CN202232196U - Tail-end actuator for picking kiwi fruits - Google Patents

Tail-end actuator for picking kiwi fruits Download PDF

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Publication number
CN202232196U
CN202232196U CN2011203431167U CN201120343116U CN202232196U CN 202232196 U CN202232196 U CN 202232196U CN 2011203431167 U CN2011203431167 U CN 2011203431167U CN 201120343116 U CN201120343116 U CN 201120343116U CN 202232196 U CN202232196 U CN 202232196U
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CN
China
Prior art keywords
sensor
motor
finger
combination
nut
Prior art date
Application number
CN2011203431167U
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Chinese (zh)
Inventor
陈军
王虎
高�浩
蒋浩然
雷王利
韩冰
武涛
袁池
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西北农林科技大学
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Priority to CN2011203431167U priority Critical patent/CN202232196U/en
Application granted granted Critical
Publication of CN202232196U publication Critical patent/CN202232196U/en

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Abstract

The utility model discloses a tail-end actuator for picking kiwi fruits, mainly comprising two parts such as a mechanical device and a sensing system, wherein the mechanical device comprises clamping combination, close combination and arm tail-end rotating combination and is used for realizing opening, closing, advancing, retreating and overturning of fingers; the sensing system consists of an infrared position switch, a pressure sensor, a Hall position sensor and a collision sensor, and plays a role in providing control information for a controller in the moving process of the tail-end actuator. According to the tail-end actuator designed by the invention, the mode for manually picking the kiwi fruits is simulated, the structure is simple and reliable, the intelligentization is high, the control difficulty is low and the cost is low.

Description

A kind of kiwi fruit picking end effector

Technical field

The present invention relates to the picking robot technical field, particularly a kind of kiwi fruit picking end effector.

Background technology

End effector generally is installed in the mechanical arm front end, is the important process parts of the direct contact object fruit of robot, and the size of picking robot target and shape are generally incomplete same; And the target quality is soft; Damage easily, therefore, the design of end effector is particularly important.Kiwi fruit is one of the world today's three big emerging fruit, and because of rich vitamins C is described as " king of fruit ", the development speed of kiwi fruit was in continuous quickening in recent years.At present, the harvesting of kiwi fruit also all is to accomplish by manual work, wastes time and energy, therefore; Research and development kiwi fruit picking robot is realized mechanization, automation and intellectuality that kiwi fruit is plucked, for improving the harvesting rate; Solve manpower shortage, improve operating environment, all significant.The western developed country that with Japan is representative has been done number of research projects to picking robot; Tested multiple picking robot and end effector thereof successfully with artificial intelligence; Owing to reasons such as cost and complicated operations, influenced its practicability to a great extent.

Summary of the invention

To the problems and shortcomings that exist in the above-mentioned prior art; The object of the present invention is to provide a kind of end effector that kiwi fruit is plucked that is used for, its harvesting mode is simple, and the control difficulty is low; With low cost, be applicable to the picking robot work of kiwi fruit and other seed ball picking robot.

The technical scheme that realizes the foregoing invention purpose is: a kind of kiwi fruit picking end effector; Comprise mechanical device and sensor-based system, said mechanical device is made up, is formed near combination and the terminal rotation combination of arm by clamping, and said clamping combination comprises left-right turning screw rod, nut, finger, strut, linear bearing and inner casing; Said finger-stall is on nut; Said nut is connected with right-handed thread with the left hand thread of left-right turning screw rod, and said left-right turning screw rod one end is connected with bearing with a side of inner casing, and the other end is connected with the power take-off of motor I; Said linear bearing is fixed on the back of said finger, and strut passes linear bearing and is connected with inner casing both sides sidewall; Saidly comprise ball-screw, ball nut, guide rail, slide block and shell near combination; Ball nut on said ball-screw one end passes shell and is installed in inner casing is connected; The other end is connected with motor II, also is provided with guide rail on the said shell, and said slide block set is on guide rail; Said rotation combination comprises sleeve, motor II I, and motor II I is installed on the sleeve, and the power take-off of motor II I passes sleeve and is connected with shell;

Saidly left and rightly point into circular-arcly, elastomeric material is posted in the inboard;

Said sensor-based system is made up of infrared position switch, pressure sensor, hall position sensor, crash sensor, and said infrared position switch and pressure sensor are installed in the central authorities of finger; Said hall position sensor is installed on the linear bearing; Said crash sensor is installed in the front end of finger.

