CN206423161U - A kind of end effector of serial type fruit picking robot - Google Patents
A kind of end effector of serial type fruit picking robot Download PDFInfo
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- CN206423161U CN206423161U CN201621072030.4U CN201621072030U CN206423161U CN 206423161 U CN206423161 U CN 206423161U CN 201621072030 U CN201621072030 U CN 201621072030U CN 206423161 U CN206423161 U CN 206423161U
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Abstract
The utility model discloses a kind of end effector of serial type fruit picking robot, including the shearing mechanism that is packed in the shell of the shell of one end open, one end, one end are packed in the clamping device in the shell and the lift mechanism installed in the outer casing underpart；The clamping device is used for the carpopodium for clamping the serial type fruit, and when the pressure for clamping carpopodium reaches the preset value that can clamp fruit string, triggers the lift mechanism and hold the serial type fruit；The lift mechanism judges whether to lift in place according to its angle change, and starts the carpopodium that the shearing mechanism cuts serial type fruit successfully lifting serial type fruit.The apparatus structure is simple, practical, lift mechanism, clamping device and shearing mechanism synergy, can efficiently accomplish the clamping of fruit string, lift and shearing work, prevent fruit sliding from falling, tumble injury, it is ensured that harvesting quality.
Description
Technical field
The utility model is related to fruit picking robot field, more particularly to a kind of end of serial type fruit picking robot
Hold actuator.
Background technology
China is the important producing country of the serial type fruit such as grape, lichee, but these harvests for eating fruit raw are leaned on substantially at present
Artificial harvesting, labor intensity is big, and harvesting expense accounts for the 50%-70% of production cost.As China human mortality aging aggravates
With the reduction of between twenty and fifty labour, fruit is low to be damaged, harvests the problem faced as orchard worker in time.Robot is in harvesting serial type fruit
When, the sensors such as vision need to be first passed through and identify fruit string from complicated orchard environment, then believed further according to fruit space
Breath is plucked.Because serial type fruit is typically fasciation, and volume and weight is big and carpopodium bar stem is small, how not to damage fruit
The difficult point that serial type fruit picking is picking robot design is completed on the premise of reality, end effector is used as picking robot
The mechanism directly contacted with harvesting target, it is considered to be one of core technology of picking robot.
Research and development now both at home and abroad to serial type fruit picking robot end effector are less, and cost of manufacture is higher,
Adaptability to environment is limited.In addition, research and development the characteristics of fruit string pulp fragility softness to terminal executor of picking robot
Propose higher requirement.Therefore, serial type fruit picking robot end effector is developed and designs to realizing fruit picking operation
Mechanization, automation and intelligent and improve agriculture production environment, promote China's advance in agricultural science and technology and accelerate agricultural existing
Had great significance for change process.
The content of the invention
The purpose of this utility model is to provide a kind of machine for completing serial type fruit picking on the premise of fruit is not damaged
Device people's end effector.
Therefore, the technical solution of the utility model is as follows：
A kind of end effector of serial type fruit picking robot, including one end open shell, that one end is packed in this is outer
Shearing mechanism, one end in shell are packed in the clamping device in the shell and the lift mechanism installed in the outer casing underpart；
The clamping device is used to clamping the carpopodium of the serial type fruit, and reaches that can clamp that fruit goes here and there presets in the pressure of clamping carpopodium
During value, trigger the lift mechanism and hold the serial type fruit；The lift mechanism judges whether to lift according to its angle change
In place, and successfully lifting serial type fruit the carpopodium that the shearing mechanism cuts serial type fruit is started.
The shearing mechanism includes the 1st base, the scissors support member on the 1st base, installed in scissors support
A pair of intermeshing partial gear connectors on part, the steering wheel on a partial gear connector,
The cutting steering wheel and scissors body and a pair of scissors connectors being connected with the steering wheel, the scissors body are moved by a pair
Sword is constituted, and one end end of this pair of dynamic sword is hinged on the edge of the base, and the other end stretches out in the shell, each described to cut
One end of knife connector is respectively hinged with a partial gear connector, and the other end is respectively hinged with a dynamic sword, institute
Stating cutting steering wheel drives steering wheel, partial gear connector and scissors connector to rotate, and then drives a pair of dynamic swords to be rotated
Shearing motion.Preferably, a steering wheel support is installed on the 1st base, the cutting steering wheel is arranged on the steering wheel
On support.
