CN110972717A - Flexible picking robot - Google Patents
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- CN110972717A CN110972717A CN201911181734.3A CN201911181734A CN110972717A CN 110972717 A CN110972717 A CN 110972717A CN 201911181734 A CN201911181734 A CN 201911181734A CN 110972717 A CN110972717 A CN 110972717A
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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
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/06—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/06—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material
- B32B27/08—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material of synthetic resin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/28—Layered products comprising a layer of synthetic resin comprising synthetic resins not wholly covered by any one of the sub-groups B32B27/30 - B32B27/42
- B32B27/281—Layered products comprising a layer of synthetic resin comprising synthetic resins not wholly covered by any one of the sub-groups B32B27/30 - B32B27/42 comprising polyimides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/42—Layered products comprising a layer of synthetic resin comprising condensation resins of aldehydes, e.g. with phenols, ureas or melamines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2307/00—Properties of the layers or laminate
- B32B2307/20—Properties of the layers or laminate having particular electrical or magnetic properties, e.g. piezoelectric
- B32B2307/206—Insulating
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- Manipulator (AREA)
Abstract
The invention discloses a flexible picking robot. The flexible picking robot comprises: the flexible robot picking robot comprises a flexible robot execution body, a control device and a flexible robot picking operation arm; the flexible robotic effector comprises a layer of piezoelectric material; the control device is used for controlling the flexible robot execution body by controlling an electric field of a piezoelectric material layer of the flexible robot execution body so as to realize crawling and clamping of the flexible robot execution body; the flexible robot picking operation arm is arranged on the flexible robot execution body and can carry out picking operation under the control of the control device. The flexible picking robot disclosed by the invention has better applicability.
Description
Technical Field
The invention relates to the technical field of agricultural picking, in particular to a flexible picking robot.
Background
In the field of agricultural picking, fruits growing between wild mountain forests such as pinecones are difficult to pick, and generally, the fruits can be picked only by manually utilizing long rods with hooks; the labor intensity is high, the danger is high, and the trees are easily damaged due to improper harvesting process. A part of fruits such as oranges are picked by using the universal vibrating mechanical arm, the fruits are easily damaged due to a large vibration amplitude, and the trees are easily damaged due to inappropriate vibration excitation parameters. In addition, the selection of the vibration mode may cause immature fruits to be shaken off by the picking robot, which affects economic harvest. The vibration robot generally operates by using crawler equipment and the like for large-scale operation, has high requirements on fields, easily causes large amount of empty space waste of artificial planting and is not suitable for mountain land operation.
The manual picking operation in rugged mountain areas is dangerous and extremely difficult; the picking vibration robot based on crawler-type or large-scale wheeled equipment works under the use environment, the maturity of picked products is not easy to control, namely, fruits with low maturity are easy to fall off together; the damage of fruit trees is easily caused by improper excitation amplitude; more importantly, mountain forests and other rugged terrain can not be unfolded for operation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and adopts the following technical scheme:
the embodiment of the invention provides a flexible picking robot. The flexible picking robot comprises:
the flexible robot picking robot comprises a flexible robot execution body, a control device and a flexible robot picking operation arm;
the flexible robotic effector comprises a layer of piezoelectric material;
the control device is used for controlling the flexible robot execution body by controlling an electric field of a piezoelectric material layer of the flexible robot execution body so as to realize crawling and clamping of the flexible robot execution body;
the flexible robot picking operation arm is arranged on the flexible robot execution body and can carry out picking operation under the control of the control device.
In some embodiments, the piezoelectric material layer comprises: the piezoelectric device comprises a first piezoelectric material layer and a second piezoelectric material layer arranged below the first piezoelectric material layer, wherein the first piezoelectric material layer and the second piezoelectric material layer are insulated and protected through an insulating protection layer.
In some embodiments, the first layer of piezoelectric material comprises a plurality of parallel-arranged strips of first piezoelectric material;
the second piezoelectric material layer comprises a plurality of second piezoelectric material layer strips arranged in parallel;
the first piezoelectric material layer strips and the second piezoelectric material layer strips are arranged in a crossed mode in the projection plane of the piezoelectric material layers.
In some embodiments, the first strip of piezoelectric material and the second strip of piezoelectric material are vertically disposed.
In some embodiments, the flexible robotic effector further comprises a layer of frictional damping material disposed on the layer of piezoelectric material.
In some embodiments, the layer of frictional damping material includes a first layer of frictional damping material disposed on an upper surface of the layer of piezoelectric material and a second layer of frictional damping material disposed on a lower surface of the layer of piezoelectric material.
In some embodiments, the flexible picking robot further comprises a detection device, the detection device is arranged on the flexible robot execution body and is connected with the control device, the detection device is used for analyzing and judging the maturity of fruits to be picked, planning paths and feeding back the information to the control device, and the control device can control the flexible robot picking operation arm through the information transmitted by the detection device.
In some embodiments, the detection device comprises a forward path radar and a forward path camera;
the front path-exploring radar is used for path planning;
the front route-exploring camera is used for analyzing and judging the maturity of the fruits to be picked.
In some embodiments, the material of the insulating protective layer is a low-elastic-coefficient insulating material.
In some embodiments, the control device controls the flexible robot actuator by controlling the electric field intensity and direction of the piezoelectric material layer of the flexible robot actuator.
The invention has the technical effects that: the invention discloses a flexible robot execution body of a flexible picking robot, which comprises a piezoelectric material layer; the control device controls the electric field of the piezoelectric material layer to realize crawling and clamping of the flexible robot execution body, and the control device controls the flexible robot picking operation arm to carry out picking operation. The flexible crawling robot disclosed by the invention comprises the piezoelectric material layer, can realize the infinite freedom control of the flexible picking robot, and can be suitable for picking operation under various working conditions. Because the piezoelectric material layer is made of flexible materials, the flexible picking robot has excellent passability and can be suitable for picking operation in various mountain forests and rugged terrain. In addition, the picking robot has infinite multi-degree-of-freedom arrangement in theory through control over the piezoelectric material layer, and can realize crawling and clamping operation. And the piezoelectric material layer has low quality, so that the problem that the fruit falls off due to large amplitude caused by self weight is avoided.
Drawings
FIG. 1 is a cross-sectional view of a flexible robotic effector body according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of an arrangement of layers of piezoelectric material according to one embodiment of the invention;
FIG. 3 is a schematic view of a normally flat unfolded state of a layer of piezoelectric material according to one embodiment of the present invention;
FIG. 4 is a schematic view of a state of flexure of a layer of piezoelectric material according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a distorted state of a piezoelectric material layer according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a flexible picking robot according to one embodiment of the present invention;
fig. 7 is a schematic view of a flexible picking robot in use according to one embodiment of the present invention.
Reference numerals related to embodiments of the present invention are as follows:
a flexible picking robot 100;
a piezoelectric material layer 1, a first piezoelectric material layer 11, a first piezoelectric material layer strip 111, a second piezoelectric material layer 12, a second piezoelectric material layer strip 121;
the insulating and protective layer (2) is,
a friction damping material layer 3, a first friction damping material layer 31, a second friction damping material layer 32;
the flexible robotic effector body 10 is shown as having,
the control device (20) is controlled by the control unit,
the flexible robot picks up the working arm 30,
a detection device 40, a front-mounted pathfinding radar 401, a front-mounted pathfinding camera 402,
the power supply (50) is provided,
a tree 60.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1-7, a flexible picking robot 100 is illustrated according to one embodiment of the present invention.
Referring to fig. 1-7, the flexible picking robot 100 comprises:
a flexible robot execution body 10, a control device 20 and a flexible robot picking arm 30;
the flexible robot actuating body 10 comprises a piezoelectric material layer 1;
the control device 20 is used for controlling the flexible robot execution body 10 by controlling the electric field of the piezoelectric material layer 1 of the flexible robot execution body 10 so as to realize crawling and clamping of the flexible robot execution body 10;
the flexible robot picking arm 30 is disposed on the flexible robot executing body 10 and can perform picking operation under the control of the control device 20.
Piezoelectric materials are a class of functional materials that have a piezoelectric effect. The piezoelectric effect refers to the effect that a material generates an electric signal under the action of pressure; or the material is mechanically deformed under the action of an electric field. Generally, piezoelectric materials should have several main characteristics:
(1) conversion characteristics: a higher piezoelectric constant is required;
(2) mechanical properties: the mechanical strength is high and the rigidity is high;
(3) electrical properties: high resistivity and high dielectric constant, preventing breakdown when a driving electric field is loaded;
(4) environmental adaptability: the temperature and humidity stability is good, the Curie point is required to be higher, and the working temperature range is wide;
(5) and (3) stability in time: the piezoelectric property is required not to change along with time, and the working stability and the service life of the piezoelectric material are enhanced.
The piezoelectric material layer 1 per se deforms under the action of an external electric field, the overall deformation direction of the piezoelectric material is controlled by controlling the strength and the direction of the external electric field, and the movement and the clamping movement load of the flexible crawling picking robot are further controlled. The formula of the strain and the external electric field of the piezoelectric material layer 1 is as follows:
S＝μE2
wherein mu is the piezoelectric expansion coefficient, E is the external electric field intensity, and S is the structural strain. Since flexible picking robot 100 has a certain distribution deformation, theoretically it can have infinite branches, which results in an ultra-redundant configuration space: in this space, the flexible robotic picking arm 30 tip can reach every point in the three-dimensional working space, while the shape or configuration of the flexible picking robot 100 is infinite.
In some embodiments, referring to fig. 1 and 2, the piezoelectric material layer 1 includes: the piezoelectric element comprises a first piezoelectric material layer 11 and a second piezoelectric material layer 12 arranged below the first piezoelectric material layer 11, wherein the first piezoelectric material layer 11 and the second piezoelectric material layer 12 are insulated and protected through an insulating protection layer 2. The insulating protective layer 2 and the like can realize insulating protection and distribution manufacturing of structure main body materials by materials with low general elasticity coefficient such as polyimide, phenolic aldehyde and the like.
In some embodiments, the first piezoelectric material layer 11 includes a plurality of first piezoelectric material layer strips 111 arranged in parallel;
the second piezoelectric material layer 12 includes a plurality of second piezoelectric material layer strips 121 arranged in parallel;
the first piezoelectric material layer strips 111 and the second piezoelectric material layer strips 121 are arranged to intersect in a projection plane of the piezoelectric material layer 1.
In some embodiments, the number of the first piezoelectric material layer strips 111 is equal to or greater than 3, and the intervals between the first piezoelectric material layer strips 111 are equal. The number of the second piezoelectric material layer strips 121 is equal to or greater than 3, and the intervals between the second piezoelectric material layer strips 121 are equal.
In some embodiments, the first strip of piezoelectric material 111 and the second strip of piezoelectric material 121 are vertically disposed. I.e. comprising a plurality of laterally arranged strips 111 of a first piezoelectric material and a plurality of longitudinally arranged strips 121 of a second piezoelectric material.
In some embodiments, the flexible robotic effector 10 further comprises a layer of frictional damping material 3, the layer of frictional damping material 3 being disposed on the layer of piezoelectric material 1.
In some embodiments, the frictional damping material layer 3 includes a first frictional damping material layer 31 and a second frictional damping material layer 32, the first frictional damping material layer 31 is disposed on the upper surface of the piezoelectric material layer 1, and the second frictional damping material layer 32 is disposed on the lower surface of the piezoelectric material layer 1.
In some embodiments, the flexible robot actuating body 10 of the flexible picking robot 100 may be completed through a flexible circuit board manufacturing process, functioning in a sandwich form of a sandwich.
In some embodiments, the flexible picking robot 100 further comprises a detection device 40, the detection device 40 is disposed on the flexible robot execution body 10 and connected to the control device 20, the detection device 40 is used for analyzing and determining the ripeness of the fruit to be picked, planning the path, and feeding back the information to the control device 20, and the control device 20 can control the flexible robot picking work arm 30 through the information transmitted by the detection device 40.
In some embodiments, the detection device 40 includes a forward-looking radar 401 and a forward-looking camera 402;
the front path-finding radar 401 is used for path planning;
the front route-exploring camera 402 is used for analyzing and judging the maturity of the fruits to be picked.
In some embodiments, the material of the insulating protection layer 2 is a low-elastic-coefficient insulating material.
In some embodiments, the control device 20 controls the flexible robot actuator 10 by controlling the electric field intensity and direction of the piezoelectric material layer 1 of the flexible robot actuator 10.
The invention has the technical effects that: the invention discloses a flexible robot execution body of a flexible picking robot, which comprises a piezoelectric material layer; the control device controls the electric field of the piezoelectric material layer to realize crawling and clamping of the flexible robot execution body, and the control device controls the flexible robot picking operation arm to carry out picking operation. The flexible crawling robot disclosed by the invention comprises the piezoelectric material layer, can realize the infinite freedom control of the flexible picking robot, and can be suitable for picking operation under various working conditions. Because the piezoelectric material layer is made of flexible materials, the flexible picking robot has excellent passability and can be suitable for picking operation in various mountain forests and rugged terrain. In addition, the picking robot has infinite multi-degree-of-freedom arrangement in theory through control over the piezoelectric material layer, and can realize crawling and clamping operation. And the piezoelectric material layer has low quality, so that the problem that the fruit falls off due to large amplitude caused by self weight is avoided.
