CN113348864B - Small fruit and vegetable picking mechanism based on bionic adhesion - Google Patents
Small fruit and vegetable picking mechanism based on bionic adhesion Download PDFInfo
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- CN113348864B CN113348864B CN202110795357.3A CN202110795357A CN113348864B CN 113348864 B CN113348864 B CN 113348864B CN 202110795357 A CN202110795357 A CN 202110795357A CN 113348864 B CN113348864 B CN 113348864B
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- 235000012055 fruits and vegetables Nutrition 0.000 title claims abstract description 41
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 25
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 14
- 239000000853 adhesive Substances 0.000 claims description 6
- 230000001070 adhesive effect Effects 0.000 claims description 6
- KPUWHANPEXNPJT-UHFFFAOYSA-N disiloxane Chemical class [SiH3]O[SiH3] KPUWHANPEXNPJT-UHFFFAOYSA-N 0.000 claims description 3
- 229920002554 vinyl polymer Polymers 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 4
- 235000013311 vegetables Nutrition 0.000 abstract description 2
- 239000004433 Thermoplastic polyurethane Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 5
- 239000011347 resin Substances 0.000 description 4
- 229920005989 resin Polymers 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000000016 photochemical curing Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001723 curing Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a bionic adhesion-based small fruit and vegetable picking mechanism, and relates to the technical field of agricultural machinery. The fruit picking device comprises a soft body grabbing module, a stem leaf cutting module and a soft body supporting arm module, wherein the soft body grabbing module comprises a plurality of soft body grippers which are uniformly arranged and used for grabbing fruits, and the bottoms of the soft body grippers are fixedly connected with the stem leaf cutting module; the stem and leaf cutting module is used for cutting stem and leaf on the fruit; the top of the soft support arm module is fixedly connected with the stem leaf cutting module and is used for controlling the positions of the stem leaf cutting module and the soft grabbing module. The rigid-flexible integrated design is adopted, so that the structure is simple; the soft gripper has strong adaptability to the appearance of the small fruits and vegetables, can coat the small fruits and vegetables growing in different sizes and in various postures, is internally embedded with the distributed pressure sensors, and further realizes the nondestructive gripping of the small fruits and vegetables through the pressure sensors and adhesion; the annular cutter realizes the quick excision to terminal stem leaf under the drive of swing cylinder, has kept the integrality of miniature fruit vegetables fruit.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a small fruit and vegetable picking mechanism based on bionic adhesion.
Background
The picking mechanism is a mechanical structure specially serving modern agriculture, and has the advantages of all-weather operation, low cost, high efficiency and the like compared with the traditional manual picking. The structure is widely applied to agricultural robots at present, however, the existing picking mechanism mostly adopts a mode of motor driving and rigid clamping, the picking damage rate is high, the adaptability to fruit targets is low, and the difference between the structure and the function and the adhesion and the grabbing performance is large; the existing picking mechanism has the disadvantages of complicated mechanical structure, heavy driving energy source, large and heavy structural rigidity. The fruit surface is small in size, and thick fruits are difficult to grab; the existing picking mechanism is often directly connected with the rigid mechanical arm in series, the mechanical arm directly sends the picking mechanism to a designated position to execute work, and the tail end of the existing rigid mechanical arm is large, so that the position of the picking mechanism cannot be adjusted in a narrow operation space. Therefore, how to realize the nondestructive and efficient picking of small fruits and vegetables is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention mainly aims to provide a small fruit and vegetable picking mechanism based on bionic adhesion so as to solve the problems.
In order to achieve the purpose, the invention provides a bionic adhesion-based small fruit and vegetable picking mechanism, which comprises:
the soft grabbing module comprises a plurality of soft grabbers which are uniformly arranged and used for grabbing fruits, and the bottoms of the soft grabbers are fixedly connected with the stem leaf cutting module;
the stem and leaf cutting module is used for cutting stem and leaf on the fruit;
the top of the soft support arm module is fixedly connected with the stem leaf cutting module and is used for controlling the positions of the stem leaf cutting module and the soft grabbing module.
Further, the soft hand grip is provided with a back part and a palm part opposite to the back part; the inner part of the soft hand grip is of a hollow structure; the back of the soft hand grip is provided with a plurality of air cavities communicated with the inside of the soft hand grip in an array manner; the palm part array of the soft gripper is provided with a plurality of skin adhering flaps; the adhesive flap is provided with an adhesive material.
Furthermore, a distributed pressure sensor is arranged on one side, close to the palm, inside the soft gripper; when the interior of the soft gripper is inflated, the soft gripper bends towards the palm part to tightly hold fruits, and the embedded distributed pressure sensor measures the pressure of the palm part of the soft gripper in real time.
