CN114012768A - Apple picking manipulator capable of shearing fruit stems and apple picking method thereof - Google Patents
Apple picking manipulator capable of shearing fruit stems and apple picking method thereof Download PDFInfo
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- CN114012768A CN114012768A CN202111416342.8A CN202111416342A CN114012768A CN 114012768 A CN114012768 A CN 114012768A CN 202111416342 A CN202111416342 A CN 202111416342A CN 114012768 A CN114012768 A CN 114012768A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 49
- 238000010008 shearing Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 11
- 241000220225 Malus Species 0.000 claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 235000021016 apples Nutrition 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 58
- 239000012636 effector Substances 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000005520 cutting process Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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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
- A01D46/24—Devices for picking apples or like fruit
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an apple picking manipulator capable of shearing fruit stalks and an apple picking method thereof. The invention comprises a three-finger clamping mechanism and a fruit stem shearing mechanism; during picking, three fingers of the clamping mechanism are closed to clamp the apple, two motors of the fruit stem shearing mechanism rotate reversely at a constant speed, the spherical blade I and the spherical blade II rotate reversely to be closed, the apple stem is cut off, and the apple is picked; then, two motors drive two blades to reset, three fingers are opened, and the apples are collected. The blades in the stem shearing mechanism are arc-shaped, so that stems can be sheared in a larger range, apple stems can be quickly sheared in any apple posture, and when the stems are thick and difficult to shear, the two blades can clamp the stems, and the mechanical arm rotates to tear the stems apart, so that apples with the stems can be picked. Therefore, the invention can better pick apples with fruit stalks and avoid the falling of the fruit stalks from influencing the storage of the fruits.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to an apple picking manipulator capable of shearing fruit stalks and an apple picking method thereof.
Background
As the biggest apple producing country and consuming country in the world, the development potential of the apple industry in China is huge, but in the apple production process, the mechanization degree is not high, and most of the apples need to be picked manually. Aiming at the defects that the labor intensity of manual picking is high, picking at high positions of fruit trees is not suitable, and the like, a series of researches are carried out on the apple picking manipulator at home and abroad.
Like a Japanese two-finger clamping manipulator, the picking speed is high, but the picking quality is general; the seven-degree-of-freedom picking robot in the United states, although flexible, has a high control difficulty. Moreover, these machines only grip the apple and then separate it from the branches by pulling or twisting.
Disclosure of Invention
The invention aims to provide an apple picking end effector capable of shearing fruit stalks so as to solve the problem that the fruit stalks are easy to fall off when apples are picked mechanically at present.
The technical scheme adopted by the invention is as follows:
the invention relates to an apple picking manipulator capable of shearing fruit stalks, which comprises a mechanical arm and an end effector; the end effector is driven by the mechanical arm; the end effector comprises a three-finger clamping mechanism, a carpopodium shearing mechanism and a supporting mechanism; the three-finger clamping mechanism comprises fingers, a finger mounting frame, a rope connecting plate, a flange nut, a guide rod, a screw rod and a stepping motor; the finger mounting rack is fixed on the supporting mechanism; the three fingers are uniformly distributed along the circumferential direction of the finger mounting rack; the middle part of the finger is hinged with the finger mounting rack through a pin shaft and is connected with the finger mounting rack through a torsion spring; the tail parts of the fingers are connected with the rope connecting plate through steel wire ropes; the rope connecting plate is fixed with the flange nut and forms a sliding pair with the guide rod; the flange nut and the screw rod form a screw pair; the guide rod is fixed on the supporting mechanism; the screw rod is connected with an output shaft of the stepping motor through a coupler; the base of the stepping motor is fixed on the supporting mechanism; the fruit handle shearing mechanism comprises a second transmission shaft, a second spherical blade, a first worm-gear pair, a first transmission shaft, a second worm-gear pair and a driving motor; the second transmission shaft and the support mechanism form a revolute pair; the first shaft sleeve