CN207573956U - A kind of orchard puma manipulator picker based on man-machine collaboration - Google Patents
A kind of orchard puma manipulator picker based on man-machine collaboration Download PDFInfo
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- 239000002420 orchard Substances 0.000 title claims abstract description 33
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- 239000012636 effector Substances 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 8
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- 238000000034 method Methods 0.000 description 6
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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Abstract
The utility model discloses a kind of orchard puma manipulator pickers based on man-machine collaboration, including cart, picking mechanical arm and fruit collection device, the car body upper surface of the cart is installed with electric telescopic rod, pedestal is fixed at the top of electric telescopic rod, picking mechanical arm is installed, the picking mechanical arm is using six degree of freedom series connection articulated robot on pedestal；The picking mechanical arm end is equipped with the end effector for cutting carpopodium；The fruit collection device includes the extension type pipeline that open top is located at below end effector, the open top outer wall of the extension type pipeline is fixedly connected with pedestal, extension type duct bottom is connected with inclined conduit, and inclined conduit bottom end is stretched into the fixed Fruit basket in car body upper surface；The utility model shortens plucking time, improves fruit picking efficiency, meet fruit industry, the demand of mechanization, developing and using has huge economic benefit and vast market prospect compared to artificial picking.
Description
Technical field
The utility model is related to picking robot technical field, specially a kind of orchard intelligent machine based on man-machine collaboration
Hand getting device and picking.
Background technology
China is the largest fruit in the world producing country and the largest fruit in the world country of consumption, the fruit in China in 2015
Yield more than 2.71 hundred million tons, accounts for about the 17% of global yield.But the current fruit picking overwhelming majority in China is still with artificial
Based on picking, pick the labour used in operation and account for the 33%~50% of entire production process.Pick operation intensity it is big, manually into
This height, picking efficiency be low, dangerous height.This project substantially increases picking efficiency, reduces the breakage rate of fruit.Save people
Work cost improves the economic benefit of orchard worker.And it as the reduction of agriculture practitioner's number and aging trend continue to increase, adopts
The utilization of off-hook tool have huge economic benefit and vast market prospect.
Current foreign countries are based on picking robot to the research of picking mechanical, and picking robot is mainly by manipulator, end
Hold the 4 big system composition such as actuator, visual identifying system and running gear.In recent years, Japan sets on Tomato-harvesting robot
The manipulator that can specify picking posture with 7 degree of freedom is counted out, Spain scientific and technical personnel develop a set of by optics
Whether the citrus picking robot identification citrus of vision system and manipulator composition is ripe.Such product can effectively replace people
Power greatly saves human cost, but such picking robot is expensive and not easy to repair, it is difficult in China's small peasant economy
It promotes and opens in the orchard of formula.
The research and application of China orchard harvesting mechanization are later, but China's picking mechanical was rapidly developed in recent years,
China Agricultural University and Weifang College's joint research and development eggplant picking robot, the robot is by four-degree-of-freedom jointed robot
Hand, DMC motion controllers, digital camera and PC machine composition.China Agricultural University has developed six degree of freedom cylindrical type cucumber
Picking robot, the robot possess sixdegree-of-freedom simulation, and each joint is driven using stepper motor, and vision system uses base
In the image segmentation algorithm of RGB model G components, segmentation success rate is 70% or so.But design picking precision is not high, easily makes
Into the high damage ratio of fruit.
At present, picking robot research field the main problems are as follows：(1) discrimination of fruit is not high or positions
Precision is not high.(2) fruit damage ratio is larger.(3) the average plucking cycle of fruit is longer.As picking robot harvests a muskmelon
About 15s.Practical to realize robot, it is the key that should solve the problems, such as to improve its operating efficiency with reducing fruit damage ratio.
Utility model content
The purpose of this utility model is to provide a kind of orchard puma manipulator picker based on man-machine collaboration, with solution
Certainly the problems mentioned above in the background art.
To achieve the above object, the utility model provides following technical solution：
A kind of orchard puma manipulator picker based on man-machine collaboration, including cart, picking mechanical arm and fruit
Collection device, the car body upper surface of the cart are installed with electric telescopic rod, pedestal, base are fixed at the top of electric telescopic rod
Picking mechanical arm is installed, the picking mechanical arm is using six degree of freedom series connection articulated robot on seat；The picking mechanical
Hand end is equipped with the end effector for cutting carpopodium；The fruit collection device is located at end including open top and performs
Extension type pipeline below device, the open top outer wall of the extension type pipeline are fixedly connected with pedestal, extension type pipe
Road bottom is connected with inclined conduit, and inclined conduit bottom end is stretched into the fixed Fruit basket in car body upper surface；The picking mechanical arm
In the control terminal of the steering engine driver of each steering engine, end effector and electric telescopic rod connect with control panel.
