CN115107003A

CN115107003A - Robot for driving outer limbs by rigid-flexible coupling ropes for fruit picking

Info

Publication number: CN115107003A
Application number: CN202210783045.5A
Authority: CN
Inventors: 齐飞; 张恒; 朱靖; 裴海珊; 白东明; 窦小明; 姜加伟
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-09-27

Abstract

The invention relates to a rigid-flexible coupling rope driven outer limb robot for fruit picking, which comprises a back support plate, a wearing device, a power supply device and two mechanical arms, wherein the wearing device is connected to the back support plate and used for being worn on a human body, and the power supply device is used for supplying power; the mechanical arm comprises a mechanical arm seat, a mechanical arm body, a mechanical claw and a driving device, wherein the mechanical arm seat is arranged on the back support plate; the mechanical arm body comprises a rigid large arm, a rigid small arm and a continuous flexible arm which are connected in sequence, and the head end of the rigid large arm is connected to the mechanical arm seat; the mechanical claw is arranged at the tail end of the continuous flexible arm; the driving device is arranged on the back supporting plate, is respectively connected with the rigid large arm, the rigid small arm and the continuous flexible arm through ropes and is used for driving the rigid large arm, the rigid small arm and the continuous flexible arm to move. The invention adopts a mode of combining the rigid arm and the continuous flexible arm, realizes accurate control and good flexibility, and effectively improves the working efficiency of personnel during working.

Description

Robot for driving outer limbs by rigid-flexible coupling ropes for fruit picking

Technical Field

The invention relates to the technical field of robots, in particular to a robot with outer limbs driven by rigid and flexible coupling ropes for fruit picking.

Background

In recent years, with the continuous development of science and technology, people have further demands on life and production, and robots applied to various scenes are produced. In order to improve the working efficiency and reduce the labor intensity of the operating personnel, the outer limb robot is concerned by the research on portability and high efficiency. For fruit picking at the present stage, the traditional machine is easy to damage fruits, and the fruit yield is low; although the yield of the fruits can be guaranteed by manual picking, the labor intensity is high, and the working efficiency is low. And when some fruit trees are located the mountain region or planting density is big, large-scale harvesting equipment can't get into, and at this moment, outer limb robot can guarantee because of its portability that the operator accomplishes supplementary actions such as picking, snatch, fixing, when facing higher fruit tree, enables the operator and does not carry out fruit picking with the help of other instruments, can effectively improve the yields and the personnel working strength of fruit. Meanwhile, the robot has wide application prospects in the fields of auxiliary assembly, rehabilitation and health care and the like, can assist an external limb robot to complete work under the condition that a single person cannot complete a complex assembly task, and can complete daily auxiliary actions such as fetching and supporting for a person with incomplete limb movement functions.

In the structure of the existing outer limb robot, the function aspect is single, for example, a wearable pneumatic flexible outer limb robot is a robot capable of assisting people to grab objects, but the robot has only one mechanical arm, is difficult to cope with complicated and variable application scenes, is easy to damage flexible materials and is not beneficial to later-stage overhaul and maintenance; there is also a human body movement-assisting dual-purpose outer limb robot which can provide upper limb assistance and lower limb assistance, but which can only realize simple basic operation and is difficult to cope with multitask and complex scenes.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a rigid-flexible coupling rope driven outer limb robot for fruit picking, which adopts a mode of combining a rigid arm and a continuous flexible arm to realize accurate control and good flexibility and effectively improve the working efficiency of personnel during working.

In order to solve the technical problems, the technical scheme of the invention is as follows: a robot with outer limbs driven by a rigid-flexible coupling rope for fruit picking comprises a back supporting plate, a wearing device, a power supply device and two mechanical arms, wherein the wearing device is connected to the back supporting plate and used for being worn on a human body, and the power supply device is used for supplying power; the robot arm includes:

the mechanical arm seat is arranged on the back support plate;

the mechanical arm body comprises a rigid large arm, a rigid small arm and a continuous flexible arm which are sequentially connected, and the head end of the rigid large arm is connected to the mechanical arm seat;

a gripper mounted at a distal end of the continuous flexible arm;

and the driving device is arranged on the back supporting plate, is respectively connected with the rigid large arm, the rigid small arm and the continuous flexible arm through ropes, and is used for driving the rigid large arm, the rigid small arm and the continuous flexible arm to act.