Further, the stem leaf cutting module comprises a lifting mechanism and a cutter mechanism connected with the lifting mechanism; the top of the lifting mechanism is fixedly connected with the soft grabbing module, and the bottom of the lifting mechanism is fixedly connected with the soft supporting arm module.
Furthermore, the lifting mechanism comprises an annular mounting rack, and an inner ring of the mounting rack is used for enabling fruits to fall into the soft support arm module; the top of the mounting frame is fixedly connected with the soft grabbing module, and the bottom of the mounting frame is fixedly connected with the soft supporting arm module; an annular groove is formed in the side wall of the mounting frame, and a sliding groove is formed in the annular groove along the axial direction; an air bag is arranged on one side, close to the bottom of the mounting frame, of the annular groove; a displacement ring is sleeved in the annular groove, and a sliding table matched with the sliding groove is arranged on the inner ring of the displacement ring; the bottom of the displacement ring is fixedly connected with the top of the air bag.
Further, the cutter mechanism comprises two swing cylinders and two annular cutters; the two swing cylinders are symmetrically arranged on the outer ring wall of the displacement ring; swing rods are fixedly arranged on both sides of the annular cutter; one of the oscillating rods is fixedly connected with the output end of one of the oscillating cylinders, and the other oscillating rod is hinged with the other oscillating cylinder; each oscillating cylinder drives only one annular cutter.
Further, the soft support arm module comprises a limiting ring, and the top of the limiting ring is fixedly connected with the stem leaf cutting module; a negative pressure pipe is arranged in the axis direction of the bottom of the limiting ring; a flange is arranged at the bottom of the negative pressure pipe; three corrugated pipe brakes are uniformly arranged around the negative pressure pipe, the tops of the corrugated pipe brakes are fixedly connected with the bottom of the limiting ring, and the bottoms of the corrugated pipe brakes are fixedly connected with the flange.
Furthermore, the number of the adhered skin flaps is seven, the adhered skin flaps are inclined towards the top of the soft hand grip, and the inclination angle is 40 degrees.
Further, the adhesion material is polyvinyl siloxane.
Furthermore, rigid saw teeth are arranged on the annular cutter, and the distribution angle of the saw teeth is 160 degrees.
The invention provides a mechanism which is driven by air pressure and realizes small fruit and vegetable picking by matching a soft gripper and an annular cutter, adopts a rigid-flexible integrated design, and solves the problems of high rigidity and heavy structure in the prior art; the soft gripper has strong adaptability to the appearance of the small fruits and vegetables, can coat the small fruits and vegetables growing in different sizes and in various postures, is internally embedded with the distributed pressure sensors, and further realizes the nondestructive gripping of the small fruits and vegetables through the pressure sensors and adhesion; the annular cutter realizes the quick excision to terminal stem leaf under the drive of swing cylinder, has kept the integrality of miniature fruit vegetables fruit.
Drawings
FIG. 1 is an overall schematic view of a bionic adhesion-based small fruit and vegetable picking mechanism.
FIG. 2 is a schematic diagram of a soft gripper of a small fruit and vegetable picking mechanism based on bionic adhesion.
FIG. 3 is a schematic diagram of a distributed pressure sensor of a bionic adhesion-based small fruit and vegetable picking mechanism.
Fig. 4 is a schematic diagram of a stem and leaf cutting module of a bionic adhesion-based small fruit and vegetable picking mechanism.
FIG. 5 is a sectional view of an air bag of a bionic adhesion-based small fruit and vegetable picking mechanism.
FIG. 6 is a bottom view of an air bag of a bionic adhesion-based small fruit and vegetable picking mechanism.
FIG. 7 is a schematic view of a small fruit and vegetable picking mechanism based on bionic adhesion in a normal state.
FIG. 8 is a schematic diagram of the clasping state of the bionic adhesion-based small fruit and vegetable picking mechanism.
FIG. 9 is a schematic diagram of a cutting-off state of a small fruit and vegetable picking mechanism based on bionic adhesion.
Wherein, 1-software grabbing module; 2-stem leaf cutting module; 3-a soft support arm module; 10-a soft hand grip; 11-a gas cavity; 12-a distributed pressure sensor; 13-adhering a flap; 14-a sticking material; 21-a mounting frame; 22-an annular groove; 23-a soft support arm module; 24-a chute; 25-displacement ring; 26-air bag; 27-a swing cylinder; 28-a swing lever; 31-a spacing ring; 32-bellows brake; 33-a negative pressure tube; 34-a flange; 261-fabric; 262-a thermoplastic polyurethane film; 263-air inlet.