is fixed on the second transmission shaft; one end of the spherical blade I is sleeved on the transmission shaft II in an empty mode and is fixed with the shaft sleeve I; the worm wheel of the first worm wheel and worm pair is fixed on the second transmission shaft and is positioned at the inner end of the first shaft sleeve; one end of the spherical blade II is fixed with the positioning sleeve; the positioning sleeve is sleeved on the second transmission shaft in a hollow mode and is positioned at the outer end of the first shaft sleeve; the external thread at the outer end of the transmission shaft II is connected with the fastening nut I; the fastening nut compresses the positioning sleeve; the worm of the first worm-and-gear pair is meshed with the worm wheel of the first worm-and-gear pair and forms a rotating pair with the supporting mechanism; the first transmission shaft and the support mechanism form a revolute pair; the other end of the spherical blade I is fixed with the sleeve I; the first sleeve is sleeved on the first transmission shaft in an empty mode; the second shaft sleeve is fixed on the first transmission shaft and is positioned at the outer end of the first sleeve; the other end of the spherical blade II is sleeved on the transmission shaft I in a hollow mode and is fixed with the shaft sleeve II; the worm wheel of the worm-wheel and worm-gear pair II is fixed on the first transmission shaft and is positioned at the inner end of the first sleeve; the external thread at the outer end of the transmission shaft is connected with a fastening nut II; the second fastening nut compresses the second shaft sleeve; the worm of the worm-gear pair II is meshed with the worm wheel of the worm-gear pair II and forms a rotating pair with the supporting mechanism; the worms of the first worm-gear pair and the second worm-gear pair are respectively driven by a driving motor; and two sides of the first spherical blade and the second spherical blade are provided with cutting edges.
Preferably, the torsion spring is sleeved on the pin shaft, one end of the torsion spring is fixed with the finger, and the other end of the torsion spring is fixed with the finger mounting rack.
Preferably, the steel wire rope passes through holes at corresponding positions on the finger mounting frame and the supporting mechanism.
Preferably, a gasket is sleeved on the second transmission shaft and is arranged between the second spherical blade and the first spherical blade.
Preferably, a second sleeve is sleeved on the second transmission shaft, and the second sleeve is arranged between the first sleeve and the worm wheel.
Preferably, the worm is connected with an output shaft of the driving motor through a coupling; the base of the driving motor is fixed on the supporting mechanism.
Preferably, the worm and the cover plate form a revolute pair; the cover plate is connected with the supporting mechanism through screws.
Preferably, the support mechanism comprises a platform, a stud and a bottom plate; the platform is fixedly connected with the bottom plate through a double-end stud; the finger mounting rack is fixed with the platform; the guide rod is fixed on the bottom plate; the base of the stepping motor is fixed with the first motor frame, and the first motor frame is fixed with the bottom plate; the second transmission shaft and the first transmission shaft and two hinge holes which are coaxially arranged and are formed in the platform respectively form a revolute pair; the base of the driving motor is fixed with the second motor frame, and the second motor frame is fixed with the platform.
The apple picking method of the apple picking manipulator capable of shearing the fruit stalks comprises the following specific steps:
the mechanical arm drives the end effector to wrap three fingers of the three-finger clamping mechanism outside the apples to be picked; then, the stepping motor drives the screw rod to rotate, the flange nut and the rope connecting plate are driven to synchronously move downwards, and the rope connecting plate pulls the three steel wire ropes, so that the three fingers are driven to fold inwards to clamp the apple; then, the two driving motors rotate reversely at a constant speed, the first driving shaft and the second driving shaft are driven to rotate by the first worm gear pair and the second worm gear pair respectively, the first driving shaft drives the first spherical blade, and the first driving shaft drives the second spherical blade, so that the first spherical blade and the second spherical blade rotate reversely and are folded, the first spherical blade and the second spherical blade cut off apple stems, and the apples are collected by three fingers of the three-finger clamping mechanism; when the fruit stem is thick and difficult to cut off, the spherical blade I and the spherical blade II keep clamping the fruit stem, and the fruit stem is pulled apart by rotating the mechanical arm; and finally, the two driving motors continue to drive the first spherical blade and the second spherical blade to rotate reversely to the position where the opening is maximum.
