CN215530078U - Manipulator with snatch and take fruit function - Google Patents
Manipulator with snatch and take fruit function Download PDFInfo
- Publication number
- CN215530078U CN215530078U CN202121628006.5U CN202121628006U CN215530078U CN 215530078 U CN215530078 U CN 215530078U CN 202121628006 U CN202121628006 U CN 202121628006U CN 215530078 U CN215530078 U CN 215530078U
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- mechanical finger
- picking
- fruit
- manipulator
- driving device
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 57
- 239000004033 plastic Substances 0.000 claims description 12
- 238000005187 foaming Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims 1
- 238000010030 laminating Methods 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 239000002420 orchard Substances 0.000 description 4
- 238000012271 agricultural production Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 241000220225 Malus Species 0.000 description 2
- 241000220324 Pyrus Species 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000021017 pears Nutrition 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model relates to a manipulator with fruit grabbing and picking functions, and belongs to the field of fruit picking robots. The utility model comprises a mechanical finger, a machine vision module, a mechanical finger driving device and a rotary picking device. The mechanical finger is installed on the mechanical finger driving device, the machine vision module is installed at the top of the mechanical finger driving device, and the rotary picking device is connected with the mechanical finger driving device. According to the utility model, information representing the maturity such as the size and the color of the fruit and the position information of the fruit are obtained through a visual recognition device; the mechanical fingers are driven to open and grip through the electric push rod; the clamping degree of the gripper is controlled in real time through the piezoelectric sensor, so that the fruit is prevented from being damaged; the servo motor in the picking device drives the manipulator to rotate so as to separate the fruits from the fruit trees, thereby achieving the purposes of efficiently identifying and picking the fruits.
Description
Technical Field
The utility model relates to a manipulator with fruit grabbing and picking functions, and belongs to the field of fruit picking robots.
Background
The orchard area in China is in the top line of the world, the Ministry of agriculture shows that the orchard area is stabilized to 2 hundred million acres in 2021 years, the fruit yield in China is continuously increased, which accounts for 25% of the total fruit yield in the world, and the orchard industry has a good development trend. Meanwhile, with the scale, diversification and accuracy of agricultural production, the requirement of agricultural production operation is gradually improved, many operation projects such as fruit selection and picking are labor-intensive work, and in addition, the requirement of time is added, so that the operation quality is ensured to be a key problem; with the aging of population and the reduction of agricultural labor, the agricultural production cost is also improved correspondingly. Fruit picking is an important link for picking agricultural products, and is the most time-consuming and labor-consuming link in fruit production. The labor required to be invested during fruit harvesting accounts for about 50% -70% of the whole planting process. Meanwhile, practices show that the profit obtained by selling the fruits according to the quality is much higher than the profit obtained by selling the fruits with different qualities in a mixed manner, and the problem that the manual sorting accuracy is not high, time and labor are wasted is also a big problem.
With the development of orchard industry towards scale, diversification and precision and the reduction of practitioners, the development and utilization of the picking machine have huge economic benefits and wide market prospects. And large-scale picking machines on the market often pick through shaking the mode that trunk etc. can cause the injury to the fruit tree, cause the fruit tree impaired, the fruit of picking simultaneously also can be impaired, and the maturity and the quality of the fruit of picking are uneven, need subsequent letter sorting procedure. The fruits such as apples, oranges and pears which account for the highest proportion of fruit planting in China have the same characteristics, namely the shape is close to spherical, and the grabbing and picking of a manipulator are facilitated. Fruit picking robot on the market picks single fruit through the manipulator on the arm, has solved the not high problem of extensive picking machine degree that becomes more meticulous, nevertheless it still exists picking efficiency not high, discernment is not accurate enough, still to have certain damage scheduling problem to fruit, its manipulator design is reasonable inadequately is the leading cause who causes above problem.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a manipulator with the function of grabbing and picking fruits, which is suitable for picking fruits with shapes similar to a sphere, such as apples, pears, peaches and the like, and solve the problems in the background technology.
The technical scheme of the utility model is as follows: a mechanical arm with fruit grabbing and picking functions comprises a mechanical finger, a machine vision module, a mechanical finger driving device and a rotary picking device. The mechanical finger is installed on the mechanical finger driving device, the machine vision module is installed at the top of the mechanical finger driving device, and the rotary picking device is connected with the mechanical finger driving device.
The mechanical finger comprises a mechanical finger base, a piezoelectric sensor, a hard plastic pad and a rubber foaming strip. The piezoelectric sensor is fixed at two ends of the inner wall of each mechanical finger, a hard plastic pad which is attached to the inner wall of each mechanical finger in shape is arranged on the piezoelectric sensor, a rubber foaming strip is attached to the hard plastic pad, and the bottom of each mechanical finger is movably connected with a mounting support arranged on the base of the mechanical finger.
The machine vision module is fixedly arranged in the middle of the upper end of the mechanical finger base.
The mechanical finger driving device comprises a connecting rod support, an electric push rod base and a connecting rod. Electric putter base fixed connection is at mechanical finger base lower extreme, fixed mounting has electric putter in the electric putter base, electric putter's push rod top fixedly connected with connecting rod pillar, and connecting rod pillar top is connected with the connecting rod, the connecting rod with mechanical finger swing joint.
