CN208063850U - Full-automatic strawberry picks spider vehicle - Google Patents
Full-automatic strawberry picks spider vehicle Download PDFInfo
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- CN208063850U CN208063850U CN201820416763.8U CN201820416763U CN208063850U CN 208063850 U CN208063850 U CN 208063850U CN 201820416763 U CN201820416763 U CN 201820416763U CN 208063850 U CN208063850 U CN 208063850U
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Abstract
The purpose of this utility model is to provide a kind of full-automatic strawberry picking spider vehicle, including flexible strawberry device for picking；Flexible strawberry device for picking includes pedestal, the identical four-bar mechanism of circumferentially arranged at least three structure on pedestal；Four-bar mechanism is hingedly formed successively by principal arm, segment, auxiliary, pedestal；The end of segment extends downwardly as bare terminal end, and the bare terminal end of three segments is oppositely arranged；Principal arm upper end is hinged on pedestal, and elastic stretching device is arranged between auxiliary and pedestal；Drawstring driving device is set between principal arm and pedestal；Base upper cover is set on the pedestal of flexible strawberry device for picking, and base upper cover connects the mechanical arm of three one-movement-freedom-degrees, moving platform of the base upper cover as mechanical arm, and the driving motor on the silent flatform of mechanical arm is connect with controller.It with automatically walk and movement, automatic identification maturation strawberry and can determine that distance, bare terminal end can synchronize flexibility and close up and open, buffer unit is also used as to prevent from pressing from both sides bad strawberry and of low cost.
Description
Technical field
The invention belongs to strawberries to pick field, and in particular to a kind of full-automatic strawberry picking spider vehicle.
Background technology
Domestic strawberry cultivating area and yield have increased trend year by year, but due to the manual work of picking link backwardness
Mode constrains the development of strawberry cultivating industry.There is correlative study to be cultivated for high ridge furrow work in the common greenhouse in China at present
Strawberry tentatively establishes strawberry picking robot experimental system, in strawberry fruit target identification, extraction, positioning, picking robot
And the research of paw etc. achieves certain achievement.Strawberry harvester device people's equipment of also across ridge culture 4 degree of freedom of industry.It should
Robot obtains the image of strawberry using the CCD camera on two vertical view ground, calculates the orientation of strawberry, uses laser sensor
Distance of the measurement mechanical paw to strawberry；Strawberry carpopodium is captured using Pneumatic manipulator, shearing cutter cut-out carpopodium is used in combination.
But this is only merely a strawberry harvesting experimental provision, and volume is relatively large, and does not have driving device, of high cost, can not carry out
On a large scale, commercial application.
Strawberry device for picking, that is, strawberry picking mechanical arm end effector is the mechanism for picking strawberry.The appearance of strawberry
Compare fragile, picking when is easy to damage.In order to solve this problem, the method being often used is the flexible claw of setting or use
Hard and soft mixed organization.This mechanism is often more complicated, and of high cost, control complexity.
Invention content
The purpose of this utility model is to provide a kind of full-automatic strawberry picking spider vehicle.
The purpose of this utility model is realized in the following manner：A kind of full-automatic strawberry picking spider vehicle, including flexibility
Strawberry device for picking；Flexible strawberry device for picking includes pedestal, the identical double leval jib machine of circumferentially arranged at least three structure on pedestal
Structure；Four-bar mechanism is hingedly formed successively by principal arm, segment, auxiliary, pedestal；The end of segment extends downwardly as bare terminal end,
The bare terminal end of three segments is oppositely arranged；Principal arm upper end is hinged on pedestal, and elastic stretching device is arranged between auxiliary and pedestal；
Drawstring driving device is set between principal arm and pedestal；Base upper cover, base upper cover are set on the pedestal of flexible strawberry device for picking
Connect the mechanical arm of three one-movement-freedom-degrees, moving platform of the base upper cover as mechanical arm, the driving on the silent flatform of mechanical arm
Motor is connect with controller.
Line forms parallelogram successively between the hinge joint of four-bar mechanism, makes only flat in bare terminal end motion process
Shifting, angle are constant, and three bare terminal ends constitute flat clip-like states.
