CN205305450U - A end effector of robot for tomato bud picking - Google Patents
A end effector of robot for tomato bud picking Download PDFInfo
- Publication number
- CN205305450U CN205305450U CN201620030301.3U CN201620030301U CN205305450U CN 205305450 U CN205305450 U CN 205305450U CN 201620030301 U CN201620030301 U CN 201620030301U CN 205305450 U CN205305450 U CN 205305450U
- Authority
- CN
- China
- Prior art keywords
- fructus lycopersici
- lycopersici esculenti
- tomato
- side shoot
- linkage part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses an end effector of robot for tomato bud picking, including tomato side shoot detection of the position device, detecting device telescopic machanism, mount, camera and tomato lateral bud excision device. This end effector adopts the camera to acquire tomato mobile jib position, shift up around the tomato mobile jib through tomato side shoot detection of the position device, the accurate tomato side shoot position of surveying, further acquire again after side shoot and the lateral bud information, the detecting device telescopic machanism action makes tomato side shoot position detecting device withdraw from, control tomato lateral bud excision device reachs corresponding side shoot position and carries out the operation of lateral bud excision, tomato lateral bud excision device is return after accomplishing, tomato side shoot detection of the position device carries out operation on next step according to mobile jib and the side shoot positional information that camera before this acquireed. The utility model discloses an automatic, the operation is fast, stability good, degree of automation is high that is used for the end equipment of tomato bud picking robot can realize the operation of tomato lateral bud excision.
Description
Technical field
The utility model relates to gardening, agricultural robot, end effector, particularly relate to Fructus Lycopersici esculenti lateral bud and extract the end effector in robot.
Background technology
Along with the lifting of agricultural modernization, vegetable production scale, automatization have become as trend. It is improve the requisite ring of tomato planting yield and quality that Fructus Lycopersici esculenti lateral bud is extractd, and Fructus Lycopersici esculenti bud picking workload is big, and sometimes for repeating. Although manual bud picking speed is fast, but it is as labor cost and increases and huge workload can not meet and is actually needed. Fructus Lycopersici esculenti bud picking end effector of robot is the key component of bud picking robot, is arranged in the robot of seven freedom, and end effector completes the excision operation of Fructus Lycopersici esculenti lateral bud with certain sequence of operation.
Summary of the invention
The purpose of this utility model is in that for the deficiencies in the prior art, it is provided that a kind of end effector of robot for Fructus Lycopersici esculenti bud picking.
End effector for Fructus Lycopersici esculenti bud picking robot of the present utility model includes the first fixed mount for being arranged on robot end and the detection device telescoping mechanism being both secured on the first fixed mount, photographic head and Fructus Lycopersici esculenti lateral bud ablation device, detection device telescoping mechanism end is fixed with Fructus Lycopersici esculenti side shoot positional detecting device, detection device telescoping mechanism moves for the horizontal linearity realizing Fructus Lycopersici esculenti side shoot positional detecting device, and detection device telescoping mechanism and Fructus Lycopersici esculenti side shoot positional detecting device are positioned at above Fructus Lycopersici esculenti lateral bud ablation device, photographic head is used for shooting Fructus Lycopersici esculenti stem, the image of side shoot and axillalry bud.
Detection device telescoping mechanism adopts rack geared to realize the flexible of its end.
After photographic head shooting tomato plant obtains mobile jib position, moved on mobile jib by Fructus Lycopersici esculenti side shoot positional detecting device, when detecting side shoot, stopping moves and accurately measures side shoot position on 360 degree of directions, robot arm rotates around Fructus Lycopersici esculenti mobile jib and drives photographic head vertical with side shoot, and after obtaining side shoot and lateral bud information, detection device telescoping mechanism action makes detection device exit, robot arm moves and makes Fructus Lycopersici esculenti lateral bud ablation device arrive corresponding side shoot position and carry out lateral bud excision operation, after completing, Fructus Lycopersici esculenti lateral bud ablation device is return, mobile jib and side shoot positional information that Fructus Lycopersici esculenti side shoot positional detecting device obtains according to photographic head before this carry out next step operation.
