CN115191223B - Cluster-shaped tomato powder fruit picking manipulator and picking method thereof - Google Patents
Cluster-shaped tomato powder fruit picking manipulator and picking method thereof Download PDFInfo
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- CN115191223B CN115191223B CN202210832498.2A CN202210832498A CN115191223B CN 115191223 B CN115191223 B CN 115191223B CN 202210832498 A CN202210832498 A CN 202210832498A CN 115191223 B CN115191223 B CN 115191223B
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 113
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 65
- 239000000843 powder Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 12
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 109
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 239000000741 silica gel Substances 0.000 claims description 26
- 229910002027 silica gel Inorganic materials 0.000 claims description 26
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 25
- 238000003860 storage Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 3
- 241000227653 Lycopersicon Species 0.000 abstract 4
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000345998 Calamus manan Species 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 235000012950 rattan cane Nutrition 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a cluster tomato powder fruit picking manipulator and a picking method thereof, wherein the cluster tomato powder fruit picking manipulator comprises a shell, a linear travelling mechanism, a nut seat and a picking unit, wherein the linear travelling mechanism is arranged in the shell, the nut seat is connected with the linear travelling mechanism, and the nut seat moves linearly through the linear travelling mechanism; the picking units are distributed on the nut seat, each picking unit comprises a first connecting rod, a second connecting rod and a picking hand, one end of the first connecting rod is hinged with the nut seat, the other end of the first connecting rod is hinged with the middle of the second connecting rod, one end of the second connecting rod is hinged with the shell, the other end of the second connecting rod penetrates through the shell to be connected with the picking hand, and the posture of the picking hand is changed through the linear motion of the nut seat; the bottom of the shell is connected with a rotary arm and used for enabling the shell to rotate. The invention can accurately judge the positions and the number of the picked tomatoes, thereby accurately picking the clustered tomatoes.
Description
Technical Field
The invention relates to the field of agricultural picking robots, in particular to a cluster tomato powder fruit picking manipulator and a picking method thereof.
Background
The tomato fruits have rich nutrition, china is a large country for producing and consuming fresh tomatoes, the market demand of the fresh tomatoes is increased increasingly, and the cultivation scale of the greenhouse tomatoes is further enlarged. At present, tomatoes in China are harvested basically by means of manual picking, the manual picking workload is quite large, the labor occupied by manual picking accounts for 30% -50% of the labor in the whole process, the labor intensity is high, the efficiency is low, and the mechanization level is low. Picking tomatoes is one of the key links in fruit harvesting, and it is important to improve mechanical harvesting.
The existing designed picking manipulator has some problems, for example, fingers of pneumatic soft clamping jaws are filled by silica gel, an air cavity is arranged in the pneumatic soft clamping jaws, and under the air suction state, the bending angle, the fingertip displacement angle and the bending degree of the flexible fingers are large, so that the opening of the fingers is large, and the fingers are easily influenced by surrounding stems and leaves of tomatoes; under the inflated state, the intra-finger air bag is expanded, the finger size is increased, when the problem of stacking tomatoes is faced, the finger is not easy to penetrate into the gap between two tomatoes, if slight angle deviation occurs, the soft fingertip is easy to touch the tomatoes, so that the phenomenon of inward bending occurs, and the grabbing failure is caused. Thus, pneumatic soft jaws are not ideal for picking tomatoes in real scenes.
The common rigid clamping jaw is simple and convenient to control and has higher grabbing success rate. However, in order to realize simple control, the fingers are designed to be complex under-actuated structures, and the stacking of the connecting rods sacrifices two important evaluation indexes of mechanical finger lightness and thinness. When fingers with thick shapes deeply penetrate into gaps of stacked tomatoes, if angle deviation occurs, the finger tips are very easy to push the tomatoes away from an expected clamping position, and the edges and corners of the tail ends can damage the epidermis and the internal structure of the tomatoes, so that the tomatoes are rotten in advance. In the tomato clamping process, the research on control strategies of the rigid clamping jaw is not mature at present, and the main problem is that closed loop control is not formed between motor drive and sensor feedback, so that the situation that fruits are damaged by clamping often occurs. Thus, there is a need for a simplified design of a rigid jaw that is lightweight in construction, as well as for research into control strategies.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the clustered tomato powder fruit picking manipulator and the picking method thereof, which can accurately judge the positions and the number of the picked tomatoes in the cluster, thereby accurately picking the clustered tomatoes. Based on a semi-surrounding gripping mode, a bionic enveloping mechanical picking hand with different angles among three claws is designed; aiming at nondestructive picking of fruits, a silica gel glove and a flexible finger pad are designed, and a pressure sensor is arranged, so that a reliable closed-loop control system is formed, and meanwhile, the slipping phenomenon is avoided; aiming at the difficulty of separating fruits from fruit stalks, a torsion picking mode is designed.
