CN110972716A - A fruit picking robot automatic end effector - Google Patents
A fruit picking robot automatic end effector Download PDFInfo
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- CN110972716A CN110972716A CN201811163826.4A CN201811163826A CN110972716A CN 110972716 A CN110972716 A CN 110972716A CN 201811163826 A CN201811163826 A CN 201811163826A CN 110972716 A CN110972716 A CN 110972716A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 87
- 239000012636 effector Substances 0.000 title claims abstract description 21
- 230000006698 induction Effects 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000010008 shearing Methods 0.000 abstract description 21
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 10
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000009347 mechanical transmission Effects 0.000 abstract 2
- 230000033001 locomotion Effects 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 235000020971 citrus fruits Nutrition 0.000 description 3
- 230000009123 feedback regulation Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
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Abstract
本发明公开了一种用于快速自动化采摘机器的末端执行器，涉及机械自动化技术领域。本装置解决了自动化采摘机器采摘果实时定位慢，摘取速度慢，易损伤果实、能耗高等问题。该末端执行器由机体、感应控制模块，机械传递模块和反馈调节模块组成。本装置通过果实的位置来触发感应控制模块并立即得到果梗的位置，实现了果梗的快速精准定位及控制电机启动；采用机械传动模块将电机的做功变换及放大，并传递给刀具，实现了快速剪切；采用反馈调节模块使得每次采摘水果刀具都能回归原位，为下一次自动采摘做准备。本发明能够实现采摘不同生长状态下的多种水果，且在采摘过程中充分保护水果，结构简单紧凑，成本低，采摘效率高。
The invention discloses an end effector for a fast automatic picking machine, and relates to the technical field of mechanical automation. The device solves the problems of slow positioning, slow picking speed, easy damage to fruits and high energy consumption when an automatic picking machine picks fruits. The end effector is composed of a body, an induction control module, a mechanical transmission module and a feedback adjustment module. The device triggers the induction control module through the position of the fruit and immediately obtains the position of the fruit stem, which realizes the rapid and precise positioning of the fruit stem and controls the start of the motor; the mechanical transmission module is used to transform and amplify the work of the motor, and transmit it to the cutter to realize Fast shearing is achieved; the feedback adjustment module is adopted so that the cutter can return to its original position every time the fruit is picked to prepare for the next automatic picking. The invention can realize the picking of various fruits under different growth states, fully protect the fruits during the picking process, has a simple and compact structure, low cost and high picking efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to an end effector for a fruit picking robot.
Background
China is the largest fruit producing country in the world and is the top of 13 countries with the global yield exceeding 1000 million tons. Fruit harvesting is an important link in the whole process of orchard production, has the characteristics of strong seasonality and labor intensity, and has the advantages that the labor force accounts for 35% -45% of that used in the whole production process, and the labor intensity of manual picking is high. The automatic picking machine is adopted to harvest, so that the labor intensity of people can be reduced, the cost is saved, the efficiency is improved, and more profits are provided. In addition, the labor cost is increased inevitably due to the aging trend of the population in the future, so that the automatic picking has huge economic benefits and wide application prospect. The intellectualization and automation of picking are inevitable and trend of agricultural modernization, the development of the picking robot can obviously improve the agricultural production environment and make up for the shortage of rural labor force, and the picking robot has important significance for accelerating the agricultural modernization.
In recent years, agricultural machinery with high automation and more intelligent fruit picking robots have developed rapidly. In an automatic fruit picking machine, the most critical technology is machine vision identification technology and an actuating mechanism of an end effector. Machine vision recognition technology enables the end effector to effectively detect the position of the fruit. The end effector is used for rapidly picking the detected fruit.
At present, machine vision recognition technology is gradually mature, in recent years, some colleges and scientific research institutions use machine vision technology to carry out fruit picking robots to obtain some achievements, but most of the robots cannot meet the requirements of accurate and efficient fruit picking, and mainly end effectors of the robots are high in cost, complex in mechanical structure, specialized and limited, low in production efficiency, high in energy consumption and insufficient in protection degree of fruits. This also becomes the bottleneck problem that restricts the fruit picking robot to further research and application. Therefore, the reduction of the manufacturing cost while improving the intelligence and reliability of the fruit picking robot is an important effort direction to break through the bottleneck of practical application of the fruit picking robot.
Disclosure of Invention
In view of the defects of the end effector of most of the existing automatic picking machines, firstly, the structure is complex, and the production cost is high; secondly, fruits cannot be effectively protected; thirdly, the picking efficiency is low, and certain fruit picking limitation is realized. The invention aims to provide the end effector which has a simple structure, can quickly position and shear the fruit stems of the fruits, has good protection on the fruits, and can safely, reliably and quickly pick the fruits.
In order to solve the problems, the device mainly comprises three modules, namely an induction control module, a mechanical power module and a feedback regulation module, besides a machine body, and can also be divided into a hardware picking structure and a software control part.
(1) Machine body
The main structure of the machine body is a hollow cylinder-like shell with openings at the upper end and the lower end. The upper end opening is used for fruit to enter the shell, and the lower end opening is used for leaving and collecting the picked fruit. The whole machine body structure is arranged on a mechanical arm with a machine vision recognition function. The outside components and parts such as control circuit and mechanical structure that bear of drum type casing, inside the drum type casing be fruit whereabouts passageway, contain hidden convex cutter, can with the accurate laminating of shell, the picking process does not touch fruit.
In the picking process, the end effector can be used for rapidly and effectively approaching the fruits through the visual identification technology of the robot, and the fruits can enter the shell of the end effector. The cylindrical shell can separate the fruits of the cluster so as to realize the picking of the single fruits, and in addition, the cylindrical shell also has the function of protecting the fruits from other external forces in the picking process.
(2) Induction control module
Rely on present machine vision identification technique, can only discern the preliminary position of fruit, can let accurate entering casing internal passage of fruit, but the fruit stalk position of the fruit of can not concrete discernment, consequently need carry out the relocation to the fruit through induction control module, when the fruit stalk position of definite fruit, start mechanical power transmission module and shear the fruit stalk.
The main structure of the induction control module is an infrared sensor, a main control board and a relay. The infrared sensor is mounted on the upper part of the outer part of the shell, and the infrared emitter and the infrared receiver thereof can detect the fruit inside through the opening on the shell wall, and the position of the fruit stalk thereof is determined by detecting the position of the bottom of the fruit.
In the picking process, the fruits enter the inner channel of the shell, and when the fruits reach a proper position, the infrared sensor can be shielded by the bottoms of the fruits, so that the infrared sensor is triggered. After the infrared sensor is triggered, the fruit stalks reach proper positions, the main control board and the relay control motor drive the cutter to cut the fruit stalks, so that the fruit stalks are not cut, and the fruit is repositioned and protected in the cutting process. For different kinds of fruits, the positions of the fruit stalks can be determined by adjusting the positions of the sensors, so that the picking positioning of various fruits is realized.
(3) Mechanical power module
The current mode of picking fruit is mainly shearing and pulling. For citrus fruits, because the fruit stalks of the citrus fruits have high toughness and cannot be broken, the citrus fruits can only be cut in a shearing mode, and the shearing mode is suitable for most fruits and has high efficiency. Therefore, the end effector adopts the fruit stem shearing mode to pick fruits.
The mechanical power module mainly comprises a battery, a motor, a bevel gear, a sine mechanism, a variable fulcrum lever mechanism and a cutter body. The motor is a speed reducing motor, has larger torque and can provide larger shearing force, and the bevel gear plays a role in motor power reversing. The sine mechanism changes the circulating rotary motion of the motor into the reciprocating linear motion of the push rod, and the fulcrum-variable lever mechanism changes the linear motion of the push rod into two opposite reciprocating rotary motions with variable speeds.
The cutter body is divided into an outer cutter and an inner cutter which are respectively arranged at the tail ends of the two levers of the fulcrum-variable lever and hidden on the inner wall of the shell. The opposite movement is realized during shearing, and the opposite movement is realized after the shearing is finished. According to the motion transformation of the mechanism, the moving speed of the cutter is changed from high to low while the cutter moves in a shearing mode, and the shearing force is changed from small to large. The device can enlarge the torque of the cutter by more than one hundred times relative to the torque of the speed reducing motor when the cutter is about to cut. The device moves fast when the cutter is far away from the fruit stalk, reaches the fruit stalk position rapidly, and after being close to the fruit stalk position, the speed is slowed down but the shearing force increases rapidly, and a fruit can be sheared every rotation of a week by the motor. Not only the high efficiency of fruit picking is realized, but also the energy consumption of the fruit picker is greatly reduced.
In the picking process, the motor rotates, and the sine mechanism performs reciprocating motion. The variable fulcrum lever mechanism makes reciprocating rotation motion to drive the inner cutter and the outer cutter to make opposite rotation shearing. After the motor rotates for half a circle, the shearing is completed, the motor continues to rotate for half a circle, and the cutter returns to the initial position to prepare for the next shearing.