The operation principle of kiwi fruit picking end effector of the present invention:

Motor I drives the left-right turning screw rod rotation, realize finger do relatively near or away from action, elastomeric material is posted in the finger inboard, is designed to circular-arcly, can increase kiwi fruit and finger friction, proofreaies and correct the clamping error, the buffer portion chucking power; Motor II drives the ball-screw rotation, and the inner casing that control is enclosed within on the ball nut is done rectilinear motion; Thereby motor II I power take-off links to each other with shell through an extension shaft and drives end effector integral body and in perpendicular, rotate, and screws down kiwi fruit.

Infrared position switch detects the position of kiwi fruit, is made up of infrarede emitting diode and infrared one receiving tube, is installed in respectively on two fingers; Single-chip microcomputer sends pulse signal control infrarede emitting diode and sends infrared light; When between infrarede emitting diode and one receiving tube during clear, one receiving tube output low level is when having barrier; The one receiving tube does not receive infrared signal, the output high level; Pressure sensor detects the size of fingers power, is installed in the middle of the finger, and main element is a force sensing resistance, and the force value that force sensing resistance bears is big more, and the magnitude of voltage of its output is also just big more, behind the arrival certain value, and output low level; Hall position sensor detects the end effector position and resets, and is installed on linear bearing and the support, is made up of hall sensing chip and magnetic patch; Use the Hall effect principle, magnetic patch near the time, the magnetic flux that chip surface passes through increases; When arriving certain value, output low level.Crash sensor prevents after finger from knocking branch branch or end effector to be damaged to some extent, is installed in the finger fingertip position, and principle is identical with pressure sensor.The actuator motor is stepper motor; Stepper motor is prone to through pulse its rotating speed of control and turns to; Motor I is connected with left-right turning screw rod; Motor II is connected with ball-screw, and motor II I is installed in its power take-off on the sleeve and links to each other with extension shaft on being connected shell, and the control system is a SCM system.

Compared with prior art, advantage of the present invention is: merge the perception environmental information through many-sided heat transfer agents such as power feel, distances, control information is provided; End effector is screwed the harvesting fruit in perpendicular, reduced detection carpopodium pose institute trouble caused, and is simple in structure, and the control difficulty is low.

Description of drawings

Fig. 1 is a kiwi fruit picking end effector structural representation;

Fig. 2 is the structural representation of another angle of kiwi fruit picking end effector;

Fig. 3 is the flow chart of kiwi fruit picking end effector harvesting method.

Embodiment

Below in conjunction with accompanying drawing technical scheme of the present invention is compared detailed description:

Like Fig. 1, shown in Figure 2; A kind of kiwi fruit picking end effector comprises mechanical device and sensor-based system, it is characterized in that; Said mechanical device is made up, is formed near combination and the terminal rotation combination of arm by clamping; Said clamping combination comprises left-right turning screw rod 7, nut 8, finger 4, strut 11, linear bearing 12 and inner casing 9, and said finger 4 is enclosed within on the nut 8, and said nut 8 is connected with right-handed thread with the left hand thread of left-right turning screw rod 7; Said left-right turning screw rod 7 one ends are connected with bearing with a side of inner casing 9; The other end is connected with the power take-off of motor I 3, and said linear bearing 12 is fixed on the back of said finger 4, and strut 11 passes linear bearing 12 and is connected with inner casing 9 both sides sidewalls; Saidly comprise ball-screw 19, ball nut 17, guide rail 2, slide block 1 and shell 13 near combination; Ball nut 17 on said ball-screw 19 1 ends pass shell 13 and are installed in inner casing 9 is connected; The other end is connected with motor II 16; Also be provided with guide rail 2 on the said shell 13, said slide block 1 is enclosed within on the guide rail 2; Said rotation combination comprises sleeve 14, motor II I15, and motor II I15 is installed on the sleeve 14, and the line shaft of motor II I15 passes sleeve 14 and is connected with shell 13;

Saidly left and rightly point into circular-arcly, elastomeric material is posted in the inboard;

Said sensor-based system is made up of infrared position switch 6, pressure sensor 5, hall position sensor 10, crash sensor 18, and said infrared position switch 6 and pressure sensor 5 are installed in the central authorities of finger; Said hall position sensor 10 is installed on the linear bearing; Said crash sensor 18 is installed in the front end of finger.

For alleviating the weight of end effector, mechanism's non-standard component all adopts aluminum alloy materials.End effector Fig. 3 is the flow chart of kiwi fruit picking end effector harvesting method, and harvesting process concrete steps are following:

1, resets, make mechanism get back to initial position.Controller drive motor I, motor II, motor II I begin counter-rotating simultaneously; Hall element can output low level be given external interrupt when its motion of each driven by motor arrived initial position; Thereby make the Single-chip Controlling stepper motor stop counter-rotating, wait for next step instruction.