As further program of the utility model：Setting multi-buffer device, described inside the extension type pipeline
Buffer unit is surrounding and the fixed cushion pad of extension type inner wall of the pipe, and cushion pad center offers through-hole, enclosed on cushion pad
V-type opening is distributed with around through-hole surrounding.
As further program of the utility model：The extension type pipeline is aluminium foil extension type pipeline.
As further program of the utility model：The six degree of freedom series connection articulated robot includes being mounted on pedestal
On rotating seat, the steering engine for turntable to be driven to rotate is provided in rotating seat, it is hinged to be equipped with first on the turntable
Seat, the first hinged seat end are hinged with the first swing arm, and the steering engine for driving the first swing arm rotation is provided in the first hinged seat；
The second swing arm is hinged at the top of first swing arm, the first swing arm end set is useful for the steering engine of driving the second swing arm rotation；Second
Swing arm end is hinged with the second hinged seat, and the second swing arm end set is useful for the steering engine of driving the second hinged seat rotation；Second
Hinged seat upper surface is rotatably installed with turntable, and the steering engine for turntable to be driven to rotate is provided in the second hinged seat；It is described
Steering engine output shaft end in turntable is connect by link with end effector.
As further program of the utility model：The end effector include with the fixed execution stent of link,
One group is symmetrically installed on execution stent and cuts arm, and the arm of cutting is mounted on including shear blade, scissors swing arm and central axis
The hammer leaf on stent is performed, is engaged and connected by multiple tooth heads between two hammer leaves, being extended on hammer leaf has adjutage, extends
Arm end is hinged with scissors swing arm end, and the intermediate bar parallel with adjutage is hinged in the middle part of the scissors swing arm, intermediate
The bar other end is hinged with performing stent, and the shear blade is fixed on scissors swing arm free end, is equipped in the execution stent
For driving the execution motor of one of hammer leaf rotation.
As further program of the utility model：Camera is installed at the top of the turntable, the camera passes through
WIFI module is connect with control panel, and display screen is connected on control panel, and control panel is communicated by wireless communication module and host computer
Connection, host computer are connect by simulator with wireless control handle.
As further program of the utility model：The display screen is OLED display screen.
As further program of the utility model：The model STM32F103 of the control panel.
Compared with prior art, the beneficial effects of the utility model are：
1st, in the closed loop man-machine system of fruit picking, mutual assistance and the combination of serial ports display screen are replaced with mechanical using people
It uses, giving feedback person, more accurately feedback information greatly reduces picking difficulty, instead of in traditional artificial picking pattern
High intensity, the Picking behavior of high risk.Simultaneously machine is picked better than existing purely mechanicization on the precision of picking fruit
People.Using people as control main body in this project, in practical picking activity, the flexibility of system can be more embodied；
2nd, end effector selection is shearing is connecting the weakest point in carpopodium, changes the inefficient behavior manually sheared, expands
The big job area and ability to work of actuator, improves efficiency.Mode is won compared with gripper simultaneously, it is shearing to institute
It is more wide in range with the requirement of fruit diameter and reduce the breakage rate of picking fruit to win the type of fruit；
3rd, 7 degree of freedom, the degree of freedom of six degree of freedom and supporting rod including manipulator are shared.Adopting on existing market
It is mostly 2~3 degree of freedom to pluck manipulator, and compared to this, multifreedom controlling can expand picking range, flexible angle changing.
In practical picking process, more advantage is taken for the shearing of the fruit of complicated position, increases fruit net picking rate.
