left belt assembly and a right belt assembly; the left belt assembly comprises a first clamping plate and a left belt device, a first hinge through hole is formed in one end of the first clamping plate, the left belt device is mounted at the other end of the first clamping plate, the left belt assembly further comprises a first driving bolt and a first clamping plate driving motor, a first bolt rod portion of the first driving bolt penetrates through the first hinge through hole, a first bolt head portion is fixedly connected with the first clamping plate, a first axial through hole is formed in the first bolt rod portion, a motor seat of the first clamping plate driving motor is fixed on the steering connecting piece, and a motor shaft penetrates through the first axial through hole and is sleeved with the first driving bolt to drive the first clamping plate to rotate; the right belt assembly comprises a second clamping plate and a right belt device, one end of the second clamping plate is provided with a second hinge through hole, the other end of the second clamping plate is provided with the right belt device, the right belt assembly further comprises a second driving bolt and a second clamping plate driving motor, a second bolt rod part of the second driving bolt penetrates through the second hinge through hole, a second bolt head part is fixedly connected with the second clamping plate, a second shaft through hole is formed in the second bolt rod part, a motor seat of the second clamping plate driving motor is fixed on the steering connecting piece, and a motor shaft penetrates through the second shaft through hole and is sleeved with the second driving bolt so as to drive the second clamping plate to rotate; the first clamping plate and the second clamping plate are mutually hinged through the first hinge through hole and the second hinge through hole.
Preferably, the method comprises the steps of,
The left belt device comprises a first belt pulley and a first belt nested on the first belt pulley, and the first belt pulley is axially and vertically fixed on the inner side wall of the first clamping plate through a mounting hole on the inner side wall of the first clamping plate; the right belt device comprises a second belt pulley and a second belt nested on the second belt pulley, and the second belt pulley is axially and vertically fixed on the inner side wall of the second clamping plate through a mounting hole on the inner side wall of the second clamping plate; the left belt device and the right belt device are provided with at least one driving wheel for driving the belt to rotate.
Preferably, the left belt device is provided with a left driving wheel; or the right belt device is provided with a right driving wheel; or the left belt device is provided with a left driving wheel, the right belt device is provided with a right driving wheel, and the rotation directions of the left driving wheel and the right driving wheel are opposite.
Preferably, the clamping and picking mechanism further comprises an air bag clamping and picking mechanism, and the air bag clamping and picking mechanism comprises: the support frame is provided with a mounting seat, one end of the mounting seat is connected with the steering connecting piece, the other end of the mounting seat is provided with a plane supporting part, and the surface of the plane supporting part is provided with a linear guide groove; the left shearing hand grab and the right shearing hand grab are symmetrically arranged on the plane parallel to the plane supporting part and are respectively connected with the support frame in a rotating way through respective rotating shafts, and the inner walls of the left shearing hand grab and the right shearing hand grab are respectively provided with an inwards concave arc-shaped groove; and a driving device including: the driving connecting rod motor is fixed on the mounting seat, the screw rod is connected with a motor shaft of the driving connecting rod, and a nut matched with the screw rod is arranged on the screw rod; the driving rod is sleeved on the nut seat through the connecting through hole and driven by the driving connecting rod motor to reciprocate along the guide groove; one end of the first connecting rod is rotationally connected with the left shearing hand grip, the other end of the first connecting rod is rotationally connected with the first end of the driving rod, one end of the second connecting rod is rotationally connected with the right shearing hand grip, and the other end of the second connecting rod is rotationally connected with the second end of the driving rod; the driving rod drives the first connecting rod and the second connecting rod to rotate so as to control the opening and closing of the left shearing hand grip and the right shearing hand grip; the gasbag is provided with pressure sensor on the inside wall, the gasbag is installed in the arc wall for adjust clamping force and pick up fruit.
Preferably, the shearing ends of the left shearing hand grip and the right shearing hand grip are both provided with a blade.
Preferably, the fruit picking and collecting device is used for transporting fruits picked by the picking clamping jaw device; the picking and collecting device comprises a collecting vehicle and a guide cylinder, one end of the guide cylinder is connected with the collecting vehicle, the other end of the guide cylinder is connected with the clamping and picking mechanism, and the inner wall of a pipeline of the guide cylinder is provided with a flexible spiral structure.