Described Fructus Lycopersici esculenti side shoot positional detecting device include detection agency, positioning and clamping mechanism, for supporting the detection device fixed mount and for supporting the positioning and clamping mechanism link of positioning and clamping mechanism of detection agency, positioning and clamping mechanism link is fixed on detection device fixed mount, described detection agency includes detection linkage part, and positioning and clamping mechanism includes location linkage part, detection linkage part is identical with location linkage part structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part is set in parallel in above detection linkage part, the stepping inner ring of two mechanical arm front ends of detection linkage part stationary half shape respectively and Semicircular smooth inner ring, stepping inner ring and smooth inner ring are respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring and smooth outer ring are respectively provided with the groove that Semicircular cross section is T-shaped, the groove of flank outer ring docks formation with the guide rail boss of stepping inner ring and is slidably matched, the groove of smooth outer ring docks formation with the guide rail boss of smooth inner ring and is slidably matched, stepping inner ring periphery is provided with outward extending platform, the first motor it is fixed with below platform, the output shaft of the first motor is fixed through platform and gear centre, gear is engaged with the profile of tooth being located at periphery, flank outer ring, two mechanical arm front ends of location linkage part fix left clamping hands and right clamping hands respectively, it is positioned at flank outer ring and the surface of smooth outer ring, flank outer ring and smooth outer ring are evenly equipped with 6 photoelectric sensors.
Described Fructus Lycopersici esculenti lateral bud ablation device includes vertical linear guides, extracts mechanism and clamp system, extract mechanism and include the second U-shaped fixed mount, the U-shaped bottom of the second fixed mount is connected with the slide unit of linear guides, in the U-shaped opening of the second fixed mount, one sidewall is provided with power transmission shaft by drive bearing, power transmission shaft one end is fixed with left retainer, another sidewall is provided with connection axle by connection bearing, connect shaft end and be fixed with right retainer, second fixed mount is additionally provided with the second motor, power is transferred to power transmission shaft by Timing Belt and synchronizing belt gear by the second motor, the face that left retainer is relative with right retainer has strip groove symmetrically, article two, in groove, respectively it is equipped with a helical spring, press rods and blade bar are installed between the retainer of left and right abreast, the two ends of press rods and the two ends of blade bar are all placed in two grooves, helical spring is between press rods and blade bar, it is additionally provided with position sensor in the groove of right retainer,
Clamp system includes link and linkage part, linkage part is fixed on the base of linear guides by link, linkage part is a pair can realize the mechanical arm of open and close movement, two mechanical arm front ends are respectively fixed with left clamping hands and right clamping hands, left clamping hands and the clamping of right clamping hands when two mechanical arm Guan Bis.
Compared with background technology, have the beneficial effect that
End equipment for Fructus Lycopersici esculenti bud picking robot of the present utility model can realize Fructus Lycopersici esculenti lateral bud and extract the automatization of operation, and operating speed is fast, good stability, automaticity are high.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model device;
Fig. 2 is the structural representation of Fructus Lycopersici esculenti side shoot positional detecting device;
Fig. 3 is the structural representation of detection agency;
Fig. 4 is the structural representation of detent mechanism;
Fig. 5 is A-A cross-sectional view in Fig. 2;
Fig. 6 is the structural representation of Fructus Lycopersici esculenti lateral bud ablation device;
Fig. 7 is the structural representation extracing mechanism;
Fig. 8 is the structural representation of B-B section in Fig. 6;
Fig. 9 is the structural representation of C-C section in Fig. 7;
Figure 10 is the structural representation of clamp system;
Figure 11 is the structural representation of linear guides.
Detailed description of the invention
In conjunction with accompanying drawing embodiment, this utility model is further illustrated.
As shown in Figure 1, end effector of robot for Fructus Lycopersici esculenti bud picking, including the first fixed mount 3 for being arranged on robot end and the detection device telescoping mechanism 2 that is both secured on the first fixed mount 3, photographic head 4 and Fructus Lycopersici esculenti lateral bud ablation device 5, detection device telescoping mechanism 2 end is fixed with Fructus Lycopersici esculenti side shoot positional detecting device 1, detection device telescoping mechanism 2 adopts the horizontal linearity that motor driving and rack geared structure realize Fructus Lycopersici esculenti side shoot positional detecting device 1 to move, and detection device telescoping mechanism 2 and Fructus Lycopersici esculenti side shoot positional detecting device 1 are positioned at above Fructus Lycopersici esculenti lateral bud ablation device 5, photographic head 4 is used for shooting Fructus Lycopersici esculenti stem, the image of side shoot and axillalry bud.
As shown in Figure 2-5, described Fructus Lycopersici esculenti side shoot positional detecting device 1 include detection agency, positioning and clamping mechanism, for support detection agency detection device fixed mount 1-12 and for support the positioning and clamping mechanism link 1-13 of positioning and clamping mechanism, positioning and clamping mechanism link 1-13 be fixed on detection device fixed mount 1-12 on;
Described detection agency includes detection linkage part 1-1, and positioning and clamping mechanism includes location linkage part 1-9, detection linkage part 1-1 is identical with location linkage part 1-9 structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part 1-9 is set in parallel in above detection linkage part 1-1, the stepping inner ring 1-2 and Semicircular smooth inner ring 1-3 of two mechanical arm front ends of detection linkage part 1-1 stationary half shape respectively, stepping inner ring 1-2 and smooth inner ring 1-3 is respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring 1-4 and smooth outer ring 1-5 is respectively provided with the groove that Semicircular cross section is T-shaped, as shown in Figure 5, the groove of flank outer ring 1-4 docks formation with the guide rail boss of stepping inner ring 1-2 and is slidably matched, the groove of smooth outer ring 1-5 docks formation with the guide rail boss of smooth inner ring 1-3 and is slidably matched, stepping inner ring 1-2 periphery is provided with outward extending platform, the first motor 1-6 it is fixed with below platform, the output shaft of the first motor 1-6 is fixed through platform and gear 1-7 center, gear 1-7 is engaged with the profile of tooth being located at 1-4 periphery, flank outer ring, when Semicircular stepping inner ring and Semicircular smooth inner ring close as complete annular, first stepping motor-driven gear, flank outer ring rotating is driven by profile of tooth occlusion, so that the relative stepping inner ring in flank outer ring slides, flank outer ring promotes smooth outer ring relative smooth inner ring to slide simultaneously, two mechanical arm front ends of location linkage part 1-9 fix left clamping hands 1-10 and right clamping hands 1-11 respectively, it is positioned at flank outer ring 1-4 and the surface of smooth outer ring 1-5, clamping hands clamping about when two mechanical arm Guan Bis, flank outer ring 1-4 and smooth outer ring 1-5 is evenly equipped with 6 photoelectric sensor 1-8, for detecting the position of Fructus Lycopersici esculenti side shoot, and the signal gathered is transmitted to robot control system.
As illustrated in figs. 6-11, described Fructus Lycopersici esculenti lateral bud ablation device 5 includes vertical linear guides 5-1, extracts mechanism and clamp system;
Extract mechanism and include the second U-shaped fixed mount 5-2, the U-shaped bottom of the second fixed mount 5-2 is connected with the slide unit 5-22 of linear guides, in the U-shaped opening of the second fixed mount 5-2, one sidewall is provided with power transmission shaft 5-6 by drive bearing 5-7, power transmission shaft one end is fixed with left retainer 5-8, another sidewall is provided with connection axle 5-14 by connection bearing 5-15, connect axle 5-4 end and be fixed with right retainer 5-13, second fixed mount 5-2 is additionally provided with the second motor 5-3, power is transferred to power transmission shaft 5-6 by Timing Belt 5-4 and synchronizing belt gear 5-5 by the second motor 5-3, left retainer 5-8 has strip groove symmetrically with on right face relative for retainer 5-13, article two, in groove, respectively it is equipped with a helical spring 5-11, press rods 5-9 and blade bar 5-10 is installed between the retainer of left and right abreast, the two ends of press rods and the two ends of blade bar are all placed in two grooves, helical spring 5-11 is between press rods and blade bar, position sensor 5-12 it is additionally provided with in the groove of right retainer,
Clamp system includes link 5-16 and linkage part 5-17, linkage part 5-17 is fixed on the base 5-23 of linear guides by link 5-16, linkage part 5-17 is a pair can realize the mechanical arm of open and close movement, two mechanical arm front ends are respectively fixed with left clamping hands 5-18 and right clamping hands 5-19, left clamping hands 5-18 and the right clamping hands 5-19 clamping when two mechanical arm Guan Bis.
When 7 degree of freedom mobile robot's groups move near tomato plant 60 centimeters, after photographic head side shooting tomato plant obtains mobile jib position, robot controls detection device telescoping mechanism action and makes Fructus Lycopersici esculenti side shoot positional detecting device close to Fructus Lycopersici esculenti mobile jib, controlling detection linkage part action makes two mechanical arm Guan Bis drive stepping inner ring and smooth inner ring Guan Bi, thus flank outer ring and smooth outer ring Guan Bi, first motor fast rotation driven gear coordinates so that flank outer ring and smooth outer ring relatively rotate 60 degree on stepping inner ring and smooth inner ring with profile of tooth on flank outer ring, it is arranged on the photoelectric sensor on flank outer ring and smooth outer ring and just can realize 360 degree of Fructus Lycopersici esculenti side shoot position sensings, when photoelectric sensor group detect side shoot exist time, location linkage part action makes two mechanical arm Guan Bis, clamping hands clamping in left and right makes Fructus Lycopersici esculenti mobile jib be in the center of detection agency Internal and external cycle, first motor after keeping in the center again slowly action rely on photoelectric sensor to detect the position of Fructus Lycopersici esculenti side shoot accurately.
After having detected, robot arm rotates around Fructus Lycopersici esculenti mobile jib and drives photographic head vertical with side shoot, and after obtaining side shoot and lateral bud information, detection device telescoping mechanism action again makes Fructus Lycopersici esculenti side shoot positional detecting device exit, make linkage part action in Fructus Lycopersici esculenti lateral bud ablation device make left and right clamping hands close at clamping Fructus Lycopersici esculenti mobile jib in 5-10mm place below the above-mentioned side shoot detected simultaneously, after clamp system clamping mobile jib, extract mechanism's setting in motion, linear guides slide unit moves down drive fixed mount and other are extractd parts and move down, press rods is made to press Fructus Lycopersici esculenti mobile jib time mobile, when pressure is excessive exceed helical spring elastic force time, press rods is slided in retainer towards blade bar side, when press rods touches position sensor, position sensor provides signal, now show that pressure is excessive, second stepping electric machine rotation makes retainer and the angle extracing mechanism kinematic direction diminish, when position sensor signal is lost, second stepping motor stalls, the mobile jib that the distance that linear guides slide unit moves down thus before obtains, the characteristic of side shoot and lateral bud determines, stop to during with side shoot certain distance when extracing mechanism kinematic, it is identical with the direction of motion of linear guides slide unit that second motor rotates the direction of motion so that press rods again, now linear guides slide unit drives excision mechanism to move down again, so that blade bar is close to mobile jib, and in rotation process, blade makes lateral bud extract by lateral bud, this process needs moving down of linear guides slide unit to drive the rotation of blade bar to cooperate to realize the excision operation of Fructus Lycopersici esculenti lateral bud with motor, the angle position of motor drive blade bar rotation and the angle of the linear guides direction of motion and retainer rotation direction are less than 90 degree. after excision mechanism completes lateral bud excision operation, linear guides slide unit reversely moves, linkage part action makes clamp system unclamp Fructus Lycopersici esculenti mobile jib, and robot arm is return, and linear guides slide unit and the second motor all keep in the center to extract operation next time.
Claims (5)
1. for the end effector of robot of Fructus Lycopersici esculenti bud picking, it is characterized in that: include the first fixed mount (3) for being arranged on robot end and detection device telescoping mechanism (2) being both secured on the first fixed mount (3), photographic head (4) and Fructus Lycopersici esculenti lateral bud ablation device (5), detection device telescoping mechanism (2) end is fixed with Fructus Lycopersici esculenti side shoot positional detecting device (1), detection device telescoping mechanism (2) is used for realizing the horizontal linearity of Fructus Lycopersici esculenti side shoot positional detecting device (1) and moves, and detection device telescoping mechanism (2) and Fructus Lycopersici esculenti side shoot positional detecting device (1) are positioned at Fructus Lycopersici esculenti lateral bud ablation device (5) top, photographic head (4) is used for shooting Fructus Lycopersici esculenti stem, the image of side shoot and axillalry bud.
2. the end effector of robot for Fructus Lycopersici esculenti bud picking according to claim 1, it is characterised in that: described detection device telescoping mechanism (2) adopts rack geared to realize the flexible of its end.
3. the end effector of robot for Fructus Lycopersici esculenti bud picking according to claim 1, it is characterized in that: described Fructus Lycopersici esculenti side shoot positional detecting device (1) include detection agency, positioning and clamping mechanism, for supporting detection device fixed mount (1-12) of detection agency and for supporting the positioning and clamping mechanism link (1-13) of positioning and clamping mechanism, positioning and clamping mechanism link (1-13) is fixed in detection device fixed mount (1-12)
4. the end effector of robot for Fructus Lycopersici esculenti bud picking according to claim 3, it is characterised in that described detection agency includes detection linkage part (1-1), positioning and clamping mechanism includes location linkage part (1-9); detection linkage part (1-1) is identical with location linkage part (1-9) structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part (1-9) is set in parallel in detection linkage part (1-1) top, the stepping inner ring (1-2) of two mechanical arm front ends of detection linkage part (1-1) stationary half shape respectively and Semicircular smooth inner ring (1-3), stepping inner ring (1-2) and smooth inner ring (1-3) are respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring (1-4) and smooth outer ring (1-5) are respectively provided with the groove that Semicircular cross section is T-shaped, the groove of flank outer ring (1-4) docks formation with the guide rail boss of stepping inner ring (1-2) and is slidably matched, the groove of smooth outer ring (1-5) docks formation with the guide rail boss of smooth inner ring (1-3) and is slidably matched, stepping inner ring (1-2) periphery is provided with outward extending platform, the first motor (1-6) it is fixed with below platform, the output shaft of the first motor (1-6) is fixed through platform and gear (1-7) center, gear (1-7) is engaged with the profile of tooth being located at flank outer ring (1-4) periphery, two mechanical arm front ends of location linkage part (1-9) fix left clamping hands (1-10) and right clamping hands (1-11) respectively, it is positioned at flank outer ring (1-4) and the surface of smooth outer ring (1-5), flank outer ring (1-4) and smooth outer ring (1-5) are evenly equipped with 6 photoelectric sensors (1-8).
