CN216163541U

CN216163541U - Picking robot end effector with adjustable fruit postures

Info

Publication number: CN216163541U
Application number: CN202122597932.7U
Authority: CN
Inventors: 苑进; 方家明; 刘雪美
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-04-05
Anticipated expiration: 2031-10-27

Abstract

The application discloses picking robot end effector of fruit gesture adjustable, including frame, layer board, band pulley fixed establishment, gesture guiding mechanism and centre gripping adjustment mechanism, band pulley fixed establishment's quantity is two, and band pulley fixed establishment installs between frame and layer board, and gesture guiding mechanism fixes on band pulley fixed establishment, and band pulley fixed establishment is used for the fixed pulley, and centre gripping adjustment mechanism fixes the bottom at the layer board, and centre gripping adjustment mechanism is used for adjusting the interval between two band pulley fixed establishment. Has the following advantages: the fruit picking machine has the advantages of quick fruit picking and transportation, simple control process and high picking efficiency.

Description

Picking robot end effector with adjustable fruit postures

Technical Field

The utility model belongs to the field of agricultural robots, and relates to a picking robot end effector with adjustable fruit postures, which is used for picking and transporting fruits.

Background

At present, with the rapid development of the fruit and vegetable planting industry, the planting area of various fruit and vegetable varieties is increased year by year. In some kinds of fruits and vegetables, the fruit stalks do not have a separation layer, and the fruit stalks are cut off to finish harvesting. The phenomena of fruit aggregation and the like can occur in the actual growth, the natural posture of the fruits is uncertain, and great difficulty is brought to the picking of fruits and vegetables.

The tail end executor of the existing picking robot mainly adjusts the posture of the tail end executor by controlling the movement of a mechanical arm, so that the tail end executor is suitable for fruits with different growing postures. The picking mode has complex control process and low picking speed, and has certain requirements on the volume, the structure and the operation space of the mechanical arm.

Aiming at the problems of various fruit growing postures, complex control process, low picking speed and the like of the conventional end effector, the utility model of the end effector of the picking robot with adjustable fruit postures and the picking method is urgently needed, the control process is simplified, and the picking efficiency is improved.

Disclosure of Invention

The utility model provides the picking robot end effector with adjustable fruit postures and the picking method aiming at the defects of the existing fruit picking robot end effector, so that the fruits can be rapidly picked and transported, the control process is simple, and the picking efficiency is high.

In order to solve the technical problems, the utility model adopts the following technical scheme:

fruit gesture adjustable picking robot end effector, including frame, layer board, band pulley fixed establishment, gesture guiding mechanism and centre gripping adjustment mechanism, the quantity of band pulley fixed establishment is two, and band pulley fixed establishment installs between frame and layer board, and gesture guiding mechanism fixes on band pulley fixed establishment, and band pulley fixed establishment is used for the fixed band pulley, and centre gripping adjustment mechanism fixes the bottom at the layer board, and centre gripping adjustment mechanism is used for adjusting the interval between two band pulley fixed establishment.

Further, gesture guiding mechanism includes holding belt and centre gripping motor, and the quantity of holding belt and centre gripping motor is four, and four holding belts are respectively upper left holding belt, left lower holding belt, upper right holding belt, right lower holding belt, and upper left holding belt, left lower holding belt, upper right holding belt, right lower holding belt are by upper left centre gripping motor, left lower centre gripping motor, upper right centre gripping motor, right lower centre gripping motor control respectively.

Furthermore, every band pulley fixed establishment's both ends are fixed with two fruit wheels of pressing from both sides and two action wheels respectively, and every fruit wheel of pressing from both sides has a holding belt with action wheel cover, and the action wheel is connected with the centre gripping motor, and the centre gripping motor is used for driving the action wheel and rotates, and the action wheel is responsible for driving the holding belt operation, and the fruit wheel of pressing from both sides is used for supporting four holding belts.

Furthermore, the belt wheel fixing mechanism comprises two belt wheel floating plates which are positioned at the upper layer and the lower layer of the fruit clamping wheel and the driving wheel, and an axle of the fruit clamping wheel and an axle of the driving wheel are fixed through the two belt wheel floating plates;

the axle center of the fruit clamping wheel is fixed on the belt wheel floating plate and can freely rotate around the axle center.

Furthermore, fruit leaking holes are formed in the supporting plate and connected with conveying pipes, and the conveying pipes are located at the bottom of the supporting plate;

the fruit leaking hole is provided with a pressing plate at one side far away from the opening of the end effector, the pressing plate is fixed on the supporting plate and used for adjusting the movement direction of the fruits to enable the fruits to enter the conveying pipe, and the conveying pipe is used for conveying the fruits.

Furthermore, a rotating shaft is arranged on the belt wheel fixing mechanism, two ends of the rotating shaft are respectively installed on the supporting plate and the rack, the belt wheel floating plate is connected with the supporting plate and the rack through the rotating shaft, and the belt wheel floating plate swings around the rotating shaft between the supporting plate and the rack.

Further, centre gripping adjustment mechanism includes the torsional spring, and band pulley fixed establishment passes through the torsional spring and installs in the frame, two install the scissors between the band pulley fixed establishment, the scissors is fixed in the frame, and the scissors is used for cutting off the fruit stalk.

Further, centre gripping adjustment mechanism still includes tensioning rope, opening motor and guide block, and the tensioning rope is two, and the guide block is fixed in layer board front end bottom, and the opening motor is fixed in the layer board bottom, is located the guide block rear, and the one end of two tensioning ropes all links to each other with pressing from both sides the fruit wheel axis, through guide block change direction of connection, and the other end links to each other with the opening motor pivot, through opening motor's rotation pulling tensioning rope, makes band pulley floating plate revolute the rotation of axes.

By adopting the technical scheme, compared with the prior art, the utility model has the following technical effects:

1. the fruit picking machine can pick fruits under the conditions of fruit gathering and the like, can adjust the fruit postures in the end effector aiming at the growth postures of the fruits to be picked and the fruits with different sizes, has high adjusting speed and high harvesting efficiency, has good adaptability to various fruits, and can realize robust picking.

2. The control process of the end effector is simple, the posture adjustment of the end effector from the posture change of the mechanical arm in the adjustment process is realized, the requirements on the multi-degree-of-freedom mechanical arm and the operation space of the multi-degree-of-freedom mechanical arm are reduced, and the feasibility of the operation of the end effector in a narrow space is improved.

3. The contact area of the fruit is large in the harvesting process, and the damage rate is greatly reduced.

Drawings

In order to more clearly illustrate the detailed description of the utility model or the technical solutions in the prior art, the drawings that are needed in the detailed description of the utility model or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is an isometric view of a picking robot end effector with adjustable fruit pose;

FIG. 2 is a top view of a picking robot end effector with adjustable fruit pose;

FIG. 3 is a schematic structural view of an end effector of a picking robot with adjustable fruit postures;

FIG. 4 is a side view of a picking robot end effector with adjustable fruit pose;

fig. 5 to 12 are schematic diagrams of posture adjustment;

in the figure: 1. a fruit clamping wheel; 2. a driving wheel; 3. a pulley floating plate; 4. scissors; 5. a frame; 6. a torsion spring; 7. a guide block; 8. tensioning the rope; 9. an open motor; 10. a support plate; 11. pressing a plate; 12. a transport pipe; 13. a left upper clamping band; 14. a left lower clamping band; 15. a right upper clamping band; 16. a lower right clamping band; 17. a left upper clamping motor; 18. a left lower clamping motor; 19. a right upper clamping motor; 20. a right lower clamping motor, 21-fruit leakage holes.

Detailed Description

Embodiment 1, as shown in fig. 1 to 4, a picking robot end effector with adjustable fruit postures comprises a frame 5 and a pulley fixing mechanism, wherein a pulley fixing mechanism is fixed at each end of the frame 5, two fruit clamping wheels 1 and two driving wheels 2 are fixed at each end of the pulley fixing mechanism, and each fruit clamping wheel 1 and each driving wheel 2 is sleeved with a clamping belt.