Preferably, the steering connecting piece is provided with a through hole, the first clamping plate is provided with a first opening close to the hinged end, the second clamping plate is provided with a second opening close to the hinged end, the projection of the first opening and the second opening on the steering connecting piece falls into the through hole, and the diameter of the through hole is not larger than the diameter of the guide cylinder.
Preferably, the fruit-changing machine further comprises a visual sensor arranged on the steering connecting piece and used for identifying the fruit type and the volume.
The fruit picking robot picking method provided by the embodiment of the invention comprises the following steps of: step 1, controlling the tail end of a mechanical arm to reach a target fruit, and acquiring a signal containing fruit types through a visual sensor; step 2, judging whether the target fruits are hard shell fruits or soft skin fruits; in the case of hard shell type fruits; step 3, driving the steering connecting piece to rotate to the belt clamping and picking mechanism; the controller outputs a starting signal to start the belt clamping and picking mechanism to pick fruits.
The technical scheme of the embodiment of the invention has the following advantages: 1. the fruit picking robot provided by the embodiment of the invention is provided with the clamping picking mechanism with adjustable clamping force: the belt clamping and picking mechanism and the air bag clamping and picking mechanism are used for picking fruits in a mode of pulling after picking by the belt clamping and picking mechanism through turning the connecting piece according to different switching structures of fruit types, for example, hard shell fruits are picked in a mode of shearing after picking by the air bag clamping and picking mechanism. The robot for picking different fruits can be realized by directly converting the proper clamping mechanism, so that the application range is enlarged, and the manufacturing cost is reduced.
2. According to the fruit picking robot provided by the embodiment of the invention, the belt device and the air bag structure with the buffer function are arranged in the clamping and picking mechanism, and are matched with the outer clamping plate, so that the picking force is controllable, the real-time deformation structure contacted with the fruits increases the contact area with the fruits, the fruits are not easy to slip off during picking, the picking process is more stable, and the air bag soft structure adopted during picking of soft skin fruits is not easy to damage the fruits.
3. The fruit picking robot provided by the embodiment of the invention is provided with the guide cylinder, and the guide cylinder is internally provided with the flexible spiral structure, so that the structure plays a role in guiding fruits in the process of falling into the collecting vehicle, the accumulation of the fruits is avoided, meanwhile, the load of the clamping and picking mechanism is reduced, and the flexible structure reduces the collision of the guide cylinder wall with the fruits, so that the damage to the fruits is reduced.
4. According to the picking method provided by the embodiment of the invention, different picking devices are directly adopted for control according to the fruit information judged by the visual recognition system, so that repeated control programs are avoided, and the picking efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a fruit picking robot in embodiment 1 of the present invention;
fig. 2 is a schematic diagram of an assembly structure of a belt clamping mechanism and a rotary connecting piece in embodiment 1 of the present invention;
FIG. 3 is a schematic view showing the hinge structure of the clamping plate according to embodiment 1 of the present invention;
FIG. 4 is a schematic cross-sectional view of a belt assembly according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of a first driving bolt according to embodiment 1 of the present invention;
FIG. 6 is a schematic view of the structure of a right driving bolt in embodiment 1 of the present invention;
FIG. 7 is a schematic diagram showing an assembly structure of a belt device and a clamping plate according to embodiment 1 of the present invention;
FIG. 8 is a schematic view of a structure of an air bag clamping and picking mechanism in embodiment 1 of the present invention;
FIG. 9 is a schematic view of a driving rod according to embodiment 1 of the present invention;
Fig. 10 is a schematic view of the structure of the guide cylinder in embodiment 1 of the present invention.
