CN112544236B - End effector of rope-driven picking robot - Google Patents
End effector of rope-driven picking robot Download PDFInfo
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- CN112544236B CN112544236B CN202011435536.8A CN202011435536A CN112544236B CN 112544236 B CN112544236 B CN 112544236B CN 202011435536 A CN202011435536 A CN 202011435536A CN 112544236 B CN112544236 B CN 112544236B
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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 present invention relates to the field of robots. The end effector has the advantages of being compact in structure, small in size and high in reliability. The technical scheme is as follows: the utility model provides a picking robot end effector is driven to rope which characterized in that: the end effector comprises a pair of grippers arranged on the base, a cutter arranged on one gripper, two first rope driving mechanisms which respectively drive the two grippers to move so as to open and close the grippers to grab the fruits, and a second rope driving mechanism which drives the cutter to rotate so as to cut off the fruit stalks; the gripper comprises a supporting plate capable of positioning the base in a swinging mode and hemispherical grabbing plates arranged on the supporting plate, and the inner sides of the two grabbing plates are arranged oppositely; the cutter is rotatably positioned at the outer side of one of the grabbing plates through a rotating shaft; the first rope driving mechanism comprises a first driving unit, a first driving rope for transmitting the power of the first driving unit to close the hand grip, and an elastic assembly for driving the hand grip to open.
Description
Technical Field
The invention relates to the field of robots, in particular to an end effector for a picking robot.
Background
The end effector of the current picking robot is mainly divided into two types: a claw type end effector simulating human fingers mainly realizes picking by twisting off fruit stems and has the defects of complex structure, easy damage to fruits, high manufacturing difficulty and unobvious economic benefit; the other type is an end effector with a cutter, the end effector realizes picking by cutting off fruit stalks through the cutter, and the problems of unreasonable structural design, high cost, low picking efficiency, unclear economic benefit and the like exist.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a rope-driven picking robot end effector which has the characteristics of compact structure, small volume and high reliability.
The technical scheme of the invention is as follows:
the utility model provides a picking robot end effector is driven to rope which characterized in that: the end effector comprises a pair of grippers arranged on the base, a cutter arranged on one gripper, two first rope driving mechanisms which respectively drive the two grippers to move so as to open and close the grippers to grab the fruits, and a second rope driving mechanism which drives the cutter to rotate so as to cut off the fruit stalks; the gripper comprises a supporting plate capable of positioning the base in a swinging mode and hemispherical grabbing plates arranged on the supporting plate, and the inner sides of the two grabbing plates are arranged oppositely; the cutter is rotatably positioned at the outer side of one of the grabbing plates through a rotating shaft; the first rope driving mechanism comprises a first driving unit, a first driving rope for transmitting the power of the first driving unit to close the hand grip and an elastic assembly for driving the hand grip to open; the second rope driving mechanism comprises a second driving unit, a second driving rope for transmitting the power of the second driving unit to enable the cutter to rotate to cut off the fruit stalks and a tension spring for driving the cutter to rotate reversely.
The first driving rope is arranged between the two grippers, one end of the first driving rope is fixed with the supporting plate through the connecting plate, and the other end of the first driving rope extends to the lower portion of the base and is connected with the first driving unit.
The elastic component comprises a pressure spring and a sleeve which are arranged between the connecting plate and the base and sequentially sleeved on the first driving rope from inside to outside.
The edge of the top end of the gripping plate is provided with a bayonet, and when the gripper is closed, the two bayonets are folded and surround the fruit stalks; the inner side of the grabbing plate is provided with a flexible material layer.
The cutter is curved in an arc shape; the length of the cutter is larger than the distance between the rotating shaft and the bayonet.
The supporting plate is provided with a supporting plate; and a plurality of upright posts for guiding the second driving rope are arranged on the grabbing plate and the supporting plate.
The second driving rope is arranged on the outer side of the gripper, one end of the second driving rope is fixed with the cutter, and the other end of the second driving rope extends to the lower portion of the base and is connected with the second driving unit.
The gripper is provided with a shell which comprises an upper cover plate arranged on the outer side of the gripping plate and a lower cover plate arranged on the outer side of the supporting plate; certain gaps are kept between the upper cover plate and the grabbing plate and between the lower cover plate and the supporting plate.
The base is provided with two first through holes for the first driving rope to pass through and a second through hole for the second driving rope to pass through; the first through hole is a stepped hole, and two ends of the pressure spring respectively support against the stepped surfaces of the connecting plate and the first through hole; the top surface of the base is also provided with a convex ring which is coaxially arranged with the first through hole, the top end of the sleeve is fixed with the connecting plate, and the bottom end of the sleeve extends into the convex ring.