The present invention achieves the above technical object by the following means.
The cluster tomato powder fruit picking manipulator comprises a shell, a linear travelling mechanism, a nut seat and a picking unit, wherein the linear travelling mechanism is arranged in the shell;
the picking units are distributed on the nut seat, each picking unit comprises a first connecting rod, a second connecting rod and a picking hand, one end of the first connecting rod is hinged with the nut seat, the other end of the first connecting rod is hinged with the middle of the second connecting rod, one end of the second connecting rod is hinged with the shell, the other end of the second connecting rod penetrates through the shell to be connected with the picking hand, and the posture of the picking hand is changed through the linear motion of the nut seat; the bottom of the shell is connected with a rotary arm and used for enabling the shell to rotate.
Further, 3 picking units are distributed on the nut seat, the included angle between the first picking unit and the second picking unit is 90 degrees, and the included angle between the third picking unit and the first picking unit and the second picking unit is 135 degrees respectively.
Further, the outside of picking hand is equipped with silica gel gloves, silica gel gloves surface mounting first pressure sensor for detect and pick pressure.
Further, the thickness of the silica gel glove is at least 2mm, and the gap between the silica gel glove and the picking hand after the silica gel glove is attached is 0-0.5 mm.
Further, the clamping surface of the picking hand is a concave arc surface.
Further, a flexible finger pad is arranged on the shell between the picking units and used for buffering tomatoes; and a second pressure sensor is arranged on the flexible finger pad and used for detecting whether the tomatoes are in contact with the flexible finger pad.
Further, a vision system is included for identifying the center and stem positions of the outermost tomatoes in the cluster.
A picking method by using the cluster tomato powder fruit picking manipulator comprises the following steps:
identifying the center and the fruit stem position of the outermost tomatoes in the clustered tomatoes through a visual system; the control system controls the mechanical arm to move according to the center and the fruit stem position of the tomatoes input by the vision system, so that the rotation center line of the shell and the fruit stem of the tomatoes are in the same straight line;
the control system controls the mechanical arm to move along a straight line collinear with the fruit handle to approach the tomato until the tomato touches the second pressure sensor; the control system controls the linear travelling mechanism to make the nut seat move linearly according to the feedback signal of the second pressure sensor, so that a plurality of picking hands are closed until the silica gel gloves of the picking hands are contacted with tomato fruits;
when the first pressure sensor on the picking hand reaches a set value, the control system controls the mechanical arm to reversely move along a straight line collinear with the fruit handle, so that tomatoes clamped by the picking hand are separated from the tomato clusters;
the control system controls the mechanical arm to drive the shell to rotate, so that the joint of the fruit handle and the tomatoes is torn; and controlling the mechanical arm to apply acceleration reversely along a straight line collinear with the fruit handle so as to separate fruit paths;
the control system controls the mechanical arm to move to the storage area, and controls the linear travelling mechanism to enable the picking hands to open so that tomatoes enter the storage area.
The invention has the beneficial effects that:
1. according to the cluster tomato powder fruit picking manipulator disclosed by the invention, the first connecting rod and the second connecting rod are driven to rotate through the linear movement of the nut seat, so that fingers are driven to move in an opening and closing manner, the structure is smaller, the control is simple, the action is reliable, the power requirement is reduced, the weight is reduced, and the production cost is reduced.
2. According to the clustered tomato powder fruit picking manipulator disclosed by the invention, the manipulator with different bionic envelopes among three claws is designed, the angles formed by 3 picking hands are 90 degrees, 135 degrees and 135 degrees, and a semi-surrounding gripping mode is formed, so that the tomato grabbing efficiency is improved.
3. According to the clustered tomato powder fruit picking manipulator disclosed by the invention, nondestructive picking is realized through the silica gel gloves and the flexible finger pads, and in addition, the pressure sensors are respectively arranged on the silica gel gloves and the flexible finger pads to form a reliable closed-loop control system. In addition, the silica gel glove and the flexible finger pad can avoid slipping.
4. According to the cluster tomato powder fruit picking manipulator disclosed by the invention, the picking manipulator is connected with one end of the second connecting rod in an adjustable way through the bolts and the nuts, so that the enveloping volume of the multi-claw picking manipulator can be adjusted according to the types or the sizes of fruits and vegetables, and the universality of the manipulator is improved.
5. According to the picking method of the clustered tomato powder fruit picking manipulator, the three-dimensional coordinate information and the posture information of the clustered tomatoes are obtained by adopting a visual identification technology through a depth camera, the center line of the manipulator is opposite to the center of the tomatoes, and the posture is adjusted, so that the picking manipulator can be kept at the outer side of the clustered tomatoes, and the situation that the positioning information of the tomatoes is possibly changed when the clamping jaw penetrates into a tomato gap is avoided.
6. According to the cluster tomato powder fruit picking manipulator disclosed by the invention, the linear travelling mechanism, the nut seat, the first connecting rod, the second connecting rod and the picking hand are placed in the shell, so that on one hand, the environment temperature of the greenhouse is high, the humidity is high, and the connecting rod and the motor are easy to corrode and break after working for a long time in the environment; on the other hand, tomato rattan is twined, and when picking the hand and carrying out picking the task, the branch and leaf is in deep into the gap of clamping jaw structure easily, causes the mechanism to block the phenomenon, influences clamping jaw life.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described, in which the drawings are some embodiments of the invention, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a three-dimensional view of a cluster tomato powder fruit picking manipulator according to the invention.
Fig. 2 is a three-dimensional view of a hidden shell of the cluster tomato powder fruit picking manipulator.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a three-dimensional view of a nut seat according to the present invention.
Fig. 5 is a three-dimensional view of a base plate according to the present invention.
Fig. 6 is a schematic diagram of the adjustment of the pose.
Fig. 7 is a schematic view of a gripping tomato.
Fig. 8 is a schematic diagram of a pull-down fruit.
Fig. 9 is a schematic view of a rotational twist-off.
Fig. 10 is a schematic diagram of tomato transport.
In the figure:
1-a bottom plate; 2-a screw nut; 3-a screw nut flange; 4-a first link; 5-a pin shaft; 6-a second link; 7-a nut; 8-picking hands; 9-silica gel gloves; 10-an upper cover; 11-an internal hexagonal screw; 12-flexible finger pad; 13-a bolt; 14-a screw rod stepping motor; 16-sleeve.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1, 2, 3, 4 and 5, the cluster tomato powder fruit picking manipulator provided by the invention comprises a shell, a linear travelling mechanism, a nut seat and a picking unit, wherein the shell comprises a bottom plate 1, an upper cover 10 and a sleeve 16, and two ends of the sleeve 16 are respectively connected with the bottom plate 1 and the upper cover 10. A linear travelling mechanism is arranged in the shell, the linear travelling mechanism is a screw rod stepping motor 14, the screw rod stepping motor 14 is fixed at the center of the upper cover 10, a nut seat is arranged on a screw rod of the screw rod stepping motor 14, and the nut seat moves linearly through the screw rod stepping motor 14; the nut seat comprises a screw nut 2 and a screw nut flange 3, the screw nut 2 is matched with a screw of a screw stepping motor 14, the screw nut 2 is connected with the screw nut flange 3 through an inner hexagonal screw 11, and a plurality of hinging seats are arranged on the screw nut flange 3. Each hinge seat is connected with a picking unit, each picking unit comprises a first connecting rod 4, a second connecting rod 6 and a picking hand 8, one end of the first connecting rod 4 is hinged to the hinge seat through a pin shaft 5, the other end of the first connecting rod 4 is hinged to the middle of the second connecting rod 6 through the pin shaft 5, one end of the second connecting rod 6 is hinged to the bottom plate 1 through the pin shaft 5, the other end of the second connecting rod 6 penetrates through the upper cover 10 and is connected with the picking hand 8 through a bolt 13 and a nut 7, and the gesture of the picking hand 8 is changed through the linear motion of the nut seat. The screw rod stepping motor 14 rotates clockwise to drive the first connecting rod 4 and the second connecting rod 6 to rotate, so that the picking hand 8 is closed until the picking hand 8 touches the tomato fruit body; the screw rod stepping motor 14 rotates anticlockwise to drive the first connecting rod 4 and the second connecting rod 6 to rotate, so that the picking hand 8 is opened, tomatoes are put in place, and tomato transportation is completed, namely, the picking hand 8 is closed and opened; the bottom of the shell is connected with a rotary arm and used for enabling the shell to rotate.
The screw rod stepping motor 14, the nut seat, the first connecting rod, the second connecting rod and the picking hand are placed in the shell, on one hand, the environment of the greenhouse is high in temperature and humidity, and the connecting rod and the motor are easy to corrode and break after working for a long time in the environment; on the other hand, tomato rattan is twined, and when the clamping jaw carries out picking the task, the branch and leaf is in deep into the gap of clamping jaw structure easily, causes the mechanism to block the phenomenon, influences clamping jaw life.
The nut seat is provided with 3 picking units, the included angle between the first picking unit and the second picking unit is 90 degrees, and the included angle between the third picking unit and the first picking unit and the second picking unit is 135 degrees respectively. The height of the fingers of the picking hand 8 is 60mm, the width is 30mm, the height of the handle is 36mm, and the width is 10mm; the clamping surface of the picking hand 8 is a concave arc surface, and the curvature of the concave arc surface is nearly consistent with that of the convex arc surface of the tomato, so as to ensure nondestructive picking of the tomato; the bottom of the handle of the picking hand 8 is provided with a threaded hole, the picking hand 8 is connected with the second connecting rod 6 through a bolt 13 and a nut 7, the included angle between the picking hand 8 and the second connecting rod 6 can be manually adjusted according to the tomato size, and the included angle between the picking hand 8 and the second connecting rod 6 is generally 0-25 degrees.
The outer part of the picking hand 8 is provided with a silica gel glove 9, and the curvature of the arc surface of the silica gel glove 9 is consistent with that of the picking hand 8; the surface of the silica gel glove 9 is provided with a first pressure sensor for detecting picking pressure. The thickness of the silica gel glove 9 is at least 2mm, and the gap between the silica gel glove 9 and the picking hand 8 after the silica gel glove is attached is 0-0.5 mm. The upper surface of the upper cover 10 between the picking units is adhered with a flexible finger pad 12, the flexible finger pad 12 is made of a silica gel material, and the flexible finger pad 12 is a boss formed by two cylinders with the diameter of 6mm and the height of 1mm and the diameter of 36mm and the height of 4mm and is used for buffering tomatoes; the flexible finger pad 12 is provided with a second pressure sensor for detecting whether the tomatoes are in contact with the flexible finger pad 12, so that a reliable closed-loop control system can be formed, and meanwhile, the slipping phenomenon is avoided.
In the limit closed state, the minimum diameter of the picking space formed by the middle parts of the fingers of the picking hands 8 is 50mm; under the limit open state, the maximum diameter of the picking space formed in the middle of the finger is 110mm, and the tomato fruit picking device can adapt to tomato fruits with the transverse diameter within the range of 50-110 mm.
Also included is a vision system for identifying the center and stem positions of the outermost tomatoes in the cluster. The vision system is generally a depth camera, and three-dimensional coordinate information and posture information of the clustered tomatoes are obtained through the depth camera.
The picking method by using the cluster tomato powder fruit picking manipulator comprises the following steps:
as shown in fig. 6, the pose is adjusted: identifying the center and the fruit stem position of the outermost tomatoes in the clustered tomatoes through a visual system; the control system controls the mechanical arm to move according to the center and the fruit stem position of the tomatoes input by the vision system, so that the rotation center line of the shell and the fruit stem of the tomatoes are in the same straight line; the pose can keep the picking hand 8 at the outer side of the clustered tomatoes, and the situation that tomato positioning information is possibly changed when the clamping jaw penetrates into a tomato gap is avoided.
As shown in fig. 7, grasp tomato: the control system controls the mechanical arm to move along a straight line collinear with the fruit handle to approach the tomato until the tomato touches the second pressure sensor; the control system controls the screw rod stepping motor 14 to rotate clockwise according to the feedback signal of the second pressure sensor to enable the nut seat to move linearly, and drives the first connecting rod 4 and the second connecting rod 6 to rotate, so that the picking hands 8 are closed until the silica gel gloves 9 of the picking hands 8 are contacted with tomato fruits, in the process, in order to achieve the controllability of the clamping jaw, the accurate step control of the stepping motor is required to be controlled to open and close, 4 force feedback information is required to be acquired, and a reliable closed-loop control system is formed in the force feedback stage of the tomato touching the flexible finger pad 12 and the 3 silica gel gloves 9 respectively.