Reference numerals: 11-a first clamping plate; 111-a first hinge through hole; 112-a first opening; 12-a first drive bolt; 121-a first bolt shank; 122-first bolt head; 123-a first axial through hole; 124-first positioning step; 13-a first clamping plate drive motor; 14-a first belt; 15-left driving wheel; 16-left driven wheel; 17-left drive wheel motor; 18-copper sleeve; 21-a second clamping plate; 211-a second hinge through hole; 212-a second opening; 22-a second drive bolt; 221-a second bolt shank; 222-a second bolt head; 223-second axial through holes; 224-a second locating step; 23-a second clamping plate driving motor; 24-a second belt; 25-right drive wheel; 26-right driven wheel; 27-right drive wheel motor; 3-an air bag clamping and picking mechanism; 31-a supporting frame; 311-mounting seats; 312-a planar support; 313-guide groove; 32-left shear hand grip; 33-right shear hand grip; 34-a drive rod; 341-a bump; 342-connecting vias; 343-a first end of the drive rod; 344-a second end of the drive rod; 35-a first link; 36-a second link; 37-balloon; 38-knife edge; 4-a mechanical arm; 5-steering linkage; 51-a through hole; 6, collecting a vehicle; 7-a guide cylinder; 71-flexible helical structure; 8-visual sensor.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing the present invention, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The use of the terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Embodiment 1 this embodiment provides a fruit picking robot device, is applied to the agricultural picking machinery field, as shown in fig. 1, includes: a clamping and picking mechanism, a mechanical arm 4, a steering connecting piece 5 and the like. The clamping and picking mechanism is used for picking fruits, and the clamping force of the clamping and picking mechanism can be adjusted according to the type and the size of the picked fruits, so that the condition that the fruits are damaged by clamping and grabbing in the picking process is reduced; the mechanical arm 4 is mainly used for controlling the movement position of the tail end of the clamping and picking mechanism, has six degrees of freedom, and greatly increases the movement range of the clamping and picking mechanism, thereby increasing the fruit picking range; one end of the steering connecting piece 5 is connected to the front end of the mechanical arm 4, the other end of the steering connecting piece 5 is connected with the clamping picking mechanisms, and the steering connecting piece 5 is connected with different clamping picking mechanisms, so that when different types of fruits are required to be picked, the different picking mechanisms can be switched according to the types of the fruits by the steering connecting piece.
Preferably, as shown in fig. 2 and 3, the clamping and picking mechanism includes a belt clamping and picking mechanism including a left belt assembly and a right belt assembly, specifically, the left belt assembly includes a first clamping plate 11 and a left belt device, one end of the first clamping plate 11 is provided with a first hinge through hole 111, the other end is provided with the left belt device, the right belt assembly includes a second clamping plate 21 and a right belt device, one end of the second clamping plate 21 is provided with a second hinge through hole 211, the other end is provided with the right belt device, specifically, the left belt assembly and the right belt assembly are nested with each other through the first clamping plate 11 and the second clamping plate 21, and are hinged with each other through the first hinge through hole 111 and the second hinge through hole 211, and the clamping structure nested and hinged with each other makes the clamping plate more stable, and simultaneously, the clamping plate mainly provides mechanical support for the belt clamping and picking mechanism.
As shown in fig. 4, the left belt assembly further includes a first driving bolt 12 and a first clamping plate driving motor 13, as shown in fig. 5, the first driving bolt 12 is composed of a first bolt head 122 and a first bolt rod 121, in fig. 4, the first bolt rod 121 passes through the first hinge through hole 111 to fixedly connect the first bolt head 122 with the first clamping plate 11, further, a portion of the first bolt rod 121 close to the bolt head is sleeved with the first clamping plate 11, threads are provided to increase friction resistance between the first driving bolt 12 and the first clamping plate 11, the tail end of the first bolt rod 121 is rotatably connected with the second clamping plate 21, and a copper sleeve 18 is sleeved at the connecting position to increase wear resistance, so that the condition that the first driving bolt 12 is locked with the second clamping plate 21 is avoided.
The motor cabinet of first grip block driving motor 13 is fixed on turning to connecting piece 5, the motor shaft passes first axial through-hole 123 and cup joints with first bolt shank 121, specifically, the motor shaft is provided with the shaft coupling, shaft coupling is with motor shaft and first drive bolt 12 fixed connection for first grip block driving motor 13 drives first grip block 11 through first drive bolt 12 and is rotary motion, and this kind of motor passes through the structural design of first grip block 11 of first drive bolt 12 direct drive, and transmission structure is simple, makes the rotation control of first grip block 11 get up simpler stability.