Drawstring driving device refers to：Axis pin is arranged with pedestal hinged place in each principal arm, and principal arm cord hole is arranged on the principal arm of axis pin,
Pedestal cord hole is set on the corresponding pedestal of axis pin, and the distance of pedestal cord hole to axis pin is identical at a distance from principal arm cord hole to pin hole；
Rotating disc is set on pedestal, rope is set between principal arm cord hole, pedestal cord hole, rotating disc, one end of rope, which is fixed on, to be turned
On Moving plate, the other end sequentially passes through pedestal cord hole clockwise or counterclockwise, principal arm cord hole is finally fixed, by three principal arms with it is corresponding
Pedestal be cascaded by rope；Driving device driving turn disc drives rope tightening that bare terminal end is made inwardly to close up.
Rotating disc is the steering wheel that steering engine drives, and rope both ends are separated by 180 degree and are fixed on steering wheel.
Elastic stretching device is torsional spring, and torsional spring is centrally disposed on the articulated shaft of auxiliary and pedestal, and one end setting exists
On auxiliary, the torsional spring other end is arranged on the side of the auxiliary and principal arm that connect corresponding four-bar mechanism in pedestal.
Elastic stretching device is the elastic string that one end is arranged on auxiliary, the other end is arranged on axis pin or compression bullet
Spring.
The bottom outer surface setting camera and ultrasonic rangefinder of pedestal, the camera and ultrasonic rangefinder with
Controller connects.
Motor is fixed on base upper cover, motor output shaft is fixed by base center shaft position and with pedestal.
The silent flatform of mechanical arm is arranged in walking mechanism, and walking mechanism includes four wheels and its upper bracket and driving machine
Structure.
The utility model has the beneficial effects that：Camera automatic identification is set on device for picking, and setting ultrasound positioning device is true
Positioning is set, and with automatic identification maturation strawberry and can determine distance；Elastic stretching device, principal arm and bottom are set between auxiliary and pedestal
Drawstring driving device is set between seat, so that bare terminal end is synchronized flexibility and closes up and open, also prevents from pressing from both sides as buffer unit bad
Strawberry and of low cost.Bare terminal end is flat clamp device, prevents folder from leaking and controls simple；Electric rotating machine drives pedestal rotation, can be with
Twist off the strawberry clamped.Device for picking is arranged on delta mechanical arms and running gear, can be with automatically walk and movement.
Description of the drawings
Fig. 1 device for picking structure charts.Fig. 2 is device for picking four-bar mechanism schematic diagram（Elastic stretching device is torsional spring）.Fig. 3 is
Device for picking four-bar mechanism schematic diagram（Elastic stretching device is rubber band）.Fig. 4 is device for picking axonometric drawing.Fig. 5 be mechanical arm with
Device for picking schematic diagram.Fig. 6 is that strawberry picks spider vehicle schematic diagram.
Wherein 1 is device for picking, and 3 be Delta mechanical arms, and 5 be walking mechanism, and 6 be motor, and 7 be bearing, and 10 be ultrasound
Away from device, 11 be pedestal, and 12 principal arms, 13 be segment, and 14 be auxiliary, and 15 be elastic stretching device, and 16 be axis pin, and 17 be rotating disc,
18 be rope, and 19 be camera, and 31 be base upper cover, and 32 be silent flatform.33 be actuating arm, and 34 be the driven branch of parallelogram
Chain, 35 be driving motor, and 51 be driving wheel, and 52 be holder, and 53 be cross bar, and 54 be basket, and 61 be output shaft, and 111 be pedestal rope
Hole, 121 be principal arm cord hole, and 131 be bare terminal end, and 151 be torsional spring, and 152 be rubber band.
Specific implementation mode
As shown in Figs 1-4, a kind of flexible strawberry device for picking 1, including pedestal 11, circumferentially arranged at least two on pedestal 11
The identical four-bar mechanism of structure.Four-bar mechanism is hingedly formed successively by principal arm 12, segment 13, auxiliary 14, pedestal 11.Segment
13 end extends downwardly as bare terminal end 131, and the bare terminal end 131 of three segments 13 is oppositely arranged.12 upper end of principal arm is hinged on
On pedestal 11, elastic stretching device 15 is set between auxiliary 14 and pedestal 11.Drawstring is arranged between principal arm 12 and pedestal 11 to drive
Device.Bare terminal end 131 is set to close up or separate by the movement of four-bar mechanism.
Line forms parallelogram successively between the hinge joint of four-bar mechanism, makes in 131 motion process of bare terminal end only
Translation, angle are constant, and three bare terminal ends 131 constitute flat clip-like state.The line of 11 two hinge joints of segment 13 and pedestal is mutual
Parallel, pedestal 11 is fixed, and direction will not change, so 131 angle of bare terminal end will not change, only in double leval jib
Plane translation where mechanism.When strawberry being clamped in this way, clamping is more convenient, accurate, it is not easy to folder leakage.It is also simpler in control
Single, error is small.）
Drawstring driving device refers to：Axis pin 16, the master of 16 arbitrary side of axis pin is arranged with 11 hinged place of pedestal in each principal arm 12
Principal arm cord hole 121 is set on arm 12, corresponding pedestal cord hole 111 is set on the pedestal 11.Pedestal cord hole 111 arrives axis pin 16
Distance and principal arm cord hole 121 to axis pin 16 at a distance from it is equal, as shown in Figure 2.Rotating disc 17 is set on the pedestal 11, in principal arm
Rope 18 is arranged between rotating disc 17 for cord hole 121, pedestal cord hole 111.One end of rope 18 is fixed on rotating disc 17, another
It is finally fixed that end sequentially passes through pedestal cord hole 111, principal arm cord hole 121 clockwise or counterclockwise, by three principal arms 12 with it is corresponding
Pedestal 11 is cascaded by rope 18.The driving device driving rotation of rotating disc 17 drives the tightening of rope 18 to make bare terminal end 131
Inwardly close up.Rope 18 has certain elasticity, is a kind of elastic string.Rope 18 is tightened to bare terminal end 131 and touches strawberry
When, because of the elasticity of rope 18 and deformation, play certain cushioning effect, make bare terminal end from touch clamp strawberry during
Strawberry will not be damaged.Angle is preferably acute angle between pedestal cord hole 111, axis pin 16, principal arm cord hole 121, facilitates stress.It is each main
Principal arm cord hole 121 is all set on arm 12, and corresponding pedestal cord hole 111 is set on the pedestal 11.In this way, rotating disc 17 revolves
When turning, rope 18 is tightened, and distance between arm cord hole 121 and pedestal cord hole 111 is made to taper into, until overlapping.Several principal arms 12
It can rotate synchronously, drive bare terminal end 131 to synchronize and close up.When reverse rotation, rope 18 loosens, and principal arm 12 is in auxiliary 14 and pedestal
Original position is pulled back between 11 under the elastic force of elastic stretching device 15, bare terminal end 131 separates.In the present embodiment, rotating disc 17 is
The steering wheel that steering engine drives, 18 both ends of rope are separated by 180 degree and are fixed on steering wheel.It is fulcrum with axis pin 16, principal arm 12 is a thick stick
Bar, the both ends that principal arm 12 is located at axis pin 16 are respectively the long side of lever, short side；The small displacement of the short side of principal arm 12 can convert
For the big displacement of 12 long side of principal arm.In this way, can be converted to bare terminal end 131 smaller for driving force bigger at driving device
Chucking power, avoid damage to strawberry.
As shown in Fig. 2, elastic stretching device 15 is torsional spring 151, torsional spring 151 is centrally disposed in the hinge of auxiliary 14 and pedestal 11
In spindle, 151 one end of torsional spring is arranged on auxiliary 14, and the setting of 151 other end of torsional spring connects corresponding four-bar mechanism in pedestal 11
Auxiliary 14 and principal arm 12 side on.Under normal state, due to the presence of torsional spring 151, auxiliary 14 is drawn close to pedestal 11, is driven
The bare terminal end 131 of segment 13 separates outward.
As shown in figure 3, elastic stretching device 15 is the bullet that one end is arranged on auxiliary 14, the other end is arranged on axis pin 16
Property rope or compressed spring.Elastic string can be rubber band 152, cheap.The other end of rubber band 152 can also be arranged
On pedestal 11, as long as stretchy auxiliary 14 is upward.Under normal state, spring or elastic string drive auxiliary 14 to make folder upwards
End is held to separate.
As shown in figure 4, the bottom outer surface setting camera 19 and ultrasonic rangefinder 10 of pedestal 11.Camera 19 is located at
The center of bottom surface.Camera 19 and ultrasonic rangefinder 10 are connect with controller.Go out ripe grass using visual discrimination
The certain kind of berries.Ultrasonic rangefinder 10 measures the distance of strawberry by sending out and receiving ultrasonic wave.
As seen in figs. 5-6, a kind of full-automatic strawberry using flexible strawberry device for picking 1 noted earlier picks spider vehicle, packet
Flexible strawberry device for picking is included, base upper cover 31 is set on the pedestal 11 of flexible strawberry device for picking, base upper cover 31 connects 3 movements
The mechanical arm of degree of freedom can be DELTA mechanical arms 3, moving platform of the base upper cover 31 as DELTA mechanical arms 3.Mechanical arm 3
Silent flatform on driving motor connect with controller.DELTA mechanical arms 3 are by silent flatform 32, moving platform, that is, base upper cover 31,3
The driven branch 34 of 33,3 parallelogram of root actuating arm forms.Distinguished by three identical kinematic chains on three sides of silent flatform 32
It is connected on three sides of moving platform.There are one the parallelogram being made of four flexural pivots and rod piece is driven in every kinematic chain
Branch 34, the driven branch of parallelogram 34 are in series with an actuating arm 33 with cradle head again, one end of actuating arm 33
It is fixed on silent flatform 32, makees the swing repeatedly of certain angle under the driving of driving motor 35.This three kinematic chains determine
The kinetic characteristic of moving platform.Moving platform cannot be rotated around any axis, but can be in rectangular co-ordinate space along x, tri- directions y, z
Translational motion has three degree of freedom.DELTA mechanical arms 3 drive device for picking 1 to be moved in certain space.
Base upper cover 31 is set on pedestal 11, refers to and fixes motor 6 on base upper cover 31, motor output shaft 61 passes through pedestal 11
Cental axial position and with pedestal 11 fix.It can be connected by bearing 7 between pedestal 11 and base upper cover 31.Device for picking 1 in this way
Bare terminal end 131 clamp strawberry after, motor output shaft 61 drive device for picking 3 rotation backs out strawberry, base upper cover 31 does not rotate.
The silent flatform 32 of DELTA mechanical arms 3 is arranged in walking mechanism 5, and walking mechanism 5 includes four driving wheels 51
Other tools can be carried with its upper bracket 52DELTA mechanical arms 3, accomplish that soil is detected, applied fertilizer, cutting stem etc..The cross bar of holder 52
Setting picking indigo plant 54 on 53, for placing the strawberry after picking.Encoder decelerating motor is carried on driving wheel 51.
When it is implemented, carrying out machine learning by haar small echos, the sample of preprepared strawberry is trained,
System is set to differentiate ripe strawberry.Walking mechanism 5 drives Delta mechanical arms 3 and device for picking 1 to walk in strawberry.Picking
Device 1 obtains the image of strawberry using the camera 19 for overlooking ground, calculates the orientation of strawberry, is measured with ultrasonic rangefinder 10
Device for picking 1 arrives the distance of strawberry.Then Delta mechanical arms 3 drive device for picking 1 to reach the position above strawberry.Rotating disc 17 revolves
Turn that rope 18 is driven to tense, so that bare terminal end 131 is closed up and clamp strawberry, motor 6 rotates, and drives device for picking 1 and strawberry rotation, twists
Lower strawberry.Then Delta mechanical arms 3, which move device for picking 1, makes its bare terminal end 131 to 54 top of basket, and strawberry is made to fall into basket 54.
Claims (9)
1. a kind of full-automatic strawberry picks spider vehicle, it is characterised in that：Including flexible strawberry device for picking；Flexible strawberry device for picking packet
Include pedestal, the identical four-bar mechanism of circumferentially arranged at least three structure on pedestal；Four-bar mechanism is by principal arm, segment, pair
Arm, pedestal hingedly form successively；The end of segment extends downwardly as bare terminal end, and the bare terminal end of three segments is oppositely arranged；It is main
Arm upper end is hinged on pedestal, and elastic stretching device is arranged between auxiliary and pedestal；Drawstring is arranged between principal arm and pedestal to drive
Device；Base upper cover is set on the pedestal of flexible strawberry device for picking, base upper cover connects the mechanical arm of three one-movement-freedom-degrees,
Moving platform of the base upper cover as mechanical arm, the driving motor on the silent flatform of mechanical arm are connect with controller.
2. full-automatic strawberry picks spider vehicle according to claim 1, it is characterised in that：The hinge joint of the four-bar mechanism
Between successively line form parallelogram, make in bare terminal end motion process only translation, angle it is constant, three bare terminal ends constitute flat
Clip-like state.
3. full-automatic strawberry picks spider vehicle according to claim 1, it is characterised in that：The drawstring driving device refers to：Often
Axis pin is arranged with pedestal hinged place in a principal arm, and principal arm cord hole is arranged on the principal arm of axis pin, pedestal is arranged on the corresponding pedestal of axis pin
The distance of cord hole, pedestal cord hole to axis pin is identical at a distance from principal arm cord hole to pin hole；Rotating disc is set on pedestal, in principal arm
Rope is arranged between rotating disc in cord hole, pedestal cord hole, and one end of rope is fixed on rotating disc, and the other end is clockwise or the inverse time
Needle sequentially passes through pedestal cord hole, principal arm cord hole is finally fixed, and three principal arms are cascaded with corresponding pedestal by rope；
Driving device driving turn disc drives rope tightening that bare terminal end is made inwardly to close up.
4. full-automatic strawberry picks spider vehicle according to claim 3, it is characterised in that：The rotating disc is what steering engine drove
Steering wheel, rope both ends are separated by 180 degree and are fixed on steering wheel.
5. full-automatic strawberry picks spider vehicle according to claim 3, it is characterised in that：The elastic stretching device is to turn round
Spring, torsional spring are centrally disposed on the articulated shaft of auxiliary and pedestal, and one end is arranged on auxiliary, and the torsional spring other end is arranged the bottom of at
On the auxiliary of the corresponding four-bar mechanism of seat connection and the side of principal arm.
6. full-automatic strawberry picks spider vehicle according to claim 3, it is characterised in that：The elastic stretching device is one end
It is arranged on auxiliary, the elastic string or compressed spring that the other end is arranged on axis pin.
7. according to claim 4 or 5 or the 6 full-automatic strawberries pick spider vehicle, it is characterised in that：Outside the bottom of the pedestal
Camera is arranged in surface and ultrasonic rangefinder, the camera and ultrasonic rangefinder are connect with controller.
8. full-automatic strawberry picks spider vehicle according to claim 7, it is characterised in that：Fixed electricity on the base upper cover
Machine, motor output shaft are fixed by base center shaft position and with pedestal.
9. full-automatic strawberry picks spider vehicle according to claim 8, it is characterised in that：The silent flatform of the mechanical arm is arranged
In walking mechanism, walking mechanism includes four wheels and its upper bracket and driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820416763.8U CN208063850U (en) | 2018-03-27 | 2018-03-27 | Full-automatic strawberry picks spider vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820416763.8U CN208063850U (en) | 2018-03-27 | 2018-03-27 | Full-automatic strawberry picks spider vehicle |
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| Publication Number | Publication Date |
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| CN208063850U true CN208063850U (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820416763.8U Active CN208063850U (en) | 2018-03-27 | 2018-03-27 | Full-automatic strawberry picks spider vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN114365624A (en) * | 2022-01-25 | 2022-04-19 | 皖西学院 | Efficient agricultural picking device based on DELTA parallel mechanical arms |
-
2018
- 2018-03-27 CN CN201820416763.8U patent/CN208063850U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
| CN108207332B (en) * | 2018-03-27 | 2024-01-26 | 郑州大学 | Flexible strawberry picker and full-automatic strawberry picking spider car applying same |
| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN112706186B (en) * | 2020-12-24 | 2022-03-08 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN114365624A (en) * | 2022-01-25 | 2022-04-19 | 皖西学院 | Efficient agricultural picking device based on DELTA parallel mechanical arms |
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