Detailed Description
To achieve the above objects and advantages, the present invention provides a technical means and a structure thereof, which are described in detail with reference to the accompanying drawings.
As shown in fig. 1-9, the invention provides a bionic adhesion-based small fruit and vegetable picking mechanism, which comprises:
the soft gripping module 1 comprises a plurality of soft grippers 10 which are uniformly arranged and used for gripping fruits, and the bottoms of the soft grippers 10 are fixedly connected with the stem leaf cutting module 2;
the stem and leaf cutting module 2 is used for cutting stem and leaf on the fruit;
the top of the soft support arm module 3 is fixedly connected with the stem leaf cutting module 2 and is used for controlling the positions of the stem leaf cutting module 2 and the soft grabbing module 1.
The concrete structure is as follows:
the soft gripper 10 is prepared by photo-curing elastic photosensitive resin and is provided with a back part and a palm part opposite to the back part; the soft hand grip 10 is internally of a hollow structure; the back of the soft hand grip 10 is provided with a plurality of air cavities 11 communicated with the inside of the soft hand grip 10 in an array manner; a plurality of skin adhering flaps 13 are arranged on the palm part array of the soft hand grip 10; the material is elastic photosensitive resin and is connected with the soft gripper 10 in a curing way of the photosensitive resin; the adhesive skin flap 13 is provided with an adhesive material 14; the soft hand grip 10 picks small fruits and vegetables, and the small fruits and vegetables are fragile due to the adhesion force generated by the contact of the adhesion material 14 adhered to the surface of the adhesion skin flap 13 and the surface of the small fruits and vegetables, so that the small fruits and vegetables can be picked in an undamaged fruit picking mode by utilizing the adhesion force, the method is different from a method of clamping the small fruits and vegetables by using a machine, the internal tissues of the small fruits and vegetables can be prevented from being damaged by excessive pressure through adhesion and grabbing, and the picking efficiency is further improved, so that the high-efficiency agriculture is realized.
A distributed pressure sensor 12 is arranged on one side of the interior of the soft hand grip 10 close to the palm part; the distributed pressure sensors 12 are printed on a material on one side, close to a palm portion, inside the soft gripper 10 through 3D printing of conductive electrode ink, the distributed pressure sensors 12 are soft and bendable, the principle is that when the distributed pressure sensors 12 do not deform, circuit capacitance does not change, when the soft gripper 10 contacts small fruits and vegetables, capacitance changes caused by deformation of an array of the distributed pressure sensors 12, and by measuring relative capacitance of each distributed pressure sensor 12, a relation model of capacitance values and pressure is established, and the pressure of the palm portion of the soft gripper 10 can be measured in real time.
The stem leaf cutting module 2 comprises a lifting mechanism and a cutter mechanism connected with the lifting mechanism; the cutter mechanism comprises two swing cylinders 27 and two annular cutters 23; the top of the lifting mechanism is fixedly connected with the soft grabbing module 1, and the bottom of the lifting mechanism is fixedly connected with the soft supporting arm module 3. The lifting mechanism comprises an annular mounting frame 21, and the inner ring of the mounting frame 21 is used for dropping fruits into the soft support arm module 3; the top of the mounting frame 21 is fixedly connected with the soft grabbing module 1, and the bottom of the mounting frame is fixedly connected with the soft supporting arm module 3; an annular groove 22 is formed in the side wall of the mounting frame 21, and a sliding groove 24 is formed in the annular groove 22 along the axial direction; an air bag 26 is arranged on one side of the annular groove 22 close to the bottom of the mounting frame 21; a displacement ring 25 is sleeved in the annular groove 22, and a sliding table matched with the sliding groove 24 is arranged on the inner ring of the displacement ring 25; the bottom of the displacement ring 25 is fixedly connected with the top of the air bag 26; two swing cylinders 27 are symmetrically arranged on the outer ring wall of the displacement ring 25; swing rods 28 are fixedly arranged on both sides of the annular cutter 23; one of the oscillating rods 28 is fixedly connected with the output end of one of the oscillating cylinders 27, and the other oscillating rod 28 is hinged with the other oscillating cylinder 27; each oscillating cylinder 27 drives only one annular cutter 23. The symmetrically arranged annular cutters 23 are locked in rotation in opposite directions by means of a torque amplification by means of a swing lever 28. The displacement ring 25 is a driven member which moves up and down along the slide groove 24 by the inflation and vacuum contraction deformation of the air bag 26.
