CN209201574U - A kind of bergamot pear terminal executor of picking robot - Google Patents

A kind of bergamot pear terminal executor of picking robot Download PDF

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Publication number
CN209201574U
CN209201574U CN201821692106.2U CN201821692106U CN209201574U CN 209201574 U CN209201574 U CN 209201574U CN 201821692106 U CN201821692106 U CN 201821692106U CN 209201574 U CN209201574 U CN 209201574U
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bergamot pear
motor
picking
cambered surface
transmission mechanism
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CN201821692106.2U
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李俊杰
马蓉
张垚鑫
郭昊生
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Shihezi University
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Shihezi University
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Abstract

The utility model provides a kind of bergamot pear terminal executor of picking robot, its device includes the manipulator butt plate docked with robot arm, the motor shell A in transmission mechanism is connected with manipulator butt plate, four knife rests being connected with drive mechanism connecting rod and mounting bracket;Its method includes that camera takes a little, is fixed using sucker, and using arc cutting, withdraw the arm discharges bergamot pear.The utility model not only increases shear efficiency, reduces sensory perceptual system to the image recognition of fruit profile and carpopodium and the time-consuming of segmentation, ensure that the precision quality of picking operation, reduce picking difficulty, improve operating efficiency.

Description

A kind of bergamot pear terminal executor of picking robot
Technical field
The utility model belongs to agricultural mechanical field more particularly to a kind of bergamot pear terminal executor of picking robot.
Background technique
Kuerle delicious pear originates in Xinjiang Kuerle, Luntai and the area Ku Che, has more than 1300 years cultivation histories, is one Regional extremely strong famous-brand and high-quality kind and this area's even most excellent one of Local Pear Variety in the whole nation.Bergamot pear is in South Sinkiang various regions It is distributed, it is the mainstay of Xinjiang characteristic fruit that using Kurle region as main producing region, planted area is maximum, best in quality One of industry.
The bergamot pear generally oval or spindle of circle, is small fruit type, bergamot pear is mainly characterized by that thin skin, pulp are crisp, and fruit juice is more And without slag, fruity is aromatic.Locality has common saying to claim " bergamot pear falls on the ground Yi Tanshui ", therefore bergamot pear is very fragile, and mechanical resistant is not damaged for pole Wound.By the end of the present cultivated area of Kuerle delicious pear in 2017 up to 1,000,000 mu, annual output is about 1,000,000 tons, and bergamot pear fruit is adopted Time receiving machine has a significant impact to yield, quality and property of storage.
Too early, fruit is not yet mature for harvesting, and head is small, low output, hardness are big, and mouthfeel is bad and not storage tolerance;It harvested Evening, fruit water content reduce, and maturity is excessively high, and fruit quality is poor, are not suitable for long-distance transport and long-term storage.
But currently, the major way of bergamot pear picking is still manually to pick, annual September is the picking time of bergamot pear, plucks pears work Picking takes between 0.8 yuan to 0.9 yuan of per kilogram.Since bergamot pear tree body is tall and big, most of bergamot pear growth aloft, is greatly given Artificial picking causes difficulty, high when empty-handedly plucking, and people can only be picked by climbing tree or using ladder, the slightly careless fruit meeting of when picking It falls down, picking is caused to lose, and people also has unsafe factor when high-altitude is picked, this is also to cause high-altitude bergamot pear Picking takes the reason of increase.In addition to this, the bergamot pear thin skin meat after maturation is crisp, is not suitable for harvesting using big machineryization, and one As fruit picker in the picking process of bergamot pear fruit, easily cause bergamot pear pericarp damaged, it is easy to induce rotten fungus and Penicillium notatum It breeds, accelerates bergamot pear corruption therewith and diffusive infection gives surrounding unmarred bergamot pear.
Therefore, not only picking efficiency is low, difficulty is big for artificial picking, but also the time is short, large labor intensity, causes picking cost Increase.The problem difficult in face of bergamot pear picking, there is an urgent need to a kind of end effectors of suitable bergamot pear picking to replace artificial picking This problem, which is picked, solving bergamot pear becomes very necessary.
