CN208317476U - A kind of picking robot tail end arm collision sensing device - Google Patents
A kind of picking robot tail end arm collision sensing device Download PDFInfo
- Publication number
- CN208317476U CN208317476U CN201820977457.1U CN201820977457U CN208317476U CN 208317476 U CN208317476 U CN 208317476U CN 201820977457 U CN201820977457 U CN 201820977457U CN 208317476 U CN208317476 U CN 208317476U
- Authority
- CN
- China
- Prior art keywords
- canvas
- fixed frame
- tail end
- picking robot
- sensing device
- 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.)
- Expired - Fee Related
Links
- 238000003825 pressing Methods 0.000 claims description 30
- 239000000463 material Substances 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000012636 effector Substances 0.000 claims description 3
- 229910000746 Structural steel Inorganic materials 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 231100001261 hazardous Toxicity 0.000 abstract description 2
- 235000013399 edible fruits Nutrition 0.000 description 9
- 238000009434 installation Methods 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of picking robot tail end arm collision sensing device, it include: front end fixed frame, rear end fixed frame, torsional spring hinge, L-type plate, backing plate, travel switch and canvas, pull L-type plate mobile when canvas bears external force deformation, so that travel switch contact action output signal.The utility model is applied in picking robot tail end arm, and when robot arm carries out picking operation, branches and leaves depress the canvas of respective direction, corresponding torsional spring hinge rotation touching travel switch, and robot perceives the hazardous collision of respective direction with this.The utility model has many advantages, such as that simple control, reliable operation, adjustment are convenient, versatile.
Description
Technical field
The utility model agricultural fruits and vegetables automate seed harvester technical field more particularly to a kind of picking robot tail end arm
Collision sensing device.
Background technique
With the rapid development of computer and automatic control technology, robot has stepped into agricultural production, is adopting
It plucks in the control of robot, most of sensor for perceiving external environmental information is mounted on the end effector of robot, very
Few installation is on the robotic arm.However, robot is when picking the fruit inside fruit tree, the posterior joint of mechanical arm is inevitably wanted
The inside for going deep into fruit tree carries out operation, can collide with branches and leaves, if mechanical arm does not have the energy of sensing collision power size degree
Power just has no ability to judge when it knocks thicker branch, then this collision can all bring fruit tree and robot
Damage.
It is developed currently, lacking both at home and abroad for the research of picking robot tail end arm collision sensing structure and device, application
Number patent for being CN201120078572.3, propose it is a kind of can sensing collision Telescopic arm of robot, the sensing collision proposed
Structure is complex, and the collision piece of respective direction is made of rigid metal, when collision in metal plate principle can whole linearly operating,
But because its weight is larger, when arranging in left and right directions, gravity torque can be generated to respective straight sliding support, to generate not
Stable frictional resistance influences the sensitivity to collision perception.
Summary of the invention
In order to solve the above technical problems, the utility model provides a kind of picking robot tail end arm collision sensing device.For
To some aspects of the embodiment of disclosure there is a basic understanding, simple summary is shown below.The summarized section is not
It is extensive overview, nor to determine key/critical component or describe the protection scope of these embodiments.Its sole purpose
It is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
The utility model adopts the following technical solution:
In some alternative embodiments, a kind of picking robot tail end arm collision sensing device is provided, comprising: stroke is opened
Pass, L-type plate and the canvas being laid with along picking robot tail end arm, the end of the canvas is connect with the L template, when described
Canvas bears to pull the L-type plate mobile when external force deformation, so that the travel switch contact action output signal.
In some alternative embodiments, a kind of picking robot tail end arm collision sensing device, further includes: turn round
The fixed page of spring hinge and the rear end fixed frame being mounted in picking robot tail end arm, the torsional spring hinge is arranged after described
It holds on fixed frame, backing plate is set in the wherein one side of the active page of the torsional spring hinge, the L-type plate setting is closed in the torsional spring
On the another side of the active page of page, the end of the canvas is connect with the backing plate.
In some alternative embodiments, a kind of picking robot tail end arm collision sensing device, further includes: pass
Sensor frame, the sensor frame are arranged on the rear end fixed frame, and the travel switch is arranged on the sensor frame.
In some alternative embodiments, a kind of picking robot tail end arm collision sensing device, further includes: preceding
Fixed frame is held, the front end fixed frame and the rear end fixed frame are separately positioned on the both ends of picking robot tail end arm, described
The head end of canvas is fixed on the front end fixed frame.
In some alternative embodiments, the quantity of the canvas is three, and three canvas are top surface canvas and difference position
Two side canvas in top surface canvas two sides, three canvas respectively with corresponding L-type plate, torsional spring hinge, backing plate and row
Cheng Kaiguan is assembled into three detection components.
In some alternative embodiments, a kind of picking robot tail end arm collision sensing device, further includes: horizontal
Pressing plate and two perpendicular pressing plates, horizontal pressing plate by the top surface Canvas pressing on the top surface of the front end fixed frame, two perpendicular pressing plates
Two side canvas are pressed on the left side of the front end fixed frame, on the right side respectively.
In some alternative embodiments, sunk screw mesopore and spiral shell are opened up on the horizontal pressing plate and two perpendicular pressing plates
Line tightening hole, the horizontal pressing plate and two perpendicular pressing plates are fixed on the front end fixed frame by sunk screw, and the canvas is logical
Holding screw is crossed to be fixed on the front end fixed frame.
In some alternative embodiments, the front end fixed frame and the rear end fixed frame are rectangular box structure.
In some alternative embodiments, the material of front end fixed frame, rear end fixed frame and sensor frame is model
The aluminum alloy materials of 2A12.
In some alternative embodiments, backing plate, L-type plate, horizontal pressing plate, perpendicular pressing plate material be Q235 normal carbon structure
Steel.
The utility model has the advantages that guaranteeing there is that complexity is low while high safety brought by the utility model, so that
The utility model has that usage mode is simple, easy-operating feature；The utility model collision sensor coverage area is big, thus substantially
Degree promotes the reliability of perception；Using canvas as induction collision material, device overall weight is light, does not influence the work of former mechanical arm
Make, the gravity torque in the opposed front end joint generated in tail end arm is smaller；It is versatile, it can be applied to most of picking
The collision sensing of tail end arm；In addition to this, also have device installation and debugging it is convenient, compact-sized, light it is small and exquisite, reliability and durability,
Control advantage simple, low in cost and versatile.
For the above and related purposes, one or more embodiments include being particularly described below and in claim
In the feature that particularly points out.Certain illustrative aspects are described in detail in the following description and the annexed drawings, and its instruction is only
Some modes in the utilizable various modes of the principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be all such aspects to be included and they
Be equal.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of picking robot tail end arm collision sensing device of the utility model；
Fig. 2 is the portion the A enlarged drawing of Fig. 1；
Fig. 3 is the portion the B enlarged drawing of Fig. 1；
Fig. 4 is a kind of bottom substance schematic diagram of picking robot tail end arm collision sensing device of the utility model.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment
Only represent possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can be with
Variation.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The range of bright embodiment includes equivalent obtained by the entire scope of claims and all of claims
Object.
As shown in Figures 1 to 4, in some illustrative embodiments, a kind of picking robot tail end arm collision sensing is provided
Device, the collision sensing device of the utility model are mounted in picking robot tail end arm 4, specifically include: front end fixed frame 1,
Rear end fixed frame 2, canvas 3, torsional spring hinge 5, backing plate 6, L-type plate 7, travel switch 8 and sensor frame 9.
The inside casing size of front end fixed frame 1 and rear end fixed frame 2 is slightly larger than the rectangular section of picking robot tail end arm 4,
To facilitate outside of 2 sets of the 1 rear end fixed frame of front end fixed frame in picking robot tail end arm 4.Front end fixed frame 1 is fixed with rear end
The lower part of frame 2 is provided with tightening tapped through hole, is pressed abd fixed on front end fixed frame 1 with rear end fixed frame 2 by holding screw and adopts
The both ends of robot end-effector 4 are plucked, the installation site that holding screw is adjustable front end fixed frame 1 and rear end fixed frame 2 is unclamped
And spacing.
Sensor frame 9 is arranged on rear end fixed frame 2, and travel switch 8 is arranged on sensor frame, and travel switch 8 is used for
The location status of L-type plate 7 is detected, sensor frame 9 is provided with kidney slot to facilitate adjusting position and by screw and rear end fixed frame 2
Fastening.
Canvas 3 is laid with along picking robot tail end arm 4, and the fixed page 51 of torsional spring hinge 5 is arranged on rear end fixed frame 2,
Backing plate 6 is set in the wherein one side of the active page 52 of torsional spring hinge 5, and L-type plate 7 is arranged in another side.Backing plate 6 is provided with spiral shell in a row above
Pit, the end of canvas 3 are fixed by screws on backing plate 6, and the head end of canvas 3 is fixed on front end fixed frame 1.
90 degree of angles are in 5 liang of hinges of original state torsional spring hinge, and the torque of generation is in canvas 3 to tighten shape
State, L-type plate 7 do not contact with travel switch 8, replace torsional spring or adjust the spacing of front end fixed frame 1 and rear end fixed frame 2
The reset torque of i.e. adjustable torsional spring hinge 5.When mechanical arm carries out picking operation, can not be kept away in picking robot tail end arm 4
Often going deep into of exempting from carries out picking operation inside fruit tree, when encountering fruit branch, canvas 3 can be depressed, i.e., canvas 3 bears external force
Deformation, 3 deformation of canvas pull the active page 51 of torsional spring hinge 5 to swing, i.e. drive L-type plate 7 rotates, when reaching certain trigger angle
When, L template 7 depresses the contact of travel switch 8, so that 8 contact action output signal of travel switch, robot control system
Picking robot tail end arm 4 can be perceived to collide, thus planning picking path again, to prevent mechanical arm and fruit tree because occurring
Hazardous collision and may be damaged.
Wherein, the fixed page 51 of torsional spring hinge 5 refers to that one page motionless relative to picking robot tail end arm 4, torsional spring
The active page 52 of hinge 5 refers to that one page mobile relative to picking robot tail end arm 4.
The quantity of canvas 3 is three, and three canvas 3 are top surface canvas 31 and are located at the two of 31 two sides of top surface canvas
A side canvas 32, top surface canvas 31 cover the top surface of picking robot tail end arm 4 and left and right two sides with two side canvas 32
Lid.The end of three canvas 3 respectively corresponds a backing plate 6, therefore the quantity of backing plate 6 is three, the corresponding torsion of each backing plate
Spring hinge 5, correspondingly, a L-type plate 7 is arranged on the active page 52 of each torsional spring hinge 5, thus, it is desirable to three travel switches 8
To detect the location status of three L-type plates 7 respectively.Therefore, three canvas respectively with corresponding L-type plate, torsional spring hinge, backing plate
And travel switch is assembled into three detection components, is respectively induced the top surface, the left side and the right side of picking robot tail end arm 4, when touching
When to fruit branch, corresponding top surface canvas 31 or two side canvas 32 are depressed, so that corresponding torsional spring hinge 5 is pulled to swing, band
Corresponding L-type plate 7 is moved to rotate, as a result, robot control system can perceive which direction of picking robot tail end arm 4 by
Collision, so that planning picking path again, may be damaged to prevent mechanical arm and fruit tree because causing danger collision.
The collision sensing device of the utility model further include: horizontal pressing plate 10 and two perpendicular pressing plates 11, horizontal pressing plate 10 is by top surface
Canvas 31 is pressed on the top surface of front end fixed frame 1, and two side canvas 32 are pressed on front end respectively and consolidated by two perpendicular pressing plates 11
Determine the left side of frame 1, on the right side.Sunk screw mesopore 13 and threaded set hole are opened up on horizontal pressing plate 10 and two perpendicular pressing plates 11
14, sunk screw mesopore 13 is used to that horizontal pressing plate 10 and two perpendicular pressing plates 11 to be fixed on front end fixed frame 1 using sunk screw
On, threaded set hole 14 is used to that top surface canvas 31 and two side canvas 32 to be pressed on front end fixed frame 1 using holding screw
On.
Front end fixed frame 1 and rear end fixed frame 2 are rectangular box structure, and inside casing size is slightly larger than picking robot tail end arm
4 rectangular section.The end of two pieces of side canvas 32 of top surface canvas 31 and left and right is separately fixed on three pieces of backing plates 6 by screw
Face.The fixed page 51 of the torsional spring hinge 5 in three directions is connect by screw with rear end fixed frame 2, the active page 52 of torsional spring hinge 5
It is fixed respectively with the L-type plate 7 of respective direction and backing plate 6 by screw.
The material of front end fixed frame 1, rear end fixed frame 2 and sensor frame 9 is the aluminum alloy materials of model 2A12, intensity
Relatively high and density is smaller.Backing plate 6, horizontal pressing plate 10, erects the material of pressing plate 11 as Q235 common carbon structural steel at L-type plate 7.
The material of canvas 3 is the canvas of 1mm thickness.Travel switch 8 selects metal wheel silver point inching.The material of torsional spring resetting hinge 5 is
304 stainless steels.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, the change made under other any spiritual essence and principles without departing from the utility model are modified, substitution,
Combination simplifies, should be equivalent substitute mode, all should include within the protection scope of the present utility model.
Claims (10)
1. a kind of picking robot tail end arm collision sensing device characterized by comprising travel switch, L-type plate and along picking
The canvas that robot end-effector is laid with, the end of the canvas are connect with the L-type plate, when the canvas bears external force deformation
Pull the L-type plate mobile, so that the travel switch contact action output signal.
2. a kind of picking robot tail end arm collision sensing device according to claim 1, which is characterized in that further include:
The fixed page of torsional spring hinge and the rear end fixed frame being mounted in picking robot tail end arm, the torsional spring hinge is arranged described
On the fixed frame of rear end, backing plate is set, the L-type plate is arranged in the torsional spring in the wherein one side of the active page of the torsional spring hinge
On the another side of the active page of hinge, the end of the canvas is connect with the backing plate.
3. a kind of picking robot tail end arm collision sensing device according to claim 2, which is characterized in that further include:
Sensor frame, the sensor frame are arranged on the rear end fixed frame, and the travel switch is arranged on the sensor frame.
4. a kind of picking robot tail end arm collision sensing device according to claim 3, which is characterized in that further include:
Front end fixed frame, the front end fixed frame and the rear end fixed frame are separately positioned on the both ends of picking robot tail end arm, institute
The head end for stating canvas is fixed on the front end fixed frame.
5. a kind of picking robot tail end arm collision sensing device according to claim 4, which is characterized in that the canvas
Quantity be three, three canvas are top surface canvas and two side canvas for being located at top surface canvas two sides, three
Canvas is assembled into three detection components with corresponding L-type plate, torsional spring hinge, backing plate and travel switch respectively.
6. a kind of picking robot tail end arm collision sensing device according to claim 5, which is characterized in that further include:
Horizontal pressing plate and two perpendicular pressing plates, for horizontal pressing plate by the top surface Canvas pressing on the top surface of the front end fixed frame, two are erected pressure
Two side canvas are pressed on the left side of the front end fixed frame, on the right side by plate respectively.
7. a kind of picking robot tail end arm collision sensing device according to claim 6, which is characterized in that the horizontal pressure
Sunk screw mesopore and threaded set hole are opened up on plate and two perpendicular pressing plates, it is heavy that the horizontal pressing plate and two perpendicular pressing plates pass through
Head screw is fixed on the front end fixed frame, and the canvas is fixed on the front end fixed frame by holding screw.
8. a kind of picking robot tail end arm collision sensing device according to claim 7, which is characterized in that the front end
Fixed frame and the rear end fixed frame are rectangular box structure.
9. a kind of picking robot tail end arm collision sensing device according to claim 8, which is characterized in that front end is fixed
The material of frame, rear end fixed frame and sensor frame is the aluminum alloy materials of model 2A12.
10. a kind of picking robot tail end arm collision sensing device according to claim 9, which is characterized in that backing plate, L
Template, horizontal pressing plate erect the material of pressing plate as Q235 common carbon structural steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820977457.1U CN208317476U (en) | 2018-06-25 | 2018-06-25 | A kind of picking robot tail end arm collision sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820977457.1U CN208317476U (en) | 2018-06-25 | 2018-06-25 | A kind of picking robot tail end arm collision sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208317476U true CN208317476U (en) | 2019-01-04 |
Family
ID=64768545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820977457.1U Expired - Fee Related CN208317476U (en) | 2018-06-25 | 2018-06-25 | A kind of picking robot tail end arm collision sensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208317476U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522022A (en) * | 2018-06-25 | 2018-09-14 | 南京工程学院 | A kind of picking robot tail end arm collision sensing device |
-
2018
- 2018-06-25 CN CN201820977457.1U patent/CN208317476U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522022A (en) * | 2018-06-25 | 2018-09-14 | 南京工程学院 | A kind of picking robot tail end arm collision sensing device |
| CN108522022B (en) * | 2018-06-25 | 2023-12-29 | 南京工程学院 | Collision sensing device for tail end arm of picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108419520B (en) | High-efficiency real picking end effector, fruit picking device and picking vehicle | |
| CN204614719U (en) | A kind of 3D rotation input device improving resetting device | |
| CN208317476U (en) | A kind of picking robot tail end arm collision sensing device | |
| CN208566001U (en) | Bracket is used in a kind of detection of Soil Geologic environment | |
| CN108522022A (en) | A kind of picking robot tail end arm collision sensing device | |
| CN207540895U (en) | A kind of photovoltaic panel load test device | |
| CN202050836U (en) | Mousetrap | |
| CN110149907A (en) | A kind of spring leaf terminal executor of picking robot | |
| CN202994597U (en) | Torsional strength tester of badminton racket | |
| CN107104633B (en) | A kind of device of solar generating being easily installed | |
| CN208283238U (en) | A kind of portable soil automatic polarizing system instrument | |
| CN208155217U (en) | A kind of detection device of protective film of electronic product | |
| CN208805514U (en) | A kind of Portable heavy metal pollution detection device | |
| CN209533884U (en) | A kind of solar panel cutter device | |
| CN209017400U (en) | A kind of positioning mechanism of novel turning alternating plough | |
| CN207764050U (en) | A kind of carton processing resistance to compression detection device | |
| CN209491714U (en) | A kind of impacting type extractor | |
| CN205670625U (en) | A kind of high voltage mid-placed cabinet | |
| CN207427653U (en) | A kind of railway signal box of sealed reliable | |
| CN207908598U (en) | A kind of electrical safety accident Analysis of Potential instrument | |
| CN205439702U (en) | Multi -functional digital display ruler | |
| CN216747664U (en) | Grain precision detection device | |
| CN208812049U (en) | A kind of electric power overhaul tool intelligence storing unit | |
| CN216050844U (en) | Robot sampling device | |
| CN208628294U (en) | Microswitch bending machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |