CN115004946A - Flexible active swallowing type harvesting end effector system for small spherical fruits - Google Patents
Flexible active swallowing type harvesting end effector system for small spherical fruits Download PDFInfo
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- CN115004946A CN115004946A CN202210649346.9A CN202210649346A CN115004946A CN 115004946 A CN115004946 A CN 115004946A CN 202210649346 A CN202210649346 A CN 202210649346A CN 115004946 A CN115004946 A CN 115004946A
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- flexible
- swallowing
- fruit
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- roller
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Abstract
The invention discloses a flexible active swallowing type harvesting end effector system for small spherical fruits, which mainly comprises: a flexible swallowing wheel module, a multi-finger closing module and a wrist rotating module; the flexible swallowing roller type fruit gripping device is characterized in that the end effector is compact in structure, and under the cooperation of the flexible swallowing roller module, the multi-finger closing module and the wrist rotating module, the fruit can be rapidly and stably gripped through the active rotation of the flexible swallowing roller under the condition that the flexible swallowing roller only contacts small spherical fruits; the invention can effectively solve the problems of low picking efficiency caused by the fact that the traditional clamping type picking end effector needs to clamp the spherical fruit equatorial plane area and low picking success rate caused by the fact that the adsorption type picking end effector is easy to be blocked by redundant branches and leaves.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanization and automation equipment, particularly relates to agricultural intelligent equipment, and particularly relates to an end effector system design for picking small spherical fruits.
Background
China is a big agricultural country, the fruit and vegetable industry is large in scale, and according to analysis report of fruit planting industry in China in 2021 published by a research report network, the current state of industry and the analysis of development trend, China is the first world for fruit production in the world at present, and the area of an orchard is continuously enlarged. According to data, the orchard area is stabilized at about 13333.33 hectares in China 2020, and the orchard area can reach 13698.46 hectares in 2021.
Picking of fruits and vegetables is the most time-consuming and labor-consuming link in the whole production chain. Most of mature fruits and vegetables are fragile and easily damaged in the picking process. At present, the fruit and vegetable picking in China is generally carried out manually, the manual picking cost accounts for 50% -70% of the total production cost of the fruit and vegetable, and the picking automation can bring huge economic benefits.
Conventional grip picking end effectors require alignment with the equatorial plane or near the equatorial plane of the spherical fruit to achieve smooth grasping of the fruit, which limits picking efficiency; the adsorption type picking end effector usually relies on negative pressure to establish a constraint relation between the end effector and fruits, but is easily influenced by redundant branches and leaves, and the picking success rate is not high.
Disclosure of Invention
The invention designs a flexible active swallowing type harvesting end effector system for small spherical fruits, which can realize efficient and lossless picking of the small spherical fruits.
The invention adopts the following technical scheme for solving the technical problems:
it is characterized by comprising: the flexible swallowing wheel module, the multi-finger closing module and the wrist rotating module;
the flexible swallowing wheel module comprises a flexible swallowing roller, a roller transmission mechanism, a motor and a swallowing wheel frame, wherein the motor drives the flexible swallowing roller to rotate through the roller transmission mechanism, and the spherical fruits are driven to move towards the interior of the end effector by the friction force generated by the active rotation of the flexible swallowing roller;
the multi-finger closing module comprises a flexible compliance structure, two or more finger rod pieces and a motor for driving the finger rod pieces to move, and the finger rod pieces are connected with a deglutition wheel frame of the flexible deglutition wheel module;
the wrist rotation module comprises a wrist base, a wrist cover plate, a bearing, a motor and a connecting piece between the motor and the cover plate, and the multi-finger closing module is fixed on the wrist rotation module
Furthermore, the flexible swallowing wheel module is a flexible swallowing roller which is arranged on the swallowing wheel frame and has active rotation capacity, and a part which is contacted with the fruit in the process of swallowing the spherical fruit is the flexible swallowing roller. The flexible swallow wheel module is arranged on the tail end joint of each finger rod piece of the multi-finger closing module. The flexible material is attached to the surface of the swallowing roller, so that fruit damage can be reduced in the process of interacting with fruits.
Furthermore, the multi-finger closing module is provided with two or more finger rod pieces, each finger rod piece has the same structure and one or more degrees of freedom, a motor is installed on a corresponding joint of each degree of freedom, and the motor connected with the wrist rotating module is circumferentially and uniformly arranged on the cover plate of the wrist rotating module.