The driving device comprises four motors, a winding wheel is mounted on an output shaft of each motor, two ropes in opposite winding directions are wound on the winding wheel of each motor, the rigid large arm and the rigid small arm can respectively swing up and down, and the continuous flexible arm can bend in any direction; wherein the content of the first and second substances,

two ropes of a motor are respectively connected to the upper side and the lower side of the rigid large arm; two ropes of the other motor are respectively connected to the upper side and the lower side of the rigid small arm; four ropes of the other two motors are uniformly distributed along the peripheral arm of the continuous flexible arm and are connected to the tail end of the continuous flexible arm.

In order to further effectively reduce the motion error caused by loose ropes in the operation process of the mechanical arm, the robot for driving the outer limbs by the rigid-flexible coupling ropes facing fruit picking further comprises rope tensioning devices which correspond to the mechanical arm one by one, each rope tensioning device comprises a guide mechanism and a tensioning mechanism, and the ropes enter the tensioning mechanisms through the guide mechanisms; wherein the content of the first and second substances,

the tensioning mechanism comprises eight tensioning assemblies, each tensioning assembly corresponds to one rope, and each tensioning assembly comprises a tensioning guide wheel, a tensioning wheel and another tensioning guide wheel which are used for allowing the corresponding rope to sequentially pass by and an adjusting assembly which acts on the tensioning wheel and is used for adjusting the position of the tensioning wheel so as to adjust the tensioning degree of the rope.

Further, eight tensioning assemblies of the tensioning mechanism are arranged from top to bottom, one tensioning guide wheel, the tensioning wheel and the other tensioning guide wheel of each tensioning assembly are arranged in the left-right direction, and two tensioning assemblies adjacent in the up-down direction are staggered in the front-back direction.

There is further provided a concrete structure of an adjustment assembly, the adjustment assembly including:

the bolt is in threaded connection with a mounting plate, abuts against the tensioning wheel and is used for pushing the tensioning wheel to move through screwing in;

and the elastic element is connected between the tensioning wheel and the mounting plate and used for driving the tensioning wheel to retreat along with the bolt through resilience of the elastic element in the process of screwing and retreating the bolt.

Further, in order to order the ropes, the head end of the rigid large arm is rotatably mounted on the mechanical arm seat through a large arm driving shaft, and a large arm driving wheel and three first reversing fixed pulleys are coaxially mounted on the large arm driving shaft;

the head end of the rigid small arm is rotatably mounted at the tail end of the rigid large arm through a small arm driving shaft, and a small arm driving wheel and two second reversing fixed pulleys are coaxially mounted on the small arm driving shaft; wherein the content of the first and second substances,

two ropes of a motor are connected to the large arm driving wheel;

two ropes of the other motor are connected with the small arm driving wheel by bypassing the corresponding first reversing fixed pulley;

four ropes of the other two motors are connected to the continuous flexible arm by passing around the respective first and second reversing crown blocks.

There is further provided a concrete structure of a robot arm base capable of expanding a degree of freedom of a robot arm, the robot arm base including:

the fixed base is fixedly arranged on the back support plate;

the large arm rotating joint is rotatably supported on the fixed base;

the driving motor is connected with the large arm rotary joint through a synchronous belt and is used for driving the large arm rotary joint to rotate; wherein the content of the first and second substances,

the rigid large arm is rotatably installed on the large arm rotating joint, and the rotating center line of the large arm rotating joint relative to the fixed base is perpendicular to the rotating center line of the rigid large arm relative to the large arm rotating joint.