The invention has the beneficial effects that:
1. the invention provides an end effector of a picking robot driven by a rope, wherein the upper half part of each gripper is hemispherical, the lower half part of each gripper is a flat plate, when grabbing operation is carried out, the two grippers of the end effector are closed to form a spherical cavity, and the cavity can just wrap fruits, so that the end effector has a compact integral structure and a round and regular outer contour, has good trafficability in vine branches and leaves, can not drag the vine branches and leaves, can increase the contact area with the fruits, can also ensure the clamping effect, improves the grabbing success rate, and can have good containment for irregular fruits; the flexible material layer is arranged in the hand grip, so that the fruits can be prevented from being damaged when the picking task is executed, and the supporting plate is also arranged in the hand grip, so that the fruits can be prevented from falling off when the fruits are gripped;
2. the opening and closing actions of the gripper of the end effector are realized through the rope drive, the realization process is easier, the whole size of the end effector is greatly reduced, the structure is more compact, the second driving rope penetrates through a closed sandwich structure consisting of the gripper and the shell, the smooth and neat appearance of the end effector can be ensured, and the rope is prevented from being wound with vines and branches during the action process;
3. according to the fruit stem cutting device, fruit stem cutting action of the end effector is realized through the rope drive, the arc-shaped cutter is arranged in the closed interlayer structure, the structure is ingenious and compact, the integral structure of the end effector looks round, the installation space is greatly reduced, the bending shape of the cutter and the bayonet design on the gripper can ensure that the cutter completely cuts off fruit stems, the cutting reliability is improved, the cutter moves close to the surface of the gripper, the structure is compact and hidden, and damage to vine branches and leaves in the cutting process is effectively avoided;
4. the fruit picking robot is arranged at the tail end of the mechanical arm of the picking robot, so that the fruit picking success rate is guaranteed, the damage rate of fruit harvesting is reduced, the working safety of the end effector is improved, and the fruit picking robot has the characteristics of ingenious structure, compact overall size, small size, round and round outer contour, high reliability, low manufacturing cost, stable operation, high working efficiency and good economic benefit, and can be generally applied to the fields of agricultural intelligent picking robots and the like.
Drawings
Fig. 1 is one of the schematic perspective views (closed hand grip) of the present invention.
Fig. 2 is a second schematic perspective view of the present invention (with the hand grip open and the housing omitted).
Fig. 3 is a front view schematically illustrating the structure of fig. 2.
Fig. 4 is a left side view of the structure of fig. 2.
Fig. 5 is a schematic top view of the structure of fig. 2.
Fig. 6 is a third schematic perspective view (with the hand grip closed and the housing omitted) of the present invention.
Fig. 7 is a front view of the upper cover plate of the present invention.
Fig. 8 is a right-side structural schematic view of the upper cover plate of the present invention.
Fig. 9 is a bottom view of the upper cover plate of the present invention.
Fig. 10 is a perspective view of the lower cover plate of the present invention.
Fig. 11 is a front view of the base of the present invention.
Fig. 12 is a schematic top view of the base of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
The utility model provides a picking robot end effector is driven to rope, includes that base 1, a pair of tongs, cutter 4, two first ropes drive mechanism, second rope drive mechanism. The tongs sets up on the base, and the cutter rotationally fixes a position on the tongs, and first rope drives the mechanism and is used for driving the tongs and opens and snatch the fruit, and the second rope drives the mechanism and is used for driving the cutter and rotate and cut off the fruit stalk.
The base is the disc, is equipped with two first through-holes 1.1 and a second through-hole 1.2 that link up the thickness direction on the base, and first through-hole is big-end-up's shoulder hole, and the base top surface still is equipped with two brace tables 1.4, and every both sides of propping up the brace table are equipped with round pin axle 1.5. The two support platforms are arranged symmetrically to the center of the chassis, and the two first through holes are also arranged symmetrically to the center of the chassis and located between the two support platforms. The chassis is also provided with a convex ring 1.3 which is coaxially arranged with the first through hole, the convex ring protrudes out of the top surface of the chassis by a certain height, and the inner diameter of the convex ring is larger than the inner diameter of the large hole of the first through hole.
The tongs comprise a supporting plate 2 and a grabbing plate 3, the supporting plate can be positioned on a supporting table of the base in a swinging mode, pin holes matched with the pin shafts are formed in the bottom end of the supporting plate, the grabbing plate is fixed to the top end of the supporting plate and is hemispherical, the swinging axes of the two tongs are parallel to each other, the inner sides of the two grabbing plates (the inner arc surfaces of the grabbing plates) are arranged oppositely, and a flexible material layer is further arranged on the inner side of the grabbing plate.
The edge of the top end of each grabbing plate is provided with a semi-elliptical bayonet 3.1, the bayonet faces to the bayonet on the other grabbing plate, and when the gripper is closed, the two bayonets can be folded into an elliptical hole to surround the fruit stalks. Still be equipped with layer board 10 in the backup pad, the layer board just is located the below of grabbing the board when the tongs are closed, can prevent in real time that the fruit from dropping snatching the fruit.
The gripper is further provided with a shell, the shell comprises an upper cover plate 14 and a lower cover plate 15, the upper cover plate is also hemispherical, the upper cover plate is mounted on the outer side of the grabbing plate through a fastener 9, a certain gap is kept between the upper cover plate and the grabbing plate, the lower cover plate is mounted on the outer side of the supporting plate through the fastener 9, and a certain gap is also kept between the lower cover plate and the supporting plate. The fastener comprises a plurality of welding studs 9.1, and a spacer bush 9.2 and a nut 9.3 which are matched with the welding studs, wherein a plurality of mounting holes are formed in the upper cover plate and the lower cover plate, the welding studs are respectively fixed on the outer sides of the support plate and the grabbing plate and penetrate through the mounting holes, the spacer bush is sleeved on the welding studs in a penetrating mode so that a certain distance is kept between the shell and the hand grab, and the nut is meshed with the welding studs so that the shell and the hand grab are fixed.
The cutter is rotatably positioned on the outer side of one of the grabbing plates through a rotating shaft 9-1, the cutter is curved in an arc shape, the bending degree of the cutter is matched with the appearance of the grabbing plate, a distance of 1mm is kept between the cutter and the outer side of the grabbing plate, and the length of the cutter is larger than the distance between the rotating shaft and the bayonet. When the cutter rotates, the cutter not only can be attached to the surface of the gripper to move, so that the whole structure is compact, the cutter is prevented from colliding with the gripper, and the cutter can slide over the bayonet to cut off fruit stalks. One of the welding studs on the hand grip is used as a rotating shaft of the cutting knife.
The first rope driving mechanism comprises a first driving unit, a first driving rope 11 and an elastic component. Every tongs is driven by a first rope drive mechanism, and first drive unit drives two tongs through first drive rope and closes, and elastic component then drives two tongs and opens. The first driving unit is arranged below the base, the first driving rope is arranged between the two grippers, the top end of the first driving rope is fixed with the supporting plate through the connecting plate 8, and the bottom end of the first driving rope downwards penetrates through the first through hole and then is connected with the first driving unit. Elastic component sets up between connecting plate and base, including pressure spring 6 and sleeve 7, the cover is worn at first driving rope outside to the pressure spring, and the connecting plate is withstood on the top of pressure spring, and the bottom of pressure spring stretches into in the first through-hole and withstands the step face of first through-hole, and the cover is worn at the pressure spring outside to the sleeve, and telescopic top is fixed with the connecting plate, and telescopic bottom then stretches into in the bulge loop. When the hand grip swings, the bottom end of the sleeve always moves in the convex ring, and the pressure spring can be prevented from jumping out when being stretched.
The second rope driving mechanism comprises a second driving unit, a second driving rope 12 and a tension spring 5, the second driving unit drives the cutter to rotate through the second driving rope to cut off fruit stalks, and the tension spring drives the cutter to rotate reversely to reset. The second driving unit is arranged below the base. The second driving rope is arranged on the outer side of one of the grippers, the top end of the second driving rope is fixed with the cutter, and the bottom end of the second driving rope extends downwards along the surface of the gripper and is connected with the second driving unit after penetrating through the second through hole. The grabbing plate and the supporting plate are both provided with a plurality of upright columns 13, one upright column 13-1 is used for fixing the tension spring, and the other upright columns are used for guiding the trend of the second driving rope. The cutter, the tension spring and the second driving rope are all arranged inside the shell, and the shell plays a role in protection, so that the parts can be prevented from being influenced by the branches and leaves of the vines.
The first driving unit, the second driving unit and the flexible material layer are all in the prior art. The first driving unit and the second driving unit can adopt motors. The flexible material layer can adopt rubber. The first and second driving units are omitted in the figure.
The interior of the two grippers of the end effector just forms a spherical cavity when the two grippers are closed, the spherical cavity just can wrap fruits, when a picking task is executed, soft materials such as rubber and the like are fixed on the inner side surface of the gripping plate in a pasting mode, so that the fruits can be prevented from being damaged in real time when the fruits are gripped firmly, meanwhile, the end effector has good containment performance on the fruits with irregular shapes, is particularly suitable for gripping soft fruits, and has the advantages of being reliable, compact in structure and good in economic benefit compared with the existing rigid grippers.
One of the key points of the end effector is that the opening and closing actions of the hand grip are realized through rope driving, and the process is as follows: because the one end of first driving rope and the connecting plate fixed connection of tongs, the shoulder hole of base is passed to the other end, can drive the tongs closure when first drive unit pulling first driving rope, and the pressure spring cover is compressed on first driving rope simultaneously, and when loosening first driving rope, the pressure spring extension promotes two tongs and opens, and the sleeve on the pressure spring can prevent that the pressure spring from jumping out.
The second key point of the end effector is that the fruit stalk cutting action of the end effector is realized through rope driving, and the process is as follows: firstly, stating that before the fruit stalk cutting action, the initial position of the cutter is as shown in fig. 2, when the fruit stalk cutting action is carried out, the second driving rope is pulled, the cutter sweeps an angle along the spherical surface of the grabbing plate (as shown in fig. 6), so that the fruit stalks in the bayonets are cut off, meanwhile, the tension spring is stretched and deformed, and when the second driving rope is loosened, the tension spring is contracted and pulls the cutter to reversely rotate to return to the original position.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. The utility model provides a picking robot end effector is driven to rope which characterized in that: the end effector comprises a pair of grippers arranged on the base, a cutter arranged on one gripper, two first rope driving mechanisms which respectively drive the two grippers to move so as to open and close the grippers to grab the fruits, and a second rope driving mechanism which drives the cutter to rotate so as to cut off the fruit stalks; the gripper comprises a support plate (2) which can swing to position the base (1) and a semispherical grabbing plate (3) which is arranged on the support plate, and the inner sides of the two grabbing plates are arranged oppositely; the cutter (4) is rotatably positioned at the outer side of one of the grabbing plates through a rotating shaft; the first rope driving mechanism comprises a first driving unit, a first driving rope (11) for transmitting the power of the first driving unit to close the hand grip, and an elastic assembly for driving the hand grip to open; the second rope driving mechanism comprises a second driving unit, a second driving rope (12) for transmitting the power of the second driving unit to enable the cutter to rotate to cut off the fruit stalks and a tension spring (5) for driving the cutter to rotate reversely;
the first driving rope is arranged between the two grippers, one end of the first driving rope is fixed with the supporting plate through a connecting plate (8), and the other end of the first driving rope extends to the lower part of the base and is connected with the first driving unit;
the second driving rope is arranged on the outer side of the gripper, one end of the second driving rope is fixed with the cutter, and the other end of the second driving rope extends to the lower part of the base and is connected with the second driving unit;
the gripper is provided with a shell which comprises an upper cover plate (14) arranged on the outer side of the gripper plate and a lower cover plate (15) arranged on the outer side of the support plate; gaps are kept between the upper cover plate and the grabbing plate and between the lower cover plate and the supporting plate.
2. The rope driven picking robot end effector of claim 1, wherein: the elastic component comprises a pressure spring (6) and a sleeve (7) which are arranged between the connecting plate and the base and sequentially sleeved on the first driving rope from inside to outside.
3. The rope driven picking robot end effector of claim 2, wherein: the edge of the top end of the grabbing plate is provided with a bayonet (3.1), and when the gripper is closed, the two bayonets are folded and surround the fruit stalks; the inner side of the grabbing plate is provided with a flexible material layer.
4. The rope driven picking robot end effector of claim 3, wherein: the cutter is curved in an arc shape; the length of the cutter is larger than the distance between the rotating shaft and the bayonet.
5. The rope driven picking robot end effector of claim 4, wherein: a supporting plate (10) is arranged on the supporting plate; and a plurality of upright posts (13) for guiding the second driving rope are arranged on the grabbing plate and the supporting plate.
6. The rope driven picking robot end effector of claim 5, wherein: two first through holes (1.1) for the first driving rope to pass through and a second through hole (1.2) for the second driving rope to pass through are formed in the base; the first through hole is a stepped hole, and two ends of the pressure spring respectively support against the stepped surfaces of the connecting plate and the first through hole; the top surface of the base is also provided with a convex ring (1.3) which is coaxially arranged with the first through hole, the top end of the sleeve is fixed with the connecting plate, and the bottom end of the sleeve extends into the convex ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011435536.8A CN112544236B (en) | 2020-12-10 | 2020-12-10 | End effector of rope-driven picking robot |
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| CN202011435536.8A CN112544236B (en) | 2020-12-10 | 2020-12-10 | End effector of rope-driven picking robot |
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| CN112544236B true CN112544236B (en) | 2021-10-26 |
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| CN115226487B (en) * | 2022-08-18 | 2023-12-22 | 浙江理工大学 | Picking equipment end actuating mechanism and picking equipment thereof |
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