The mechanical fingers are connected with the connecting rod and the connecting rod strut are connected with the connecting rod strut through pin shafts.
The rotary picking device comprises a deep groove ball bearing, a servo motor and a motor base. The servo motor is installed in the motor base, and deep groove ball bearing one end is connected with mechanical finger drive arrangement, and the other end is connected with servo motor.
The servo motor is connected with an electromechanical electric push rod base in the mechanical finger driving device through a parallel key.
The utility model has the beneficial effects that: the manipulator part is driven by the electric push rod, so that the grabbing action of the manipulator can be stably controlled; the middle of the mechanical finger is in a complete spherical shape when being folded, which is beneficial to grabbing fruits; a layer of rubber foaming strip is arranged on the mechanical finger to prevent the mechanical finger from damaging fruits; a piezoelectric sensor is arranged below the rubber foaming strip, different pressure ranges are set according to different fruits, and an overload protection effect is achieved; the mechanical fingers can remove fruits through wrist rotation, and damage to fruit stalks can be reduced to the maximum extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the present invention in its entirety;
FIG. 3 is a schematic view of a grasping portion of the present invention;
fig. 4 is a partial schematic view of a mechanical finger of the present invention.
In the figure: 1-mechanical finger, 2-machine vision module, 3-mechanical finger driving device, 4-rotary picking device, 5-connecting rod support, 6-electric push rod, 7-deep groove ball bearing, 8-servo motor, 9-electric push rod base, 10-motor base, 11-connecting rod, 12-mounting bracket, 13-mechanical finger base, 19-pin shaft, 29-piezoelectric sensor, 35-hard plastic pad, 38-rubber foaming strip and 41-parallel key.
Detailed Description
In order to make the embodiments of the present invention clearer and more complete, specific embodiments will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are one aspect of the embodiments of the present invention. Based on the embodiments described in the present invention, other supplementary structures related to the structure described in the present invention, which can be obtained by those skilled in the art without creative efforts, belong to the protection scope of the present invention. Thus, the following description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the utility model as claimed, but is merely representative of selected embodiments of the utility model. In the description of the present invention, it is to be understood that the controller described in the present invention is only for convenience of description and simplicity of description, and does not indicate or imply that the referred device or element must have a specific structure and thus should not be construed as limiting the present invention.
Example 1: as shown in fig. 1, a manipulator with fruit grabbing and picking functions comprises a mechanical finger 1, a machine vision module 2, a mechanical finger driving device 3 and a rotary picking device 4; the mechanical finger 1 is arranged on the mechanical finger driving device 3, the machine vision module 2 is arranged on a mechanical finger base 10 at the top of the mechanical finger driving device 3, and the rotary picking device 4 is connected with the mechanical finger driving device 3.
The mechanical finger 1 comprises a mechanical finger base 13, a piezoelectric sensor 29, a hard plastic pad 35 and a rubber foaming strip 38; the piezoelectric sensor 29 is fixed at two ends of the inner wall of each mechanical finger 1, a hard plastic pad 35 which is attached to the inner wall of each mechanical finger in shape is arranged on the piezoelectric sensor 29, a rubber foaming strip 38 is attached to the hard plastic pad 35, and the bottom of each mechanical finger 1 is connected with a fixed mounting support 12 arranged on the mechanical finger base 13 through a shaft.
The machine vision module 2 is fixedly arranged in the middle of the upper end of the mechanical finger base 13 through a fixing support.
The mechanical finger driving device 3 comprises a connecting rod support 5, an electric push rod 6, an electric push rod base 9 and a connecting rod 11; electric putter base 9 fixed connection is at mechanical finger base 13 lower extreme, fixed mounting has electric putter 6 in the electric putter base 9, and electric putter 6's push rod top fixedly connected with connecting rod pillar 5, connecting rod pillar 5 top are connected with connecting rod 11, connecting rod 11 with mechanical finger 1 passes through the hub connection.
The mechanical finger 1 is connected with the connecting rod 11, and the connecting rod 11 is connected with the connecting rod support 5 through a pin shaft 19.
The rotary picking device 4 comprises a deep groove ball bearing 7, a servo motor 8 and a motor base 10; the servo motor 8 is installed in the motor base 10, one end of the deep groove ball bearing 7 is connected with the bottom end of an electric push rod base 9 of the machine in the mechanical finger driving device 3, the other end of the deep groove ball bearing is connected with the servo motor 8, and the outer ring of the deep groove ball bearing 7 is fixed on the motor base 10.
The servo motor 8 is connected with the motor electric push rod base 9 in the mechanical finger driving device 3 through the parallel key 41, and the rotating shaft of the servo motor 8 is fixedly connected to the lower end of the electric push rod base 9.