The utility model patent of application number 201621393947.4 discloses a kind of fruit picking device suitable for bergamot pear, such as Shown in Fig. 1, including metal arch ring 1001, picking lever, interior blanket net 1003 and the outer string bag 1004, picking lever include Anti-slip cover 1005, Loop bar 1006 and telescopic rod 1007;1001 are provided with and grasp carpopodium slot on metal arch ring, and cotton is provided with outside metal arch ring 1001 Metal arch ring housing;The interior string bag 1003 is all connected with cotton metal arch ring housing with the outer string bag 1004, and the interior setting of the string bag 1003 exists In the outer string bag 1004, interior 1003 lower end of the string bag is provided with buffer mouth;Outer 1004 lower end of the string bag is provided with cotton cord hole 1009, cotton cord hole It is provided with cotton cord 10010 in 1009, spring button 10011 is provided on cotton cord 10010.Its bergamot pear Softening is by solid fruit After handle slot catches bergamot pear carpopodium, loop bar is pulled to break bergamot pear carpopodium.This Softening easily damages fruit, and is pulling During loop bar, very big power can be generated to branch, will cause the shaking of other fruits, and then can generate to scrape with branch and wear Wound, even fruit directly falls off.
The utility model patent of application number 201120127271.5 discloses a kind of seed ball picking robot end and holds Row device, as shown in Fig. 2, including rotating electric machine component a and arc finger cutting assembly b.It passes through shaft coupling group using rotating electric machine Part drives four cambered blades to carry out circumgyration incision to the carpopodium of any position therebetween.The utility model Softening is reliable, moves Work control difficulty is low, and low in cost, versatility is good.But arc finger cutting assembly does not encase fruit in operation completely, If carpopodium it is possible that the case where not cutting if actuator least significant end, and close up when institute in four arc fingers when operation The fruit in the space of encirclement does not fix, and fruit can roll in finger space after carpopodium cutting, and some pericarps are thin and brittle Fruits and vegetables will receive mechanical damage (such as Kuerle delicious pear, peach and tomato), be not easy to long-distance transport and long-term storage.
Application number 201710102179.5 discloses a kind of spheral fruit picking robot end execution grabbed and cut integral type Device, as shown in figure 3, including upper junction plate A, lower connecting plate B, cutting dise knife C, 4 flexible envelope unit E, flexible envelope pawl rotation Rotation mechanism D.The end-effector is mainly made of servo motor, 4 flexible fingers and cutting dise knife.Servo motor driving executes Device movement enhances the controllability of each component movement, and the design of flexible finger is can be reduced to a certain extent during fruit and vegetable picking Damage.But grip size and control are less desirable, for some quality and fruits and vegetables of different sizes, grip is excessive Will cause fruit damage, grip is too small, and it is insecure to fruits and vegetables crawl to will cause picking failure, it is considered as the controllable of grip size Property, to reach more preferably effect.It is limited to cut dise knife cut coverage, there are carpopodiums to cut blind area.Furthermore the end effector With 4 servo motors, overall structure and control system are complex, and weight is bigger than normal, will affect picking precision.
For the prior art of Kuerle delicious pear Softening, it would be highly desirable to which the technical problem and disadvantage of solution mainly include The following aspects:
(1) the current Softening of bergamot pear mainly remains as artificial picking, and not only picking efficiency is low, difficulty for artificial picking Greatly, period large labor intensity, and people also has unsafe factor when high-altitude is picked;
(2) bergamot pear shape is in irregular shape, and the gripper of most of rigidity is difficult suitably to grab bergamot pear;
(3) bergamot pear thin skin meat is crisp after maturation, easily causes bergamot pear pericarp damaged in picking process, it is easy to induce rotten fungus It is bred with Penicillium notatum, accelerates bergamot pear corruption therewith and diffusive infection gives surrounding unmarred bergamot pear;
(4) Softening of most end effector and high altitude fruit picking device is generally divided into three kinds: pullling formula, crawl Kinking formula and knife cut cutting type.It pulls and clamping crawl first is carried out to fruit with torsion type design, then simulate people by rotating The movement of hand kinking carpopodium when picking, requires strict control to clamp the size of the power of fruit well first, otherwise easily damages fruit Real, there are carpopodiums to be pullled when picking at this time, reverses the case where breaking or falling, and is not easy to store.Knife cuts cutting type Directly carpopodium is cut off using motor driven annular saw knife or scissor action, the shearing of cutter and scissors is limited in scope, and there are carpopodiums The blind area cut, cut, cut.
Utility model content
The purpose of this utility model is that improving picking efficiency to reduce the whole plucking time of bergamot pear, reduce artificial Labor intensity and meet bergamot pear picking and require, the utility model provides a kind of compact-sized, high-efficient, reliability and durability and intelligent The end effector of change.
The utility model adopts the following technical solution:
A kind of bergamot pear terminal executor of picking robot, including manipulator butt plate 1, transmission mechanism 2, executing agency 3,
The mechanical handle of manipulator butt plate 1, one end and robot connects, and the other end passes through in bolt and transmission mechanism 2 Motor shell A 22 be connected to one;
Transmission mechanism 2,212 end of connecting rod of transmission mechanism 2 and mounting bracket 213 are logical with the knife rest 31 of executing agency 3 Hinge connection is crossed, the cambered surface cutter 32 for cutting carpopodium is installed on knife rest 31;
Executing agency 3, the vacuum chuck 34 in executing agency 3 pass through the mounting bracket of mounting flange 37 and transmission mechanism 2 The connection of 213 tops.
The further technical solution of the utility model is, in transmission mechanism 2, servo motor A21 is mounted on motor shell A In 22 inner cavity, o-ring 26 is mounted on sealing of motor spindle end face, is equipped with motor by screw in the axial end of servo motor A21 Flange 23, servo motor A21 are connected by signal wire with speed reducer 24, and speed reducer 24 is mounted in connected with outer casing 25, and connection is outer Shell 25 is fixedly linked by connecting plate 215 and attachment screw 214 and motor B shell 28, and servo motor B 27 is mounted on outside motor B In the inner cavity of shell 28, screw rod 210 is connect by shaft coupling 29 with servo motor B 27, and nut 211 passes through mounting hole and connecting rod 212 Hingedly, mounting bracket 213 is fixedly connected by connecting plate 215 and attachment screw 214 with motor B shell 28.
The further technical solution of the utility model is that have 4 mounting holes on the nut 211,4 mounting hole difference It is hinged with the small end of corresponding 4 connecting rods 212.
The further technical solution of the utility model is, in executing agency 3, knife rest 31 is connected to transmission by hinges In the big end of connecting rod 212 in mechanism 2 and the mounting hole of mounting bracket 213, cambered surface cutter 32 connect composition shearing with knife rest 31 Unit, one layer of rubber material 33 is bonded in 32 inner cavity of cambered surface cutter, and vacuum chuck 34 is mounted on 36 head of connecting tube, connecting tube 36 Middle part offers blow vent 35, and 213 one end of mounting bracket connects the mounting bracket 213 of transmission mechanism 2, and the other end connects connecting tube 36。
The further technical solution of the utility model is that four knife rests 31 are connected to transmission mechanism 2 by hinges In 212 big end of connecting rod and mounting bracket 213, four cambered surface cutters 32a, 32b, 32c, 32d, four knives are installed on four knife rests 31 Frame 31 and four cambered surface cutters 32a, 32b, 32c, 32d form cut cells.
The further technical solution of the utility model be further include sensing mechanisms 4, magnetism encoder 41 therein be two It is a, it is separately mounted on servo motor A21 and the motor shaft of servo motor B 27, turns for measuring position of magnetic pole and servo motor Angle and revolving speed;Electromagnetic switch b42 and electromagnetic switch a44 is separately fixed on motor B shell 28 and the inner wall of mounting bracket 213, Magnet block 43 is mounted on nut 211, and electromagnetic switch b42, electromagnetic switch a44 and magnet block 43 are in vertical direction with always On line, the side contacted in two inner cavities cambered surface cutter 32a, 32c with fruit is stained with force snesor, other two cambered surface cutter 32b, The side contacted in the inner cavity 32d with fruit is stained with infrared sensor 47, and vacuum pressure sensor 46 is arranged close to vacuum chuck At 34, for monitoring vacuum pressure value, it is ensured that sucker persistently reaches safe suction, is equipped on the end face of mounting bracket 213 Range sensor 48, for monitoring the distance of actuator relative target, force snesor 45, vacuum pressure sensor 46, distance are passed Sensor 48 transmits signal to the control system of robot.
7. a kind of method using bergamot pear terminal executor of picking robot picking bergamot pear characterized by comprising
The state of step 1. inspection end effector;
Step 2. starts robot, obtains bergamot pear spatial coordinate location, and mechanical arm drives end effector towards target perfume The movement of pears direction;
Range sensor 48, infrared sensor 47, vacuum chuck 34, vacuum pressure sensing in step 3. sensing mechanisms 4 Device 46 is shared out the work and help one another, while servo motor B 27 inverts, and prepares state before so that end effector is in shearing work;
Step 4. servo motor B 27 drives the cambered surface cutter closure in executing agency 3, completes cutting for target bergamot pear carpopodium It is disconnected;Or cambered surface cutter 32 is closed, servo motor A21 starting drives screw rod 210, the nut 211 of transmission mechanism and executing agency It moves back and forth, completes the cutting to target bergamot pear carpopodium;
Step 5. mechanical handle is withdrawn, and the interior knife rest that end executes opens, and vacuum chuck 34 is inflated, and the bergamot pear of picking is put It is placed in collecting box;
Step 6. repeats the above steps, until picking terminates.
The further technical solution of the utility model is that the step 1 includes being in vacuum chuck not open, knife rest 31 in being closed, and servo motor A21 and servo motor B 27 remain static in transmission mechanism 2.
The further technical solution of the utility model is that the step 2 further includes, in motion process, servo motor B 27 Band movable knife rack 31 is in maximum open configuration.
The further technical solution of the utility model is, in the step 4, after servo motor A21 initiating task, and electricity Machine shaft passes through the transmission of waveform speed reducer 24, and transmission mechanism screw rod 210 and executing agency's nut 211 is driven to carry out reciprocating rotary Dynamic, corner degree is 45 °~180 ° ranges.
1. the utility model aim is primarily directed to disadvantage present in the method for existing Kuerle delicious pear picking at present It being proposed with deficiency, such as artificial picking bergamot pear mode, not only picking efficiency is low, difficulty is big, the time is short, large labor intensity, but also People also has unsafe factor when high-altitude is picked;Other modes pick bergamot pear using end effector, in picking process, Often there is carpopodium cutting blind area or picking process easily causes mechanical damage to bergamot pear, is not easy to the long-distance transport and length of bergamot pear Term storage.
2. the utility model provides a kind of bergamot pear picking robot and picking method.The end effector of the device uses 4 cambered surface cutters and vacuum chuck are as executing agency, and after sucker suction fixes fruit, cambered surface cutter can guarantee carpopodium cutting Without dead angle operation;Transmission mechanism provides power by two DC servo motor rotations for each device of actuator;Perception Mechanism guarantees actuator accurately close to absorption fruit, and real-time monitoring actuator job state precisely perceives operating environment.The execution Device not only increases shear efficiency, reduces sensing mechanisms to the image recognition of fruit profile and carpopodium and the time-consuming of segmentation, and It ensure that the precision quality of picking operation.Softening is reliable and secure, has not only reduced picking difficulty, but also improve operating efficiency.
The utility model has the beneficial effects that
1. the utility model provides a kind of bergamot pear terminal executor of picking robot and picking method, wherein method is new Grain husk, apparatus structure compact, high reliablity compare traditional artificial picking, on the one hand not only save manual operation, promote picking Efficiency reduces picking cost, on the other hand also avoids insecurity factor of the people when high-altitude is picked.
The end effector is with entire Pear-fruit actually picking object, it is not necessary to calibration identification is carried out to bergamot pear carpopodium position, The complexity for reducing device, eliminates sensing mechanisms to the image recognition of fruit profile and carpopodium, while avoiding cutting step In segmentation it is time-consuming;
2. the end effector apparatus is reasonable in design, the envelope crawl of fruit is not only performed, can also be completed The parallel crawl of fruit, it is of less demanding to the picking pose of actuator, reduce the time that pose adjusts in picking process;
3. executing agency comprehensive can shear carpopodium in such a way that absorption is fixed and cambered surface cutter is cut, have Effect avoids the presence of carpopodium shearing blind area, improves shearing success rate;
4. four cambered surface cutters in executing agency can form the closed space of big tolerance, it can suitably reduce mechanical arm Positioning accuracy improves the successful picking rate of bergamot pear;
5. the end effector structures are simple and compact, low in cost, control difficulty is low, has for the picking of round fruits and vegetables Certain versatility.
Detailed description of the invention
Fig. 1 is a kind of fruit picking apparatus structure schematic diagram suitable for bergamot pear in background technique;
Fig. 2 is a kind of end effector structural schematic diagram in background technique;
Fig. 3 grabs the spheral fruit terminal executor of picking robot structural representation for cutting integral type to be a kind of in background technique Figure;
Fig. 4 is a kind of overall structure for bergamot pear terminal executor of picking robot that the embodiments of the present invention 1 provide Schematic diagram;
Fig. 5 is a kind of internal structure for bergamot pear terminal executor of picking robot that the embodiments of the present invention 1 provide Schematic diagram.
In figure: 1- manipulator butt plate;
2- transmission mechanism;21- servo motor A, 22- motor shell A, 23- motor flange, 24- speed reducer, 25- connection are outer Shell, 26-O type ring, 27- servo motor B, 28- motor B shell, 29- shaft coupling, 210- screw rod, 211- nut, 212- connecting rod, 213- mounting bracket, 214- attachment screw, 215- link block;
3- executing agency;(32a- cambered surface cutter a, 32b- cambered surface cutter b, 32c- cambered surface is cut for 31- knife rest, 32- cambered surface cutter Knife c, 32d- cambered surface cutter d), 33- rubber material, 34- vacuum chuck, 35- blow vent, 36- connecting tube, 37- mounting flange;
4- sensing mechanisms;41- magnetism encoder, 42- electromagnetic switch b, 43- magnet are fast, 44- electromagnetic switch a, 45- power passes Sensor, 46- vacuum pressure sensor, 47- photoelectric sensor, 48- range sensor.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below technical side in the utility model Case is clearly and completely described, it is clear that and the embodiments are a part of the embodiments of the present invention, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, fall within the protection scope of the utility model.
Electromagnetic switch, as the term suggests it is exactly with the switch of magnet control, that is, the combination of electromagnet and switch.When Electromagnetic attraction is generated after electromagnet coil power, the contact closure when movable core or magnet are adjacent to contact, to connect Institute's control circuit.
Embodiment 1
A kind of bergamot pear terminal executor of picking robot, by manipulator butt plate 1, transmission mechanism 2,3 and of executing agency Sensing mechanisms is constituted.
Fixation is bolted in the motor shell A 22 of the manipulator butt plate 1 and transmission mechanism 2.
Servo motor A21 is mounted in the inner cavity of motor shell A 22 in transmission mechanism 2, and O type ring 26 is mounted on motor shaft End face (i.e. o-ring is mounted on motor shaft), motor flange 23 are mounted in the axial end of servo motor A21 by screw;It watches It takes motor A21 and is connected by speed reducer 24 by signal wire, speed reducer 24 is mounted on inside connected with outer casing 25, and connected with outer casing 25 is logical Connecting plate 215 and attachment screw 214 is crossed to be fixedly connected with motor B shell 28;Servo motor B 27 is mounted on motor B shell 28 In inner cavity, screw rod 210 is connect by shaft coupling 29 with servo motor B 27;Four mounting holes of nut 211 respectively with four phases The small end of same connecting rod 212 is hinged, and mounting bracket 213 is fixed by connecting plate 215 and attachment screw 214 and motor B shell 28 Connection.In executing agency 3, four identical knife rests 31 are connected to the connecting rod 212 in drive rotor 2 by hinges respectively On 213 mounting hole of big end and mounting bracket, four cambered surface cutters 32 (its internal cambered surface cutter a32a, cambered surface cutter b32b, Cambered surface cutter c32c, cambered surface cutter d32d) composition cut cells are connect with four knife rests 31 respectively, in the inner cavity of cambered surface cutter 32 It is fitted with one layer of rubber material 33;Vacuum chuck 34 is mounted on the head of connecting tube 36, and the middle part of connecting tube 36 offers ventilation Mouth 35;37 one end of mounting flange connects connecting tube 36, and the other end is connected in mounting bracket 213.
Two magnetism encoders 41 in sensing mechanisms 4, are separately mounted to the electricity of servo motor A21 and servo motor B 27 On arbor, for measuring position of magnetic pole and servo motor corner and revolving speed;Electromagnetic switch b24 and electromagnetic switch a44 are fixed respectively On motor B shell 28 and the internal chamber wall of mounting bracket 213, electromagnetic switch b42 is fixed on the internal chamber wall of motor B shell 28 On, electromagnetic switch a44 is fixed on the internal chamber wall of mounting bracket 213, and magnet block 43 is mounted on nut 211, and electromagnetism is opened It closes b42, electromagnetic switch a44 and magnet block 43 to be on same vertical axis, passes through the stalling of control motor using electromagnetic switch, It controls the first transaction of a day's business state of knife rest, is contacted in the inner cavity cambered surface cutter 32 (cambered surface cutter a32a, cambered surface cutter c32c) with fruit Side is bonded force sensor 45, one contacted in the inner cavity cambered surface cutter (cambered surface cutter b32b, cambered surface cutter d32d) with fruit Side is stained with infrared sensor 47;Vacuum pressure sensor 46 is arranged close to (be mounted in 36 connecting tubes 36 connected to it, use In monitoring vacuum pressure value) at vacuum chuck 34, for monitoring vacuum pressure value, it is ensured that sucker persistently reaches safe suction;? Range sensor 48 is installed, for detecting distance of the actuator relative to objective fruit on the end face of mounting bracket 213.
A method of bergamot pear is picked using bergamot pear terminal executor of picking robot, comprising:
Under step a. original state, vacuum chuck 34 is not opened in end effector executing agency 3, and four knife rests, which are in, to be closed Conjunction state, servo motor A21 and servo motor B 27 are also at stationary state in transmission mechanism;
When step b. starts to work, staff starts picking robot, and the CCD binocular camera first in robot is used Acquire the image information of bergamot pear, and carry out processing analysis (processing analysis and CCD binocular camera be on vector machines people, The work flow of processing analysis and CCD binocular camera control end effector in robot), it is obtained by graphics process The spatial position coordinate of bergamot pear.
Driving manipulator armband is moved end effector and is moved towards target bergamot pear direction, in motion process, servo motor B 27 Start work, nut 211 is in the state that inside contracts in leadscrew-nut mechanism, and nut 211 is driven at four knife rests 31 by connecting rod 212 In open configuration, when the magnet block 43 being located on nut is in the underface of the electromagnetic switch B42 on motor B shell, correspondence Electromagnetic switch be triggered, servo motor B 27 stops operating, and knife rest 31 is in maximum open configuration;
Step c. sensing mechanisms starts work, and range sensor 48 is opposite with target bergamot pear to actuator in motion process Position is detected, when infrared sensor 47 detects that target bergamot pear detects that target bergamot pear has entered end effector shearing model When enclosing interior, sensing mechanisms perception end effector arrived working position, control mechanical handle stop motion.
Vacuum chuck 34 after movement stops in executing agency 3 is started to work, and starting vacuum equipment suction makes to produce in sucker Raw negative pressure, to the bergamot pear with picking be adsorbed secured.Wherein, the vacuum pressure sensor 46 in sensing mechanisms 4, access are true Suction disk 34 is close to sucker end, 46 real-time monitoring vacuum pressure value of vacuum pressure sensor, it is ensured that vacuum chuck persistently reaches peace Full suction can start to execute shearing work.Servo motor B 27 rotates backward, and feed screw nut does drawback movement, nut 211 this When be in overhanging state.
For step d. when objective fruit is less than the enclosure space that the closure of cambered surface cutter 32 is formed, nut 211 drives connecting rod 212 Movement makes four knife rest closures, and cambered surface cutter 32 is closed and then is cut off with knife rest 31 target bergamot pear carpopodium, completes shearing work, When the magnet block 43 being mounted on nut 211 is in the underface of the electromagnetic switch a44 in mounting bracket 213, corresponding electricity Magnetic switch is triggered, and when the nut 211 in transmission mechanism 2 is in overhanging extreme position, servo motor B 27 stops operating, and executes 3 intermediate slide 31 of mechanism is closed completely, and four closures of cambered surface cutter 32 will form enclosure space;
Step e. is when objective fruit is greater than the enclosure space that the closure of cambered surface cutter 32 is formed, in order to avoid cambered surface cutter 32 The power of inner wall contacting fruit crosses macrolesion fruit, and the force snesor 45 on 32 inner wall of cambered surface cutter obtains the contact of each inner wall Signal is fed back to servo motor B 27, servo motor when the force snesor 45 of contact surface reaches the grasp force of setting by power B27 stops operating, at this time servo motor A21 initiating task, and machine shaft passes through the transmission of waveform speed reducer 24, band lead screw spiral shell Female transmission mechanism and executing agency 3 carry out reciprocating rotation, and 45 ° of -180 ° of ranges of degree of rotation can adjust as the case may be certainly Corner.