5. the end effector of robot for Fructus Lycopersici esculenti summary according to claim 1, it is characterised in that described Fructus Lycopersici esculenti lateral bud ablation device (5) includes vertical linear guides (5-1), extracts mechanism and clamp system;
Extract mechanism and include U-shaped the second fixed mount (5-2), the U-shaped bottom of the second fixed mount (5-2) is connected with the slide unit (5-22) of linear guides, in the U-shaped opening of the second fixed mount (5-2), one sidewall is provided with power transmission shaft (5-6) by drive bearing (5-7), power transmission shaft one end is fixed with left retainer (5-8), another sidewall is provided with connection axle (5-14) by connection bearing (5-15), connect axle (5-4) end and be fixed with right retainer (5-13), second fixed mount (5-2) is additionally provided with the second motor (5-3), power is transferred to power transmission shaft (5-6) by Timing Belt (5-4) and synchronizing belt gear (5-5) by the second motor (5-3), the face that left retainer (5-8) is relative with right retainer (5-13) has strip groove symmetrically, article two, in groove, respectively it is equipped with a helical spring (5-11), press rods (5-9) and blade bar (5-10) are installed between the retainer of left and right abreast, the two ends of press rods and the two ends of blade bar are all placed in two grooves, helical spring (5-11) is between press rods and blade bar, position sensor (5-12) it is additionally provided with in the groove of right retainer,
Clamp system includes link (5-16) and linkage part (5-17), the base (5-23) that linkage part (5-17) is fixed on linear guides by link (5-16) is upper, linkage part (5-17) is a pair can realize the mechanical arm of open and close movement, two mechanical arm front ends are respectively fixed with left clamping hands (5-18) and right clamping hands (5-19), left clamping hands (5-18) and right clamping hands (5-19) clamping when two mechanical arm Guan Bis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620030301.3U CN205305450U (en) | 2016-01-13 | 2016-01-13 | A end effector of robot for tomato bud picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620030301.3U CN205305450U (en) | 2016-01-13 | 2016-01-13 | A end effector of robot for tomato bud picking |
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| Publication Number | Publication Date |
|---|---|
| CN205305450U true CN205305450U (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620030301.3U Withdrawn - After Issue CN205305450U (en) | 2016-01-13 | 2016-01-13 | A end effector of robot for tomato bud picking |
Country Status (1)
| Country | Link |
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| CN (1) | CN205305450U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105453814A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Robot end effector for tomato bud picking |
| CN106856832A (en) * | 2017-04-04 | 2017-06-20 | 淄博职业学院 | A kind of roller sliding block human assistance non-contact type mechanical hand-electric apricot device for picking |
| CN109041786A (en) * | 2018-10-17 | 2018-12-21 | 北京中医药大学 | Hand-held medlar-picking machine |
| CN116439018A (en) * | 2023-05-05 | 2023-07-18 | 仲恺农业工程学院 | Seven-degree-of-freedom fruit picking robot and picking method thereof |
-
2016
- 2016-01-13 CN CN201620030301.3U patent/CN205305450U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105453814A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Robot end effector for tomato bud picking |
| CN106856832A (en) * | 2017-04-04 | 2017-06-20 | 淄博职业学院 | A kind of roller sliding block human assistance non-contact type mechanical hand-electric apricot device for picking |
| CN109041786A (en) * | 2018-10-17 | 2018-12-21 | 北京中医药大学 | Hand-held medlar-picking machine |
| CN109041786B (en) * | 2018-10-17 | 2023-10-31 | 北京中医药大学 | Handheld medlar picking machine |
| CN116439018A (en) * | 2023-05-05 | 2023-07-18 | 仲恺农业工程学院 | Seven-degree-of-freedom fruit picking robot and picking method thereof |
| CN116439018B (en) * | 2023-05-05 | 2024-01-02 | 仲恺农业工程学院 | Seven-degree-of-freedom fruit picking robot and picking method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20170616 |