When the fruit picking machine is used, the machine vision module 2 acquires information representing the maturity of fruits such as the size and the color of the fruits and position information of the fruits, after the ripe fruits are identified, the mechanical arm of the picking robot moves the mechanical arm to a target position, at the moment, the electric push rod 6 is started to drive the connecting rod strut 5 to retract, so that the mechanical fingers 1 are driven to be clamped inwards through the connecting rod 11, the three mechanical fingers 1 are just in a spherical shape when being closed, the fruit picking machine is convenient to grasp, when the mechanical fingers 1 contact the fruits, the piezoelectric sensors 29 on the mechanical fingers 1 start to measure pressure data, the hard plastic pads 35 which are arranged on the piezoelectric sensors 29 and are attached to the inner wall shapes of the mechanical fingers can enable the measuring results of the piezoelectric sensors 29 to be more accurate, the rubber foaming strips 38 attached to the hard plastic pads 35 can prevent the fruits from being damaged, when the pressure reaches a set value, the piezoelectric sensor 29 sends a signal to the control system, the electric push rod 6 is stopped in time, and finally the servo motor 8 is started to drive the manipulator to rotate, so that the fruit stalks of the fruits are separated from the fruit trees, and the fruits are picked.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit and scope of the present invention.
Claims (7)
1. The utility model provides a manipulator with snatch and take fruit function which characterized in that: comprises a mechanical finger (1), a machine vision module (2), a mechanical finger driving device (3) and a rotary picking device (4); the mechanical finger (1) is arranged on the mechanical finger driving device (3), the machine vision module (2) is arranged at the top of the mechanical finger driving device (3), and the rotary picking device (4) is connected with the mechanical finger driving device (3).
2. The manipulator with fruit grabbing and picking function as claimed in claim 1, wherein: the mechanical finger (1) comprises a mechanical finger base (13), a piezoelectric sensor (29), a hard plastic pad (35) and a rubber foaming strip (38); piezoelectric sensor (29) are fixed at the both ends of every mechanical finger (1) inner wall, are equipped with on piezoelectric sensor (29) with the stereoplasm plastic pad (35) of mechanical finger inner wall shape laminating, paste rubber foaming strip (38) on stereoplasm plastic pad (35), fixed mounting support (12) of installation are connected on mechanical finger (1) bottom and the mechanical finger base (13).
3. The manipulator with fruit grabbing and picking function as claimed in claim 2, wherein: the machine vision module (2) is fixedly arranged in the middle of the upper end of the mechanical finger base (13).
4. The manipulator with fruit grabbing and picking function as claimed in claim 1, wherein: the mechanical finger driving device (3) comprises a connecting rod support (5), an electric push rod (6), an electric push rod base (9) and a connecting rod (11); electric putter (6) are fixedly installed in electric putter base (9), the top fixedly connected with connecting rod pillar (5) of electric putter (6), and connecting rod pillar (5) top is connected with connecting rod (11), connecting rod (11) with mechanical finger (1) is connected.
5. The manipulator with fruit grabbing and picking function as claimed in claim 4, wherein: the mechanical fingers (1) are connected with the connecting rods (11) and the connecting rods (11) are connected with the connecting rod support (5) through pin shafts (19).
6. The manipulator with fruit grabbing and picking function as claimed in claim 1, wherein: the rotary picking device (4) comprises a deep groove ball bearing (7), a servo motor (8) and a motor base (10); the servo motor (8) is installed in the motor base (10), one end of the deep groove ball bearing (7) is connected with the mechanical finger driving device (3), and the other end of the deep groove ball bearing is connected with the servo motor (8).
7. The manipulator with fruit grabbing and picking function as claimed in claim 6, wherein: the servo motor (8) is connected with the mechanical finger driving device (3) through a parallel key (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121628006.5U CN215530078U (en) | 2021-07-18 | 2021-07-18 | Manipulator with snatch and take fruit function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121628006.5U CN215530078U (en) | 2021-07-18 | 2021-07-18 | Manipulator with snatch and take fruit function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215530078U true CN215530078U (en) | 2022-01-18 |
Family
ID=79826394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121628006.5U Expired - Fee Related CN215530078U (en) | 2021-07-18 | 2021-07-18 | Manipulator with snatch and take fruit function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215530078U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931026A (en) * | 2022-06-20 | 2022-08-23 | 南京林业大学 | Spherical fruit picking actuator capable of sensing clamping force |
| CN115152432A (en) * | 2022-06-23 | 2022-10-11 | 苏州工业职业技术学院 | Flexible clamping device for picking bananas |
| CN115316131A (en) * | 2022-08-29 | 2022-11-11 | 安徽工业大学 | Multi-degree-of-freedom fruit picking robot and fruit picking method |
-
2021
- 2021-07-18 CN CN202121628006.5U patent/CN215530078U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931026A (en) * | 2022-06-20 | 2022-08-23 | 南京林业大学 | Spherical fruit picking actuator capable of sensing clamping force |
| CN115152432A (en) * | 2022-06-23 | 2022-10-11 | 苏州工业职业技术学院 | Flexible clamping device for picking bananas |
| CN115316131A (en) * | 2022-08-29 | 2022-11-11 | 安徽工业大学 | Multi-degree-of-freedom fruit picking robot and fruit picking method |
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| 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: 20220118 |