The specific work flow of the annular cutter 23 can be divided into three steps, wherein the first step is that the soft gripper 10 deforms in a positive pressure manner and shrinks inwards to make a displacement space of the annular cutter 23, and meanwhile, the air bag 26 inflates and expands to push the displacement ring 25 to move to the top of the annular groove 22, so that the annular cutter 23 is driven to integrally displace. The second step is that the swing cylinder 27 is inflated to push the swing rod 28 to drive the annular cutter 23 to rotate, and the stems and leaves are cut off by opposite locking. The third step is that the swing cylinder 27 is deflated, the annular cutter 23 is reset, the air bag 26 sucks air under negative pressure, and the displacement ring 25 is reset. And the soft hand grip 10 is restored to the normal pressure state.
The soft support arm module 3 comprises a limiting ring 31, and the top of the limiting ring 31 is fixedly connected with the stem leaf cutting module 2; a negative pressure pipe 33 is arranged on the bottom of the limiting ring 31 in the axial direction; a flange 34 is arranged at the bottom of the negative pressure pipe 33; the flange 34 is connected with the mechanical arm, so that the application range is expanded; three corrugated pipe brakes 32 are uniformly arranged around the negative pressure pipe 33, the tops of the corrugated pipe brakes 32 are fixedly connected with the bottom of the limiting ring 31, and the bottoms of the corrugated pipe brakes 32 are fixedly connected with the flange 34. The three corrugated pipe brakes 32 are respectively introduced with different air pressures to enable the soft body support arm module 3 to generate various posture deformations, thereby realizing the position adjustment of the small fruit and vegetable picking mechanism in a narrow space. The removed small fruit and vegetable is sucked into the terminal collector through the negative pressure pipe 33.
As a preferred embodiment, the soft gripper 10 is integrally manufactured and formed by SLA photocuring technology, the material of the soft gripper is elastic resin, the number of the gas cavities 11 can be reduced according to the increase of the fruit gripping size, the more the gas cavities 11 are, the better the deformation is, and the stronger the wrapping property on the fruit is;
in a preferred embodiment, the number of the adhered skin flaps 13 is seven, the adhered skin flaps 13 are inclined towards the top of the soft hand grip 10 by an angle of 40 degrees, and the adhered material 14 is polyvinyl siloxane.
In a preferred embodiment, the annular cutting knife 23 is provided with rigid saw teeth, and the distribution angle of the saw teeth is 160 °.
In a preferred embodiment, the material of the bellows stopper 32 is TPU 92A, and is manufactured by 3D printing using FDM technology. The TPU 92A material has certain flexibility and enough tensile strength, is integrally formed by a 3D printing technology without a seam, and ensures enough strength when pressure is high. The posture change of 6 degrees of freedom of the soft body support arm module is realized through the difference of air pressure of the three corrugated pipe brakes 32.
The soft support arm module 3 is small in size and flexible, the flexibility of small fruit and vegetable picking hands in narrow space is further improved, the working condition of the soft support arm module is that the tail end picking hands can hardly meet small fruits and vegetables growing inside when in operation, and the fruits and roots on the outer side need to be avoided when picking, so that the soft support arm module 3 is required to be further adjusted in position to avoid obstacles, and the soft hand grips 10 are sent to a designated position to finish picking work.
In a preferred embodiment, the air bag 26 is made of two materials, namely fabric 261 and thermoplastic polyurethane film 262, and a total of three air bags 26 are formed into concentric circles, the air inlets 263 are reserved on the single air bag 26, and the three air bags 26 are uniformly supplied with air by an air pipe. The outer layer of the thermoplastic polyurethane film 262 is a fabric 261 which is compounded by polyester fiber and cotton and provides good strength and thickness. During operation, the air bag 26 is inflated by positive pressure through the trachea, the air bag 26 expands, negative pressure is sucked into the air bag 26, and the air bag 26 contracts.
The above description is only a preferred embodiment of the present invention, and not all embodiments, and all structural changes made under the teaching of the present invention should be understood as belonging to the protection scope of the present invention.