Description of the drawings
Fig. 1 is a kind of structure diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 2 is a kind of structure diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 3 is a kind of structure diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 4 is a kind of structure diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 5 is a kind of structure diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 6 is a kind of system flow block diagram of the orchard puma manipulator picker based on man-machine collaboration；
Fig. 7 is D-H link rod coordinate systems in a kind of orchard puma manipulator picker based on man-machine collaboration；
Fig. 8 is D-H Mo Xing inverse kinematics geometry table in a kind of orchard puma manipulator picker based on man-machine collaboration
Show；
Fig. 9 is picking mechanical arm workspace simulation in a kind of orchard puma manipulator picker based on man-machine collaboration
Graphics；
Figure 10 is picking mechanical arm working space in a kind of orchard puma manipulator picker based on man-machine collaboration
XOZ coordinate diagrams；
Figure 11 is picking mechanical arm working space in a kind of orchard puma manipulator picker based on man-machine collaboration
YOZ coordinate diagrams；
Figure 12 is picking mechanical arm working space in a kind of orchard puma manipulator picker based on man-machine collaboration
XOY coordinate diagrams.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
~5 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of orchard intelligent machine based on man-machine collaboration
Tool hand getting device and picking, including cart 1, picking mechanical arm 6 and fruit collection device, 11 lower face four of car body of the cart 1
It is provided with idler wheel 12 week, 11 upper surface of car body of cart 1 is installed with electric telescopic rod 2, and 2 top of electric telescopic rod is fixed with
Pedestal 4, is equipped with picking mechanical arm 6 on pedestal 4, and the picking mechanical arm 6 is connected articulated robot using six degree of freedom；Institute
It states 6 end of picking mechanical arm and end effector 8 for cutting carpopodium is installed；The fruit collection device includes open top
Extension type pipeline 9 positioned at 8 lower section of end effector, open top outer wall and the pedestal 4 of the extension type pipeline 9 are fixed
Connection, 9 bottom of extension type pipeline are connected with inclined conduit 92, and the fixed water in 11 upper surface of car body is stretched into 92 bottom end of inclined conduit
In fruit basket 10；The control of the steering engine driver of each steering engine, end effector 8 and electric telescopic rod 2 in the picking mechanical arm 6
End processed is connect with control panel 3.
Wherein, 9 inside setting multi-buffer device of the extension type pipeline, the buffer unit for surrounding with it is scalable
The fixed cushion pad 91 of 9 inner wall of formula pipeline, 91 center of cushion pad offer through-hole, are distributed on cushion pad 91 around through-hole surrounding
V-type is open；The extension type pipeline 9 is aluminium foil extension type pipeline.
Wherein, six degree of freedom series connection articulated robot includes the rotating seat 5 being mounted on pedestal 4, in rotating seat 5
The steering engine for turntable to be driven to rotate is provided with, the first hinged seat 65,65 end of the first hinged seat are installed on the turntable
Portion is hinged with the first swing arm 61, and the steering engine for driving the first swing arm 61 rotation is provided in the first hinged seat 65；First swing arm
61 tops are hinged with the second swing arm 62, and 61 end set of the first swing arm is useful for the steering engine of driving the second swing arm 62 rotation；Second
62 end of swing arm is hinged with the second hinged seat 63, and 62 end set of the second swing arm is useful for the rudder of driving the second hinged seat 63 rotation
Machine；Second hinged seat, 63 upper surface is rotatably installed with turntable 64, is provided with to drive turntable 64 in the second hinged seat 63
The steering engine of rotation；Steering engine output shaft end in the turntable 64 is connect by link 87 with end effector 8.
It may be preferred that the end effector 8 include with link 87 it is fixed perform stent 86, perform stent 86 on it is right
One group of installation is claimed to cut arm, the arm of cutting includes shear blade 81, scissors swing arm 82 and central axis mounted on execution stent
Hammer leaf 85 on 86, is engaged between two hammer leaves 85 by multiple tooth heads and connected, and being extended on hammer leaf 85 has adjutage 84, prolongs
84 end of semi-girder is hinged with 82 end of scissors swing arm, 82 middle part of the scissors swing arm be hinged with it is parallel with adjutage 84 in
Between bar 83,83 other end of intermediate bar is hinged with performing stent 86, and the shear blade 81 is fixed on 82 free end of scissors swing arm, institute
State the execution motor for performing and being equipped in stent 86 for one of hammer leaf 85 to be driven to rotate.
64 top of turntable is equipped with camera 7, and the camera 7 is connect by WIFI module with control panel 3, control
Display screen is connected in making sheet 3, control panel 3 is connected by wireless communication module and host computer communication, and host computer passes through simulator
It is connect with wireless control handle；The display screen is OLED display screen；The model STM32F103 of the control panel 3.
To adapt to changeable open orchard ground environment, select flat cart as picking mechanical arm 6 in fruit
The mobile platform of operation in garden, telescopic device of the electric telescopic rod 2 as 6 bottom of picking mechanical arm.Each pass of picking mechanical arm 6
The rotation of section, as driving source, is equipped with end effector 8 and camera 7, wherein end using steering engine in 6 end of picking mechanical arm
For shearing carpopodium, fruit is fallen end actuator 8 from the extension type pipeline 9 being connected with its lower end, passes through its internal multistage
Buffer unit enters Fruit basket.