(4) Feedback regulation module
The induction control module is responsible for starting the motor, and the feedback regulation module is responsible for stopping the motor. The feedback adjusting module mainly comprises an infrared sensor and a push rod. The push rod moves linearly along with the rotation of the motor shaft, after the cutting is finished, the position of the push rod is identified through the infrared sensor to confirm the position of the cutter, after the push rod reaches the designated position, the infrared sensor is triggered, the motor stops rotating, and the cutter returns to the position near the initial position to prepare for next picking.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic backside view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of the present invention;
FIG. 4 is a schematic view of the transmission of the present invention;
FIG. 5 is a control flow diagram of the present invention;
the cutting tool comprises a shell, a shell cover, an inner cutter, an outer cutter, a driving bevel gear, a motor, a main control board, a relay, an infrared sensor, a starting infrared sensor, a bearing, an outer cutter notch, an inner cutter notch, a push rod cylindrical pin, a push rod, a crank, a driven bevel gear, a rotating shaft, a driving bevel gear, a motor, a main control board, a relay, a stop infrared sensor, a starting infrared sensor, an opening hole of the shell, a threaded hole, a bearing, an outer thread cylindrical pin, an outer cutter notch, an inner cutter notch, a push rod notch, a crank cylindrical pin and a bearing, wherein 1 is the shell.
Detailed Description
The specific embodiments of the present invention are further explained with reference to the attached drawings.
As shown in fig. 1, the main components of the machine body are a housing case 1, a housing cover 2 and a motor support 9. Wherein shell body 1 is hollow structure, and its outside links to each other with the arm, and inside can make the fruit whereabouts passageway after the fruit is cuted. The housing cover 2 is mounted on the housing shell and can contain the knife body therein, as shown in fig. 4, to prevent the knife from contacting the fruit when the fruit passes through the diameter of the housing cover. The motor bracket 9 is mounted on the housing case by bolts.
The cutter part consists of an inner cutter body 3 and an outer cutter body 4, the shape of the cutter body is shown in figure 3, the cutting edge part is arc-shaped, and holders at two ends of the cutter body are respectively provided with notches 22 and 23. The threaded holes 19 are provided in a set on the front and back of the housing body. The external thread cylindric lock 31 is installed in screw hole 19, and the tool body support end is opened has the aperture and links to each other with external thread cylindric lock 21, therefore the interior outer tool body all can use cylindric lock 21 axis to rotate in opposite directions as the rotation center and cut.
As shown in fig. 1 and 3, the power transmission module mainly comprises a power supply (external power supply), a motor 13, a driving bevel gear 12, a driven bevel gear 10, a crank 9, a push rod 7, a push rod cylindrical pin 6, an inner cutter body 3 and an outer cutter body 4. The bevel gear 12 is fixed on the motor shaft. The bevel gear 10 and the crank 9 are fixed on a rotating shaft 11, the rotating shaft 11 is mounted on a bearing 20, and the bearing 20 is mounted on the motor bracket 8. A crank pin 25 is fixed to the crank 9 and interacts with the push rod notch 24. The push rod cylindrical pin 6 is fixed on the push rod 7 and is matched with the shell wall notch 5, the outer cutter notch 22 and the inner cutter notch 23. Because the push rod 7 is provided with two cylindrical pins which are matched with the notches 5, the push rod only does linear motion along the vertical direction, and the crank 9 and the push rod 7 form a sine mechanism. The push rod 7, the tool body 3 and the tool body 4 form a fulcrum-variable lever mechanism, as shown in fig. 4.
When the motor shaft rotates, the driven bevel gear 10 is rotated by the driving bevel gear 12, and thus the rotating shaft 11 and the crank 9 also perform a rotational motion. The crank 9 and the push rod 7 jointly form a sine mechanism, and when the crank 9 rotates, the push rod 7 can reciprocate vertically. The inner cutter body 3, the outer cutter body 4 and the push rod cylindrical pin 6 form a variable fulcrum lever structure. When the push rod cylindrical pin 6 moves vertically upwards, the inner cutter body 3 and the outer cutter body 4 rotate oppositely, namely, the cutters are closed to cut. When the push rod cylindrical pin 6 moves downwards vertically, the inner cutter body 3 and the outer cutter body 4 do far rotary motion, namely, the cutters are opened. Therefore, when the push rod 7 performs a periodic reciprocating movement in the vertical direction, the cutter body also performs a periodic closing and opening.
When the motor shaft rotates at a constant speed and a constant torque, after the motor shaft is converted by the sine mechanism and the variable fulcrum lever mechanism, the cutter body can achieve the purposes of low rotating speed and high torque in a period when being started; in the non-shearing process of the cutter, the speed is changed from low to high, so that the cutter is fed quickly; when the shear is to be cut, the speed of the cutter body is changed from high to low, and the torque is changed from small to large; during shearing, the speed slowly approaches zero, and the moment of the shear is rapidly increased to infinity; after the shearing process is finished, the speed of the cutter body is changed from slow to fast to slow, the cutter body is quickly reset, and preparation is made for next shearing.