Further, towards the outer limbs robot of the rigid-flexible coupling rope drive of fruit picking still includes controlling means, controlling means includes:

a group of encoders for detecting rotational data of the large arm rotary joint, the rigid large arm, and the rigid small arm;

a bending sensor for detecting bending data of the continuous flexible arm;

the arm electromyographic sensor is worn on the arm of the human body and used for acquiring the motion posture of the arm of the human body;

the wireless handle is used for receiving a motion instruction;

the main control chip is respectively connected with the encoder group, the bending sensor, the arm myoelectric sensor and the mechanical arm and is used for realizing motion control on the mechanical arm according to the motion posture or the motion instruction; and

and realizing motion compensation of the large-arm rotary joint and the mechanical arm body according to the rotation data and the bending data.

Further in order to effectively protect the fruits, the part of the mechanical claw, which is used for being in contact with the fruits, is made of silica gel flexible materials.

After the technical scheme is adopted, the mechanical arm adopts the combination of the rigid structure and the flexible structure, and effectively combines the advantages of high control precision of the rigid structure, strong load capacity and the like with the advantages of good flexibility of the flexible structure, better space accessibility and the like; the rigid structure can accurately reach a preset picking position, and the flexible structure can finish nondestructive picking of fruits, so that the working strength of operators is reduced when the fruits are picked, and the yield is improved when the fruits are picked; the mechanical arm is driven by the rope, and compared with the traditional mechanical arm, the inertia of the mechanical arm in operation is effectively reduced, and meanwhile, core components such as a motor can be effectively protected.

Drawings

FIG. 1 is a schematic structural diagram of a rigid-flexible coupling rope-driven outer limb robot facing fruit picking of the invention worn on a human body;

FIG. 2 is a schematic structural view of another perspective of the fruit picking-oriented rigid-flexible coupling rope driven outer limb robot worn on a human body;

FIG. 3 is a schematic structural diagram of the rigid-flexible coupling rope driven outer limb robot facing fruit picking according to the present invention;

FIG. 4 is a schematic structural diagram of another perspective of the rigid-flexible coupling rope-driven outer-limb robot for fruit picking according to the present invention;

FIG. 5 is a schematic view of a robotic arm of the present invention;

FIG. 6 is a schematic view of a robotic arm of the present invention with parts broken away;

FIG. 7 is a right side view of the robotic arm of the present invention;

FIG. 8 is a schematic view of the internal structure of the robot arm of the present invention;

fig. 9 is a schematic view of the construction of the rope tensioner of the present invention;

FIG. 10 is a schematic structural view of the tensioning mechanism of the present invention;

FIG. 11 is a schematic view of the tensioning mechanism of the present invention with parts broken away;

FIG. 12 is a schematic view of the construction of the boom axle of the present invention;

FIG. 13 is a schematic view of the construction of the forearm drive shaft of the invention;

FIG. 14 is a schematic view of a continuous flexible arm according to the present invention;

FIG. 15 is a schematic view of the construction of the wearing device of the present invention;

in the figure:

1. a back support plate 1-1, a wearing device 1-2, a motor frame;

2. the mechanical arm comprises a mechanical arm, 2-1 parts of a fixed base, 2-2 parts of a large arm rotating joint, 2-3 parts of a rigid large arm, 2-4 parts of a rigid small arm, 2-5 parts of a continuous flexible arm, 2-6 parts of a mechanical claw, 2-7 parts of a large arm driving shaft, 2-8 parts of a small arm driving shaft, 2-9 parts of a large arm driving wheel, 2-10 parts of a small arm driving wheel, 2-11 parts of a first reversing fixed pulley and 2-12 parts of a second reversing fixed pulley; 2-13, guiding wheels;

3. the rope tensioning device comprises a rope tensioning device, 3-1 parts of a guide mechanism, 3-2 parts of a tensioning mechanism, 3-3 parts of a tensioning guide wheel, 3-4 parts of a tensioning wheel and 3-5 parts of a partition plate;

4. the system comprises a driving device, 4-1 parts of a brushless direct current motor, 4-3 parts of a motor driver, 4-4 parts of a lasso, 4-5 parts of a rope and 4-6 parts of a synchronous belt;

5. the device comprises a control device, a 5-2 encoder, a 5-3 bending sensor and a 5-4 arm myoelectric sensor;

6. a power supply device.

Detailed Description

In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As shown in fig. 1 to 15, a rigid-flexible coupling rope driven outer limb robot for fruit picking comprises a back support plate 1, a wearing device 1-1 arranged on the back support plate 1, a power supply device 6, a control device 5 and two mechanical arms 2; wherein the content of the first and second substances,

the U-shaped groove in the upper portion of the back supporting plate 1 is used for installing a wearing device 1-1, two sides of the upper end portion of the back supporting plate 1 are respectively provided with a fixing base 2-1 of a mechanical arm 2, two sides of the upper end of the back supporting plate 1 are respectively provided with a rope tensioning device 3, the rope tensioning devices 3 are used for tensioning ropes 4-5 when the mechanical arm 2 is initially reset, four motor frames 1-2 which are distributed in a vertical step mode are installed below the two rope tensioning devices 3, grooves are formed in the middle of the back supporting plate 1 and two sides of the U-shaped groove, and partial components of a control device 6, motor drivers 4-3 and a power supply device 6 are installed respectively.

As shown in fig. 1, 2, 3 and 15, the wearing device 1-1 is an integral structure, the back of the wearing device is a U-shaped boss for being mounted and fixed on the back supporting plate 1, and the front end of the wearing device 1-1 is a shoulder fixing frame and a waist belt.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 12, 13, the robot arm 2 includes a robot arm base, a rigid large arm 2-3, a rigid small arm 2-4, a continuous flexible arm 2-5 and a gripper 2-6, the robot arm base includes a fixed base 2-1 and a large arm rotary joint 2-2, the rigid large arm 2-3 and the large arm rotary joint 2-2 are connected by a large arm driving shaft 2-7, the rigid small arm 2-4 and the rigid large arm 2-3 are connected by a small arm driving shaft 2-8, the continuous flexible arm 2-5 is installed at a groove at the end of the rigid small arm 2-4, driving motors at both sides of a back support plate 1 drive the large arm rotary joint 2-2 to move through a synchronous belt 4-6, the driving device 4 includes four brushless dc motors 4-1, the output shaft of each brushless direct current motor 4-1 is provided with a winding wheel, two ropes 4-5 with opposite winding directions are wound on the winding wheel, 4 groups of 8 ropes 4-5 are output by the four brushless direct current motors 4-1 on the back surface of the back supporting plate 1, namely one group of ropes 4-5 is used for driving the rigid large arm 2-3, one group of ropes 4-5 is used for driving the rigid small arm 2-4, and two groups of ropes 4-5 are used for driving the continuous flexible arm 2-5. After passing through a rope tensioning device 3 and a lasso 4-4 between a fixed base 2-1 and a large arm rotary joint 2-2, a rope 4-5 for driving a rigid large arm is fixed on a large arm driving wheel 2-9, a rope 4-5 for driving a rigid small arm 2-4 and a rope of a continuous flexible arm 2-5 pass through three first reversing fixed pulleys 2-11 on a large arm driving shaft 2-7, a rope 4-5 for driving the rigid small arm 2-4 is fixed on a small arm driving wheel 2-10 on a small arm driving shaft 2-8, a rope for driving the continuous flexible arm 2-5 pass through two second reversing fixed pulleys 2-12 on the small arm driving shaft 2-8 and two guide wheels 2-13 at the tail end of the rigid small arm 2-4, and finally pass through rope holes distributed at 90 degrees around the continuous flexible arm 2-5, fixed to the ends of the continuous flexible arms 2-5. The single mechanical arm 2 has 5 degrees of freedom, namely one degree of freedom of a large arm rotary joint 2-2, one degree of freedom of a rigid large arm 2-3, one degree of freedom of a rigid small arm 2-4 and two degrees of freedom of a continuous flexible arm 2-5. The bearing of the big arm rotary joint 2-2 and the big arm driving shaft 2-7 correspond to the shoulder joint of the human body, the small arm driving shaft 2-8 corresponds to the elbow joint of the human body, and the continuous flexible arm 2-5 corresponds to the wrist joint of the human body. The continuous flexible arms 2-5 are made of high-performance nylon.

The continuous flexible arms 2-5 correspond to wrist joints of a human body and are driven by four ropes 4-5, bending motion with two degrees of freedom can be achieved, flexible grabbing of fruits can be protected, mechanical claws 2-6 mounted at the tail ends of the flexible arms can grab the fruits, and parts, used for being in contact with the fruits, of the mechanical claws 2-6 are made of silica gel flexible materials, so that the fruits can be effectively protected.

Specifically, the mechanical arm 2 in the embodiment combines a rigid structure and a flexible structure, and effectively combines the advantages of the rigid structure, such as high control precision and strong load capacity, with the advantages of the flexible structure, such as good flexibility and good space accessibility; the rigid structure can accurately reach the preset picking position, the flexible structure can finish nondestructive picking of fruits, the working strength of operators is reduced when the fruits are picked, and the yield is improved when the fruits are picked.

As shown in fig. 9, 10 and 11, the rope tensioning device 3 comprises a guide mechanism 3-1 and a tensioning mechanism 3-2, the outer side is the tensioning mechanism 3-2, the inner side is the guide mechanism 3-1, the rope 4-5 enters the tensioning mechanism 3-2 through the guide mechanism 3-1, the tensioning mechanism 3-2 is provided with eight tensioning assemblies, each tensioning assembly is positioned in one layer, the adjacent layers are separated by a partition plate 3-5, tensioning guide wheels 3-3 for fixing and guiding are arranged on two sides of each layer, a telescopic tensioning wheel 3-4 is arranged in the middle of each layer, and the front and back stretching of the tensioning wheel 3-4 is completed through the combined action of an elastic element and a bolt for tensioning the rope 4-5; because the driving ropes 4-5 output by the brushless direct current motor 4-1 are not in the same plane, the tensioning components of two adjacent layers of the tensioning mechanism 3-2 are distributed front and back; the rope 4-5 enters the tensioning mechanism 3-2 from the brushless direct current motor 4-1 through the guide mechanism 3-1 and then is output to the mechanical arm 2, so that the movement error caused by the loosening of the driving rope 4-5 in the operation process of the mechanical arm 2 can be effectively reduced.

Each motor is provided with a motor driver 4-3, the motion of a single mechanical arm 2 is controlled by 5 motors, 4 brushless direct current motors 4-1 on the back surface of a back supporting plate 1 control the pitching motion of a rigid large arm 2-3 from bottom to top, the 1 st brushless direct current motor 4-1 controls the bending motion of two degrees of freedom of a continuous flexible arm 2-5, the 4 th brushless direct current motor 4-1 controls the pitching motion of a rigid small arm 2-4, and driving motors on the two sides of the back supporting plate 1 control the rotating motion of the whole mechanical arm 2. The rope output by the 1 st brushless DC motor 4-1 passes through the rope tensioning device 3 and the fixed base 2-1, and is fixed on a large arm driving wheel 2-9 on a large arm driving shaft 2-7. The rope output by the 4 th brushless DC motor 4-1 passes through the rope tensioning device 3, the fixed base 2-1, the first reversing fixed pulley 2-11 on the large arm driving shaft 2-7 and the small arm driving wheel 2-10 fixed on the small arm driving shaft 2-8. Four ropes output by the 2 nd and 3 rd brushless direct current motors 4-1 are fixed at the tail ends of the continuous flexible arms 2-5 through a rope tensioning device 3, a fixed base 2-1, a first reversing fixed pulley 2-11 on a large arm driving shaft 2-7, a second reversing fixed pulley 2-12 on a small arm driving shaft 2-8 and a guide wheel 2-13 at the tail end of the rigid small arm 2-4. The driving motors on the two sides are connected with the large arm rotary joint 2-2 through synchronous belts 4-6. The motors are all installed on the back supporting plate 1, the mechanical arm 2 is driven by the ropes 4-5, and compared with the traditional mechanical arm 2, inertia of the mechanical arm 2 during movement can be effectively reduced, and core components such as the motors can be effectively protected.

