CN111165171B

CN111165171B - Knot ball vegetables pick system with touch perception function

Info

Publication number: CN111165171B
Application number: CN201911386988.9A
Authority: CN
Inventors: 杜冬冬; 王俊
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2019-12-29
Filing date: 2019-12-29
Publication date: 2022-01-04
Anticipated expiration: 2039-12-29
Also published as: CN111165171A

Abstract

The invention discloses a nodulation vegetable picking system with a touch sensing function, which comprises a UR mechanical arm, an end effector connecting piece and an end effector module. The end effector module converts the reciprocating motion of the clamping cylinder into the clamping action of the tactile fingers through the tangent mechanism, the tactile fingers collect the tactile information of the nodulizing vegetables, and the maturity of the nodulizing vegetables is identified according to the tactile information; the reciprocating motion of the cutting knife cylinder is converted into the cutting action of the cutting knife through the crank sliding block mechanism so as to cut off the root of the nodulated vegetable. The vegetable picking machine is suitable for selective picking of nodulated vegetables, can realize maturity identification, clamping and root cutting operation of the vegetables, and has the advantages of ingenious design, good grabbing stability, good identification effect and low operation damage rate.

Description

Knot ball vegetables pick system with touch perception function

Technical Field

The invention belongs to the technical field of agricultural production, and relates to a nodulation vegetable picking system with a touch sensing function.

Background

The head-forming vegetables are important vegetables in daily life of people, such as head cabbage, Chinese cabbage, head lettuce, cauliflower and the like, and have large planting area and total yield in China. The nodulizing vegetables have physiological characteristics, which are shown in that the vegetables can curl into a spherical shape or a spheroid shape after being matured, when the leaf balls grow to a certain size, the appearance and the shape are almost not changed, the inner parts of the leaf balls still grow, different compaction degrees are shown, and the difficulty is increased for the development of an automatic selective picking system. In reality, farmers can adopt an extrusion touch method when harvesting the nodulation vegetables to judge the maturity of the vegetables according to the compactness of the nodulation, which is the most intuitive identification method of the maturity of the nodulation vegetables at present. CN110039533A discloses a multifunctional soft manipulator for detecting fruit maturity, which has a certain touch sensing module, but the design of soft fingers has certain grabbing limitation, and cannot well grab the operation objects with larger quality and larger difference, such as nodulated vegetables. Therefore, there is a need for a vegetable picking system with a tactile sensation function, which is suitable for the nodulated vegetables, to achieve the perception of the maturity of the vegetables and to complete the vegetable picking operation.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide the nodulated vegetable picking system with the touch sensing function.

The technical scheme adopted by the invention for solving the technical problem is as follows:

a nodulation vegetable picking system with a touch sensing function comprises a UR mechanical arm, an end effector connecting piece and an end effector module, wherein the UR mechanical arm is connected with the end effector connecting piece;

the end effector module comprises a cutting knife cylinder, a clamping cylinder support, a Y-shaped joint, a support arm support, a sliding pin, a clamping support arm, a cutting knife connecting arm, a slider joint, a clamping main arm, a cutting knife main arm, a tactile finger and a cutting knife, wherein the cutting knife cylinder is connected with the end effector connecting piece; the fixed end of the cutting knife cylinder is connected with the end effector connecting piece, the piston rod end of the cutting knife cylinder is connected with the sliding block joint, the sliding block joint is connected with the cutting knife connecting arm, the cutting knife connecting arm is connected with the middle end of the cutting knife supporting arm, one end of the cutting knife supporting arm is connected with the supporting arm support, the other end of the cutting knife supporting arm is connected with the cutting knife main arm, and the cutting knife main arm is connected with the cutting knife.

In the nodulation vegetable picking system with the touch sensing function, the reciprocating motion of the piston rod is converted into the swing of the main arm of the cutting knife by the cutting knife cylinder through the slider-crank mechanism, the main arm of the cutting knife is connected with the cutting knife, and the cutting knife cylinder works after the end effector clamps and fixes the nodulation vegetables to finish the root cutting operation.

According to the nodulation vegetable picking system with the touch sensing function, the reciprocating motion of the piston rod is converted into the swinging of the clamping main arm by the clamping cylinder through the tangent mechanism, the clamping main arm is connected with the touch finger, and the touch finger is used for collecting the touch information of the nodulation vegetables.

According to the knotted ball vegetable picking system with the touch sensing function, the surface of a touch finger is provided with the flexible shell, and the flexible shell is provided with the strain sensor.

