CN114097428B - Clamping controllable type fruit nondestructive picking end effector and control method thereof - Google Patents
Clamping controllable type fruit nondestructive picking end effector and control method thereof Download PDFInfo
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- CN114097428B CN114097428B CN202111588885.8A CN202111588885A CN114097428B CN 114097428 B CN114097428 B CN 114097428B CN 202111588885 A CN202111588885 A CN 202111588885A CN 114097428 B CN114097428 B CN 114097428B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 149
- 239000012636 effector Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000003014 reinforcing effect Effects 0.000 claims description 50
- 238000005520 cutting process Methods 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000001066 destructive effect Effects 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 239000007769 metal material Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000003756 stirring Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003351 stiffener Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping controllable fruit nondestructive picking end effector and a control method thereof. Through each subassembly coordination cooperation, the adjustment to the interval between sliding frame part, the fixed frame part, can effectively carry out dynamic adjustment to the fruit of equidimension, conveniently adjust the clamping force to follow-up fruit, and under the cooperation of dynamic clamping assembly, after reaching suitable clamping force to fruit adjustment, utilize the range sensor work to survey the deformation volume of detection spring and with data transmission to the PLC controller, can realize the clamping force survey work to this fruit, the clamping force adjustable effect of clamping force and clamping range has concurrently to this equipment simultaneously, in concrete use, can satisfy the centre gripping of multiple fruit, accomplish accurate regulation control simultaneously to the different fruit clamping forces, can satisfy harmless picking.
Description
Technical Field
The invention relates to the technical field related to fruit picking, in particular to a clamping controllable type fruit nondestructive picking end effector and a control method thereof.
Background
China is a large country for fruit planting and production, the fruit yield is large, the variety is large, and meanwhile, due to the complexity of the picking environment, manual picking is mainly adopted at present. Along with the development of picking robots in recent years, fruit picking technology is improved to a certain extent, but is limited by fruit varieties, and different fruits have different sizes and different stress conditions, so that great difficulty is brought to picking work, and further development of the fruit picking technology is affected.
The existing picking actuator cannot measure the clamping force, so that the situation that the fruit is damaged due to overlarge clamping force and the picking success rate is low due to smaller clamping force is very easy to occur.
The conventional device has the following disadvantages: the existing picking actuator is poor in adaptability in operation, the self clamping range cannot be adjusted rapidly according to the clamping requirements of different fruits, so that the equipment cannot pick fruits with different sizes, the clamping force cannot be measured by the existing picking actuator, the situation that the fruits are damaged due to overlarge clamping force, the picking success rate is low due to small clamping force is easily caused, and the overall picking difficulty is increased.
Disclosure of Invention
The invention aims to provide a clamping controllable fruit nondestructive picking end effector and a control method thereof, so as to solve the problems that the existing picking end effector is extremely easy to cause damage to fruits due to overlarge clamping force and lower picking success rate due to smaller clamping force, and the overall picking difficulty is increased.
In order to achieve the above purpose, the present invention provides the following technical solutions: the controllable clamping type fruit nondestructive picking end effector comprises a sliding positioning seat, wherein a spacing adjusting assembly is arranged on the inner side of the sliding positioning seat, a dynamic clamping assembly is additionally arranged on the spacing adjusting assembly, and a fine adjustment cutting assembly is arranged below the spacing adjusting assembly;
The space adjusting assembly comprises two groups of parallel tracks, fixed frame parts, sliding frame parts and power parts, wherein the parallel tracks are symmetrically arranged on two sides of the inner wall of the sliding positioning seat, the fixed frame parts are arranged at the bottom end of the inner wall of the sliding positioning seat in a locking manner, the sliding frame parts are arranged at the top end of the inner wall of the sliding positioning seat in a sliding manner, the sliding frame parts are correspondingly and slidably clamped with the parallel sliding ways, and the power parts are arranged at the tail parts between the fixed frame parts and the sliding frame parts;
The fixed frame part comprises two groups of reinforcing rods and positioning plates, the reinforcing rods are arranged on two sides of the bottom end of the inner wall of the sliding positioning seat in a parallel locking manner, and two ends of the positioning plates are fixed with the reinforcing rods through bolts in a locking manner;
The sliding frame part comprises two groups of reinforcing pieces, two groups of sliding rods and reinforcing plates, wherein the reinforcing pieces are arranged on two sides of the top end of the inner wall of the sliding positioning seat in a parallel sliding manner, the tail parts of the reinforcing pieces are correspondingly and slidably clamped with the parallel tracks, the reinforcing plates are arranged on the rear half part between the two groups of reinforcing pieces in a locking manner, and the sliding rods are arranged on the front half part between the reinforcing pieces in a spaced locking manner;
The power part comprises a mobile motor, four groups of optical axes, a threaded rod and a threaded block, wherein the mobile motor is arranged at the tail part of the lower surface of the positioning plate in a locked mode, the four groups of optical axes are arranged on the upper surface of the positioning plate in a rectangular mode, the tops of the optical axes slide through the reinforcing plate, the threaded rod is rotatably arranged on the upper surface of the positioning plate and positioned at the center of the four groups of optical axes, the threaded block is arranged on the reinforcing plate in a penetrating mode, the threaded rod passes through the threaded block in a penetrating mode through threads in a penetrating mode, and the mobile motor is in transmission connection with the threaded rod through a coupler;
the dynamic clamping assembly comprises a first flexible clamping block, a ranging sensor, a moving part, a detection spring and two groups of second flexible clamping blocks, wherein the first flexible clamping block is fixedly sleeved outside the two groups of sliding rods, the ranging sensor is arranged on the positioning plate, the moving part is slidably arranged on the ranging sensor in a penetrating mode, the detection spring is sleeved outside the ranging sensor, the top of the detection spring is in fit contact with the lower surface of the moving part, and the two groups of second flexible clamping blocks are symmetrically sleeved on two sides of the top of the moving part;
The fine adjustment cutting assembly comprises a rectangular frame, a moving block, a slicing knife, a slicing motor and an adjusting part, wherein the rectangular frame is locked and installed at the edge of one side of the lower surface of the positioning plate, the moving block is slidably installed in the rectangular frame, the slicing knife is rotatably installed outside the moving block, the output end of the slicing knife extends out of the positioning plate to be arranged towards the dynamic clamping assembly, the slicing motor is locked and installed on the inner side of the moving block, the slicing motor is correspondingly in transmission connection with the slicing knife, and the adjusting part is installed at the inner bottom end of the rectangular frame.
As a further preferable mode of the technical scheme, the sliding positioning seat is of a rectangular structure as a whole, a threaded positioning piece is installed at the center of the back of the sliding positioning seat, and the threaded positioning piece is connected with an external robot.
As a further preferable mode of the technical scheme, the parallel slide ways are arranged corresponding to the reinforcing pieces, and the cross sections of the parallel slide ways are of T-shaped structures.
As a further preferable mode of the technical scheme, the reinforcing piece is made of metal materials, and the reinforcing piece is integrally of a Z-shaped structure.
As a further preferable aspect of the present technical solution, the first flexible clamping block and the second flexible clamping block are arranged in parallel, and the two groups of the second flexible clamping blocks are symmetrically distributed.
As a further preferable mode of the technical scheme, a groove is reserved on the lower surface of the first flexible clamping block, and the second flexible clamping block is integrally of a half crescent structure.
As a further preferable mode of the technical scheme, the side wall of the moving block is in sliding fit with the inner wall of the rectangular frame, and the inner wall of the rectangular frame is provided with a sliding rail corresponding to the moving block.
As the further preferred of this technical scheme, regulation portion is including adjusting rack, electric gear, scale strip and pointer, it is fixed with movable block lower surface closure to adjust the rack slip and wear to establish in rectangular frame bottom, electric gear passes through the support mounting at rectangular frame lower surface, and electric gear and adjusts rack meshing transmission and be connected, the scale strip is installed at rectangular frame lateral wall, the pointer closure is installed in movable block one side middle part, and the pointer corresponds to extend to on the scale strip.
As the further preferable of this technical scheme, still include the PLC controller, the PLC controller inlays and establishes on the inboard top of slip positioning seat, PLC controller input passes through wireless data and establishes the connection with range finding sensor, the output of PLC controller passes through wireless data and establishes the connection with mobile motor, section motor respectively, the PLC controller can carry out coordinated control to range finding sensor and mobile motor, section motor and pluck the action.
A control method of a clamping controllable fruit nondestructive picking end effector specifically comprises the following steps:
Step one, a step one; firstly, the whole equipment is connected with an external robot through a thread positioning piece, and then the equipment can be driven to follow and move, so that the whole operation range of the equipment is enlarged;
step two, a step two is carried out; when the clamping range and clamping force of equipment are required to be measured before picking current fruits, then the fruits to be picked are placed on two groups of second flexible clamping blocks, then a moving motor is started to rotate forward to drive a threaded rod to rotate in a following manner, as the threaded block is connected with the threaded rod through threaded screwing, a reinforcing plate moves along with the threaded block, the integral sliding frame part moves up and down on a parallel track, the distance between the integral sliding frame part and the fixed frame part is reduced, the first flexible clamping block is driven to move down to be attached to the fruits, the first flexible clamping block and the second flexible clamping block realize the common clamping of the side surfaces of the fruits to be positioned, then the motor is continuously and positively moved, the first flexible clamping block and the second flexible clamping block can compress a detection spring, a distance measuring sensor works to measure the deformation of the detection spring, workers can manually stir the fruits, the fruits are prevented from falling easily to reach proper clamping force, the clamping damage to the fruits is avoided, the data acquired by the distance measuring sensor at the moment is transmitted to a controller, and the success rate of the picking can be improved, and the work damage to the PLC is also prevented from being measured;
Step three, a step of performing; under the regulation and control of the PLC, the coordination and intercommunication of the ranging sensor, the mobile motor and the slicing motor are realized through the PLC, and after the follow-up measurement of the clamping force is completed, the PLC regulates and controls the mobile motor and the slicing motor according to the measured data, so that the efficient proceeding of the follow-up picking work is ensured;
Step four, a step four is carried out; before picking, the robot linkage equipment integrally moves to the fruit, under the control of the PLC, the mobile motor is started to rotate positively, the linkage sliding frame part slides towards the fixed frame part, when the ranging sensor reaches the position where the measurement is finished in advance, a signal is transmitted to the PLC to stop the rotation of the mobile motor, and the fruits are fixed under the clamping of the first flexible clamping block and the second flexible clamping block, so that the follow-up picking work is facilitated;
Step five, a step of performing a step of; when picking, after the fruit is clamped, a fine adjustment cutting assembly is arranged, a slicing motor is started to drive a slicing knife to rotate so as to cut off the fruit stalks of the fruit, so that the fruit is separated from the fruit stalks, and the picking work of the fruit is realized;
Step six, a step of performing a step of; when the cutting position is finely adjusted, the electric gear is started, and the electric gear is in meshed transmission connection with the adjusting rack, so that the moving block slides up and down along with the positive and negative rotation of the electric gear in the rectangular frame, fine adjustment of the working heights of the slicing knives is realized, the cutting of fruit stalks of different fruits can be adapted, the situation that the slicing knives with higher fruit stalk heights cannot cover the cutting is avoided, the success rate of integral picking is improved, meanwhile, under the matched arrangement of the scale bars and the pointers, the accurate control of the adjusting range by workers is facilitated, and the free regulation and control of the workers can be realized;
Step seven, a step of performing a step of; after picking, stopping the rotation of slicing knife, driving fruit and moving to put in the position after, start moving motor reversal for sliding frame part keeps away from fixed frame part and removes, makes flexible grip block No. one and flexible grip block No. two separate, and convenient follow-up quick put in fruit, can carry out follow-up picking work fast.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention realizes the common clamping of the top and the bottom of fruits through the first flexible clamping block and the second flexible clamping block to position, and then continues to forward shift the motor, so that the first flexible clamping block and the second flexible clamping block can achieve a relatively stable condition on the fruits, at the moment, the second flexible clamping block can compress the detection spring, the deformation of the detection spring is measured by the working of the ranging sensor, a worker can manually stir the fruits, the fruits can not fall easily, a proper clamping force is achieved, the fruits are prevented from being clamped and damaged, and the clamping force measurement work of the fruits can be realized by transmitting the data acquired by the ranging sensor to the PLC;
2. according to the invention, the fine adjustment cutting assembly is arranged, the electric gear is started, and the electric gear is in meshed transmission connection with the adjusting rack, so that the moving block can slide up and down along with the positive and negative rotation of the electric gear in the rectangular frame, fine adjustment of the working height of the slicing knife is realized, the cutting of fruit stalks of different fruits can be adapted, the situation that the slicing knife cannot cover the cutting of the fruit stalks with higher height is avoided, the success rate of integral picking is improved, meanwhile, under the matched arrangement of the scale bar and the pointer, the accurate control of the adjusting range is facilitated for workers, the workers can freely regulate and control, and then the cutting of the fruit stalks is realized through the rotation of the slicing knife;
3. According to the invention, the spacing adjusting assembly is arranged, the movable motor is started to rotate positively to drive the threaded rod to rotate in a following way, and the threaded block is connected with the threaded rod in a screwing way, so that the reinforcing plate moves along the threaded block, the integral sliding frame part moves up and down on the parallel tracks, the spacing between the integral sliding frame part and the fixed frame part is reduced, the first flexible clamping block is driven to move down to be attached to fruits, the top and the bottom of the fruits are clamped together and positioned through the first flexible clamping block and the second flexible clamping block, and the spacing between the sliding frame part and the fixed frame part is adjusted to dynamically adjust fruits of different sizes effectively, so that the spacing between the sliding frame part and the fixed frame part is convenient for free adjustment and use of workers.
In summary, through the coordination cooperation of each subassembly, through the adjustment to the interval between slip frame part, the fixed frame part, can effectively carry out dynamic adjustment to the fruit of equidimension, the convenience is adjusted the clamping force of follow-up fruit, and under the cooperation of dynamic clamping assembly, after reaching suitable clamping force to fruit adjustment, utilize the range sensor work to survey the deformation volume of detection spring and transmit data to the PLC controller, can realize the clamping force survey work to this fruit, and under the assistance of fine setting cutting assembly, the fine setting of cutter working height cuts off the fruit stalk of different fruits of ability adaptation, the situation that the higher slicing knife of fruit stalk height can not cover the cutting off is avoided appearing, the success rate of whole picking has been promoted.
Drawings
FIG. 1 is an overall front view of a grip-controllable fruit lossless picking end effector;
FIG. 2 is a schematic diagram of the distribution of a sliding frame member and a fixed frame member of a gripper controllable fruit non-destructive picking end effector;
FIG. 3 is a schematic view of a sliding frame member of a gripper-controlled fruit nondestructive picking end effector;
FIG. 4 is a schematic diagram of the power section of a gripper-controlled fruit nondestructive picking end effector;
FIG. 5 is a schematic view of a stationary frame member holding a controllable fruit nondestructive picking end effector;
FIG. 6 is a schematic illustration of the connection of a threaded rod to a threaded block of a clamp-controlled, non-destructive fruit picking end effector;
FIG. 7 is a schematic diagram of a distribution of a slicing knife and a second flexible clamping block of a controllable fruit nondestructive picking end effector;
FIG. 8 is a schematic view of a trimming cutting assembly for a controlled gripping fruit non-destructive picking end effector;
FIG. 9 is a schematic diagram of a distance measurement sensor and flexible second gripper block of a gripper-controllable fruit nondestructive picking end effector;
fig. 10 is a control flow diagram of a method of controlling a gripping controllable fruit non-destructive picking end effector.
In the figure: 1. a sliding positioning seat; 2. parallel tracks; 3. a fixed frame member; 4. a sliding frame member; 5. a reinforcing rod; 6. a positioning plate; 7. a reinforcing member; 8. a slide bar; 9. a reinforcing plate; 10. a moving motor; 11. an optical axis; 12. a threaded rod; 13. a screw block; 14. a thread locating piece; 15. a first flexible clamping block; 16. a ranging sensor; 17. a moving member; 18. detecting a spring; 19. a second flexible clamping block; 20. a rectangular frame; 21. a moving block; 22. a slicing knife; 23. a slicing motor; 24. adjusting the rack; 25. an electric gear; 26. a scale bar; 27. a pointer; 28. and a PLC controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-10, the invention provides a clamping controllable fruit nondestructive picking end effector, which comprises a sliding positioning seat 1, wherein a spacing adjusting component is arranged on the inner side of the sliding positioning seat 1, a dynamic clamping component is additionally arranged on the spacing adjusting component, and a fine adjustment cutting component is arranged below the spacing adjusting component;
The interval adjusting assembly comprises two groups of parallel tracks 2, a fixed frame part 3, a sliding frame part 4 and a power part, wherein the parallel tracks 2 are symmetrically arranged on two sides of the inner wall of the sliding positioning seat 1, the fixed frame part 3 is locked and installed at the bottom end of the inner wall of the sliding positioning seat 1, the sliding frame part 4 is slidably installed at the top end of the inner wall of the sliding positioning seat 1, the sliding frame part 4 is correspondingly and slidably clamped with a parallel slideway, and the power part is installed at the tail part between the fixed frame part 3 and the sliding frame part 4;
The fixed frame part 3 comprises two groups of reinforcing rods 5 and positioning plates 6, the reinforcing rods 5 are arranged on two sides of the bottom end of the inner wall of the sliding positioning seat 1 in a parallel locking manner, and two ends of the positioning plates 6 are fixed with the reinforcing rods 5 in a locking manner through bolts;
the sliding frame part 4 comprises two groups of reinforcing pieces 7, two groups of sliding rods 8 and reinforcing plates 9, wherein the reinforcing pieces 7 are arranged on two sides of the top end of the inner wall of the sliding positioning seat 1 in parallel in a sliding manner, the tail parts of the reinforcing pieces 7 are correspondingly and slidably clamped with the parallel tracks 2, the reinforcing plates 9 are arranged on the rear half parts between the two groups of reinforcing pieces 7 in a locking manner, and the sliding rods 8 are arranged on the front half parts between the reinforcing pieces 7 in a spaced locking manner;
The power part comprises a mobile motor 10, four groups of optical axes 11, a threaded rod 12 and a threaded block 13, wherein the mobile motor 10 is installed at the tail part of the lower surface of the positioning plate 6 in a locking way, the four groups of optical axes 11 are installed on the upper surface of the positioning plate 6 in a rectangular way, the tops of the optical axes 11 slide through the reinforcing plate 9, the threaded rod 12 is rotatably installed on the upper surface of the positioning plate 6 and is positioned at the center of the four groups of optical axes 11, the threaded block 13 is arranged on the reinforcing plate 9 in a penetrating way, the threaded rod 12 passes through the threaded block 13 in a penetrating way through threaded screwing, and the mobile motor 10 is in transmission connection with the threaded rod 12 through a coupler;
The dynamic clamping assembly comprises a first flexible clamping block 15, a ranging sensor 16, a moving part 17, a detection spring 18 and two groups of second flexible clamping blocks 19, wherein the first flexible clamping block 15 is fixedly sleeved outside the two groups of sliding rods 8, the ranging sensor 16 is arranged on the positioning plate 6, the moving part 17 is slidably arranged on the ranging sensor 16 in a penetrating manner, the detection spring 18 is sleeved outside the ranging sensor 16, the top of the detection spring 18 is in contact with the lower surface of the moving part 17 in a fitting manner, and the two groups of second flexible clamping blocks 19 are symmetrically sleeved on two sides of the top of the moving part 17 in a sleeving manner;
the fine adjustment cutting assembly comprises a rectangular frame 20, a moving block 21, a slicing knife 22, a slicing motor 23 and an adjusting part, wherein the rectangular frame 20 is installed at the edge of one side of the lower surface of the positioning plate 6 in a locking manner, the moving block 21 is installed in the rectangular frame 20 in a sliding manner, the slicing knife 22 is installed on the outer side of the moving block 21 in a rotating manner, the output end of the slicing knife 22 extends out of the positioning plate 6 to be arranged towards the dynamic clamping assembly, the slicing motor 23 is installed on the inner side of the moving block 21 in a locking manner, the slicing motor 23 is connected with the slicing knife 22 in a corresponding transmission manner, and the adjusting part is installed at the bottom end in the rectangular frame 20.
Referring to fig. 1 and 2, in this embodiment, specifically, the sliding positioning seat 1 has a rectangular structure as a whole, a threaded positioning member 14 is installed at the center of the back of the sliding positioning seat 1, and the threaded positioning member 14 is connected with an external robot.
Referring to fig. 1-3, in this embodiment, specifically, parallel sliding ways are disposed corresponding to the reinforcement members 7, and the cross section of the parallel sliding ways is in a T-shaped structure.
Referring to fig. 1 to 4, in this embodiment, specifically, the stiffener 7 is made of a metal material, and the stiffener 7 has a zigzag structure as a whole.
Referring to fig. 6, in this embodiment, specifically, the first flexible clamping block 15 and the second flexible clamping block 19 are disposed in parallel, and the two second flexible clamping blocks 19 are symmetrically distributed.
Referring to fig. 6, in this embodiment, specifically, a groove is reserved on the lower surface of the first flexible clamping block 15, and the second flexible clamping block 19 is integrally in a half crescent structure.
Referring to fig. 8, in this embodiment, specifically, the side wall of the moving block 21 is slidably attached to the inner wall of the rectangular frame 20, and the inner wall of the rectangular frame 20 is provided with a sliding rail corresponding to the moving block 21.
Referring to fig. 8, in this embodiment, specifically, the adjusting portion includes an adjusting rack 24, an electric gear 25, a scale bar 26 and a pointer 27, the adjusting rack 24 is slidably disposed at the bottom of the rectangular frame 20 and is locked and fixed with the lower surface of the moving block 21, the electric gear 25 is mounted on the lower surface of the rectangular frame 20 through a bracket, the electric gear 25 is engaged with the adjusting rack 24 and is in transmission connection, the scale bar 26 is mounted on a side wall of the rectangular frame 20, the pointer 27 is mounted in a middle portion of one side of the moving block 21 in a locked manner, and the pointer 27 correspondingly extends to the scale bar 26.
Referring to fig. 1, in this embodiment, the picking device specifically further includes a PLC controller 28, the PLC controller 28 is embedded in the top end of the inner side of the sliding positioning seat 1, the input end of the PLC controller 28 is in communication with the ranging sensor 16 through wireless data, the output end of the PLC controller 28 is respectively in communication with the mobile motor 10 and the slicing motor 23 through wireless data, and the PLC controller 28 can perform coordinated control on the ranging sensor 16, the mobile motor 10 and the slicing motor 23 to perform the picking action.
A control method of a clamping controllable fruit nondestructive picking end effector specifically comprises the following steps:
Step one, a step one; firstly, the whole equipment is connected with an external robot through a thread positioning piece 14, and the equipment can be driven to follow and move subsequently, so that the whole operation range of the equipment is enlarged;
step two, a step two is carried out; when the clamping range and clamping force of equipment are required to be measured before picking current fruits, then the fruits to be picked are placed on two groups of second flexible clamping blocks 19, then the moving motor 10 is started to rotate forward to drive the threaded rod 12 to rotate in a following manner, the reinforcing plate 9 moves along with the threaded rod 13 due to the fact that the threaded rod 13 is connected with the threaded rod 12 in a screwing manner, the integral sliding frame part 4 moves up and down on the parallel track 2, the distance between the integral sliding frame part 4 and the fixed frame part 3 is reduced, the first flexible clamping block 15 is driven to move downwards to be attached to the fruits, the first flexible clamping block 15 and the second flexible clamping block 19 realize the common clamping of the sides of the fruits, then the motor 10 is continuously moved forward, the first flexible clamping block 15 and the second flexible clamping block 19 can compress the detection spring 18, a distance measuring sensor 16 works to measure the deformation of the detection spring 18, a worker can manually measure the fruits, the fruits cannot easily fall down, the proper clamping force is avoided, the damage to the fruits is avoided, the proper clamping force is obtained, the PLC (programmable logic controller) is not only can realize the measurement of the damage to the fruits, and the success rate is not reduced, and the success rate is controlled to be measured, and the damage to the PLC is also avoided;
Step three, a step of performing; under the regulation and control of the PLC controller 28, the coordination and the intercommunication of the ranging sensor 16, the mobile motor 10 and the slicing motor 23 are realized through the PLC controller 28, and after the follow-up measurement of the clamping force is completed, the PLC controller 28 regulates and controls the mobile motor 10 and the slicing motor 23 according to the measured data, so that the efficient proceeding of the follow-up picking work is ensured;
Step four, a step four is carried out; before picking, the robot linkage equipment integrally moves to the fruit, under the control of the PLC 28, the mobile motor 10 is started to rotate positively, the linkage sliding frame part 4 slides towards the fixed frame part 3, when the distance measuring sensor 16 reaches the position where the measurement is finished in advance, a signal is transmitted to the PLC 28 to stop the rotation of the mobile motor 10, and the fruits are fixed under the clamping of the first flexible clamping block 15 and the second flexible clamping block 19, so that the follow-up picking work is facilitated;
Step five, a step of performing a step of; when picking, after the fruit is clamped, a fine adjustment cutting assembly is arranged, a slicing motor 23 is started to drive a slicing knife 22 to rotate so as to cut off the fruit stalks of the fruit, so that the fruit is separated from the fruit stalks, and the picking of the fruit is realized;
step six, a step of performing a step of; when the cutting position is finely adjusted, the electric gear 25 is started, and the electric gear 25 is meshed with the adjusting rack 24 for transmission connection, so that the moving block 21 slides up and down in the rectangular frame 20 along with the forward and backward rotation of the electric gear 25, fine adjustment of the working height of the slicing knife 22 is realized, the situation that the slicing knife 22 with higher fruit stalk height cannot cover the cut-off is avoided, the success rate of integral picking is improved, meanwhile, under the matched arrangement of the scale bar 26 and the pointer 27, the accurate control of the adjusting range by workers is facilitated, and the free regulation and control of the workers are realized;
Step seven, a step of performing a step of; after picking is completed, the rotation of the slicing knife 22 is stopped, after the fruits are driven to move to the throwing position, the moving motor 10 is started to rotate reversely, the sliding frame part 4 moves away from the fixed frame part 3, the first flexible clamping block 15 and the second flexible clamping block 19 are separated, the fruits are conveniently and rapidly thrown, and the subsequent picking work can be rapidly performed.