As shown in fig. 2, 3, 4, 7, 8 and 14, the control device 5 comprises a plurality of encoders 5-2, a plurality of bending sensors 5-3, a main control chip, an arm electromyography sensor 5-4 and a wireless control handle, the encoders 5-2 are installed at the upper arm rotary joint 2-2, the upper arm driving shaft 2-7 and the lower arm driving shaft 2-8, and the bending sensors 5-3 are installed at the front and the side of the continuous flexible arm 2-5. The wireless control handle and the arm electromyography sensor 5-4 control the mechanical arm 2 to move, the encoder 5-2 and the bending sensor 5-3 send actual movement data to the main control chip 5-1, and the main control chip 5-1 performs movement compensation. According to the operation requirement of fruit picking, the motion control of the mechanical arm can be realized by an arm electromyography sensor 5-4 or a wireless handle 5-5. The invention has two control modes, which are a following motion mode and an independent motion mode, so that the invention has more perfect man-machine interaction function. Following motion mode: the motion postures of the human arms are recognized through the arm myoelectric sensors 5-4, and then the mechanical arms 2 are moved to the same postures of the human arms by controlling the motors; independent control mode: the control of different poses of the mechanical arm 2 is realized through the wireless control handle 5-5. The invention also carries out closed-loop control by motion supplement, thereby improving the motion precision.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A robot with rigid and flexible coupling ropes for driving outer limbs and used for fruit picking is characterized in that,

the wearable device is connected to the back supporting plate and used for being worn on a human body, and the power supply device is used for supplying power; the robot arm includes:

the mechanical arm seat is arranged on the back support plate;

the mechanical arm body comprises a rigid large arm, a rigid small arm and a continuous flexible arm which are connected in sequence, and the head end of the rigid large arm is connected to the mechanical arm seat;

a gripper mounted at a distal end of the continuous flexible arm;

2. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 1,

the driving device comprises four motors, a winding wheel is mounted on an output shaft of each motor, two ropes with opposite winding directions are wound on the winding wheel of each motor, the rigid large arm and the rigid small arm can respectively swing up and down, and the continuous flexible arm can bend in any direction; wherein, the first and the second end of the pipe are connected with each other,

3. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 2,

the rope tensioning device comprises a guide mechanism and a tensioning mechanism, and the rope enters the tensioning mechanism through the guide mechanism; wherein the content of the first and second substances,

4. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 3,

eight tensioning assemblies of the tensioning mechanism are arranged from top to bottom, one tensioning guide wheel, one tensioning wheel and the other tensioning guide wheel of each tensioning assembly are arranged in the left-right direction, and two tensioning assemblies adjacent in the up-down direction are staggered in the front-back direction.

5. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 3,

the adjustment assembly includes:

6. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 2,

the head end of the rigid large arm is rotatably mounted on the mechanical arm seat through a large arm driving shaft, and a large arm driving wheel and three first reversing fixed pulleys are coaxially mounted on the large arm driving shaft;

two ropes of a motor are connected with the large arm driving wheel;

7. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 1,

the arm base includes:

the fixed base is fixedly arranged on the back support plate;

the large arm rotating joint is rotatably supported on the fixed base;

8. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 7,

still include controlling means, controlling means includes:

a bending sensor for detecting bending data of the continuous flexible arm;

the wireless handle is used for receiving a motion instruction;

9. Fruit picking oriented rigid-flexible coupling cord driven exoskeleton robot as claimed in claim 1,

the part that is used for of gripper and fruit contact is the flexible material of silica gel.