CN115503006A - A harvesting cherry tomato end effector and a harvesting robot - Google Patents

Abstract

The invention relates to a cherry tomato end effector integrating harvesting, which comprises a clamping jaw, a connecting rod, a connector, a mechanical arm vacuum chuck, a harvesting cylinder, a hose, a rack and a front-back driving mechanism, wherein the clamping jaw is connected with the connecting rod; the number of the clamping jaws is more than three, and the clamping jaws are uniformly distributed along the circumference; the middle part of the clamping jaw is rotatably connected with the front end of the harvesting cylinder, the rear end of the clamping jaw is rotatably connected with the front end of the connecting rod, the rear end of the connecting rod is rotatably connected with the connector, the front and rear driving mechanisms drive the connector to slide back and forth relative to the rack, and the mechanical arm vacuum chuck is fixed in front of the connector; a harvesting section of thick bamboo is fixed in the frame, and the front end of harvesting section of thick bamboo is equipped with the opening that supplies the cherry tomato to get into, and the rear end of harvesting section of thick bamboo is equipped with the opening that supplies arm vacuum chuck to pass, and the lower extreme of harvesting section of thick bamboo is equipped with the collection mouth that supplies the cherry tomato to drop, collects mouthful hose that connects. Still relate to a cherry tomato of gathering an organic whole and gather machine people. The cherry tomato picking machine improves picking efficiency and reduces damage, and belongs to cherry tomato picking equipment.

Description

A harvesting cherry tomato end effector and harvesting robot

technical field

The invention relates to cherry tomato picking equipment, in particular to a cherry tomato end effector integrated with harvesting, and also to a cherry tomato harvesting robot integrated with harvesting.

Background technique

With social development and people's pursuit of quality of life, the market's demand for cherry tomato quality and processing output has gradually increased. However, for a long time, due to the characteristics of the thin and fragile skin of the cherry tomatoes and the easy lodging of the stems, it is difficult to pick the cherry tomatoes, and the quality of the cherry tomatoes can not be effectively guaranteed. As labor costs rise year by year, labor shortage, difficulty in picking, and increased costs have become the main problems restricting the development of the cherry tomato industry. Mechanized harvesting with less damage and a high degree of automation will become the development direction of the cherry tomato industry in the future.

Existing cherry tomato picking device is less. However, the existing fruit picking device has a relatively simple function. The fruit is picked by the mechanical claw, and then the mechanical claw is moved to the top of the collection basket, and the mechanical claw is released to let the fruit fall naturally. This fruit picking device has the following disadvantages: 1. Due to the need to move to the collection basket, it takes a long time to pick a single fruit and the efficiency is low. 2. The fruit falls directly into the collection basket by gravity. If the device is applied to cherry tomato picking, the damage rate will be high.

Contents of the invention

Aiming at the technical problems existing in the prior art, the object of the present invention is to provide a harvesting cherry tomato end effector and a harvesting robot specially used for cherry tomato harvesting.

In order to achieve the above object, the present invention adopts following technical scheme:

A cherry tomato end effector integrated with harvesting, including grippers, connecting rods, connectors, mechanical arm vacuum suction cups, harvesting tubes, hoses, racks, and front and rear drive mechanisms; the number of grippers is more than three , evenly distributed along the circumference; the middle part of the jaw is rotationally connected to the front end of the harvesting barrel, the rear end of the jaw is rotationally connected to the front end of the connecting rod, the rear end of the connecting rod is rotationally connected to the connector, and the front and rear drive mechanism The drive connector slides back and forth relative to the frame, and the vacuum suction cup of the mechanical arm is fixed in front of the connector; The rear end is provided with an opening for the mechanical arm vacuum suction cup to pass through, and the lower end of the harvesting tube is provided with a collection port for cherry tomatoes to drop, and the collection port is connected to a hose.

As a preference, the recovery cylinder is cylindrical, the axial direction is arranged along the front and rear directions, and the collection port runs through the lower wall of the cylinder.

As a kind of preferably, mechanical arm vacuum suction cup is elongated, and the front end is the vacuum suction port that sucks cherry tomatoes, and the rear end is connected with vacuum generator by trachea; Mechanical arm vacuum suction cup is arranged on the axis of recovery cylinder.

As a preference, the number of jaws is four, the number of connecting rods is four, and both the jaws and the connecting rods are straight rods.

As a preference, the connector includes an annular portion, four straight rod portions located outside the annular portion, and a push rod located below the annular portion, the four straight rod portions are evenly distributed along the circumference of the annular portion, and the straight rod portions are located at the center of the annular portion. In the radial direction; the outer end of the straight rod part is connected with the connecting rod; the rear end of the vacuum suction cup of the mechanical arm is fixed in the ring part; the push rod is connected with the front and rear drive mechanisms.

As a preference, the front and rear drive mechanism is an electric push rod.

As a kind of preference, the front end of flexible pipe joins with collecting port, and the rear end of flexible pipe corresponds to the cherry tomato collection basket setting.

As a preference, a harvesting cherry tomato end effector also includes a base bracket, the base bracket is installed on the frame and is located behind the connector, and a depth camera is installed on the base bracket.

As a preference, the grippers, connecting rods, connectors, vacuum suction cups of the robotic arm, harvesting barrels, and frame are all produced by 3D printing, and the material is PLA.

A cherry tomato harvesting robot integrated with harvesting includes a mechanical arm and a cherry tomato end effector integrated with harvesting, and the end effector is installed on a flange plate at the end of the mechanical arm.

The present invention has the following advantages:

1. Set up the harvesting tube to integrate the picking and collecting functions of cherry tomatoes, so that the end effector has both picking and collecting functions, and the picking and collecting actions are linked to complete, improving the picking efficiency.

2. The action of the gripper is linked with the action of the vacuum suction cup of the robotic arm, making the picking and collecting actions coherent.

3. Four grippers are used to expand the picking range and reduce the influence of the precision of the robotic arm.

4. The structure is simple, and the 3D printing of most parts can be realized. Even an individual can easily obtain the end effector.

5. Made of PLA degradable material, more environmentally friendly.

6. After the cherry tomatoes fall from the collection port, they are transported to the collection basket through the hose, which is not easy to be damaged.

Description of drawings

Figure 1 is a front view of the end effector.

Figure 2 is a top view of the end effector.

Fig. 3 is a perspective view of an end effector.

Fig. 4 is a perspective view of the recovery barrel.

Fig. 5 is a perspective view of the connector.

Fig. 6 is a schematic structural view of the end effector.

Among them, 1 is the gripper, 2 is the connecting rod, 3 is the connector, 4 is the vacuum suction cup of the mechanical arm, 5 is the harvesting tube, 6 is the hose, 7 is the frame, 8 is the front and rear driving mechanism, and 9 is the base bracket , 10 is the trachea.

x is the length of the front section of the gripper's turning point, y is the length of the back section of the gripper's turning point, z is the length of the connecting rod, θ is the angle between the gripper and the vertical direction, and α is the distance between the connecting rod and the horizontal direction angle.

detailed description

The present invention will be described in further detail below in conjunction with specific embodiments.

Embodiment one

A cherry tomato end effector integrated with harvesting, including grippers, connecting rods, connectors, mechanical arm vacuum suction cups, harvesting tubes, hoses, racks, and front and rear drive mechanisms; the number of grippers is more than three , evenly distributed along the circumference; the middle part of the jaw is rotationally connected to the front end of the harvesting barrel, the rear end of the jaw is rotationally connected to the front end of the connecting rod, the rear end of the connecting rod is rotationally connected to the connector, and the front and rear drive mechanism The drive connector slides back and forth relative to the frame, and the vacuum suction cup of the mechanical arm is fixed in front of the connector; The rear end is provided with an opening for the mechanical arm vacuum suction cup to pass through, and the lower end of the harvesting tube is provided with a collection port for cherry tomatoes to drop, and the collection port is connected to a hose.

The recovery cylinder is cylindrical, the axis direction is arranged along the front and rear directions, and the collection port runs through the lower wall of the cylinder.

The vacuum suction cup of the mechanical arm is strip-shaped, the front end is a vacuum suction port for sucking cherry tomatoes, and the rear end is connected with the vacuum generator through a trachea; the vacuum suction cup of the mechanical arm is arranged on the axis of the harvesting cylinder.

The quantity of clamping jaw is four, and the quantity of connecting rod is four, and clamping jaw and connecting rod are straight rods.

The connector includes a ring part, four straight rod parts located outside the ring part, and a push rod located below the ring part, the four straight rod parts are evenly distributed along the circumference of the ring part, and the straight rod parts are located in the radial direction of the ring part; The outer end of the straight rod part is connected with the connecting rod; the rear end of the vacuum suction cup of the mechanical arm is fixed in the ring part; the push rod is connected with the front and rear drive mechanisms.

The front and rear drive mechanisms are electric push rods.

The front end of the flexible pipe joins with the collection port, and the rear end of the flexible pipe corresponds to the cherry tomato collection basket.

A cherry tomato end effector with integrated harvesting also includes a base bracket, the base bracket is installed on the frame and is located behind the connector, and a depth camera is installed on the base bracket.

Grippers, connecting rods, connectors, robotic arm vacuum suction cups, harvesting barrels, and racks are all produced by 3D printing, and the material is PLA.

As shown in Figure 6, in order to make the harvesting action integrated and coherent, the dimensions of x, y, z, θ, and α need to be designed according to the size of the cherry tomatoes. In the initial state, the electric push rod is at the rear, the connector is at the rear, the vacuum suction cup of the robotic arm is at the rear, the front end of the vacuum suction cup of the robotic arm is aligned with the rear end of the collection port, and the gap between the jaws is at the maximum.

The working process of the end effector of the present invention is as follows:

In the first step, after the end effector is close to the cherry tomatoes to be picked, the vacuum generator starts, the electric push rod pushes the connector to move forward, and the connector drives the jaws to rotate under the action of the connecting rod, and the four jaws generate " In this step, the cherry tomatoes will be pulled into the harvesting tube until the vacuum suction cup of the robotic arm touches and sucks the cherry tomatoes.

In the second step, the vacuum generator remains in the activated state, and the electric push rod is pulled back with the vacuum suction cup of the mechanical arm until the vacuum suction cup of the mechanical arm pulls the cherry tomatoes and breaks the connection between the cherry tomatoes and its stem. , The vacuum chuck of the robotic arm also returns to the initial state at this time.

The third step is to close the vacuum generator, and the picked cherry tomatoes will freely fall from the collection port of the harvester to the hose under the action of gravity, and then enter the collection basket.

Thus, a picking process ends.

Embodiment two

A kind of cherry tomato harvesting robot integrated in harvesting comprises a kind of harvesting cherry tomato end effector integrated in a mechanical arm and embodiment one, and the end effector is installed on the flange plate at the end of the mechanical arm.

According to the position data of the cherry tomatoes collected by the depth camera, the robotic arm approaches the cherry tomatoes to realize the picking of the cherry tomatoes.

The action of the robot can be controlled by a single-chip microcomputer, so that the action of the mechanical arm, the action of the electric push rod, and the start-stop action of the vacuum generator can be adapted.

The parts not mentioned in this embodiment are the same as those in Embodiment 1.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplification should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (10)

1. An integrated cherry tomato end effector for harvesting is characterized in that: it comprises grippers, connecting rods, connectors, mechanical arm vacuum suction cups, harvesting tubes, flexible pipes, frames, front and rear drive mechanisms; grippers The quantity is more than three, evenly distributed along the circumference; the middle part of the jaw is rotatably connected with the front end of the harvesting barrel, the rear end of the jaw is rotatably connected with the front end of the connecting rod, and the rear end of the connecting rod is rotatably connected with the connector type connection, the front and rear drive mechanism drives the connector to slide back and forth relative to the frame, and the vacuum suction cup of the mechanical arm is fixed in front of the connector; Opening, the rear end of the harvesting barrel is provided with an opening for the vacuum suction cup of the mechanical arm to pass through, and the lower end of the harvesting barrel is provided with a collection port for cherry tomatoes to drop, and the collection port is connected to a hose. 2. according to claim 1, a kind of cherry tomato end effector with integrated harvesting is characterized in that: the harvesting cylinder is cylindrical, the axial direction is arranged along the front and rear direction, and the collection port runs through the lower end of the cylinder wall. 3. according to claim 2, a kind of integrated cherry tomato end effector of harvesting is characterized in that: the mechanical arm vacuum suction cup is elongated, and the front end is to absorb the vacuum suction port of cherry tomato, and the rear end passes through trachea and The vacuum generator is connected; the vacuum suction cup of the mechanical arm is arranged on the axis of the recovery cylinder. 4. according to claim 1, a kind of harvesting cherry tomato end effector integrated, is characterized in that: the quantity of jaw is four, and the quantity of connecting rod is four, and jaw and connecting rod are straight pole. 5. A harvesting integrated cherry tomato end effector according to claim 4, characterized in that: the connector comprises an annular portion, four straight rod portions positioned outside the annular portion, and a push rod positioned below the annular portion , the four straight rod parts are evenly distributed along the circumference of the ring part, and the straight rod part is located in the radial direction of the ring part; the outer end of the straight rod part is connected with the connecting rod; the rear end of the vacuum suction cup of the mechanical arm is fixed on the ring part Inside; the push rod is connected with the front and rear drive mechanism. 6. A kind of cherry tomato end effector integrated with harvesting according to claim 1, characterized in that: the front and rear drive mechanisms are electric push rods. 7. according to a kind of harvesting cherry tomato end effector integrated in claim 1, it is characterized in that: the front end of flexible pipe joins with collecting port, and the rear end of flexible pipe corresponds to the cherry tomato collecting basket and arranges. 8. According to claim 1, a kind of cherry tomato end effector with integrated harvesting is characterized in that: it also includes a base bracket, the base bracket is installed on the frame and is located behind the connector, and a depth camera is installed on the base bracket . 9. According to claim 1, a kind of cherry tomato end effector with integrated harvesting is characterized in that: jaws, connecting rods, connectors, mechanical arm vacuum suction cups, harvesting tubes, and frames are all printed by 3D Made, the material is PLA. 10. A harvesting integrated cherry tomato harvesting robot is characterized in that: comprise a kind of harvesting integrated cherry tomato end effector described in any one of claim 1-9 in manipulator, end execution The device is installed on the flange at the end of the mechanical arm.

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