The invention has the advantages that the tactile information of the nodulated vegetables is collected by the tactile fingers, the maturity of the nodulated vegetables is identified through the tactile information, the identification effect is good, and the accuracy is high; after the contact fingers clamp the nodulated vegetables, the clamping cutting knife is adopted to cut off the roots of the nodulated vegetables, so that the picking operation is realized, the operation stability is high, and the damage rate is low.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural diagram of a nodulated vegetable picking system with a touch sensing function;

FIG. 2 is a schematic view of the root cutting status of the nodulated vegetable picking system;

FIG. 3 is a schematic diagram of the tactile sensing state of the nodulated vegetable picking system;

FIG. 4 is a schematic illustration of a tactile finger of the nodulated vegetable picking system;

in the figure: the device comprises a UR mechanical arm 1, an end effector connecting piece 2, a cutting knife cylinder 3, a clamping cylinder 4, a clamping cylinder support 5, a Y-shaped joint 6, a support arm support 7, a sliding pin 8, a clamping support arm 9, a cutting knife support arm 10, a cutting knife connecting arm 11, a sliding block joint 12, a clamping main arm 13, a cutting knife main arm 14, a tactile finger 15, a cutting knife 16, a nodulizing vegetable 17, a strain sensor 18 and a flexible shell 19.

Detailed Description

As shown in fig. 1, a nodulizing vegetable picking system with a touch sensing function comprises a UR mechanical arm 1, an end effector connecting piece 2 and an end effector module, wherein the UR mechanical arm 1 is connected with the end effector connecting piece 2, and the UR mechanical arm 1 controls the overall motion track of the end effector; the end effector module comprises a cutting knife cylinder 3, a clamping cylinder 4, a clamping cylinder bracket 5, a Y-shaped joint 6, a support arm bracket 7, a sliding pin 8, a clamping support arm 9, a cutting knife support arm 10, a cutting knife connecting arm 11, a slider joint 12, a clamping main arm 13, a cutting knife main arm 14, a tactile finger 15 and a cutting knife 16, wherein the cutting knife cylinder 3 is connected with the end effector connecting piece 2, the clamping cylinder bracket 5 and the support arm bracket 7 are fixed on the

cutting knife cylinder

3, 2 clamping cylinders 4 are respectively fixed at two ends of the clamping cylinder bracket 5, the piston rod end of the clamping cylinder 4 is connected with the Y-shaped joint 6, the Y-shaped joint 6 is hinged with the sliding pin 8, the sliding pin 8 is positioned in a slide way of the clamping support arm 9, one end of the clamping support arm 9 is connected with the support arm bracket 7, the other end is connected with the clamping main arm 13, and the clamping cylinder 4, the Y-shaped joint 6, the sliding pin 8 and the clamping support arm 9 form a tangent mechanism, the reciprocating motion of the clamping cylinder 4 is converted into the swinging of the clamping support arm 9, the main clamping arm 13 is connected with 2 tactile fingers 15, and the tactile information of the nodulated vegetables 17 is collected under the clamping action of the 2 tactile fingers 15; the fixed end of a cutting knife cylinder 3 is connected with an end effector connecting piece 2, the piston rod end of the cutting knife cylinder 3 is connected with a sliding block joint 12, the sliding block joint 12 is connected with a cutting knife connecting arm 11, the cutting knife connecting arm 11 is connected with the middle end of a cutting knife supporting arm 10, one end of the cutting knife supporting arm 10 is connected with a supporting arm support 7, the other end of the cutting knife supporting arm is connected with a cutting knife main arm 14, the cutting knife cylinder 3, the cutting knife supporting arm 10, the cutting knife connecting arm 11 and the sliding block joint 12 form a slider-crank mechanism, the reciprocating motion of the cutting knife cylinder 3 is converted into the swing of the cutting knife supporting arm 10, the main arm cutting knife 14 is connected with a cutting knife 16, and the cutting knife 16 has 2 pieces, and the root of the nodulized vegetables 16 is cut off under the clamping action.

As shown in fig. 2, in the nodulated vegetable picking system with tactile sensation function, the cutter cylinder 3 converts the reciprocating motion of the piston rod into the swing of the cutter main arm 14 through the slider-crank mechanism, the cutter main arm 14 is connected to the cutter 16, and the cutter cylinder 3 operates after the end effector grasps and fixes the nodulated vegetable 17, thereby completing the root cutting operation.