Referring to Fig. 5, the present apparatus in the utility model embodiment realizes end effector 8 using electric telescopic rod 2
Lifting, electric telescopic rod 2 are driven by permanent magnet DC motor, and longest can be stretched up to 25555mm, and thrust is up to 1000N.It can be by stroke
Control switch exchanges telescopic direction, and stop self-locking at an arbitrary position.This push rod increase picking range improves the peace of picking operation
Full property and efficiency.
Referring to Fig. 4, in the utility model embodiment, connecting an aluminium foil for being about 3.5 meters in 6 bottom end of picking mechanical arm can
Telescopic pipeline, pipeline inside setting multi-buffer device.After end effector 8 is completed to shear carpopodium, this device can subtract
Few fruit falls on impact force during Fruit basket by falling duct.
Referring to Fig. 2, picking mechanical arm 6 is six degree of freedom series connection articulated robot.Pass through wireless control handle device
Control steering engine is arbitrarily turned in working space to be extended with degree of freedom.End effector 8 is made of two hammer leaves 85, is referred to according to control
It enables, it can be for being sheared at objective fruit carpopodium.
Electric control structure：
The design passes through the ring of the position monitoring working space of 7 real-time Transmission of camera mainly using people in circuit type
Border information judges that the path planning of picking mechanical arm 6 completes the selection that each steering engine speed turns to.Host computer passes through wireless control
Handle control STM32F103 chips realize the running of mechanical arm, and end effector is made to reach target point and is completed to target fruit
Real positioning and crawl.
(1) main control computer
Picking robot control system uses STM32F103 to be realized for core control panel to joint of mechanical arm servo driving
The functions such as the control of device, the processing of sensor information and display.
(2) host computer operating system
This system writes host computer operation interface using labVIEW and completes host computer under using serial ports by wireless controller
The communication i.e. selection of control steering engine, steering between the machine of position, speed.
(3) system is monitored
This system uses the operation of miniature webcam and OLED display screen monitoring and controlling steering engine.Pass through the wireless WiFi of camera
Transmission, monitors in real time in host computer.After being determined in spatial position, selection and steering angle that display screen completes steering engine can be monitored
It establishes.And, it can be achieved that unglazed night vision 5M effects, the flexibility of increase working time selection under Night.
Program function describes
Referring to Fig. 6, establish the space coordinates using pedestal as origin by DH, by button K1, K2 carry out ABC patterns with
The selection of XYZ patterns.It introduces speed mode PID speed governing and accurately measures location information and target location with Position Form PID.Open OLED
Display screen, in real time monitoring measure the location information of desired value and actual value.
D-H Mo Xing positive motion model foundation
Referring to Fig. 7, to consolidate corresponding coordinate system on each component of robot.The design uses Denavit-
Hartenberg models model connecting rod in picking mechanical arm with joint.Each company is described using 4 × 4 homogeneous transformation
Bar relative to fixed reference system space geometry relationship, so as to export the coordinate system of end effector relative to the equivalence of referential
Homogeneous transform matrix finally establishes the kinematical equation of motion arm.By the connecting rod D-H parameters coordinate system and D-H parameters established.If
Transformation matrix between two bar of arbitrary neighborhood is Ti i-1, Z axis is specified to be located at by right hand rule direction of rotation, X-direction is along public law
Line direction.Expression of the last bar relative to fixed coordinate system can then be obtained.
By the one parameter coordinate system of connecting rod and a parameter established (robot linkage parameter value is shown in Table 1).It can derive connecting rod
A transformation matrix of coordinates be：
The posture equation of end effector：
D-H Mo Xing is established against motion model
Referring to Fig. 8, counter solve of this Picking Manipulator is asked for respectively using method of geometry by the posture of terminal position
Joint posture, that is, corresponding joint variable θ1、θ2、θ3.And solved for simplified model, remove the rotary joint of lower section holder, in two dimension
Kinematics analysis is carried out in plane.Wherein θ1, θ2, θ3It is a joint angles, P (x, y, α) is that the posture of end effector represents, x
It is in 0XY plane coordinates with y, α is the direction of end effector.
Known end effector position is
X=l0 cosθ1+l1 cos(θ1+θ2)+l2 cos α (3)
Y=l0 sinθ1+l1 sin(θ1+θ2)+l2 sin α (4)
It can obtain：
l1=[l0 cosθ1+l2 cosα-x]2+[sinθ1+l2 sinα-y]2 (5)
Wherein,
A=(l2 cosα-x)2+(l2 sinα-y)2
Operation principle
In picking process, control panel that initial value is set is controlled the rotation of steering engine by PWM wave, found suitable
Position manipulates end effector.In the process of running, human eye by the serial ports display screen that is connected with control panel and is placed on end
The position of camera observation fruit on actuator, continuous control handle change the current value of host computer, feed back to control panel.
Wireless controller controls
Handle uses 24G wireless technologys, and remote control distance is up to 15 meters or so.It, can be by 1,2 button to speed in terms of speed
Degree is selected in 3-30 gears.It is divided into ABC and XYZ patterns in terms of scheme control.The former can be by handle button to machine
The single steering engine of tool arm controls its movement respectively.The latter by establish DH against the motion control of motor coordination tiller room its in X, Y-axis
On linear motion and end effector direction.
PC ends monitoring and controlling
This mechanical arm space coordinates movement can by host computer in minibalance monitor in real time, set serial ports wave
Special rate is 115200b/s, and each steering engine initial position is 750.4N+1, UI refresh rates are fixed as with host computer communication data frame length
Connection depending on the figure of PC, calculated performance and communication link.Expanded function is divided into 3D cubes, level land instrument, 3D charts with leading to
Road is independently shown.Available for observing three-dimensional posture, attitude angle, 3 D motion trace and the data graphs of object.
Monte-Carlo Simulation
Monte Carlo method substantially be exactly to joint variable by be uniformly distributed be assigned to it is a certain number of meet joints become
Change the random quantity of requirement, and [6] are combined to each joint variable, calculated by above-mentioned Denavit-Hartenberg principles
The coordinate value of arm end rod piece endpoint, so as to ask for the working space of manipulator.Herein using Matlab to device for mechanical
The working space of hand portion carries out simulation analysis.This manipulator shares six-freedom degree, is limited by structure and operating condition,
In：Each joint length is；Clamper is generally；Pilot angle ranging from clamper subtended angle is 50mm.It is matlab below to machinery
For hand workspace simulation as a result, Fig. 9 is the 3-D graphic of working space, Figure 10-12 is in XOZ, YOZ, XOY reference axis upslide
Shadow.
It can be obtained by upper summary, longest is up to 327mm on XOY plane for this manipulator, and Z axis positive axis is up to 349mm, Z axis
Negative semiaxis is up to 246mm.
Experimental result
On September 15th, 2017, the picking that outdoor apple and pomegranate have been carried out in orchard are tested.The fruit of this experiment picking
All in comparatively ideal situation, such as：No large area branches and leaves remain static to the blocking of target, fruit undisturbed.
Pick experimentation：For the fruit on apple, pomegranate tree, vision system first carries out the real-time Transmission of image, shape
Into the closed-loop process system in " people is in circuit ", objective fruit is reached by handle radio remote manipulator, is picked.Part water
Fruit plucking time is shown in Table 2.
Table 2 carries out picking robot apple, the plucking time of pomegranate picking experiment counts, for experimental result number
Have according to the main reason for analyzed, influence plucking time：(1) density of objective fruit position in the tree and its surrounding leaf
Situation；(2) time that the diameter of carpopodium is completed with effect length end effector shear action.(3) manipulator is performing picking
When with branch collision cause object intrusion so that during picking to target shearing have error.
By test, the average time of one apple of picking is 5.02s, and the average time of one pomegranate of picking is 5.73s.
Using with prospect
In fruit picking industry, the fruit quality of picking directly affects the economic benefit of orchard worker.This project is using man-machine
Cooperation mode is picked relative to traditional Softening and purely mechanicization, this device has following three advantages：
(1) picking efficiency is high.Labour used accounts for 33%~50% in existing picking process, and the present apparatus reduces applicable
The quantity of labour.And it can also carry out operation in night section.Increase the flexibility of activity duration selection.
(2) fruit breakage rate is low.It is common it is clipping perform end and artificial picking due to the not easy to control of controllable dynamics with,
Cause fruit breakage rate high, fruit breakage rate is reduced to 10% or so using shearing by present apparatus end effector.
(3) picking fruit precision is improved.The experimental results showed that:The picking robot picks error rate down to 5%, increases
The reliability of picking robot.And China's purely mechanicization picking robot is generally known using CCD camera and photoelectric sensor
Other fruit, error rate is up to 25%.
The problems such as in the 21st century, countries in the world face Aging Problem, and labor cost is high, economic inefficiencies.
The advanced design is practical, can improve personal picking efficiency, robot can about pluck 500 jin of apples per hour, be the 3-4 of human hand
Times, improve 27%-34% compared with standard machinery picking efficiency.According to experts' analysis, man-computer cooperation Softening can improve warp per acre
Ji benefit about 500,000.And picked compared with tradition machineryization, this project cost is cheaper, and flexibility is strong.This device can also be picked
The longer class fruit of the carpopodiums such as pears, peach.It, which promotes to open, will bring significant economic benefit and social benefit.
Table 1：Robot linkage parameter value
Table 2：Some Fruits plucking time
Claims (8)
1. a kind of orchard puma manipulator picker based on man-machine collaboration is received including cart, picking mechanical arm and fruit
Acquisition means, it is characterised in that：The car body upper surface of the cart is installed with electric telescopic rod, is fixed at the top of electric telescopic rod
There is pedestal, picking mechanical arm is installed, the picking mechanical arm is using six degree of freedom series connection articulated robot on pedestal；It is described
Picking mechanical arm end is equipped with the end effector for cutting carpopodium；The fruit collection device is located at including open top
Extension type pipeline below end effector, the open top outer wall of the extension type pipeline are fixedly connected with pedestal, can
Telescopic pipeline bottom is connected with inclined conduit, and inclined conduit bottom end is stretched into the fixed Fruit basket in car body upper surface；It is described to adopt
The control terminal for plucking the steering engine driver of each steering engine, end effector and electric telescopic rod in manipulator connects with control panel
It connects.
2. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 1, it is characterised in that：
Setting multi-buffer device inside the extension type pipeline, the buffer unit are fixed for surrounding with extension type inner wall of the pipe
Cushion pad, cushion pad center offers through-hole, V-type opening is distributed with around through-hole surrounding on cushion pad.
3. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 2, it is characterised in that：
The extension type pipeline is aluminium foil extension type pipeline.
4. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 1, it is characterised in that：
The six degree of freedom series connection articulated robot includes the rotating seat being mounted on pedestal, is provided with to drive rotation in rotating seat
The steering engine of turntable rotation, is equipped with the first hinged seat on the turntable, and the first hinged seat end is hinged with the first swing arm, and first
The steering engine for driving the first swing arm rotation is provided in hinged seat；The second swing arm, the first swing arm are hinged at the top of first swing arm
End set is useful for the steering engine of driving the second swing arm rotation；Second swing arm end is hinged with the second hinged seat, the second swing arm end
Portion is provided with the steering engine for driving the rotation of the second hinged seat；Second hinged seat upper surface is rotatably installed with turntable, the second hinge
The steering engine for turntable to be driven to rotate is provided in joint chair；Steering engine output shaft end in the turntable passes through link and end
Hold actuator connection.
5. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 4, it is characterised in that：
The end effector include with the fixed execution stent of link, perform and be symmetrically installed one group on stent and cut arm, it is described to cut arm
The hammer leaf performed on stent is mounted on including shear blade, scissors swing arm and central axis, by more between two hammer leaves
A tooth head engagement connects, and being extended on hammer leaf has adjutage, and adjutage end is hinged with scissors swing arm end, the scissors
The intermediate bar parallel with adjutage is hinged in the middle part of swing arm, the intermediate bar other end is hinged with performing stent, and the shear blade is consolidated
Scissors swing arm free end is scheduled on, it is described to perform the execution motor being equipped in stent for driving one of hammer leaf rotation.
6. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 4, it is characterised in that：
Camera is installed at the top of the turntable, the camera is connect with control panel by WIFI module, is connected on control panel
Display screen, control panel are connected by wireless communication module and host computer communication, and host computer passes through simulator and wireless control handle
Connection.
7. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 6, it is characterised in that：
The display screen is OLED display screen.
8. a kind of orchard puma manipulator picker based on man-machine collaboration according to claim 6, it is characterised in that：
The model STM32F103 of the control panel.
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| CN201721650878.5U CN207573956U (en) | 2017-12-01 | 2017-12-01 | A kind of orchard puma manipulator picker based on man-machine collaboration |
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| CN201721650878.5U CN207573956U (en) | 2017-12-01 | 2017-12-01 | A kind of orchard puma manipulator picker based on man-machine collaboration |
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