Preferably, after the apples are collected by the three fingers of the three-finger clamping mechanism, the lead screw is driven to rotate by the stepping motor to drive the flange nut and the rope connecting plate to move upwards synchronously, the rope connecting plate loosens the three steel wire ropes, the three fingers reset and open under the action of the elasticity of the torsion spring to loosen the apples, and the apples fall into the mesh bags fixed on the supporting mechanism.
The invention has the following beneficial effects:
the invention adopts an under-actuated multi-finger hand, can control three fingers to open and close simultaneously by only one motor, and has the advantages of small actuating number, low cost and the like. Furthermore, the invention combines and uses rope transmission, lead screw and nut transmission and worm and gear transmission, and has simple and compact structure and stable transmission. Still further, the blade in the fruit stem shearing mechanism is arc-shaped, the cutting area of rotary shearing is large, and the apple stem can be better cut off without considering the posture of the apple too much. Furthermore, the three-finger clamping mechanism and the apple stem shearing mechanism are combined, after the three-finger clamping mechanism clamps the apple, the apple stem shearing mechanism cuts off the apple stem, meanwhile, the three-finger clamping mechanism immediately collects the apple, and the collected apple stem is not easy to fall off. Therefore, the apple stem can be quickly cut and the apples can be quickly collected under any apple posture, and the adaptability is strong; certainly, in order to further improve efficiency, can fix the pocket on supporting mechanism, the apple that three indicate that clamping mechanism collected is loosened, and the apple just falls into the pocket, waits that the pocket collects full apple arm and then drives end effector and withdraws, takes off the pocket. When the fruit stalks are thick and difficult to cut off, the fruit stalk cutting mechanism can also clamp the fruit stalks, and the fruit stalks are cut off by rotating the mechanical arms, so that picking of apples with the fruit stalks is further guaranteed, and the fruit stalks are prevented from falling off to influence storage of fruits.
Drawings
FIG. 1 is a perspective view of an apple picking manipulator capable of cutting fruit stalks according to the present invention in a state of picking apples;
FIG. 2 is a perspective view of the end effector of the present invention;
FIG. 3 is a side view of the end effector of the present invention;
FIG. 4 is a top view of the end effector of the present invention;
fig. 5 is a structural sectional view of an end effector in the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figure 1, the apple picking manipulator capable of shearing the fruit stalks comprises a mechanical arm I and an end effector II; the end effector is driven by the mechanical arm; as shown in fig. 2, the end effector comprises a three-finger clamping mechanism 1, a fruit stem shearing mechanism 2 and a supporting mechanism 3; as shown in fig. 3 and 5, the three-finger clamping mechanism 1 comprises fingers 11, a finger mounting frame 12, a rope connecting plate 13, a flange nut 14, a guide rod 15, a screw rod 16 and a stepping motor 17; the finger mounting frame 12 is fixed on the supporting mechanism 3; the three fingers 11 are uniformly distributed along the circumferential direction of the finger mounting rack 12; the middle part of the finger 11 is hinged with the finger mounting rack 12 through a pin shaft and is connected with the finger mounting rack through a torsion spring 18; the tail part of the finger 11 is connected with a rope connecting plate 13 through a steel wire rope 19; the rope connecting plate 13 is fixed with the flange nut 14 and forms a sliding pair with the guide rod 15; the flange nut 14 and the screw rod form a screw pair; the guide rod 15 is fixed on the supporting mechanism 3; the screw rod 16 is connected with an output shaft of the stepping motor 17 through a coupler; the base of the stepping motor 17 is fixed on the supporting mechanism 3; as shown in fig. 4, the stalk cutting mechanism 2 includes a second transmission shaft 21, a second spherical blade 23, a first spherical blade 25, a first worm-and-gear pair, a first transmission shaft 212, a second worm-and-gear pair