The clamping device includes the 2nd base, the guide rail for being horizontally arranged at the 2nd pan frontward end face, interval installed in guide rail
On a pair of sliding blocks, a gripping finger connector being separately mounted on each sliding block, middle part be hinged on steering wheel on the 2nd base
Connector, a pair of connectors, a pair of T-connecting pieces, a pair of gripping fingers and clamping steering wheel, one end of a pair of connectors respectively with rudder
The two ends of disk connector are hinged, and the one end of the other end respectively with a pair of T-connecting pieces is hinged, the pair of T-connecting piece it is another
One end is packed on a sliding block by a gripping finger connector respectively；It is provided with the opposite side of gripping finger described in a pair for detecting
The pressure sensor of the pressure of gripper mechanism grips carpopodium；One end of each gripping finger is packed in a gripping finger connector respectively
On, the clamping steering wheel drives steering wheel connector, connector to rotate, and then drives T-connecting piece and gripping finger to be translated along guide rail
Motion.
Preferably, one steel disc is respectively installed in the opposite side of gripping finger described in a pair, respectively pacified on each steel disc
Equipped with a rubber blanket, the pressure sensor is installed between the steel disc and gripping finger.In addition, the clamping steering wheel is arranged on the
The bottom of 2 bases.
The lift mechanism includes L-shaped connector, steering wheel base connector, steering wheel base, pallet, steering wheel connector, support
Steering wheel and angular transducer are lifted, the upper end of the L-shaped connector is fixedly mounted with the housing, the other end and steering wheel base connector
One end is fixedly mounted with, and the other end of steering wheel base connector, which is packed in, to be lifted on steering wheel；One end of the steering wheel connector is hinged on support
Lift on steering wheel, the pallet is fixedly mounted with the other end of steering wheel connector；The body of the angular transducer is installed on connector,
The axle of angular transducer, which is installed in, to be lifted on steering wheel；The steering wheel drives the steering wheel connector, and then drives the pallet to do
Gyration.
Preferably, the shell constitutes the box-like of one end open, the 1st base and the 2nd base by upper casing and lower casing
One end be packed in respectively by bolt in the shell.
The end effector of serial type fruit picking robot of the present utility model has the advantages that：
(1) end effector has lift mechanism, can hold fruit and go here and there, so that the landing for preventing fruit to go here and there, prevents fruit
String tumble injury, it is ensured that harvesting quality.
(2) clamping device of the end effector is using linkage linkage, and band movable slider and gripping finger do flat on guide rail
Shifting movement implements clipping operation, and its is simple in construction, and noise is small, stable movement.
(3) end effector is provided with pressure sensor to detect clamping force in gripping finger, it is ensured that clamp system can be pressed from both sides
Tight fruit is gone here and there, while lifting position by angular transducer perception pallet, it is ensured that pallet can hold fruit and go here and there, by using many sensings
Device, many mechanism coordination linkage operations realize the lossless harvesting of fruit string.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model serial type fruit picking robot end effector；
Fig. 2 is the structural representation of the shearing mechanism of the utility model serial type fruit picking robot end effector；
Fig. 3 is the structural representation of the clamping device of the utility model serial type fruit picking robot end effector；
Fig. 4 is the structural representation of the lift mechanism of the utility model serial type fruit picking robot end effector；
Fig. 5 is the control system schematic diagram of the utility model serial type fruit picking robot end effector.
In figure,
1st, shell；2nd, shearing mechanism；3rd, clamping device；4th, lift mechanism；5th, scissors body；6th, scissors connector；7th, rudder
Machine support；8th, partial gear connector；9th, steering wheel is cut；10th, steering wheel；11st, scissors support member；12nd, connector；13rd, T-shaped
Connector；14th, gripping finger；15th, steel disc；16th, rubber blanket；17th, gripping finger connector；18th, sliding block；19th, guide rail；20th, steering wheel is clamped；
21st, steering wheel connector；22nd, the 2nd base；23rd, L-shaped connector；24th, steering wheel base connector；25th, steering wheel base；26th, pallet；
27th, steering wheel connector；28th, steering wheel is lifted；29th, angular transducer；30th, the 1st base.
Embodiment
The structure to the end effector of serial type fruit picking robot of the present utility model is carried out in detail below in conjunction with the accompanying drawings
Describe in detail bright.
Referring to Fig. 1-Fig. 4, the end effector of serial type fruit picking robot of the present utility model includes shell 1, cut
Mechanism 2, clamping device 3 and lift mechanism 4.