Under normal circumstances, cambered surface cutter 32 can carry out secondary rotating cutting to the bergamot pear carpopodium not cut off, when, upon rotating arc In the case that carpopodium is not cut in face, picking operation can also be carried out to the clamping of fruit and reciprocal torsion by knife rest 31, in turn Guarantee cut quality, promotes picking efficiency.
Step f. is after the executing agency of end effector completes the absorption shearing work to target terminal bud bergamot pear, robot Control system driving manipulator armband move end effector reach collecting fruit case, servo motor B 27 inverts again, four knives Frame 31 is in open configuration, meanwhile, vacuum chuck device, which is smoothly inflated, to be entered in vacuum chuck 34, make in vacuum chuck 34 by Negative pressure becomes zero air pressure or slightly positive air pressure, the absorption of 34 breakaway bergamot pear of vacuum chuck, and bergamot pear is placed to fruit In collecting box, this bergamot pear picks operation and completes.
Further technical solution is to repeat the above operating process, it is known that CCD camera field range internal labeling Bergamot pear all after picking, mechanical arm drives end effector to be moved to initial reset state, and picking robot starts pair Next bergamot pear picking operation area carries out information collection, and executes the above overall process picked, and makees until completing whole bergamot pear pickings Industry.
(1) a kind of bergamot pear terminal executor of picking robot of the utility model design, the cut cells in actuator are set Be calculated as the Softening of four comprehensive cuttings of cambered surface cutter, for fruit of different sizes there are two types of cutting carpopodium mode, When fruit is closed the enclosure space to be formed less than cambered surface cutter, cambered surface cutter closed amputation target bergamot pear carpopodium works as objective fruit When being closed the enclosure space to be formed greater than cambered surface cutter, cambered surface cutter can carry out secondary rotating cutting to bergamot pear carpopodium, guarantee to cut Quality is cut, picking efficiency is promoted;
(2) for the picking unit in executing agency in such a way that vacuum chuck absorption is fixed, vacuum chuck adsorbs fruit can Guarantee carpopodium shearing when and shearing after fruit fixation, will not because of fruit shaking and cause mechanical damage, cambered surface cutter It is interior it is intracavitary use one layer of rubber material, avoid gripper to the rigid contact of fruit, reduce and fruit is squeezed, furthermore in order to avoid The power of cambered surface cutter inner wall contacting fruit crosses macrolesion fruit, and it is each that the force snesor on cambered surface cutter inner wall implements monitoring acquisition The contact force of inner wall, when the force snesor of contact surface reaches the grasp force of setting, knife rest stops closure, realizes to fruit Appropriateness crawl shearing, maximumlly avoids picking process from causing mechanical damage to fruit.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations; Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement;And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (6)

1. a kind of bergamot pear terminal executor of picking robot, including manipulator butt plate (1), transmission mechanism (2), executing agency (3), which is characterized in that
The mechanical handle of manipulator butt plate (1), one end and robot connects, and the other end passes through in bolt and transmission mechanism (2) Motor shell A (22) be connected to one;
Transmission mechanism (2), knife of connecting rod (212) end and mounting bracket (213) of transmission mechanism (2) with executing agency (3) Frame (31) is connected by a hinge, and the cambered surface cutter (32) for cutting carpopodium is equipped on knife rest (31);
Executing agency (3), the vacuum chuck (34) in executing agency (3) pass through the peace of mounting flange (37) and transmission mechanism (2) Fill the connection of bracket (213) top.
2. a kind of bergamot pear terminal executor of picking robot according to claim 1, which is characterized in that transmission mechanism (2) In, servo motor A (21) is mounted in the inner cavity of motor shell A (22), and o-ring (26) is mounted on sealing of motor spindle end face, servo It is equipped with motor flange (23) in the axial end of motor A (21) by screw, servo motor A (21) passes through signal wire and speed reducer (24) it is connected, speed reducer (24) is mounted in connected with outer casing (25), and connected with outer casing (25) passes through connecting plate (215) and attachment screw (214) it is fixedly linked with motor B shell (28), servo motor B (27) is mounted in the inner cavity of motor B shell (28), screw rod (210) it is connect by shaft coupling (29) with servo motor B (27), nut (211) passes through mounting hole and connecting rod (212) hingedly, peace Dress bracket (213) is fixedly connected by connecting plate (215) and attachment screw (214) with motor B shell (28).
3. a kind of bergamot pear terminal executor of picking robot according to claim 1, which is characterized in that have 4 on female (211) A mounting hole, 4 mounting holes are hinged with the small end of corresponding 4 connecting rods (212) respectively.