and a driving motor 215; the second transmission shaft 21 and the support mechanism 3 form a revolute pair; the first shaft sleeve 26 is fixed on the second transmission shaft 21; one end of the spherical blade I25 is sleeved on the transmission shaft II 21 in an empty way and is fixed with the shaft sleeve I26; a worm wheel 28 of the first worm-gear pair is fixed on the second transmission shaft 21 and is positioned at the inner end of the first shaft sleeve 26; one end of the second spherical blade 23 is fixed with the positioning sleeve 22; the positioning sleeve 22 is sleeved on the second transmission shaft 21 in an empty mode and is positioned at the outer end of the first shaft sleeve 26; the external thread at the outer end of the second transmission shaft 21 is connected with the first fastening nut; the first fastening nut compresses the positioning sleeve 22; the worm 29 of the first worm-gear pair is meshed with the worm wheel 28 of the first worm-gear pair and forms a rotating pair with the support mechanism 3; the first transmission shaft 212 and the support mechanism 3 form a revolute pair; the other end of the spherical blade I25 is fixed with the sleeve I211; the first sleeve 211 is sleeved on the first transmission shaft 212; the second shaft sleeve is fixed on the first transmission shaft 212 and is positioned at the outer end of the first sleeve 211; the other end of the second spherical blade 23 is sleeved on the first transmission shaft 212 in an empty mode and is fixed with the second shaft sleeve; the worm wheel 28 of the worm-gear pair II is fixed on the first transmission shaft 212 and is positioned at the inner end of the first sleeve 211; the external thread at the outer end of the first transmission shaft 212 is connected with a second fastening nut; a second fastening nut compresses the second shaft sleeve; the worm 29 of the worm-gear pair II is meshed with the worm wheel 28 of the worm-gear pair II and forms a rotating pair with the supporting mechanism 3; the worms 29 of the first worm-gear pair and the second worm-gear pair are respectively driven by a driving motor 215; the two sides of the first spherical blade 25 and the second spherical blade 23 are provided with cutting edges, so that the cutting can be carried out back and forth, and the efficiency is improved.
As a preferred embodiment, as shown in fig. 1, a four-axis robot arm having three horizontal rotating shafts and one vertical rotating shaft is used as the robot arm, which is a prior art.
As a preferred embodiment, as shown in fig. 4, the torsion spring is sleeved on the pin, and one end of the torsion spring is fixed with the finger 11, and the other end is fixed with the finger mounting frame 12.
As a preferred embodiment, the cable passes through the finger mount 12 and a correspondingly located through hole in the support mechanism 3, as shown in figure 5.
As a preferred embodiment, as shown in FIG. 4, a second transmission shaft 21 is sleeved with a second spacer 24, and the second spacer 24 is arranged between a second spherical blade 23 and a first spherical blade 25.
As a preferred embodiment, as shown in FIG. 4, a second sleeve 27 is sleeved on the second transmission shaft 21, and the second sleeve 27 is arranged between the first sleeve 26 and the worm wheel 28.
As a preferred embodiment, as shown in fig. 3, the worm 29 is connected with the output shaft of the driving motor 215 through a coupling 213; the base of the drive motor 215 is fixed to the support mechanism 3.
As a preferred embodiment, as shown in fig. 4, the worm 29 and the cover plate 210 form a revolute pair; the cover plate 210 is connected to the support mechanism 3 by screws.
As a preferred embodiment, as shown in fig. 3, the support mechanism 3 includes a platform 31, a stud 32, and a base plate 33; the platform 31 is fixedly connected with the bottom plate 33 through a stud 32; the finger mount 12 is fixed to the platform 31; the guide rod 15 is fixed on the bottom plate 33; the base of the stepping motor 17 is fixed with a first motor frame, and the first motor frame is fixed with the bottom plate 33; the second transmission shaft 21, the first transmission shaft 212 and two coaxially arranged hinge holes formed in the platform 31 respectively form a revolute pair; the base of the driving motor 215 is fixed to the second motor frame 214, and the second motor frame 214 is fixed to the platform 31.