The shearing mechanism 2 includes the 1st base 30, the scissors support member 11 on the 1st base 30, installed in scissors
A pair of intermeshing partial gear connectors 8, the rudder on a partial gear connector 8 on support member 11
Disk 10, the cutting steering wheel 9 and scissors body 5 and a pair of scissors connectors 6 being connected with steering wheel 10.The scissors body 5
It is made up of a pair of dynamic swords, one end end of this pair of dynamic sword is hinged on the edge of the 1st base 30, and the other end stretches out in the shell 1,
One end of each scissors connector 6 is respectively hinged with a partial gear connector 8, the other end respectively with an institute
State sword to be hinged, the cutting steering wheel 9 drives steering wheel 10, partial gear connector 8 and scissors connector 6 to rotate, and then band
Dynamic a pair of dynamic swords carry out rotational shear campaign.
One steering wheel support 7 is installed on the 1st base 30, the cutting steering wheel 9 is arranged on steering wheel support 7.Cutting machine
One end of structure 2 is placed in inside shell 1, and partial gear connector 8 is driven by cutting steering wheel 9, and band follower link 6 is moved, and then
The scissors body 5 outside shell 1 is set to do shearing motion.
The clamping device 3 includes the 2nd base 22, the guide rail 19 for being horizontally arranged at the front end face of the 2nd base 22, interval peace
Dress a pair of sliding blocks 18 on rails 19, gripping finger connector 17, a middle part being separately mounted on each sliding block 18 are hinged on
Steering wheel connector 21, a pair of connectors 12, a pair of T-connecting pieces 13, a pair of gripping fingers 14 and clamping rudder on 2nd base 22
Machine 20, the two ends of one end of a pair of connectors 12 respectively with steering wheel connector 21 are hinged, the other end respectively with a pair of T-connecting pieces
13 one end is hinged.
The other end of the pair of T-connecting piece 13 is packed on a sliding block 18 by a gripping finger connector 17 respectively；
The opposite side of a pair of gripping fingers 14 is provided with the pressure sensor of the pressure for detecting gripper mechanism grips carpopodium (in figure not
Show)；One end of each gripping finger 14 is packed on a gripping finger connector 17 respectively.Clamp steering wheel 20 and drive steering wheel connection
Part 21, connector 12 are rotated, and then drive T-connecting piece 13 and gripping finger 14 to do translational motion along guide rail 19.
As illustrated, the opposite side in a pair of gripping fingers 14 is respectively provided with a steel disc 15, it is each on each steel disc 15
One rubber blanket 16 is installed, a pressure sensor is installed between the steel disc 15 and gripping finger 14 of every side.Shown in the figure
In embodiment, the clamping steering wheel 20 is arranged on the bottom of the 2nd base 22.
The lift mechanism 4 includes L-shaped connector 23, steering wheel base connector 24, steering wheel base 25, pallet 26, steering wheel
Connector 27, lift steering wheel 28 and angular transducer 29.The upper end of the L-shaped connector 23 is packed on shell 1, the other end with
The one end of steering wheel base connector 24 is fixedly mounted with, and the other end of steering wheel base connector 24, which is packed in, to be lifted on steering wheel 28；The steering wheel
One end of connector 27, which is hinged on, is lifted on steering wheel 28, and pallet 26 is fixedly mounted with the other end of steering wheel connector 27；The angle is passed
The body of sensor 29 is installed on steering wheel connector 27, and the axle of angular transducer 29, which is installed in, to be lifted on steering wheel 28, exactly, angle
The jointed shaft for spending the axle and steering wheel connector 27 of sensor 29 is installed together.Steering wheel 28 drives steering wheel connector 27 to rotate, and enters
And driving pallet 26 to do gyration, angular transducer perceives the angle turned in the process.
In addition, shell 1 is made up of one end of the box-like of one end open, the 1st base 30 and the 2nd base 22 upper casing and lower casing
It is packed in respectively by bolt in shell 1.
Although pallet shown in figure is the horizontal mesh with frame, it will be understood that in order to prevent fruit sliding from falling, can with
Increase fence or baffle plate in the surrounding of the Pallet side frame.