The following describes the flexible picking robot 100 provided by the present invention in detail with reference to specific embodiments.
Example 1:
a flexible picking robot 100 according to an embodiment of the present invention may be referred to as shown in fig. 1 to 7.
As shown in fig. 1-7, the embodiment of the present invention relates to a flexible picking robot 100, which comprises a flexible picking robot execution body 10, a flexible robot picking work arm 30, a front exploring radar 401, a front exploring camera 402, a power supply 50 and a control device 20.
The cross-sectional view of the material of the flexible picking robot 100 of the invention is shown in figure 1, and comprises an insulating protective layer 2 of the flexible picking robot 100, a first piezoelectric material layer 11, a second piezoelectric material layer 12 and a friction damping material layer 3 of the flexible picking robot 100. The flexible picking robot 100 may be completed by a flexible circuit board fabrication process, functioning in a sandwich style. The flexible picking robot 100 insulating protective layer 2 and the like can realize the distribution manufacture of insulating protection and structure main body materials through materials with universality and low elasticity coefficient such as polyimide, phenolic aldehyde and the like.
The piezoelectric material provided by the invention is deformed under the action of an external electric field, and the overall deformation direction of the piezoelectric material is controlled by controlling the strength and direction of the external electric field, so that the movement and clamping movement load of the flexible picking robot 100 are controlled. The formula of the strain and the external electric field of the piezoelectric material is as follows:
S＝μE2
wherein mu is the piezoelectric expansion coefficient, E is the external electric field intensity, and S is the structural strain. Since flexible picking robot 100 has a certain distribution deformation, theoretically it can have infinite branches, which results in an ultra-redundant configuration space: in this space, the tip of the flexible robotic picking arm 30 can reach every point in the three-dimensional working space, while the shape or configuration of the robot is infinite.
The piezoelectric distribution material of the flexible picking robot 100 in the embodiment of the invention comprises piezoelectric material and electric field cables and other structures which need to apply the piezoelectric material.
Fig. 2 is a schematic diagram of a simple piezoelectric material distribution in which a first piezoelectric material layer 11 and a second piezoelectric material layer 12 are separated by an insulating material layer, respectively, and the distribution of fig. 2 can realize motion modes such as the flat deployment mode of fig. 3, the lateral or longitudinal bending deformation of fig. 4, the torsional bending deformation of fig. 5, and the like. Through reasonable control of the distribution of the piezoelectric electric field, the flexible picking robot 100 can be used for performing the snake-like crawling function, and a corresponding cutting mechanism is configured for picking operation.
Therefore, the flexible picking robot 100 is excellent in passability and obstacle avoidance performance due to its better flexibility. By configuring the miniature path-exploring radar, the miniature path-exploring camera, the power supply 50, the control device 20 and the like, the operations of climbing the tree 60, cutting fruits at the treetop section and the like under the working condition of loading treetop can be completed.
Fig. 7 shows a crawling picking flexible robot according to the present invention, which comprises a flexible robot execution body 10, a control device 20, a power supply 50, a flexible robot front-located pathfinding camera 402, a flexible robot front-located pathfinding miniature radar 401, and a flexible picking robot picking arm 30.
In the flexible robot, the core structures of the robot execution body and the picking operation arm 30 of the flexible picking robot are designed by the same mechanism materials, so infinite multi-degree of freedom arrangement can be theoretically realized, and the flexible picking robot 100 can climb in a mode of embracing the tree 60 on the front side and can climb in a mode of embracing the tree 60 on the back side by the friction damping material layers 3 arranged on the front side and the back side of the flexible robot execution body 10. The flexible robot climbs the tree 60 as shown in fig. 7. As the flexible picking robot 100 can realize various execution modes similar to those in the figures 3 to 5, the climbing up of the tree 60 under various working conditions can be completed through reasonable control design, and the climbing up under the multi-way branching structure of the treetop can be dealt with.
As described above, by the path planning of the front exploring radar 401 and the front exploring camera 402, when a designated picking point is reached, the shearing work is completed by the flexible robot picking work arm 30 installed at the foremost end. The schematic diagram of the shearing operation of the present invention is shown in fig. 7. The maturity of the fruit to be picked can be judged through the analysis of the front exploring radar 401 and the front exploring camera 402 of the detection device 40, and then the picking operation is completed through the flexible robot picking operation arm 30.
According to the flexible picking robot provided by the embodiment of the invention, the robot body is made of the flexible material, so that the robot has excellent passability, and can be suitable for picking operation in various mountain forests and rugged terrain. In addition, the picking robot has very small quality due to the characteristics of the mechanism, and can avoid destructive picking operation of the vibration machine on trees to the greatest extent. The third aspect is that the flexible robot can be operated in large scale in batch, and the economic benefit can be realized to the maximum extent by parallel picking.
According to the flexible picking robot provided by the embodiment of the invention, the material layer for increasing the friction coefficient is used for increasing the friction force for climbing trees, so that climbing under the conditions of complicated treetops and the like is realized; the 360-degree motion space range of the flexible picking robot is realized by arranging friction damping material coefficient layers on the front side and the back side; the detection device is used for realizing path planning and fruit maturity identification of the flexible picking robot; the picking operation of the robot in a complex attachment state is realized by utilizing the flexible robot picking operation arm attached to the foremost end of the flexible picking robot.
It will be further appreciated by those of skill in the art that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A flexible picking robot, comprising:
a flexible robotic effector body comprising a layer of piezoelectric material;
the control device is used for controlling the flexible robot execution body by controlling an electric field of a piezoelectric material layer of the flexible robot execution body so as to realize crawling and clamping of the flexible robot execution body;
and the flexible robot picking operation arm is arranged on the flexible robot execution body and can carry out picking operation under the control of the control device.
2. The flexible picking robot of claim 1, wherein the layer of piezoelectric material comprises: the piezoelectric device comprises a first piezoelectric material layer and a second piezoelectric material layer arranged below the first piezoelectric material layer, wherein the first piezoelectric material layer and the second piezoelectric material layer are insulated and protected through an insulating protection layer.
3. The flexible picking robot of claim 2, wherein the first layer of piezoelectric material comprises a plurality of parallel arranged strips of first piezoelectric material; the second piezoelectric material layer comprises a plurality of second piezoelectric material layer strips arranged in parallel;
the first piezoelectric material layer strips and the second piezoelectric material layer strips are arranged in a crossed mode in the projection plane of the piezoelectric material layers.
4. The flexible picking robot of claim 3, wherein the first strip of piezoelectric material and the second strip of piezoelectric material are vertically disposed.
5. The flexible picking robot of claim 1, wherein the flexible robot effector body further comprises a layer of friction damping material disposed on the layer of piezoelectric material.
6. The flexible picking robot of claim 5, wherein the layer of friction damping material comprises a first layer of friction damping material disposed on an upper surface of the layer of piezoelectric material and a second layer of friction damping material disposed on a lower surface of the layer of piezoelectric material.
7. The flexible picking robot of claim 1, further comprising a detection device disposed on the flexible robot execution body and connected to the control device, wherein the detection device is used for analyzing and judging the maturity of the fruit to be picked, planning a path, and feeding back the information to the control device, and the control device can control the flexible robot picking arm through the information transmitted by the detection device.
8. The flexible picking robot of claim 1, wherein the detection device comprises a forward path radar and a forward path camera;
the front path-exploring radar is used for path planning;
the front route-exploring camera is used for analyzing and judging the maturity of the fruits to be picked.
9. The flexible picking robot of claim 2, wherein the material of the insulating protective layer is a low spring rate insulating material.
10. The flexible picking robot of claim 1, wherein the control device controls the flexible robot effector by controlling the electric field strength and direction of the piezoelectric material layer of the flexible robot effector.
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| CN106903037A (en) * | 2017-01-23 | 2017-06-30 | 中国科学院苏州生物医学工程技术研究所 | Ultrasonic transducer, ultrasonic array probe and ultrasonic image-forming system |
| CN207801783U (en) * | 2018-01-12 | 2018-08-31 | 吉林大学 | A kind of novel soft piezoelectric actuator |
| WO2019187714A1 (en) * | 2018-03-28 | 2019-10-03 | 本田技研工業株式会社 | Fruit and vegetable harvesting device |
| CN208210794U (en) * | 2018-04-10 | 2018-12-11 | 衢州学院 | It is a kind of for pick tree fruit grown climbing robot |
| CN109703011A (en) * | 2018-12-17 | 2019-05-03 | 浙江清华柔性电子技术研究院 | The preparation method of piezoelectric material layer and flexible piezoelectric device |
| CN109605375A (en) * | 2019-01-08 | 2019-04-12 | 太原工业学院 | A kind of control method of intelligence Tomato-harvesting robot |
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