4. a kind of bergamot pear terminal executor of picking robot according to claim 1 or 2 or 3, which is characterized in that execute machine In structure (3), knife rest (31) is connected to the big end and mounting bracket of the connecting rod (212) in transmission mechanism (2) by hinges (213) on mounting hole, cambered surface cutter (32) connect composition cut cells with knife rest (31), is bonded in cambered surface cutter (32) inner cavity One layer of rubber material (33), vacuum chuck (34) are mounted on connecting tube (36) head, offer blow vent in the middle part of connecting tube (36) (35), the mounting bracket (213) of mounting bracket (213) one end connection transmission mechanism (2), the other end connect connecting tube (36).
5. a kind of bergamot pear terminal executor of picking robot according to claim 4, which is characterized in that four knife rests (31) It is connected in connecting rod (212) big end and mounting bracket (213) of transmission mechanism (2) by hinges, on four knife rests (31) Four cambered surface cutters (32a, 32b, 32c, 32d), four knife rests (31) and four cambered surface cutters (32a, 32b, 32c, 32d) are installed Form cut cells.
6. a kind of bergamot pear terminal executor of picking robot according to claim 1 or 5, which is characterized in that further include sense Know mechanism (4), magnetism encoder (41) therein is two, is separately mounted to servo motor A (21) and servo motor B (27) On motor shaft, for measuring position of magnetic pole and servo motor corner and revolving speed;Electromagnetic switch b (42) and electromagnetic switch a (44) points It is not fixed on motor B shell (28) and the inner wall of mounting bracket (213), magnet block (43) is mounted on nut (211), electromagnetism Switch b (42), electromagnetic switch a (44) and magnet block (43) are on same straight line in vertical direction, two cambered surface cutters (32a, 32c) side contacted in inner cavity with fruit is stained with force snesor, in the inner cavity other two cambered surface cutter (32b, 32d) with fruit The side of contact is stained with infrared sensor (47), and vacuum pressure sensor (46) is arranged close at vacuum chuck (34), is used for Monitor vacuum pressure value, it is ensured that sucker persistently reaches safe suction, is equipped with Distance-sensing on the end face of mounting bracket (213) Device (48), for monitoring the distance of actuator relative target, force snesor (45), vacuum pressure sensor (46), Distance-sensing Device (48) transmits signal to the control system of robot.
CN201821692106.2U 2018-10-18 2018-10-18 A kind of bergamot pear terminal executor of picking robot Expired - Fee Related CN209201574U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109105001A (en) * 2018-10-18 2019-01-01 石河子大学 A kind of bergamot pear terminal executor of picking robot and picking method
CN110432000A (en) * 2019-08-23 2019-11-12 佛山科学技术学院 Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one
CN112425373A (en) * 2020-12-02 2021-03-02 陕西中建建乐智能机器人股份有限公司 Kiwi fruit picking and sorting robot and kiwi fruit sorting method thereof
CN114916313A (en) * 2022-06-20 2022-08-19 南京林业大学 Flexible sensible tea tender shoot picking clamping jaw
CN115191223A (en) * 2022-07-15 2022-10-18 江苏大学 Cluster-shaped tomato powder fruit picking mechanical arm and picking method thereof

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109105001A (en) * 2018-10-18 2019-01-01 石河子大学 A kind of bergamot pear terminal executor of picking robot and picking method
CN109105001B (en) * 2018-10-18 2024-01-30 石河子大学 End effector of bergamot pear picking robot and picking method
CN110432000A (en) * 2019-08-23 2019-11-12 佛山科学技术学院 Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one
CN110432000B (en) * 2019-08-23 2024-06-11 佛山科学技术学院 Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof
CN112425373A (en) * 2020-12-02 2021-03-02 陕西中建建乐智能机器人股份有限公司 Kiwi fruit picking and sorting robot and kiwi fruit sorting method thereof
CN114916313A (en) * 2022-06-20 2022-08-19 南京林业大学 Flexible sensible tea tender shoot picking clamping jaw
CN115191223A (en) * 2022-07-15 2022-10-18 江苏大学 Cluster-shaped tomato powder fruit picking mechanical arm and picking method thereof
CN115191223B (en) * 2022-07-15 2024-04-09 江苏大学 Cluster-shaped tomato powder fruit picking manipulator and picking method thereof

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