Fig. 5 show the control system schematic diagram of the utility model serial type fruit picking robot end effector.This is
System is worked centered on Arduino microprocessors by servo driving end effector.Pressure sensor is used for detecting clamping machine
Structure clamps the pressure of carpopodium, and after clamping force reaches the preset value that can clamp fruit string, machine is lifted by feedback control circuit driving
Structure 4 works；Angular transducer 29 is used to detect that steering wheel 28 drives pallet 26 to do the angle rotated during gyration, for controlling
Pallet is lifted to fruit string, after tray motion to preset value, drives shearing mechanism 2 to work by feedback control circuit, will
Carpopodium is cut, and completes fruit string harvesting.
In end effector of the present utility model, each mechanism structure can be manufactured using the design of material of lightweight, in the hope of having
Effect mitigates the own wt of end effector.
The process plucked using the actuator is as follows：
The utility model is controlled using Arduino microcontrollers to end effector.End effector is arranged on 6 certainly
On degree mechanical arm, during harvesting, the energization work of clamping steering wheel 20 in clamping device 3, driving steering wheel connector 21 does rotation fortune
Dynamic, band follower link 12 is moved, and T-connecting piece 13, sliding block 18 and gripping finger 14 is done translational motion on rails 19 so that gripping finger
14 clamp carpopodiums, and during clamping carpopodium, pressure sensor detects chucking power in real time, and by the pressure Real-time Feedback detected
Arduino microcontrollers.When reaching preserved grip pressure, stop the work of clamping steering wheel 20, then supply to lifting steering wheel 28
Electricity, drives its work, and steering wheel drives pallet 26 to do gyration so that pallet is lifted fruit from the back lower place and gone here and there, and prevents fruit string shake
And undertake certain gravity, at this moment angular transducer 29 in real time detection steering wheel revolution angle, when pallet angle of revolution reach it is default
During value, i.e. fruit string is lifted, and now steering wheel 28 stops, then is powered to steering wheel 9 is cut, and is driven not exclusively by cutting steering wheel 9
Gear-linked linkage works, and drives scissors connector 6 to move, the scissors body 5 outside shell 1 is done shearing motion, cut
Disconnected carpopodium, the clamping that final realization is gone here and there to fruit-lift-shearing work, operation is won in completion.
Claims (8)
1. a kind of end effector of serial type fruit picking robot, it is characterised in that：Shell (1) including one end open, one
The shearing mechanism (2) being packed in the shell, one end is held to be packed in the clamping device (3) in the shell and installed in described outer
The lift mechanism (4) of shell bottom；
The clamping device (3) is used to clamping the carpopodium of the serial type fruit, and reaches and can clamp really in the pressure of clamping carpopodium
During the preset value of string, trigger the lift mechanism and hold the serial type fruit；
The lift mechanism (4) judges whether to lift in place according to its angle change, and starts institute successfully lifting serial type fruit
State the carpopodium that shearing mechanism cuts serial type fruit.
2. end effector according to claim 1, it is characterised in that：The shearing mechanism (2) includes the 1st base
(30) scissors support member (11), on the 1st base (30), mutually nibble for a pair on scissors support member (11)
The partial gear connector (8) of conjunction, the steering wheel (10) on a partial gear connector (8), with it is described
The cutting steering wheel (9) of steering wheel (10) drive connection and scissors body (5) and a pair of scissors connectors (6), the scissors body
(5) it is made up of a pair of dynamic swords, one end end of this pair of dynamic sword is hinged on the edge of the 1st base (30), and the other end is stretched out in
The shell (1), one end of each scissors connector (6) is respectively hinged with a partial gear connector (8), separately
One end is respectively hinged with a dynamic sword, and the cutting steering wheel (9) drives steering wheel (10), partial gear connector (8) and cut
Knife connector (6) is rotated, and then drives a pair of dynamic swords to carry out rotational shear campaign.
3. end effector according to claim 2, it is characterised in that：A rudder is installed on the 1st base (30)
Machine support (7), the cutting steering wheel (9) is arranged on the steering wheel support (7).
4. end effector according to claim 1, it is characterised in that：The clamping device (3) includes the 2nd base
(22) a pair of sliding blocks that the guide rail (19) of the 2nd base (22) front end face, interval are arranged on guide rail (19), are horizontally arranged at
(18) a gripping finger connector (17), being separately mounted on each sliding block (18), middle part are hinged on the 2nd base (22)
Steering wheel connector (21), a pair of connectors (12), a pair of T-connecting pieces (13), a pair of gripping fingers (14) and clamping steering wheel (20),
Two ends of the one end of a pair of connectors (12) respectively with steering wheel connector (21) are hinged, the other end respectively with a pair of T-connecting pieces
(13) one end is hinged, and the other end of the pair of T-connecting piece (13) is packed in one by a gripping finger connector (17) respectively
On sliding block (18)；The pressure for detecting gripper mechanism grips carpopodium is installed in the opposite side of gripping finger described in a pair (14)
Pressure sensor；One end of each gripping finger (14) is packed on a gripping finger connector (17) respectively, the clamping steering wheel
(20) drive steering wheel connector (21), connector (12) to rotate, and then drive T-connecting piece (13) and gripping finger (14) along guide rail
(19) translational motion is done.
5. end effector according to claim 4, it is characterised in that：It is each in the opposite side of gripping finger described in a pair (14)
One steel disc (15) is installed, a rubber blanket (16) is respectively installed on each steel disc (15), the pressure sensor is installed
Between the steel disc (15) and gripping finger (14).
6. end effector according to claim 5, it is characterised in that：The clamping steering wheel (20) is arranged on the 2nd base
(22) bottom.
7. end effector according to claim 1, it is characterised in that：The lift mechanism (4) includes L-shaped connector
(23), steering wheel base connector (24), steering wheel base (25), pallet (26), steering wheel connector (27), lift steering wheel (28) and angle
Sensor (29) is spent, the upper end of the L-shaped connector (23) is packed on the shell (1), and the other end is connected with steering wheel base
Part (24) one end is fixedly mounted with, and the other end of steering wheel base connector (24), which is packed in, to be lifted on steering wheel (28)；The steering wheel connector
(27) one end, which is hinged on, is lifted on steering wheel (28), and the pallet (26) is fixedly mounted with the other end of steering wheel connector (27)；It is described
The body of angular transducer (29) is installed on steering wheel connector (27), and the axle of angular transducer (29), which is installed in, lifts steering wheel
(28) on；The steering wheel (28) drives the steering wheel connector (27), and then drives the pallet (26) to do gyration.
8. the end effector according to Claims 2 or 3, it is characterised in that：The shell (1) is made up of upper casing and lower casing
One end open it is box-like, one end of the 1st base (30) and the 2nd base (22) is packed in the shell by bolt respectively
(1) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621072030.4U CN206423161U (en) | 2016-09-22 | 2016-09-22 | A kind of end effector of serial type fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621072030.4U CN206423161U (en) | 2016-09-22 | 2016-09-22 | A kind of end effector of serial type fruit picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206423161U true CN206423161U (en) | 2017-08-22 |
Family
ID=59588183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621072030.4U Expired - Fee Related CN206423161U (en) | 2016-09-22 | 2016-09-22 | A kind of end effector of serial type fruit picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206423161U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
| CN107593108A (en) * | 2017-10-02 | 2018-01-19 | 尚盼盼 | A kind of Chinese medicine new varieties experimental field plants harvesting apparatus |
| CN106233938B (en) * | 2016-09-22 | 2018-06-26 | 佛山科学技术学院 | The end effector of serial type fruit picking robot |
| CN108582127A (en) * | 2018-05-31 | 2018-09-28 | 北京石油化工学院 | A kind of end effector of fruit picking robot |
| CN110393089A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | High-altitude fruit acquisition system and its operating method |
| CN111727740A (en) * | 2020-07-31 | 2020-10-02 | 广州极飞科技有限公司 | Picking device and unmanned picking equipment |
| CN113317042A (en) * | 2021-04-29 | 2021-08-31 | 苏州技师学院 | Fruit tree picking robot |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
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2016
- 2016-09-22 CN CN201621072030.4U patent/CN206423161U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106233938B (en) * | 2016-09-22 | 2018-06-26 | 佛山科学技术学院 | The end effector of serial type fruit picking robot |
| CN107593108A (en) * | 2017-10-02 | 2018-01-19 | 尚盼盼 | A kind of Chinese medicine new varieties experimental field plants harvesting apparatus |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
| CN108582127A (en) * | 2018-05-31 | 2018-09-28 | 北京石油化工学院 | A kind of end effector of fruit picking robot |
| CN110393089A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | High-altitude fruit acquisition system and its operating method |
| CN111727740A (en) * | 2020-07-31 | 2020-10-02 | 广州极飞科技有限公司 | Picking device and unmanned picking equipment |
| CN113317042A (en) * | 2021-04-29 | 2021-08-31 | 苏州技师学院 | Fruit tree picking robot |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
| CN115413479B (en) * | 2022-09-27 | 2024-03-22 | 江苏大学 | Deep vision-based water shield picking end effector and picking method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |