CN116252321A - Soft manipulator for picking Chinese prickly ash - Google Patents

Abstract

The invention provides a soft pepper picking manipulator which consists of a manipulator and a manipulator, wherein the manipulator comprises soft fingers, joint air bags, a palm, a base and a camera, and the manipulator comprises a base, a lower arm, an upper arm and a wrist; each soft finger is provided with three knuckles, the knuckles are connected through pins, the outer layer is a silica gel skin, joint air bags are respectively embedded in the two knuckles of the finger, the three soft fingers are arranged on the palm through the last knuckle, the palm is connected with the base, the camera is arranged on the base, and the base is connected with the top of the wrist of the mechanical arm; when the joint air bag is inflated, the air bag axially expands to drive three fingers to approach the central line at the same time and move downwards, so that the finger tips grasp the prickly ash clusters, and at the moment, the top of the wrist of the mechanical arm rotates to twist off prickly ash branches, and picking is completed. The soft manipulator for picking peppers has a simple structure, is convenient to use, can pick peppers off, and can realize nondestructive picking.

Description

Soft manipulator for picking Chinese prickly ash

Technical Field

The invention relates to the field of picking manipulators, in particular to a soft pepper picking manipulator.

Background

The pepper has rich and spicy taste, is the most important seasoning in daily life, is mainly produced from Sichuan, shaanxi, henan, shandong, gansu, shanxi, yunnan, guizhou and other provinces in China, and has good quality of Sichuan pepper and high Hebei and Shanxi yields. Statistics in 2017 show that the annual pepper yield is 43.84 ten thousand tons, the Yunnan Sichuan pepper yield is 6.20 ten thousand tons, and the annual Sichuan pepper yield accounts for 14.14 percent of the total national quantity; the yield of the Shaanxi pepper is 8.28 ten thousand tons and accounts for 18.89 percent of the total national quantity; the yield of the Shandong pepper is 3.97 ten thousand tons and accounts for 9.06 percent of the total national quantity; the yield of Chongqing Chinese prickly ash is 6.97 ten thousand tons, which accounts for 15.90 percent of the total national quantity; the yield of Gansu pepper is 3.79 ten thousand tons and accounts for 8.65 percent of the total national quantity; the yield of Sichuan pepper is 8.36 ten thousand tons, which accounts for 19.07 percent of the total national quantity, and the yield of Sichuan pepper in China exceeds 45 ten thousand tons in 2018. According to the prediction of Zhongshenghua industrial institute, the planting area of the pepper is increased year by year, and the yield of the pepper is increased year by year. The existing pepper picking mode is mostly manual picking, the cost is high, as pepper branches are spread over spines, the pepper branches are easy to stab during picking, the picking difficulty is increased, and the existing hand-held pepper picking tool is widely used for solving the problems of troublesome use, low efficiency and the like in pepper farmers.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention aims to develop a novel intelligent pepper picking manipulator, and combines an information sensing technology and an intelligent control theory, and utilizes the advantages of strong self-adaptability and flexibility of a soft manipulator to apply the soft manipulator to pepper picking to replace a rigid manipulator for pepper picking.

The pepper picking soft manipulator comprises a manipulator and a manipulator, wherein the manipulator comprises soft fingers, joint air bags, a palm, a base and a camera; the mechanical arm comprises a base, a lower arm, an upper arm and a wrist which are sequentially connected;

comprises three soft fingers;

each soft finger is provided with three sections of knuckles, namely an upper knuckle, a middle knuckle and a lower knuckle, the joints of two adjacent knuckles are connected through pins, joint air bags are respectively embedded in the joints, and the soft finger is arranged on the periphery of the palm through the lower knuckle;

the palm is connected with the base, the camera is arranged on the base, and the base is connected with the top of the wrist of the mechanical arm;

when the joint air bag is inflated, the joint air bag axially expands to drive three fingers to bend towards the central line direction of the palm at the same time, so that the finger tips grasp the pepper cluster, and at the moment, the top of the wrist rotates to twist off the pepper branches, and picking is completed.

Furthermore, the outer layer of the soft finger is provided with a silica gel skin.

The joint airbag comprises a deformation part and a limiting layer, wherein the limiting layer is of a non-deformable structure, and non-extensible gauze is embedded in the limiting layer; the deformation part is fixed on one side of the limiting layer; the inner cavity of the deformation part forms an inflation air passage and two air chambers, and the two air chambers are connected through the inflation air passage; the deformation part is also provided with an inflation inlet which is connected with an inflation tube.

The palm center is concave, and three support platforms are uniformly distributed on the top of the palm and are respectively used for being connected with three soft fingers.

The system further comprises a data acquisition system, wherein the data acquisition system is connected with a camera arranged on the base and is used for analyzing and processing images shot by the camera;

the system also comprises an analysis processor for controlling the actions of the manipulator and the mechanical arm.

The invention has the beneficial effects that: the invention combines the rigid framework and the flexible skin, so that the gripping force is ensured and the appearance of the pricklyash peel is not damaged.

The manipulator is used for grasping and picking, the process of manually picking the pepper is simulated, and the wrist (4) of the manipulator can rotate around the central line by rotating the pepper cluster clamped by the finger, so that the pepper cluster can be quickly and effectively dropped off from the pepper tree.

The data acquisition system is adopted, the pepper clusters can be identified in real time through the camera, the number, the position, the size and the like of the pepper clusters are judged, the actions such as finger air bag inflation, mechanical arm movement, mechanical arm wrist torsion and the like are controlled, the peppers are picked, and the automation level and the reliability are improved.

Drawings

Fig. 1 is a perspective view of a soft pepper picking manipulator.

FIG. 2 is an axial perspective cross-sectional view of a soft finger.

Fig. 3 is a cross-sectional view of the joint balloon.

FIG. 4 is a schematic diagram of a soft finger bending operation.

Fig. 5 is a three view of the joint capsule restraint.

Fig. 6 is a perspective view of the palm and base.

Fig. 7 is a schematic diagram of a robot work flow.

Detailed Description

Referring to fig. 1, 2 and 5, the pepper picking soft manipulator comprises a manipulator and a manipulator arm, wherein the manipulator arm comprises soft fingers 8, a joint air bag 15, a palm 22, a base 25 and a camera 5; the mechanical arm comprises a base 1, a lower arm 2, an upper arm 3 and a wrist 4 which are sequentially connected;

the manipulator mainly comprises soft fingers 8, a joint air bag 15, a palm 22 and a base 25. Comprises three soft fingers 8; the soft finger 8 is composed of an upper knuckle 9, a middle knuckle 10 and a lower knuckle 11, which are connected by a pin 12, wherein an upright plate 14 is arranged at the lower end of the upper knuckle 9, at both ends of the middle knuckle 10 and at the upper end of the lower knuckle 11, the tail end of the lower knuckle 11 is provided with a platform protruding radially towards both sides, and the platforms at both sides are respectively provided with a hole, and the holes corresponding to the support platform 23 at the top of the palm 22 are connected by bolts.

Two ends of the joint air bag 15 are adhered to upright plates 14 of adjacent knuckles, and the outer layer of the soft finger 8 is provided with a silica gel skin 13 for simulating the skin of a human hand; the center of the palm 22 is concave, so that the situation that the cluster of the peppers is too long when the peppers are picked is avoided, pepper particles and the palm are directly extruded to damage the oil bag, the bottom of the palm 22 is fixedly connected with the base 25 through the cylinder 24, and the base 25 is connected with the top end of the wrist 4 of the mechanical arm through a bolt.

When the manipulator works, the joint air bags 15 are inflated to expand towards two ends to drive the knuckles to bend, the finger skins 13 are of silica gel soft bodies, the finger skins can correspondingly deform along with the knuckle bending, and three soft bodies of fingers 8 simultaneously bend towards the central axis of the palm 22 until the finger tips grip the prickly ash clusters; after picking, the joint air bag 15 is deflated to restore the original shape, and the soft fingers 8 are opened outwards.

Referring to fig. 3, 4 and 5, the joint airbag 15 includes a deformation portion 17 provided with air cells 16 communicating with each other, a non-deformable restricting layer 18, a non-extensible gauze 19 embedded in the restricting layer 18, and a sealing portion provided at the bottom of the deformation portion 17 to seal the air cells 16; all air chambers 16 are positioned on the same side of the limiting layer 18, an air inflation channel 21 which is mutually communicated is arranged between the bottom of the air chamber 16 and the limiting layer 18, an air inflation port 20 through which an air inflation tube passes is arranged in the middle of the deformation part 17, and the air inflation tube is led to an air pump through a reversing valve. The deformation part 17 is made of silicon rubber, and is integrally manufactured by manufacturing a die structure and then casting silica gel; the limiting layer 18 is also realized by using silicon rubber as a main material, and gauze 19 is poured into the silicon rubber, so that the limiting layer 18 is prevented from expanding outwards during inflation, and the joint air bag 15 cannot expand and bend along the axial direction of the soft finger 8. When the joint airbag 15 is inflated, air enters each air chamber 16 through the inflation port 20, the thin walls of the adjacent air chambers 16 are mutually extruded and deformed due to inflation, but the non-deformable limiting layer 18 is not deformed, and the whole soft finger 8 can realize bending deformation.

Referring to fig. 6, the camera base comprises a camera base seat 7, a camera 5, a fastening piece 6, a data acquisition system 26, a camera base seat 7 and a camera base seat 25, wherein the camera base seat 7 is fixedly connected with the camera base seat, and a cylinder with a spiral line is arranged below the camera 5. The camera 5 collects the image and transmits the image to a computer for processing and analysis, and the specific flow is shown in fig. 7.

The robot further comprises an analysis processor for controlling the actions of the manipulator and the mechanical arm, and controlling the actions of inflating the joint air bag 15, moving the mechanical arm, twisting the wrist 4 and the like.

Claims (5)

1. The soft pepper picking manipulator comprises a manipulator and is characterized in that: the manipulator comprises soft fingers (8), joint air bags (15), a palm (22), a base (25) and a camera (5); the mechanical arm comprises a base (1), a lower arm (2), an upper arm (3) and a wrist (4) which are connected in sequence;

comprises three soft fingers (8);

each soft finger (8) is provided with three sections of knuckles, namely an upper knuckle (9), a middle knuckle (10) and a lower knuckle (11), the joints of two adjacent knuckles are connected through pins (12), joint air bags (15) are respectively embedded in the joints, and the soft finger (8) is arranged on the periphery of a palm (22) through the lower knuckle (11);

the palm (22) is connected with the base (25), the camera (5) is arranged on the base (25), and the base (25) is connected with the top of the mechanical arm wrist (4);

when the joint air bag (15) is inflated, the joint air bag (15) axially expands to drive three fingers (8) to bend towards the central line direction of the palm (22) at the same time, so that the finger tips grasp the pepper cluster, and at the moment, the top of the wrist (4) rotates to twist off the pepper branches, and picking is completed.

2. The pepper software picking manipulator of claim 1, characterized by: the outer layer of the soft finger (8) is provided with a silica gel skin (13).

3. The pepper picking soft manipulator of claim 2, characterized by: the joint airbag (15) comprises a deformation part (17) and a limiting layer (18), wherein the limiting layer (18) is of a non-deformable structure, and a non-extensible gauze (19) is embedded in the limiting layer (18); the deformation part (17) is fixed on one side of the limiting layer (18); the inner cavity of the deformation part (17) forms an inflation air passage (21) and two air chambers (16), and the two air chambers (16) are connected through the inflation air passage (21); the deformation part (17) is also provided with an inflation inlet (20), and the inflation inlet (20) is connected with an inflation supply pipe.

4. The pepper picking soft manipulator of claim 1, characterized by: the center of the palm (22) is concave, and three support platforms (23) are uniformly distributed at the top of the palm (22) and are respectively used for being connected with three soft fingers (8).

5. The pepper picking soft manipulator of claim 1, characterized by: the system also comprises a data acquisition system, wherein the data acquisition system is connected with a camera (5) arranged on the base (25) and is used for analyzing and processing images shot by the camera (5);

the system also comprises an analysis processor for controlling the actions of the manipulator and the mechanical arm.

Images