As shown in fig. 3, in the nodding vegetable picking system with the tactile sensation function, the clamping cylinder 4 converts the reciprocating motion of the piston rod into the swinging motion of the clamping main arm 13 through a tangent mechanism, the clamping main arm 13 is connected with the tactile finger 15, and the tactile finger 15 is used for collecting the tactile information of the nodding vegetable 17.

As shown in fig. 4, in the nodulized vegetable picking system with the touch sensing function, the surface of the touch finger 15 is provided with the flexible casing 19, and the flexible casing 19 is made of a PDMS flexible material, which is beneficial to reducing mechanical damage in the clamping process; the flexible case 19 is mounted with the strain sensor 18, and outputs tactile information by a change in an electric signal of the strain sensor 18.

The working process of the invention is as follows: before picking operation, 4 main arms of the end effector are in an open state, the UR mechanical arm 1 determines the position of the nodulated vegetables 17 to be picked according to external input, after the end effector is controlled to reach a designated position, the system enables the tactile fingers 15 to clamp and fix the nodulated vegetables 17 by controlling the stroke of the clamping cylinder 4, acquires tactile information of the nodulated vegetables 17 through the tactile fingers 15, and identifies the maturity of the current vegetables according to the tactile information to determine whether the vegetables can be picked or not; if the vegetables can be picked, the system enables the cutting knife 16 to cut off the roots of the nodulated vegetables 17 by controlling the stroke of the cutting cylinder 3, and through the operation process, the maturity recognition, the clamping and the root cutting operation of the nodulated vegetables 17 are realized, so that the picking of the nodulated vegetables 17 is completed.

By using the nodulation vegetable picking system with the touch sensing function, the touch information of the nodulation vegetables is collected through the touch fingers, the maturity of the nodulation vegetables is identified according to the touch information, the roots of the nodulation vegetables are cut off by adopting the flat cutting knife, the maturity identification and picking of the nodulation vegetables are realized, the grabbing stability is good, the identification effect is good, and the operation damage rate is low.

Claims

1. A nodulation vegetable picking system with a touch sensing function is characterized by comprising a UR mechanical arm (1), an end effector connecting piece (2) and an end effector module, wherein the UR mechanical arm (1) is connected with the end effector connecting piece (2); the end effector module comprises a cutting knife cylinder (3), a clamping cylinder (4), a clamping cylinder support (5), a Y-shaped joint (6), a support arm support (7), a sliding pin (8), a clamping support arm (9), a cutting knife support arm (10), a cutting knife connecting arm (11), a slider joint (12), a clamping main arm (13), a cutting knife main arm (14), a tactile finger (15) and a cutting knife (16), wherein the cutting knife cylinder (3) is connected with an end effector connecting piece (2), the clamping cylinder support (5) and the support arm support (7) are fixed on the cutting knife cylinder (3), the clamping cylinder (4) is fixed on the clamping cylinder support (5), the piston rod end of the clamping cylinder (4) is connected with the Y-shaped joint (6), the Y-shaped joint (6) is hinged with the sliding pin (8), the sliding pin (8) is positioned in a slide way of the clamping support arm (9), one end of the clamping support arm (9) is connected with the support (7), the other end of the clamping main arm (13) is connected with the clamping main arm (13), and the clamping main arm (13) is connected with a tactile finger (15); the fixed end of a cutting knife cylinder (3) is connected with an end effector connecting piece (2), the piston rod end of the cutting knife cylinder (3) is connected with a sliding block joint (12), the sliding block joint (12) is connected with a cutting knife connecting arm (11), the cutting knife connecting arm (11) is connected with the middle end of a cutting knife supporting arm (10), one end of the cutting knife supporting arm (10) is connected with a supporting arm support (7), the other end of the cutting knife supporting arm is connected with a cutting knife main arm (14), and the cutting knife main arm (14) is connected with a cutting knife (16);

the cutting knife cylinder (3) converts the reciprocating motion of the piston rod into the swinging of a cutting knife main arm (14) through a slider-crank mechanism, the cutting knife main arm (14) is connected with a cutting knife (16), and the cutting knife cylinder (3) works after an end effector clamps and fixes nodulated vegetables (17) to complete root cutting operation;

the clamping cylinder (4) converts the reciprocating motion of the piston rod into the swinging of the clamping main arm (13) through a tangent mechanism, the clamping main arm (13) is connected with a touch finger (15), and the touch finger (15) is used for collecting touch information of the nodulizing vegetables (17);

the surface of the tactile finger (15) is provided with a flexible shell (19), and the flexible shell (19) is provided with a strain sensor (18).