The belt wheel fixing mechanism comprises two belt wheel floating plates 3 which are positioned at the upper layer and the lower layer of the fruit clamping wheel 1 and the driving wheel 2, and the wheel shaft of the fruit clamping wheel 1 and the wheel shaft of the driving wheel 2 are fixed through the two belt wheel floating plates 3.

The axle center of the fruit clamping wheel 1 is fixed on the belt wheel floating plate 3 and can freely rotate around the axle center.

The driving wheel 2 is responsible for driving the clamping belts to run, and the fruit clamping wheel 1 is used for supporting four clamping belts.

And a pair of scissors 4 is arranged between the two belt wheel fixing mechanisms, the scissors 4 are fixed on the rack 5, and the scissors 4 are used for cutting off fruit stalks.

A supporting plate 10 is arranged below the belt wheel fixing mechanism, the supporting plate 10 is used for supporting fruits, and each auxiliary mechanism is fixedly arranged in a matching way with the machine frame 5.

The fruit leaking hole 21 is formed in the supporting plate 10, the fruit leaking hole 21 is connected with the conveying pipe 12, the conveying pipe 12 is located at the bottom of the supporting plate 10, the pressing plate 11 is arranged on one side, away from the opening of the end effector, of the fruit leaking hole 21, the pressing plate 11 is fixed on the supporting plate 10, the pressing plate 11 is used for adjusting the movement direction of fruits to enable the fruits to enter the conveying pipe 12, and the conveying pipe 12 is used for conveying the fruits.

The belt wheel fixing mechanism is provided with a rotating shaft, two ends of the rotating shaft are respectively arranged on the supporting plate 10 and the rack 5, the belt wheel floating plate 3 is connected with the supporting plate 10 and the rack 5 through the rotating shaft, and the belt wheel floating plate 3 swings around the rotating shaft between the supporting plate 10 and the rack 5.

End effector still includes centre gripping adjustment mechanism, centre gripping adjustment mechanism is used for adjusting the centre gripping clearance, adapt to not unidimensional fruit, centre gripping adjustment mechanism includes torsional spring 6, tensioning rope 8, opening motor 9, guide block 7, tensioning rope 8 is two, guide block 7 is fixed in layer board 10 front end bottom, opening motor 9 is fixed in layer board 10 bottom, be located 7 backs of guide block, the one end of two tensioning ropes 8 all links to each other with double-layered fruit wheel 1 axis, change the direction of connection through guide block 7, the other end links to each other with opening motor 9 pivot, rotation pulling tensioning rope 8 through opening motor 9, make band pulley floating plate 3 revolute the rotation of axes, and then change the centre gripping interval between the left and right sides holding belt.

The belt pulley floating plate 3 is installed on the frame 5 through a torsion spring 6, and the moment generated by the tension of the tension rope 8 on the belt pulley floating plate 3 is balanced with the moment generated by the torsion spring 6.

The end effector further comprises an attitude adjusting mechanism, the attitude adjusting mechanism is used for adjusting the attitude of fruits and enabling fruit stalks to be in a vertical state, the attitude adjusting mechanism comprises four clamping belts and four clamping motors, the four clamping belts are respectively an upper left clamping belt 13, a lower left clamping belt 14, an upper right clamping belt 15 and a lower right clamping belt 16, the upper left clamping belt 13, the lower left clamping belt 14, the upper right clamping belt 15 and the lower right clamping belt 16 are respectively composed of an upper left clamping motor 17, a lower left clamping motor 18, an upper right clamping motor 19 and a lower right clamping motor 20, the four clamping motors and four driving wheels are connected in a one-to-one correspondence mode, and power is respectively transmitted to the four fruit clamping wheels through the four clamping belts.

The harvesting method of the picking robot end effector with the adjustable fruit posture comprises the following steps:

step 1, adjusting an opening gap: when fruits with different sizes are picked, the clamping and adjusting mechanism needs to be controlled, when the size of the fruits is smaller, the clamping and adjusting mechanism is controlled, the opening motor 9 rotates forwards, the tensioning rope 8 is tensioned, the belt wheel floating plate 3 rotates around the shaft, and the opening gap of the end effector is reduced; when the fruit volume is larger, the clamping adjusting mechanism is controlled to reversely rotate through the opening motor 9, the tensioning rope 8 is loosened, the belt pulley floating plate 3 reversely rotates around the shaft, and the opening of the end effector is enlarged; the fruit is tightly pressed by the four clamping belts by adjusting the gap of the opening;

step 2, adjusting the posture of the fruit: according to the different postures of the fruits, posture adjustment is carried out on the fruits, and the steps are as follows:

step 2.1, as shown in fig. 5 and 6, when the fruit stalks are inclined to the left front, the upper left clamping motor 17 and the lower left clamping motor 18 are static, the upper right clamping motor 19 and the lower right clamping motor 20 run at the same speed, and respectively drive the two driving wheels to rotate anticlockwise, so that the upper right clamping belt 15 and the lower right clamping belt 16 run at the same speed, and the fruit stalks are adjusted to be inclined to the right front as shown in fig. 7 and 8; subsequently, the left lower clamping motor 18 and the right lower clamping motor 20 are static, the left upper clamping motor 17 runs clockwise, the right upper clamping motor 19 runs counterclockwise, the running speeds of the two are consistent, the left upper clamping belt 13 and the right upper clamping belt 15 are driven to run at the same speed, and the fruit stalks are adjusted to be in a vertical state as shown in fig. 9 and 10;

step 2.2, as shown in fig. 11 and fig. 12, when the fruit stalks are deviated to the right front, the upper right clamping motor 19 and the lower right clamping motor 20 are static, the upper left clamping motor 17 and the lower left clamping motor 18 run at the same speed, and respectively drive the two driving wheels to rotate anticlockwise, so that the upper left clamping belt 13 and the lower left clamping belt 14 run at the same speed, and the fruit stalks are adjusted to be inclined towards the right front direction, as shown in fig. 7 and fig. 8; subsequently, the left lower clamping motor 18 and the right lower clamping motor 20 are static, the left upper clamping motor 17 runs clockwise, the right upper clamping motor 19 runs counterclockwise, the running speeds of the two are consistent, the left upper clamping belt 13 and the right upper clamping belt 15 are driven to run at the same speed, and the fruit stalks are adjusted to be in a vertical state as shown in fig. 9 and 10;

step 2.3, as shown in fig. 7 and 8, when the fruit stalks are deviated to the right front, the left lower clamping motor 18 and the right lower clamping motor 20 are static, the left upper clamping motor 17 runs clockwise, the right upper clamping motor 19 runs counterclockwise, the running speeds of the left lower clamping motor and the right lower clamping motor are consistent, the left upper clamping belt 13 and the right upper clamping belt 15 are driven to run at the same speed, and the fruit stalks are adjusted to be in a vertical state as shown in fig. 9 and 10;

step 3, picking process: the upper right clamping motor 19 and the lower right clamping motor 20 rotate anticlockwise, the upper left clamping motor 17 and the lower left clamping motor 18 rotate clockwise, the four clamping motors run at the same speed, the four clamping belts and the fruit keep relatively static and pull the fruit backwards, when the fruit stem passes through the scissors 4, the fruit stem is cut off, and the fruit is conveyed backwards continuously under the action of the four clamping belts;

and 4, finishing harvesting: the fruit continues to move backwards and is separated from the support of the supporting plate 10, enters the conveying pipe 12 under the action of the pressing plate 11, falls under the action of gravity, and is conveyed.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. Fruit gesture adjustable picking robot end effector, its characterized in that: the device comprises a rack (5), a supporting plate (10), two belt wheel fixing mechanisms, an attitude adjusting mechanism and a clamping adjusting mechanism, wherein the two belt wheel fixing mechanisms are arranged between the rack (5) and the supporting plate (10);

a fruit clamping wheel (1) and a driving wheel (2) are respectively fixed at two ends of the belt wheel fixing mechanism;

the posture adjusting mechanism comprises a clamping belt and a clamping motor;

every it has a holding area to press from both sides fruit wheel (1) and action wheel (2) cover, and action wheel (2) are connected with the centre gripping motor, and the centre gripping motor is used for driving the action wheel and rotates, and action wheel (2) are responsible for driving the holding area and move, press from both sides fruit wheel (1) and are used for supporting four holding areas.

2. A fruit pose adjustable picking robot end effector as claimed in claim 1 wherein: the number of the clamping belts and the clamping motors is four, the four clamping belts are respectively an upper left clamping belt (13), a lower left clamping belt (14), an upper right clamping belt (15) and a lower right clamping belt (16), and the upper left clamping belt (13), the lower left clamping belt (14), the upper right clamping belt (15) and the lower right clamping belt (16) are respectively controlled by an upper left clamping motor (17), a lower left clamping motor (18), an upper right clamping motor (19) and a lower right clamping motor (20).

3. A fruit pose adjustable picking robot end effector as claimed in claim 2 wherein: two fruit clamping wheels (1) and two driving wheels (2) are respectively fixed at two ends of each belt wheel fixing mechanism.

4. A fruit pose adjustable picking robot end effector as claimed in claim 3 wherein: the belt wheel fixing mechanism comprises two belt wheel floating plates (3) which are positioned at the upper layer and the lower layer of the fruit clamping wheel (1) and the driving wheel (2), and a wheel shaft of the fruit clamping wheel (1) and a wheel shaft of the driving wheel (2) are fixed through the two belt wheel floating plates (3);

the axis of the fruit clamping wheel (1) is fixed on the belt wheel floating plate (3) and can rotate freely around the axis.

5. A fruit pose adjustable picking robot end effector as claimed in claim 1 wherein: the fruit leaking hole (21) is formed in the supporting plate (10), the fruit leaking hole (21) is connected with the conveying pipe (12), and the conveying pipe (12) is located at the bottom of the supporting plate (10).

6. A fruit pose adjustable picking robot end effector as claimed in claim 5 wherein: the fruit leaking hole (21) is provided with a pressing plate (11) at one side far away from the opening of the end effector, the pressing plate (11) is fixed on the supporting plate (10), the pressing plate (11) is used for adjusting the movement direction of the fruits to enable the fruits to enter the conveying pipe (12), and the conveying pipe (12) is used for conveying the fruits.

7. A fruit pose adjustable picking robot end effector as claimed in claim 4 wherein: the belt wheel fixing mechanism is provided with a rotating shaft, two ends of the rotating shaft are respectively arranged on the supporting plate (10) and the rack (5), the belt wheel floating plate (3) is connected with the supporting plate (10) and the rack (5) through the rotating shaft, and the belt wheel floating plate (3) swings around the rotating shaft between the supporting plate (10) and the rack (5).

8. A fruit pose adjustable picking robot end effector as claimed in claim 1 wherein: the clamping and adjusting mechanism comprises a torsion spring (6), belt wheel fixing mechanisms are installed on the rack (5) through the torsion spring (6), two scissors (4) are installed between the belt wheel fixing mechanisms, the scissors (4) are fixed on the rack (5), and the scissors (4) are used for cutting fruit stalks.

9. A fruit pose adjustable picking robot end effector as claimed in claim 3 wherein: centre gripping adjustment mechanism still includes tensioning rope (8), opening motor (9) and guide block (7), and tensioning rope (8) are two, and the one end of two tensioning ropes (8) all links to each other with double-layered fruit wheel (1) axis, through guide block (7) change direction of connection, and the other end links to each other with opening motor (9) pivot, through rotation pulling tensioning rope (8) of opening motor (9), makes band pulley floating plate (3) revolute the rotation of axes.

10. A fruit pose adjustable picking robot end effector as claimed in claim 9 wherein: the guide block (7) is fixed at the bottom of the front end of the supporting plate (10), and the opening motor (9) is fixed at the bottom of the supporting plate (10) and is positioned behind the guide block (7).