As shown in fig. 8, the fruit is pulled down: when the first pressure sensor on the picking hand 8 reaches a set value, the control system controls the mechanical arm to reversely move along a straight line collinear with the fruit stalks, and reversely displace for 2-3 cm, so that tomatoes clamped by the picking hand 8 are separated from tomato clusters, the follow-up operation is not influenced by fruit stacking, and other fruits are not influenced;
as shown in fig. 9, the rotation twists off: the control system controls the mechanical arm to drive the shell to rotate 720 degrees rapidly, so that the joint of the fruit stem and the tomato is torn; and the mechanical arm is controlled to apply the displacement of the acceleration reversely along the straight line collinear with the fruit handle, and the displacement distance is about 5cm, so that the fruit diameters are separated;
as shown in fig. 10, tomato transport: the control system controls the mechanical arm to move to the storage area, and drives the first connecting rod 4 and the second connecting rod 6 to rotate by controlling the screw rod stepping motor 14 to rotate anticlockwise, so that the picking hand 8 opens, tomatoes enter the storage area, and tomato transportation is completed.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. The cluster tomato powder fruit picking manipulator is characterized by comprising a shell, a linear travelling mechanism, a nut seat, a vision system and a picking unit, wherein the linear travelling mechanism is arranged in the shell;
a plurality of picking units are distributed on the nut seat, each picking unit comprises a first connecting rod (4), a second connecting rod (6) and a picking hand (8), one end of the first connecting rod (4) is hinged with the nut seat, the other end of the first connecting rod (4) is hinged with the middle of the second connecting rod (6), one end of the second connecting rod (6) is hinged with the shell, the other end of the second connecting rod (6) penetrates through the shell and is connected with the picking hand (8) through a bolt (13) and a nut (7), and the posture of the picking hand (8) is changed through the linear motion of the nut seat; the bottom of the shell is connected with a rotary arm and used for enabling the shell to rotate;
3 picking units are distributed on the nut seat, the included angle between the first picking unit and the second picking unit is 90 degrees, and the included angle between the third picking unit and the first picking unit and the second picking unit is 135 degrees respectively; the included angle between the picking hand (8) and the second connecting rod (6) is 0-25 degrees; the vision system is used to identify the center and stem positions of the outermost tomatoes in the cluster.
2. Cluster tomato powder fruit picking manipulator according to claim 1, characterized in that the picking hand (8) is externally provided with a silica gel glove (9), and the silica gel glove (9) is provided with a first pressure sensor on the surface for detecting the picking pressure.
3. The clustered tomato powder fruit picking manipulator according to claim 2, wherein the thickness of the silica gel glove (9) is at least 2mm, and the gap between the silica gel glove (9) and the picking hand (8) is 0-0.5 mm.
4. Cluster tomato powder fruit picking manipulator according to claim 1, characterized in that the gripping surface of the picking hand (8) is a concave arc surface.
5. Cluster tomato powder fruit picking manipulator according to claim 1, characterized in that the picking space formed in the middle of the picking hands (8) in the closed state has a minimum diameter of 50mm; in the open state, the maximum diameter of a picking space formed in the middle of the picking hands (8) is 110mm.
6. Clustered tomato powder fruit picking manipulator according to claim 2, characterized in that a flexible finger pad (12) is arranged on the housing between the picking units for buffering tomatoes; the flexible finger pad (12) is provided with a second pressure sensor for detecting whether the tomatoes are in contact with the flexible finger pad (12).
7. A picking method using the cluster tomato powder fruit picking manipulator of claim 6, comprising the steps of:
identifying the center and the fruit stem position of the outermost tomatoes in the clustered tomatoes through a visual system; the control system controls the mechanical arm to move according to the center and the fruit stem position of the tomatoes input by the vision system, so that the rotation center line of the shell and the fruit stem of the tomatoes are in the same straight line;
the control system controls the mechanical arm to move along a straight line collinear with the fruit handle to approach the tomato until the tomato touches the second pressure sensor; the control system controls the linear travelling mechanism to enable the nut seat to move linearly according to the feedback signal of the second pressure sensor, so that the picking hands (8) are closed until the silica gel gloves (9) of the picking hands (8) are in contact with tomato fruits;
when a first pressure sensor on the picking hand (8) reaches a set value, the control system controls the mechanical arm to reversely move along a straight line collinear with the fruit handle, so that tomatoes clamped by the picking hand (8) are separated from a tomato cluster;
the control system controls the mechanical arm to drive the shell to rotate, so that the joint of the fruit handle and the tomatoes is torn; and controlling the mechanical arm to apply the displacement of the acceleration reversely along the straight line collinear with the fruit handle, so that the fruit diameter is separated;
the control system controls the mechanical arm to move to the storage area, and controls the linear travelling mechanism to enable the picking hands (8) to open so that tomatoes enter the storage area.
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| CN202210832498.2A CN115191223B (en) | 2022-07-15 | 2022-07-15 | Cluster-shaped tomato powder fruit picking manipulator and picking method thereof |
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| CN202210832498.2A CN115191223B (en) | 2022-07-15 | 2022-07-15 | Cluster-shaped tomato powder fruit picking manipulator and picking method thereof |
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| CN115191223B true CN115191223B (en) | 2024-04-09 |
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| CN115191223A (en) | 2022-10-18 |
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