The apple picking method of the apple picking manipulator capable of shearing the fruit stalks comprises the following specific steps:
the mechanical arm drives the end effector to wrap the three fingers 11 of the three-finger clamping mechanism 1 outside the apple III to be picked; then, the stepping motor 17 drives the screw rod to rotate, so as to drive the flange nut 14 and the rope connecting plate 13 to synchronously move downwards, and the rope connecting plate 13 pulls the three steel wire ropes 19, so as to drive the three fingers 11 to fold inwards and clamp the apple; then, the two driving motors 215 rotate reversely at a constant speed, the first driving shaft and the second driving shaft are driven to rotate by the first worm gear pair and the second worm gear pair respectively, the second driving shaft drives the first spherical blade 25, and the first driving shaft drives the second spherical blade 23, so that the first spherical blade 25 and the second spherical blade 23 rotate reversely to be folded, the first spherical blade 25 and the second spherical blade 23 cut off the apple stem, and the apple is collected by the three fingers 11 of the three-finger clamping mechanism 1; when the fruit stem is thick and difficult to cut off, the first spherical blade 25 and the second spherical blade 23 keep clamping the fruit stem, and the fruit stem is pulled apart by rotating the mechanical arm; finally, the two driving motors 215 continue to drive the spherical blades one 25 and two spherical blades 23 to rotate reversely to the position where the opening is maximized. Wherein the mechanical arm, the stepping motor 17 and the driving motor 215 are all controlled by a controller.
After the apples are collected by the three fingers 11 of the three-finger clamping mechanism 1, the three-finger clamping mechanism 1 can be retracted by the mechanical arm, the apples are loosened by the three-finger clamping mechanism 1, and the apples fall into the collection frame; or, in order to further improve the efficiency, a mesh bag can be fixed on the supporting mechanism, the three-finger clamping mechanism loosens the apples, the apples fall into the mesh bag, and the end effector is driven to withdraw after the mesh bag is fully collected by the apple mechanical arm, so that the mesh bag is taken down. Wherein, the process that three indicate fixture 1 loosens the apple is as follows: the stepping motor 17 drives the lead screw to rotate, so that the flange nut 14 and the rope connecting plate 13 are driven to synchronously move upwards, the rope connecting plate 13 loosens three steel wire ropes 19, the three fingers 11 reset and open under the elastic action of the torsion spring 18, and the apple is loosened. Because the two sides of the first spherical blade 25 and the second spherical blade 23 are provided with the cutting edges, when the fruit stems are cut next time, the two driving motors 215 can switch and turn, and the turning does not need to be switched immediately after the fruit stems are cut every time, the switching time can be saved for the scheme of fixing the mesh bag on the supporting mechanism, the first spherical blade 25 and the second spherical blade 23 can not interfere with the falling of the apples as soon as possible, and the apples can be loosened and collected as soon as possible by the three fingers 11 of the three-finger clamping mechanism 1.
Claims (10)
1. An apple picking manipulator capable of shearing fruit stalks comprises a mechanical arm and an end effector, wherein the end effector is driven by the mechanical arm; the method is characterized in that: the end effector comprises a three-finger clamping mechanism, a carpopodium shearing mechanism and a supporting mechanism; the three-finger clamping mechanism comprises fingers, a finger mounting frame, a rope connecting plate, a flange nut, a guide rod, a screw rod and a stepping motor; the finger mounting rack is fixed on the supporting mechanism; the three fingers are uniformly distributed along the circumferential direction of the finger mounting rack; the middle part of the finger is hinged with the finger mounting rack through a pin shaft and is connected with the finger mounting rack through a torsion spring; the tail parts of the fingers are connected with the rope connecting plate through steel wire ropes; the rope connecting plate is fixed with the flange nut and forms a sliding pair with the guide rod; the flange nut and the screw rod form a screw pair; the guide rod is fixed on the supporting mechanism; the screw rod is connected with an output shaft of the stepping motor through a coupler; the base of the stepping motor is fixed on the supporting mechanism; the fruit handle shearing mechanism comprises a second transmission shaft, a second spherical blade, a first worm-gear pair, a first transmission shaft, a second worm-gear pair and a driving motor; the second transmission shaft and the support mechanism form a revolute pair; the first shaft sleeve is fixed on the second transmission shaft; one end of the spherical blade I is sleeved on the transmission shaft II in an empty mode and is fixed with the shaft sleeve I; the worm wheel of the first worm wheel and worm pair is fixed on the second transmission shaft and is positioned at the inner end