Similarly, as shown in fig. 4, the right belt assembly further includes a second driving bolt 22 and a second clamping plate driving motor 23, as shown in fig. 6, the second driving bolt 22 is composed of a second bolt head 222 and a second bolt shaft 221, in fig. 4, the second bolt shaft 221 passes through the second hinge through hole 211 to fixedly connect the second bolt head 222 with the second clamping plate 21, further, a portion of the second bolt shaft 221 close to the bolt head is sleeved with the second clamping plate 21, threads are provided to increase friction resistance between the second driving bolt 22 and the second clamping plate 21, a tail end of the second bolt shaft 221 is rotatably connected with the first clamping plate 11, and a copper sleeve 18 is sleeved at the connection part to increase wear resistance, so as to avoid locking of the second driving bolt 22 and the second clamping plate 1.
Further, the first drive bolt 12 is provided with a first positioning step 124 and the second drive bolt 22 is provided with a second positioning step 224 to achieve axial positioning of the copper sleeve 18.
The motor seat of the second clamping plate driving motor 23 is fixed on the steering connecting piece 5, the motor shaft penetrates through the second axial through hole 223 to be sleeved with the second bolt rod part 221, specifically, a motor rotating shaft is provided with a coupler, the coupler fixedly connects the motor shaft with the second driving bolt 22, the second clamping plate driving motor 23 drives the second clamping plate 21 to rotate through the second driving bolt 22, the motor directly drives the second clamping plate 21 through the second driving bolt 22 to realize structural design, the transmission structure is simple, and the rotation of the second clamping plate 21 is controlled to be simpler and more stable.
Further, the dual-motor collaborative driving machine clamping plate is adopted in the scheme, so that the grabbing range of the manipulator can be enlarged, the control force can be controlled more accurately, and the grabbing reliability is ensured.
Preferably, the left belt device comprises a first belt pulley and a first belt 14 nested on the first belt pulley, the first belt pulley is axially and vertically fixed on the inner side wall of the first clamping plate 11 through a mounting hole on the inner side wall of the first clamping plate 11, and the first belt pulley is dispersedly arranged on the inner side wall of the first clamping plate 11. The right belt device comprises a second belt pulley and a second belt 24 nested on the second belt pulley, the second belt pulley is axially and vertically fixed on the inner side wall of the second clamping plate 21 through a mounting hole on the inner side wall of the second clamping plate 21, and the second belt pulley is dispersedly arranged on the inner side wall of the second clamping plate 11. Further, as shown in fig. 7, the shape of the left and right belt means between the two clamping plates together form a "Y" shape that is open to a greater extent and is more prone to fruit falling between the two belt means when picking up fruit.
The left and right belt arrangements are provided with at least one left drive wheel 15 for driving the belt in rotation.
Specifically, the belt clamping and picking mechanism mainly aims at hard shell fruits, the belt clamps the fruits by means of deformation and friction force of the belt when picking the fruits, specifically, taking a left belt assembly as an example, the left driving motor 17 drives the left driving wheel 15 to drive the belt to rotate, so that the left driven wheel 16 is driven to rotate, and the clamping force of the two clamping plates forms a pulling force for picking the fruits, so that the fruits are picked from the fruit trees. Specifically, the first clamping plate driving motor 13 controls the opening and closing angles of the left belt assembly and the right belt assembly according to the volume of the picked fruits so as to adjust the clamping force of the first clamping plate and the second clamping plate on the fruits.
Further, the belt is provided with a texture shape, so that the friction force between the belt and fruits can be increased. When picking hard shell type fruits, the clamping force of the clamping plate and the hard shell type fruits enable the flexible belt to slightly deform, so that the contact area between the clamping structure and the fruits is increased, and the clamping is more stable.
Preferably, the left belt means is provided with a left drive wheel motor 17; or the right belt device is provided with a right drive wheel motor 27; or the left belt device is provided with a left driving wheel 15, the right belt device is provided with a right driving wheel 25, and the rotation directions of the left driving wheel 15 and the right driving wheel 25 are opposite.
Specifically, when only one left driving wheel 15 is provided on the left belt device, the left belt is a driving belt for driving the fruit to be gripped to move downwards, and the right belt device only provides a supporting function; when only one left driving wheel 15 is arranged on the right belt device, the right belt is a driving belt for driving the clamped fruits to move downwards, and the right belt device only provides a supporting function; the structure that only one driving wheel is arranged is relatively simple to control.