As shown in fig. 1 and 2, the control circuit includes a main control board 14, a relay 15, an infrared sensor 16 for stopping, and an infrared sensor 17 for starting. The whole control process is as follows: the external mechanical arm controls the end device to approach the fruit from the bottom of the fruit, and the caliber of the upper part of the fruit gradually enters the inner channel of the hollow shell. The end device is used as a reference system, the fruits move vertically downwards, when the infrared sensor 17 is started to detect the bottoms of the fruits, the sensor is triggered, signals are transmitted to the main control board 14, the main control board 14 controls the relay 15 to be switched on, the motor 13 rotates, the push rod moves upwards, the cutter bodies 3 and 4 do shearing movement, and after shearing is completed, the cutting results fall into the collecting bag. At the moment, the motor continues to rotate, the push rod moves downwards, the cutter bodies 3 and 4 do returning movement, when the push rod descends to a certain position, the infrared sensor 16 stops triggering, signals are transmitted to the main control board 14, the main control board 14 controls the relay 15 to be disconnected, the motor 13 stops rotating, the cutter bodies 3 and 4 return to be ready for next shearing movement, and the cutter bodies return to the position shown in fig. 3.
Claims (7)
1. The utility model provides an automatic end effector of fruit picking robot, includes the organism, and response control module, mechanical power module, feedback adjustment module, its characterized in that: the machine body comprises a shell (1), a shell cover (2) and a motor bracket (8); the outer shell cover (2) is arranged on the caliber of the upper end of the outer shell (1), and the motor support (8) is arranged on the positive plane of the outer shell (1); the induction control module comprises a main control board (14), a relay (15) and an infrared sensor (17) for starting; the main control board (14) is arranged on the positive plane of the shell (1) and is contacted with the motor bracket (8); the mechanical power module comprises a motor (13), a driving bevel gear (12), a rotating shaft (11), a bearing (20), a driven bevel gear (10), a crank (9), a push rod (7), a push rod cylindrical pin (6), an outer cutter body (4) and an inner cutter body (5); the feedback adjusting module comprises a main control board (14), a relay (15), an infrared sensor (16) for stopping and a push rod (7).
2. A fruit picking robot automated end effector as claimed in claim 1, wherein: the shell (1) is a hollow structure with openings at the upper end and the lower end, and the shell cover (2) is provided with a large round caliber suitable for fruits to pass through.
3. A fruit picking robot automated end effector as claimed in claim 1, wherein: the main control board (14) is respectively connected with a relay (15), an infrared sensor (17) for starting and an infrared sensor (16) for stopping by leads, and the relay (15) is connected with a motor (13) by leads.
4. A fruit picking robot automated end effector as claimed in claim 1, wherein: the driving bevel gear (12) is meshed with the driven bevel gear (10); the rotating shaft (11) is arranged on the motor bracket (8) through a bearing (20), the driven bevel gear (10) is arranged at one end of the rotating shaft (11), and the crank (9) is arranged at the other end of the rotating shaft (11).
5. A fruit picking robot automated end effector as claimed in claim 1, wherein: the crank (9), the crank cylindrical pin (25) and the push rod (7) jointly form a sine mechanism.
6. A fruit picking robot automated end effector as claimed in claim 1, wherein: the push rod cylindrical pin (6), the outer cutter body (4) and the inner cutter body (5) jointly form a variable fulcrum lever mechanism, and the push rod cylindrical pin (6) is fixed on the push rod (7) and matched with the cutter body notch and the shell wall notch (5).
7. An automated end effector for a fruit picking robot as claimed in claim 1, wherein the inner and outer cutter bodies are notched on their sides and the cutter bodies are mounted on the housing for rotation about their fixed points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811163826.4A CN110972716A (en) | 2018-10-03 | 2018-10-03 | A fruit picking robot automatic end effector |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811163826.4A CN110972716A (en) | 2018-10-03 | 2018-10-03 | A fruit picking robot automatic end effector |
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| CN110972716A true CN110972716A (en) | 2020-04-10 |
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| CN201811163826.4A Pending CN110972716A (en) | 2018-10-03 | 2018-10-03 | A fruit picking robot automatic end effector |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114963300A (en) * | 2021-02-22 | 2022-08-30 | 广东美的制冷设备有限公司 | Air conditioner and control method thereof |
| CN116158263A (en) * | 2023-03-27 | 2023-05-26 | 西南大学 | Encircling type citrus picking end effector |
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| CN116158263A (en) * | 2023-03-27 | 2023-05-26 | 西南大学 | Encircling type citrus picking end effector |
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Application publication date: 20200410 |