Further, the flexible compliance structure of the multi-finger closing module is embedded inside the finger joints, and the flexible material is used for realizing the shape compliance of the fruit after the fruit is completely swallowed.
Furthermore, the wrist rotation module provides a rotation degree of freedom after the spherical fruit is completely swallowed and restrained, and drives the whole fruit to rotate, so that the fruit and the fruit stalk are separated.
The flexible active swallowing type harvesting end effector for the small spherical fruits picks spherical fruits in real time and swallows the spherical fruits as follows: firstly, opening a multi-finger closing module, contacting a flexible swallowing roller with a spherical fruit, rotating the swallowing roller, and enabling the spherical fruit to move towards the interior of an end effector by friction force; secondly, with swallowing of the spherical fruit, the opening and closing angle of the multi-finger closing module is gradually increased, and after the spherical fruit is swallowed into the equatorial plane of the spherical fruit, the opening and closing angle of the multi-finger closing module is gradually decreased until the target fruit is completely swallowed; and finally, the spherical fruits enter a flexible compliance area of the multi-finger closing module, and the swallowing roller stops rotating to complete flexible constraint on the fruits.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the flexible active swallowing type harvesting end effector for the small spherical fruits has the characteristics of compact structure, simplicity in control and nondestructive picking; (2) according to the invention, an active swallowing and harvesting mode is adopted, spherical fruits can be swallowed into the end effector and restrained by cooperation between the modules and active rotation of the swallowing roller under the condition of only contacting the surfaces of the spherical fruits, the equatorial plane of the spherical fruits does not need to be clamped, the influence of redundant branches and leaves does not need to be considered, and the fruit picking efficiency and success rate are improved; (3) the invention adopts the motor as an actuating element, and is easier to carry than pneumatic elements (such as an air pump and the like).
Drawings
Fig. 1 is a schematic diagram of the overall structure of a small spherical fruit flexible active swallow harvesting end effector of the present invention;
FIG. 2 is a schematic view of the end effector of FIG. 1 illustrating the effect of grasping a spherical fruit;
FIG. 3 is a schematic view of the internal structure of the roller drive mechanism of the flexible swallow roller module of the end effector of FIG. 1;
FIG. 4 is a schematic diagram of a single finger lever of the multi-finger closure module of the end effector of FIG. 1;
FIG. 5 is a schematic diagram of an upper portion of a wrist rotation module of the end effector of FIG. 1;
fig. 6 is a schematic diagram of a lower portion of a wrist rotation module of the end effector of fig. 1;
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings and the embodiments in the specification.
As shown in fig. 1, a flexible active swallowing type harvesting end effector for small spherical fruits, taking three fingers as an example, each finger rod has one degree of freedom, a multi-finger closing module has three fingers, each finger is equipped with a motor, a flexible swallowing wheel module is fixed at the tail end of the multi-finger closing module, and the flexible swallowing wheel module and the multi-finger closing module are integrally mounted on a wrist rotating module.
Specifically, the end effector includes a first deglutition wheel frame 1, a first flexible deglutition roller 11, a first finger rod 4, a first flexible compliance structure 41, a first finger rod driving motor 7, a second deglutition wheel frame 2, a second flexible deglutition roller 21, a second finger rod 5, a second flexible compliance structure 51, a second finger rod driving motor 8, a third deglutition wheel frame 3, a third flexible deglutition roller 31, a third finger rod 6, a third flexible compliance structure 61, a third finger rod driving motor 9, a wrist base 10 and a wrist cover plate 102. The flexible swallowing rollers 11, 21 and 31 are respectively arranged at the top ends of the swallowing roller frames 1, 2 and 3 and actively rotate in the process of swallowing the spherical fruits. The swallow wheel frames 1, 2 and 3 are respectively arranged at the tail ends of the finger rod pieces 4, 5 and 6 through screws. The flexible compliant structure 41, 51, 61 is embedded inside the finger levers 4, 5, 6 and creates a form closure for the spherical fruit. The finger rods 4, 5 and 6 are connected with the driving motors 7, 8 and 9 by utilizing the U-shaped supports 71, 81 and 91, so that the requirement of finger closing motion is met. The driving motors 7, 8 and 9 are uniformly fixed above the wrist cover plate 102 through the circumferences of screws (with an included angle of 120 degrees), so that the rotation freedom degree of the fruits and the fruit stalks in the separation process is provided. Therefore, the end effector has the capability of actively swallowing and rotatably separating fruits, and can meet the motion requirement of the whole active swallowing type picking.
As shown in fig. 2, when the spherical fruit is completely swallowed into the end effector, the flexible compliant structures 41, 51, 61 now conform sufficiently to the surface of the spherical fruit to create a form closure for the spherical fruit, and then the wrist rotation module rotates to separate the fruit from the stalk.
As shown in fig. 3, the internal structure of the flexible swallowing wheel module (taking gear transmission as an example) includes a first flexible swallowing wheel 11, a first micro motor 12, a first wheel transmission mechanism 13, a first flexible swallowing wheel module bottom cover plate 14, a first flexible swallowing wheel module side cover plate 15, a first bearing cover plate 16, and a first wheel bearing pair 17.
Wherein, the first flexible swallowing roller 11 is fixed at the top end of the first swallowing roller frame 1 through a first roller bearing pair 17, and the first micro motor 12 drives the first flexible swallowing roller 11 to rotate through a first roller transmission mechanism 13. The first flexible swallowing roller module bottom cover plate 14 embeds the first micro motor 12 in the bottom cavity of the first swallowing roller frame 1 through screws. A first flexible swallow roller module side cover plate 15 binds the first roller gear 13 to the side of the first swallow roller frame 1 with a snap fit. The first bearing cover plate 16 fixes the left bearing of the first roller bearing pair 17 in the groove above the first deglutition wheel frame 1 through a buckle.
As shown in fig. 4, a schematic structural diagram of a single finger rod of the multi-finger closing module is shown, taking the degree of freedom of the finger rod as 1 as an example, and the finger rod comprises a first finger rod 4, a first flexible compliant structure 41, a first U-shaped bracket 71, and a first finger rod driving motor 7.
The first finger rod 4 is mounted on the first U-shaped bracket 71 through a screw, the first flexible compliant structure 41 is embedded inside the first finger rod 4, and the first U-shaped bracket 71 is mounted on a shaft of the first finger rod driving motor 7 and rotates around the shaft center.
As shown in fig. 5 and 6, a schematic diagram of a wrist rotation module is shown, which includes a wrist base 10, a wrist driving motor 101, a wrist cover plate 102, a connection member 103 between the motor and the cover plate, a rotation bearing cover plate 104, and a rotation bearing 105.
The wrist cover 102 is connected to the shaft of the wrist driving motor 101 by a connecting member 103 between the motor and the cover via screws, and rotates around the shaft center. The rotary bearing 105 clamps a connecting member 103 between the motor and the cover plate at the center of the wrist base 10, and the rotary bearing cover plate 104 fixes the bearing. The wrist driving motor 101 is fixed to the bottom of the wrist base 10 by screws. These constitute a complete wrist rotation module.
Claims (6)
1. A small spherical fruit flexible active swallow harvesting end effector system, comprising:
the flexible swallowing wheel module comprises a flexible swallowing roller, a roller transmission mechanism, a motor and a swallowing wheel frame, wherein the motor drives the flexible swallowing roller to rotate through the roller transmission mechanism, and the spherical fruits are driven to move towards the interior of the end effector by the friction force generated by the active rotation of the flexible swallowing roller;
the multi-finger closing module comprises a flexible compliance structure, two or more finger rod pieces and a motor for driving the finger rod pieces to move, and the finger rod pieces are connected with a deglutition wheel frame of the flexible deglutition wheel module;
the wrist rotation module comprises a wrist base, a wrist cover plate, a bearing, a motor and a connecting piece between the motor and the cover plate, and the multi-finger closing module is fixed on the wrist rotation module.
2. The small spherical fruit flexible active swallow harvest end effector of claim 1, wherein: the flexible swallowing wheel module is a flexible swallowing roller which is arranged on the swallowing wheel frame and has active rotation capacity, and a part which is contacted with the fruit in the process of swallowing the spherical fruit is the flexible swallowing roller. The flexible swallow wheel module is arranged on the tail end joint of each finger rod piece of the multi-finger closing module. The flexible material is attached to the surface of the swallowing roller, so that fruit damage can be reduced in the process of interacting with fruits.
3. The small spherical fruit flexible active swallow harvesting end effector of claim 1, wherein: the multi-finger closing module is provided with two or more finger rod pieces, each finger rod piece is identical in structure and is provided with one or more degrees of freedom, a motor is installed on a corresponding joint of each degree of freedom, and the motor connected with the wrist rotating module is uniformly arranged on the cover plate of the wrist rotating module in a circumferential mode.
4. The small spherical fruit flexible active swallow harvest end effector of claim 3, wherein: the flexible conforming structure of the multi-finger closing module is embedded inside the finger joints, and the shape conformance of the fruit after being completely swallowed is realized by using flexible materials.
5. The small spherical fruit flexible active swallow harvest end effector of claim 1, wherein: the wrist rotation module provides rotation freedom after the spherical fruit is completely swallowed and restrained, and drives the whole fruit to rotate, so that the fruit is separated from the fruit stalks.
6. The small spherical fruit flexible active swallow harvest end effector of claim 1, wherein: the flexible active swallowing type harvesting end effector for the small spherical fruits picks spherical fruits in real time and swallows the spherical fruits as follows: firstly, opening a multi-finger closing module, contacting a flexible swallowing roller with a spherical fruit, rotating the swallowing roller, and enabling the spherical fruit to move towards the interior of an end effector by friction force; secondly, with swallowing of the spherical fruit, the opening and closing angle of the multi-finger closing module is gradually increased, and after the spherical fruit is swallowed into the equatorial plane of the spherical fruit, the opening and closing angle of the multi-finger closing module is gradually decreased until the target fruit is completely swallowed; and finally, the spherical fruits enter a flexible compliance area of the multi-finger closing module, and the swallowing roller stops rotating to complete flexible constraint on the fruits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210649346.9A CN115004946A (en) | 2022-06-09 | 2022-06-09 | Flexible active swallowing type harvesting end effector system for small spherical fruits |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210649346.9A CN115004946A (en) | 2022-06-09 | 2022-06-09 | Flexible active swallowing type harvesting end effector system for small spherical fruits |
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| CN115004946A true CN115004946A (en) | 2022-09-06 |
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| CN202210649346.9A Pending CN115004946A (en) | 2022-06-09 | 2022-06-09 | Flexible active swallowing type harvesting end effector system for small spherical fruits |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
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| CN102729255A (en) * | 2012-06-19 | 2012-10-17 | 西北农林科技大学 | Finger structure of skillful hand of fruit picking robot |
| CN204762223U (en) * | 2015-07-14 | 2015-11-18 | 四川农业大学 | Mechanical hand device is plucked to watermelon |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN205651367U (en) * | 2016-04-22 | 2016-10-19 | 吴静 | Mechanical arm structure |
| CN109500832A (en) * | 2018-10-24 | 2019-03-22 | 赵德宸 | The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line |
| US20200171677A1 (en) * | 2017-08-10 | 2020-06-04 | Thk Co., Ltd. | Hand mechanism and gripping system |
| CN113591293A (en) * | 2021-07-21 | 2021-11-02 | 南京林业大学 | Design method of picking part of end effector for picking ginkgo flower spikes |
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
-
2022
- 2022-06-09 CN CN202210649346.9A patent/CN115004946A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102729255A (en) * | 2012-06-19 | 2012-10-17 | 西北农林科技大学 | Finger structure of skillful hand of fruit picking robot |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN204762223U (en) * | 2015-07-14 | 2015-11-18 | 四川农业大学 | Mechanical hand device is plucked to watermelon |
| CN205651367U (en) * | 2016-04-22 | 2016-10-19 | 吴静 | Mechanical arm structure |
| US20200171677A1 (en) * | 2017-08-10 | 2020-06-04 | Thk Co., Ltd. | Hand mechanism and gripping system |
| CN109500832A (en) * | 2018-10-24 | 2019-03-22 | 赵德宸 | The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line |
| CN113591293A (en) * | 2021-07-21 | 2021-11-02 | 南京林业大学 | Design method of picking part of end effector for picking ginkgo flower spikes |
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
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