2, near, motor II drives near kiwi fruit, the infrared position sensor that is installed in finger tips detects kiwi fruit and gets into finger, the control motor II stops operating.Finger bumps against hard things such as branch in the process if advance, and then feeds back signal to single-chip microcomputer by crash sensor, sends the signal controlling fingers stop and travels forward.

3, clamping; Motor I drives the fingers kiwi fruit, is installed in the middle pressure sensor of finger circular arc and detects the chucking power size, and output voltage and pressure size are linear change; Clamp pressure increases; Output voltage also increases, reach setting threshold after signal change, stop clamping by Single-chip Controlling.

4, screw, the motor II I that is installed in the end effector afterbody connects terminal shaft, and terminal shaft is fixed on the shell, and the motor rotation drives whole end effector and rotates at perpendicular, is just changeing the half-turn half-turn that reverses again and is screwing down fruit.

5, discharge fruit, when the mechanical arm band end effector that clamping fruit and moved to the harvesting apparatus top, the Single-chip Controlling finger opened, and kiwi fruit falls into harvesting apparatus, has accomplished the task of plucking kiwi fruit.

Claims (1)

1. kiwi fruit picking end effector; Comprise mechanical device and sensor-based system; It is characterized in that said mechanical device is made up, formed near combination and the terminal rotation combination of arm by clamping, said clamping combination comprises left-right turning screw rod (7), nut (8), finger (4), strut (11), linear bearing (12) and inner casing (9); Said finger (4) is enclosed within on the nut (8); Said nut (8) is connected with right-handed thread with the left hand thread of left-right turning screw rod (7), and said left-right turning screw rod (7) one ends are connected with bearing with a side of inner casing (9), and the other end is connected with the power take-off of motor I (3); Said linear bearing (12) is fixed on the back of said finger (4), and strut (11) passes linear bearing (12) and is connected with inner casing (9) both sides sidewall; Saidly comprise ball-screw (19), ball nut (17), guide rail (2), slide block (1) and shell (13) near combination; Ball nut (17) on said ball-screw (19) one ends pass shell (13) and are installed in inner casing (9) is connected; The other end is connected with motor II (16); Also be provided with guide rail (2) on the said shell (13), said slide block (1) is enclosed within on the guide rail (2); Said rotation combination comprises sleeve (14), motor II I (15), and motor II I (15) is installed on the sleeve (14), and the power take-off of motor II I (15) passes sleeve (14) and is connected with shell (13);
Saidly left and rightly point into circular-arcly, elastomeric material is posted in the inboard;
Said sensor-based system is made up of infrared position switch (6), pressure sensor (5), hall position sensor (10), crash sensor (18), and said infrared position switch (6) and pressure sensor (5) are installed in the central authorities of finger; Said hall position sensor (10) is installed on the linear bearing; Said crash sensor (18) is installed in the front end of finger.
CN2011203431167U 2011-09-14 2011-09-14 Tail-end actuator for picking kiwi fruits CN202232196U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011203431167U CN202232196U (en) 2011-09-14 2011-09-14 Tail-end actuator for picking kiwi fruits

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011203431167U CN202232196U (en) 2011-09-14 2011-09-14 Tail-end actuator for picking kiwi fruits

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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102428802A (en) * 2011-09-14 2012-05-02 西北农林科技大学 Kiwi picking end effector
CN102785251A (en) * 2012-07-06 2012-11-21 深圳先进技术研究院 Mechanical gripper of dispensing robot
CN102823365A (en) * 2012-06-05 2012-12-19 江苏大学 Column cultivation matching transplanting robot
CN103085079A (en) * 2013-01-06 2013-05-08 沈阳理工大学 Lead-screw-utilized twisting machine hand claw with fixed wiring harness position
CN103235619A (en) * 2013-04-18 2013-08-07 浙江工业大学 Automatic control system for electric clamping jaw and special device of automatic control system
CN103386690A (en) * 2013-07-22 2013-11-13 山东省科学院自动化研究所 Double-finger double-driving translation clamping type flexible grip and control method
CN103404307A (en) * 2013-07-30 2013-11-27 西北农林科技大学 Fully-automatic kiwi fruit picking end effector
CN104260103A (en) * 2014-10-20 2015-01-07 北京航空航天大学 Two-degree-of-freedom two-finger clamping device
CN104385292A (en) * 2014-11-26 2015-03-04 深圳控石智能系统有限公司 Robot paw
CN104476555A (en) * 2014-11-21 2015-04-01 成都格瑞思文化传播有限公司 Log grapple
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104626178A (en) * 2014-12-19 2015-05-20 邓军 Mechanical arm for grabbing bottle
CN104663135A (en) * 2015-01-12 2015-06-03 上海交通大学 End effector for fruit harvesting robot
CN105291121A (en) * 2015-10-27 2016-02-03 宁夏共享机床辅机有限公司 Stacker crane fixture
CN105945933A (en) * 2016-07-14 2016-09-21 广东技术师范学院 Factory goods carrying robot
CN106945032A (en) * 2017-04-05 2017-07-14 深圳市晓控通信科技有限公司 A kind of puma manipulator extracted for express delivery
CN108081297A (en) * 2017-12-08 2018-05-29 常州大学 A kind of face contact type room temperature crucible clamping manipulator
EP3360654A1 (en) * 2017-02-09 2018-08-15 Günther Zimmer Gripping device with integrated magnetic field sensor
CN109048956A (en) * 2018-08-30 2018-12-21 南京禹智智能科技有限公司 A kind of industrial robot loading and unloading clamping device
CN109732638A (en) * 2018-12-06 2019-05-10 山东省科学院自动化研究所 A kind of translation rotary type retaining paw and its working method, robot system

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102428802A (en) * 2011-09-14 2012-05-02 西北农林科技大学 Kiwi picking end effector
CN102823365B (en) * 2012-06-05 2014-08-20 江苏大学 Column cultivation matching transplanting robot
CN102823365A (en) * 2012-06-05 2012-12-19 江苏大学 Column cultivation matching transplanting robot
CN102785251A (en) * 2012-07-06 2012-11-21 深圳先进技术研究院 Mechanical gripper of dispensing robot
CN102785251B (en) * 2012-07-06 2015-11-11 深圳先进技术研究院 Make up a prescription the mechanical paw of robot
CN103085079A (en) * 2013-01-06 2013-05-08 沈阳理工大学 Lead-screw-utilized twisting machine hand claw with fixed wiring harness position
CN103085079B (en) * 2013-01-06 2015-06-03 沈阳理工大学 Lead-screw-utilized twisting machine hand claw with fixed wiring harness position
CN103235619A (en) * 2013-04-18 2013-08-07 浙江工业大学 Automatic control system for electric clamping jaw and special device of automatic control system
CN103386690A (en) * 2013-07-22 2013-11-13 山东省科学院自动化研究所 Double-finger double-driving translation clamping type flexible grip and control method
CN103404307B (en) * 2013-07-30 2015-06-17 西北农林科技大学 Fully-automatic kiwi fruit picking end effector
CN103404307A (en) * 2013-07-30 2013-11-27 西北农林科技大学 Fully-automatic kiwi fruit picking end effector
CN104260103A (en) * 2014-10-20 2015-01-07 北京航空航天大学 Two-degree-of-freedom two-finger clamping device
CN104260103B (en) * 2014-10-20 2016-09-14 北京航空航天大学 A kind of two degrees of freedom two refers to clamper
CN104476555A (en) * 2014-11-21 2015-04-01 成都格瑞思文化传播有限公司 Log grapple
CN104385292A (en) * 2014-11-26 2015-03-04 深圳控石智能系统有限公司 Robot paw
CN104493824B (en) * 2014-11-27 2016-08-24 上海烟草集团有限责任公司 Tobacco bale detection and the method adjusting gripping point
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104626178A (en) * 2014-12-19 2015-05-20 邓军 Mechanical arm for grabbing bottle
CN104663135A (en) * 2015-01-12 2015-06-03 上海交通大学 End effector for fruit harvesting robot
CN105291121A (en) * 2015-10-27 2016-02-03 宁夏共享机床辅机有限公司 Stacker crane fixture
CN105945933A (en) * 2016-07-14 2016-09-21 广东技术师范学院 Factory goods carrying robot
EP3360654A1 (en) * 2017-02-09 2018-08-15 Günther Zimmer Gripping device with integrated magnetic field sensor
CN106945032A (en) * 2017-04-05 2017-07-14 深圳市晓控通信科技有限公司 A kind of puma manipulator extracted for express delivery
CN108081297A (en) * 2017-12-08 2018-05-29 常州大学 A kind of face contact type room temperature crucible clamping manipulator
CN109048956A (en) * 2018-08-30 2018-12-21 南京禹智智能科技有限公司 A kind of industrial robot loading and unloading clamping device
CN109732638A (en) * 2018-12-06 2019-05-10 山东省科学院自动化研究所 A kind of translation rotary type retaining paw and its working method, robot system
CN109732638B (en) * 2018-12-06 2020-08-18 山东省科学院自动化研究所 Translational rotary type clamping paw, working method thereof and robot system

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

Termination date: 20130914