When the left and right driving wheels 15 and 25 are simultaneously provided at the left and right belt apparatuses, the left and right driving wheels 15 and 25 are rotated in opposite directions as shown in the embodiment shown in fig. 7, to ensure that the two belts move downward after clamping the fruit, pulling the fruit stalks apart. Simultaneously, the structure of the two driving wheels is arranged, so that the clamped fruits are more stable in stress and are not easy to deviate during picking.
Preferably, the clamping and picking mechanism further comprises an airbag clamping and picking mechanism 3. The air bag clamping and picking mechanism 3 mainly aims at picking soft skin fruits. Specifically, the airbag clamping and picking mechanism includes: the support frame 31 is provided with a mounting seat 311, as shown in fig. 1, one end of the mounting seat 311 is connected with the steering connecting piece 5, as shown in fig. 8, the other end of the mounting seat is provided with a plane supporting part 312, and the surface of the plane supporting part 312 is provided with a linear guide groove 313.
As shown in fig. 8, the left and right shearing handgrips 32 and 33 are symmetrically disposed about the guide groove 313 on the plane of the parallel plane support portion 312, and are rotatably connected to the support frame 31 by respective rotation shafts, which provide rotation support points for the shearing handgrips, so that the left and right shearing handgrips 32 and 33 are rotatably supported on the support frame 21. The inner walls of the left shearing hand grip 32 and the right shearing hand grip 33 are provided with inwards concave arc-shaped grooves for bearing the air bags 37; specifically, the driving device includes: the driving connecting rod motor, the lead screw and the nut matched with the lead screw are used, specifically, as shown in fig. 8, the driving connecting rod motor is fixed on the mounting seat 311, the lead screw is connected with a motor shaft of the driving connecting rod, the nut is sleeved on the lead screw, the nut is driven by the motor to do linear reciprocating motion along the lead screw, meanwhile, the nut is sleeved with the nut seat, and the nut seat moves linearly along with the nut. As shown in fig. 9, the driving rod 34 is fixedly sleeved on the nut seat through the connecting through hole 342, meanwhile, a protrusion 341 matched with the guide groove 313 is arranged below the driving rod 34, the protrusion 341 is embedded into the guide groove 313 and reciprocates along the guide groove 313 under the driving of the motor, and the nested structure of the protrusion 341 and the guide groove 313 enables the driving rod to move more stably. Taking the driving of the left shearing hand grip 32 as an example, one end of the first connecting rod 35 is rotationally connected with the left shearing hand grip 32, the other end is rotationally connected with the first end 343 of the driving rod, and the opening and closing of the left shearing hand grip 32 and the right shearing hand grip 33 are controlled under the driving of the driving rod 34.
The left shearing hand grab 32 and the right shearing hand grab 33 complete the structure of opening and closing through the motor driving connecting rod, the transmission structure is simple, the variation range of opening and closing angles is large, and the device is more suitable for fruits with different volumes.
Specifically, a pressure detecting device is arranged in the air bag 37 and is used for detecting the force when the fruit is contacted with the air bag, so that the purpose of adjusting the contact force is achieved by adjusting the inflation and deflation of the air bag in real time, and the damage to the fruit caused by overlarge contact force or the falling of the fruit caused by overlarge contact force are reduced. Wherein, as shown in fig. 8, the air bag 37 is arranged in the arc-shaped groove, the arc-shaped groove wraps part of the outer wall of the air bag 37, and can ensure that fruits are fully contacted with the air bag while providing supporting force for the deformation of the air bag, so that picking is more effective.
Preferably, the shearing end of the shearing handle is provided with a blade 38.
Specifically, when the air bag 37 stably wraps the fruit, the blade 38 shears the fruit stem short, and fruit picking is completed. The structure that this kind of gasbag and cutting edge cooperation were picked not only can reduce the damage of mechanical device to fruit, can guarantee simultaneously that the picking efficiency is higher, and the process is more stable.
Preferably, the fruit picking and collecting device is further used for conveying fruits picked by the picking clamping jaw device.
Specifically, as shown in fig. 1, the picking and collecting device comprises a collecting vehicle 6 and a guide cylinder 7, one end of the guide cylinder 7 is connected with the collecting vehicle 6, the other end of the guide cylinder is connected with a clamping and picking mechanism, and after the fruits are picked, the fruits are directly conveyed into the collecting vehicle 6 through the guide cylinder 7 through the structure, so that the load of the clamping and picking mechanism is reduced while the fruits are prevented from being piled up. Further, the inner wall of the guide cylinder 7 pipeline is provided with a flexible spiral structure, as shown in fig. 10, the spiral body made of rubber materials is sleeved, so that fruits are prevented from being damaged by collision of the guide cylinder wall in the process that fruits fall into the collecting vehicle 6 along the guide cylinder 7, the spiral structure enables the fruits to move in the guide cylinder 7 in a certain direction, and the fruits are prevented from being accumulated in the guide cylinder to block the channel.
Preferably, the first clamping plate 11 and the second clamping plate 21 are mounted on the steering connecting piece 5, specifically, through holes 51 are formed in the steering connecting piece 5, a first notch 112 and a second notch 212 are formed in the first clamping plate 11 and the second clamping plate 21 close to the hinged end, projections of the two notches on the steering connecting piece 5 fall into the through holes 51, and the diameter of the through holes 51 is not larger than that of the guide cylinder 7.
Specifically, the fruit that the mechanism was taken is taken in the centre gripping falls into guide cylinder 7 through first opening 112 and second opening 212 through-hole 51, and the projection of first opening 112 and second opening 212 on turning to connecting piece 5 falls into in the through-hole 51, and the diameter of through-hole 51 is not greater than the diameter of guide cylinder 7, can guarantee that the fruit that falls into from first opening 112 and second opening 212 can both get into in the guide cylinder 7, avoids the fruit of picking to scatter to elsewhere, can effectually collect fruit.
Preferably, a visual sensor 8 is included, in particular, as shown in fig. 1, the visual sensor 8 is provided on the steering connector 5, and further, the visual sensor is disposed in the middle of the two clamping mechanisms, so that fruits can be more conveniently identified.
Embodiment 2 this embodiment provides a picking method of a fruit picking robot, which can be applied to the fruit picking robot in embodiment 1, comprising the steps of:
step 1, controlling the tail end of a mechanical arm 4 to reach a target fruit, and acquiring a signal containing fruit types through a visual sensor 8;
Step 2, judging whether the target fruits are hard shell fruits or soft skin fruits; when the fruits are hard shell fruits, the step 3 is carried out; when the fruits are soft skin fruits, the step 4 is carried out;
Step3, driving the steering connecting piece 5 to rotate to the belt clamping and picking mechanism; the controller outputs a starting signal to start the belt clamping and picking mechanism to pick fruits;
And 4, driving the steering connecting piece 5 to rotate to the air bag clamping and picking mechanism 3, and outputting a starting signal by the controller to start the air bag clamping and picking mechanism 3 to pick fruits.
Preferably, the controller acquires the position and the outline characteristics of the target fruit through the visual sensor 8, and determines the relative position of the target fruit and the visual sensor 8 according to the fruit position so as to determine the movement position of the belt clamping mechanism; finding the maximum contour edge of the fruit according to the contour characteristics to control the first clamping plate driving motor 13 and the second clamping plate driving motor 23 to rotate to an angle obtained according to a formula; the controller receives the touch signal through a pressure sensor arranged on the belt, and controls the rotation of the first clamping plate driving motor 13 and the second clamping plate driving motor 23 again, so that the left belt clamping and picking assembly and the right belt clamping and picking assembly hold the target fruit tightly; then, the controller controls the right driving wheel motor 27 and the left driving wheel motor 17 to drive the belt to rotate, the target fruit is pulled down, the controller obtains the fruit falling signal through the pressure sensor arranged on the belt, and the first clamping plate driving motor 13 and the second clamping plate driving motor 23 are reset.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (6)
1. A fruit picking robot comprising a picking jaw apparatus, characterized in that the picking jaw apparatus comprises: the clamping and picking mechanism is used for adjusting the clamping force and picking fruits; a mechanical arm (4) with six degrees of freedom for controlling the movement position of the end of the clamping and picking mechanism; one end of the steering connecting piece (5) is connected to the front end of the mechanical arm (4), and the other end of the steering connecting piece is connected with the clamping and picking mechanism and is used for switching different clamping and picking mechanisms;
The clamping and picking mechanism comprises a belt clamping and picking mechanism, and the belt clamping and picking mechanism comprises a left belt assembly and a right belt assembly; the left belt assembly comprises a first clamping plate (11) and a left belt device, a first hinge through hole (111) is formed in one end of the first clamping plate (11), the left belt device is mounted at the other end of the first clamping plate, the left belt assembly further comprises a first driving bolt (12) and a first clamping plate driving motor (13), a first bolt rod portion (121) of the first driving bolt (12) penetrates through the first hinge through hole (111), a first bolt head portion (122) is fixedly connected with the first clamping plate (11), a first axial through hole (123) is formed in the first bolt rod portion (121), a motor base of the first clamping plate driving motor (13) is fixed on the steering connecting piece (5), and a motor shaft penetrates through the first axial through hole (123) to be sleeved with the first driving bolt (12) so as to drive the first clamping plate (11) to rotate; the right belt assembly comprises a second clamping plate (21) and a right belt device, a second hinging through hole (211) is formed in one end of the second clamping plate (21), the right belt device is mounted at the other end of the second clamping plate, the right belt assembly further comprises a second driving bolt (22) and a second clamping plate driving motor (23), a second bolt rod part (221) of the second driving bolt (22) penetrates through the second hinging through hole (211), a second bolt head part (222) is fixedly connected with the second clamping plate (21), a second shaft through hole (223) is formed in the second bolt rod part (221), a motor base of the second clamping plate driving motor (23) is fixed on the steering connecting piece (5), and a motor shaft penetrates through the second shaft through hole (223) to be sleeved with the second driving bolt (22) so as to drive the second clamping plate (21) to rotate; the first clamping plate (11) and the second clamping plate (21) are mutually hinged through the first hinging through hole (111) and the second hinging through hole (211);
the left belt device comprises a first belt pulley and a first belt (14) nested on the first belt pulley, and the first belt pulley is axially and vertically fixed on the inner side wall of the first clamping plate (11) through a mounting hole on the inner side wall of the first clamping plate (11); the right belt device comprises a second belt pulley and a second belt (24) nested on the second belt pulley, and the second belt pulley is axially and vertically fixed on the inner side wall of the second clamping plate (21) through a mounting hole on the inner side wall of the second clamping plate (21); at least one driving wheel is arranged on the left belt device and the right belt device and used for driving the belt to rotate;
The clamping and picking mechanism further comprises an air bag clamping and picking mechanism (3), and the air bag clamping and picking mechanism (3) comprises: the support frame (31) is provided with a mounting seat (311), one end of the mounting seat (311) is connected with the steering connecting piece (5), the other end of the mounting seat is provided with a plane supporting part (312), and the surface of the plane supporting part (312) is provided with a linear guide groove (313); the left shearing hand grab (32) and the right shearing hand grab (33) are symmetrically arranged on the plane parallel to the plane supporting part (312) and are respectively and rotatably connected with the supporting frame (31) through respective rotating shafts, and inwards concave arc-shaped grooves are formed in the inner walls of the left shearing hand grab (32) and the right shearing hand grab (33); and a driving device including: the driving connecting rod motor is fixed on the mounting seat (311), and a screw rod is connected with a motor shaft of the driving connecting rod, and a nut matched with the screw rod is arranged on the screw rod; the driving rod (34) is provided with a bulge (341) matched with the guide groove (313) at the outer edge, a connecting through hole (342) is formed in the center of the driving rod (34), and the driving rod (34) is sleeved on the nut seat through the connecting through hole (342) and is driven by the driving connecting rod motor to reciprocate along the guide groove (313); a first connecting rod (35), one end of which is rotationally connected with the left shearing hand grip (32), the other end of which is rotationally connected with the first end (343) of the driving rod (34), a second connecting rod (36), one end of which is rotationally connected with the right shearing hand grip (33), and the other end of which is rotationally connected with the second end (344) of the driving rod (34); the driving rod (34) drives the first connecting rod (35) and the second connecting rod (36) to rotate so as to control the opening and closing of the left shearing hand grip (32) and the right shearing hand grip (33); the air bag (37) is provided with a pressure sensor on the inner side wall, and the air bag (37) is arranged in the arc-shaped groove and is used for adjusting the clamping force and picking up fruits;
The shearing ends of the left shearing hand grab (32) and the right shearing hand grab (33) are provided with cutting edges.