of the first shaft sleeve; one end of the spherical blade II is fixed with the positioning sleeve; the positioning sleeve is sleeved on the second transmission shaft in a hollow mode and is positioned at the outer end of the first shaft sleeve; the external thread at the outer end of the transmission shaft II is connected with the fastening nut I; the fastening nut compresses the positioning sleeve; the worm of the first worm-and-gear pair is meshed with the worm wheel of the first worm-and-gear pair and forms a rotating pair with the supporting mechanism; the first transmission shaft and the support mechanism form a revolute pair; the other end of the spherical blade I is fixed with the sleeve I; the first sleeve is sleeved on the first transmission shaft in an empty mode; the second shaft sleeve is fixed on the first transmission shaft and is positioned at the outer end of the first sleeve; the other end of the spherical blade II is sleeved on the transmission shaft I in a hollow mode and is fixed with the shaft sleeve II; the worm wheel of the worm-wheel and worm-gear pair II is fixed on the first transmission shaft and is positioned at the inner end of the first sleeve; the external thread at the outer end of the transmission shaft is connected with a fastening nut II; the second fastening nut compresses the second shaft sleeve; the worm of the worm-gear pair II is meshed with the worm wheel of the worm-gear pair II and forms a rotating pair with the supporting mechanism; the worms of the first worm-gear pair and the second worm-gear pair are respectively driven by a driving motor; and two sides of the first spherical blade and the second spherical blade are provided with cutting edges.
2. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: the torsion spring is sleeved on the pin shaft, one end of the torsion spring is fixed with the finger, and the other end of the torsion spring is fixed with the finger mounting rack.
3. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: the steel wire rope penetrates through the through holes in the corresponding positions on the finger mounting frame and the supporting mechanism.
4. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: and a gasket is sleeved on the upper part of the second transmission shaft and is arranged between the second spherical blade and the first spherical blade.
5. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: and a second sleeve is sleeved on the second transmission shaft, and the second sleeve is arranged between the first shaft sleeve and the worm wheel.
6. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: the worm is connected with an output shaft of the driving motor through a coupler; the base of the driving motor is fixed on the supporting mechanism.
7. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: the worm and the cover plate form a revolute pair; the cover plate is connected with the supporting mechanism through screws.
8. The apple picking manipulator capable of shearing fruit stalks according to claim 1, wherein: the supporting mechanism comprises a platform, a stud and a bottom plate; the platform is fixedly connected with the bottom plate through a double-end stud; the finger mounting rack is fixed with the platform; the guide rod is fixed on the bottom plate; the base of the stepping motor is fixed with the first motor frame, and the first motor frame is fixed with the bottom plate; the second transmission shaft and the first transmission shaft and two hinge holes which are coaxially arranged and are formed in the platform respectively form a revolute pair; the base of the driving motor is fixed with the second motor frame, and the second motor frame is fixed with the platform.
9. The apple picking method of an apple picking manipulator capable of shearing fruit stalks according to any one of claims 1 to 8, wherein: the method comprises the following specific steps:
the mechanical arm drives the end effector to wrap three fingers of the three-finger clamping mechanism outside the apples to be picked; then, the stepping motor drives the screw rod to rotate, the flange nut and the rope connecting plate are driven to synchronously move downwards, and the rope connecting plate pulls the three steel wire ropes, so that the three fingers are driven to fold inwards to clamp the apple; then, the two driving motors rotate reversely at a constant speed, the first driving shaft and the second driving shaft are driven to rotate by the first worm gear pair and the second worm gear pair respectively, the first driving shaft drives the first spherical blade, and the first driving shaft drives the second spherical blade, so that the first spherical blade and the second spherical blade rotate reversely and are folded, the first spherical blade and the second spherical blade cut off apple stems, and the apples are collected by three fingers of the three-finger clamping mechanism; when the fruit stem is thick and difficult to cut off, the spherical blade I and the spherical blade II keep clamping the fruit stem, and the fruit stem is pulled apart by rotating the mechanical arm; and finally, the two driving motors continue to drive the first spherical blade and the second spherical blade to rotate reversely to the position where the opening is maximum.
10. The apple picking method of the apple picking manipulator capable of shearing fruit stalks according to claim 9, wherein: after the apples are collected by the three fingers of the three-finger clamping mechanism, the stepping motor drives the screw rod to rotate, the flange nut and the rope connecting plate are driven to move upwards synchronously, the rope connecting plate loosens the three steel wire ropes, the three fingers reset and open under the elastic action of the torsional spring to loosen the apples, and the apples fall into the net bags fixed on the supporting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111416342.8A CN114012768A (en) | 2021-11-25 | 2021-11-25 | Apple picking manipulator capable of shearing fruit stems and apple picking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111416342.8A CN114012768A (en) | 2021-11-25 | 2021-11-25 | Apple picking manipulator capable of shearing fruit stems and apple picking method thereof |
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| CN114012768A true CN114012768A (en) | 2022-02-08 |
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| CN202111416342.8A Withdrawn CN114012768A (en) | 2021-11-25 | 2021-11-25 | Apple picking manipulator capable of shearing fruit stems and apple picking method thereof |
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| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
| CN114679964A (en) * | 2022-05-17 | 2022-07-01 | 西南大学 | Citrus lossless picking end effector |
| CN114874852A (en) * | 2022-05-16 | 2022-08-09 | 嘉兴源升堂健康科技有限公司 | Hangzhou white chrysanthemum essence processing and extracting device and extracting method thereof |
| CN115104429A (en) * | 2022-08-07 | 2022-09-27 | 南京林业大学 | Apple stem picking and removing integrated device |
| CN115519570A (en) * | 2022-09-24 | 2022-12-27 | 西南大学 | Manipulator suitable for oranges and tangerines are picked to two methods of cutting of a fruit |
| CN117256331A (en) * | 2023-11-07 | 2023-12-22 | 安徽农业大学 | Negative pressure type fruit picking mechanical arm and intelligent control system thereof |
| CN118679955A (en) * | 2024-07-12 | 2024-09-24 | 襄阳中森机电设备有限公司 | A high-precision palm fruit picking robot |
| CN118901407A (en) * | 2024-08-21 | 2024-11-08 | 湖北工业大学 | Passive compliant end effector for picking fruits |
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- 2021-11-25 CN CN202111416342.8A patent/CN114012768A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
| CN114874852A (en) * | 2022-05-16 | 2022-08-09 | 嘉兴源升堂健康科技有限公司 | Hangzhou white chrysanthemum essence processing and extracting device and extracting method thereof |
| CN114679964A (en) * | 2022-05-17 | 2022-07-01 | 西南大学 | Citrus lossless picking end effector |
| CN115104429A (en) * | 2022-08-07 | 2022-09-27 | 南京林业大学 | Apple stem picking and removing integrated device |
| CN115519570A (en) * | 2022-09-24 | 2022-12-27 | 西南大学 | Manipulator suitable for oranges and tangerines are picked to two methods of cutting of a fruit |
| CN115519570B (en) * | 2022-09-24 | 2025-01-21 | 西南大学 | A manipulator suitable for picking citrus fruits using the one-fruit-two-cut method |
| CN117256331A (en) * | 2023-11-07 | 2023-12-22 | 安徽农业大学 | Negative pressure type fruit picking mechanical arm and intelligent control system thereof |
| CN117256331B (en) * | 2023-11-07 | 2024-05-07 | 安徽农业大学 | A negative pressure fruit picking mechanical arm and its intelligent control system |
| CN118679955A (en) * | 2024-07-12 | 2024-09-24 | 襄阳中森机电设备有限公司 | A high-precision palm fruit picking robot |
| CN118679955B (en) * | 2024-07-12 | 2024-11-29 | 襄阳中森机电设备有限公司 | A high-precision palm fruit picking robot |
| CN118901407A (en) * | 2024-08-21 | 2024-11-08 | 湖北工业大学 | Passive compliant end effector for picking fruits |
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Application publication date: 20220208 |