Claims (6)
1. A bionic adhesion-based small fruit and vegetable picking mechanism is characterized by comprising:
the soft grabbing module comprises a plurality of soft grabbers which are uniformly arranged and used for grabbing fruits, and the bottoms of the soft grabbers are fixedly connected with the stem leaf cutting module;
the stem and leaf cutting module is used for cutting off stems and leaves on the fruits;
the top of the soft support arm module is fixedly connected with the stem leaf cutting module and is used for controlling the positions of the stem leaf cutting module and the soft grabbing module;
the stem leaf cutting module comprises a lifting mechanism and a cutter mechanism connected with the lifting mechanism; the top of the lifting mechanism is fixedly connected with the soft grabbing module, and the bottom of the lifting mechanism is fixedly connected with the soft supporting arm module;
the lifting mechanism comprises an annular mounting frame, and an inner ring of the mounting frame is used for enabling fruits to fall down to enter the soft support arm module; the top of the mounting frame is fixedly connected with the soft grabbing module, and the bottom of the mounting frame is fixedly connected with the soft support arm module; an annular groove is formed in the side wall of the mounting frame, and a sliding groove is formed in the annular groove along the axial direction; an air bag is arranged on one side, close to the bottom of the mounting frame, of the annular groove; a displacement ring is sleeved in the annular groove, and a sliding table matched with the sliding groove is arranged on the inner ring of the displacement ring; the bottom of the displacement ring is fixedly connected with the top of the air bag;
the cutter mechanism comprises two swing cylinders and two annular cutters; the two swing cylinders are symmetrically arranged on the outer ring wall of the displacement ring; swing rods are fixedly arranged on both sides of the annular cutter; one of the oscillating rods is fixedly connected with the output end of one of the oscillating cylinders, and the other oscillating rod is hinged with the other oscillating cylinder; each swing cylinder only drives one annular cutter;
the soft support arm module comprises a limiting ring, and the top of the limiting ring is fixedly connected with the stem leaf cutting module; a negative pressure pipe is arranged in the axis direction of the bottom of the limiting ring; a flange is arranged at the bottom of the negative pressure pipe; three corrugated pipe brakes are uniformly arranged around the negative pressure pipe, the tops of the corrugated pipe brakes are fixedly connected with the bottom of the limiting ring, and the bottoms of the corrugated pipe brakes are fixedly connected with the flange.
2. The small fruit and vegetable picking mechanism based on bionic adhesion as claimed in claim 1, wherein the soft hand grip is provided with a back part and a palm part opposite to the back part; the inner part of the soft hand grip is of a hollow structure; the back of the soft hand grip is provided with a plurality of air cavities communicated with the inside of the soft hand grip in an array manner; the palm part array of the soft gripper is provided with a plurality of skin adhering flaps; the adhesive flap is provided with an adhesive material.
3. The small fruit and vegetable picking mechanism based on bionic adhesion as claimed in claim 1, wherein a distributed pressure sensor is arranged on one side of the inner part of the soft hand grip, which is close to the palm part; when the interior of the soft gripper is inflated, the soft gripper bends towards the palm part to tightly hold fruits, and the embedded distributed pressure sensor measures the pressure of the palm part of the soft gripper in real time.
4. The small fruit and vegetable picking mechanism based on bionic adhesion as claimed in claim 2, wherein the number of the adhesion skin flaps is seven, the adhesion skin flaps are inclined towards the top of the soft hand grip, and the inclination angle is 40 °.
5. The small fruit and vegetable picking mechanism based on biomimetic adhesion as recited in claim 2, wherein the adhesion material is polyvinyl siloxane.
6. The small fruit and vegetable picking mechanism based on bionic adhesion as claimed in claim 1, wherein the annular cutter is provided with rigid saw teeth, and the distribution angle of the saw teeth is 160 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110795357.3A CN113348864B (en) | 2021-07-14 | 2021-07-14 | Small fruit and vegetable picking mechanism based on bionic adhesion |
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| CN202110795357.3A CN113348864B (en) | 2021-07-14 | 2021-07-14 | Small fruit and vegetable picking mechanism based on bionic adhesion |
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| CN113348864B true CN113348864B (en) | 2022-07-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3863814A4 (en) * | 2018-10-08 | 2022-10-19 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| WO2024100429A1 (en) * | 2022-11-08 | 2024-05-16 | PeK Automotive d.o.o. | Fruit picking manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9832980B2 (en) * | 2012-02-22 | 2017-12-05 | Carter J. Kovarik | Selectively bendable remote gripping tool |
| CN108501015B (en) * | 2018-06-25 | 2020-09-22 | 南京航空航天大学 | Bionic flexible gripping device with adhesion and hook mixed contact functions |
| CN209170932U (en) * | 2018-12-17 | 2019-07-30 | 徐晶 | A kind of device for picking for testing fruit-picking |
| CN111165171B (en) * | 2019-12-29 | 2022-01-04 | 浙江大学 | Knot ball vegetables pick system with touch perception function |
| CN111360866B (en) * | 2020-03-31 | 2022-07-22 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN112930868A (en) * | 2021-03-30 | 2021-06-11 | 南京农业大学 | Flexible grasping and sucking type picking end effector for small spherical fruits and picking method thereof |
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