2. Fruit picking robot according to claim 1, characterized in that the left belt means is provided with a left drive wheel motor (17); or the right belt device is provided with a right driving wheel motor (27); or the left belt device is provided with a left driving wheel (15), the right belt device is provided with a right driving wheel (25), and the rotation directions of the left driving wheel (15) and the right driving wheel (25) are opposite.
3. The fruit picking robot of claim 1 further comprising a picking collection device for transporting fruit picked by the picking jaw device; the picking and collecting device comprises a collecting vehicle (6) and a guide cylinder (7), one end of the guide cylinder (7) is connected with the collecting vehicle (6), the other end of the guide cylinder is connected with the clamping and picking mechanism, and a flexible spiral structure (71) is arranged on the inner wall of a pipeline of the guide cylinder (7).
4. A fruit picking robot according to claim 3, characterized in that the turning connection piece (5) is provided with a through hole (51), the first clamping plate (11) is provided with a first opening (112) near the hinged end, the second clamping plate (21) is provided with a second opening (212) near the hinge, the projections of the first opening (112) and the second opening (212) on the turning connection piece (5) fall into the through hole (51), and the diameter of the through hole (51) is not larger than the diameter of the guide cylinder (7).
5. Fruit picking robot according to claim 1, further comprising a visual sensor (8) arranged on the turning connection (5) for identifying fruit kind and volume.
6. A picking method of a fruit picking robot according to any one of claims 1-5, comprising the steps of:
Step 1, controlling the tail end of a mechanical arm (4) to reach a target fruit, and acquiring a signal containing fruit types through a visual sensor (8);
step 2, judging whether the target fruits are hard shell fruits or soft skin fruits;
and 3, driving the steering connecting piece (5) to rotate to the belt clamping and picking mechanism or the air bag clamping and picking mechanism (3).
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| CN111418351B (en) * | 2020-05-19 | 2023-08-18 | 江西农业大学 | Fruit picking device |
| CN114258783A (en) * | 2021-12-20 | 2022-04-01 | 中国计量大学 | Single fruit picking mechanical device suitable for mountain land operation and picking method thereof |
| CN115053699B (en) * | 2022-05-31 | 2024-03-08 | 成都锦城学院 | Crawler-type jasmine picking robot |
| CN116945139B (en) * | 2023-09-21 | 2024-01-26 | 连云港市东堡旋耕机械有限公司 | Mechanical arm for stem opening machine processing |
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| CN111052940A (en) * | 2019-12-29 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Picking method of fruit picking robot |
| CN212786686U (en) * | 2019-12-14 | 2021-03-26 | 大国重器自动化设备(山东)股份有限公司 | Fruit picking robot |
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| AU2014289895A1 (en) * | 2013-07-12 | 2016-02-18 | Central South University Of Forestory And Technology | Robot and method for picking fruit of Camellia oleifera |
| BE1023881B1 (en) * | 2016-07-19 | 2017-09-04 | Octinion Bvba | Device for picking fruit |
| AU2017357645B2 (en) * | 2016-11-08 | 2022-11-10 | Dogtooth Technologies Limited | A robotic fruit picking system |
| CN109079744A (en) * | 2018-10-10 | 2018-12-25 | 东南大学 | fruit and vegetable picking robot |
| CN109496563A (en) * | 2018-11-30 | 2019-03-22 | 东莞理工学院 | A kind of fruit picking robot |
| CN109819769A (en) * | 2019-04-04 | 2019-05-31 | 南京林业大学 | A kind of fruit picker |
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| CN212786686U (en) * | 2019-12-14 | 2021-03-26 | 大国重器自动化设备(山东)股份有限公司 | Fruit picking robot |
| CN111052940A (en) * | 2019-12-29 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Picking method of fruit picking robot |
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