Working principle: when the device is used, the whole device is connected with an external robot through the thread positioning piece 14, and the device can be driven to follow movement subsequently, so that the whole operation range of the device is enlarged; When the clamping range and the clamping force of the equipment are required to be measured before picking the current fruits, the fruits are placed on two groups of second flexible clamping blocks 19, then the moving motor 10 is started to rotate forward to drive the threaded rod 12 to rotate in a following way, as the threaded block 13 is connected with the threaded rod 12 in a screwed way, the reinforcing plate 9 moves along with the threaded block 13, the integral sliding frame part 4 moves up and down on the parallel track 2, the distance between the integral sliding frame part 4 and the fixed frame part 3 is reduced, the first flexible clamping block 15 is driven to move down to be attached to the fruits, the common clamping of the sides of the fruits is realized through the first flexible clamping block 15 and the second flexible clamping block 19, And then the motor 10 is continuously moved forward, so that the first flexible clamping block 15 and the second flexible clamping block 19 can achieve a relatively stable condition on the fruits, the second flexible clamping block 19 can compress the detection spring 18 at the moment, the distance measuring sensor 16 works to measure the deformation of the detection spring 18, a worker can manually stir the fruits, ensure that the fruits cannot fall easily, achieve proper clamping force and avoid clamping damage to the fruits, the data acquired by the distance measuring sensor 16 at the moment are transmitted to the PLC 28, the clamping force measuring work of the fruits can be realized, thus not only improving the picking success rate, but also reducing the damage rate, According to the operation method, the clamping force of different fruits can be measured, and the success rate of picking different fruits is improved; Under the regulation and control of the PLC controller 28, the coordination and the intercommunication of the ranging sensor 16, the mobile motor 10 and the slicing motor 23 are realized through the PLC controller 28, and after the follow-up measurement of the clamping force is completed, the PLC controller 28 regulates and controls the mobile motor 10 and the slicing motor 23 according to the measured data, so that the efficient proceeding of the follow-up picking work is ensured; before picking, the robot linkage equipment integrally moves to the fruit, under the control of the PLC 28, the mobile motor 10 is started to rotate positively, the linkage sliding frame part 4 slides towards the fixed frame part 3, when the distance measuring sensor 16 reaches the position where the measurement is finished in advance, a signal is transmitted to the PLC 28 to stop the rotation of the mobile motor 10, and the fruits are fixed under the clamping of the first flexible clamping block 15 and the second flexible clamping block 19, so that the follow-up picking work is facilitated; When picking, after the fruit is clamped, a fine adjustment cutting assembly is arranged, a slicing motor 23 is started to drive a slicing knife 22 to rotate so as to cut off the fruit stalks of the fruit, so that the fruit is separated from the fruit stalks, and the picking of the fruit is realized; When the cutting position is finely adjusted, the electric gear 25 is started, and the electric gear 25 is meshed with the adjusting rack 24 for transmission connection, so that the moving block 21 slides up and down in the rectangular frame 20 along with the forward and backward rotation of the electric gear 25, fine adjustment of the working height of the slicing knife 22 is realized, the situation that the slicing knife 22 with higher fruit stalk height cannot cover the cut-off is avoided, the success rate of integral picking is improved, meanwhile, under the matched arrangement of the scale bar 26 and the pointer 27, the accurate control of the adjusting range by workers is facilitated, and the free regulation and control of the workers are realized; After picking is completed, the rotation of the slicing knife 22 is stopped, after the fruits are driven to move to the throwing position, the moving motor 10 is started to rotate reversely, the sliding frame part 4 moves away from the fixed frame part 3, the first flexible clamping block 15 and the second flexible clamping block 19 are separated, the fruits are conveniently and rapidly thrown, and the subsequent picking work can be rapidly performed.
The invention relates to a clamping controllable fruit nondestructive picking end effector and a control method thereof, wherein the clamping controllable fruit nondestructive picking end effector comprises components which are universal standard components or components known by a person skilled in the art, the structure and the principle of the clamping controllable fruit nondestructive picking end effector are all known by the person skilled in the art through a technical manual or are known by a conventional experiment method, all electric devices in the clamping controllable fruit nondestructive picking end effector are connected through wires by referring to a power element, the electric devices and an adaptive monitoring computer and a power supply, and the electric connection is completed by referring to the following working principle in sequence, wherein the detailed connection means is known in the art, and the working principle and the process are mainly introduced and are not described in the electric control.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The clamping controllable nondestructive fruit picking end effector is characterized by comprising a sliding positioning seat (1), wherein a spacing adjusting assembly is arranged on the inner side of the sliding positioning seat (1), a dynamic clamping assembly is additionally arranged on the spacing adjusting assembly, and a fine adjustment cutting assembly is arranged below the spacing adjusting assembly;
The interval adjusting assembly comprises two groups of parallel rails (2), a fixed frame part (3), a sliding frame part (4) and a power part, wherein the parallel rails (2) are symmetrically arranged on two sides of the inner wall of the sliding positioning seat (1), the fixed frame part (3) is locked and installed at the bottom end of the inner wall of the sliding positioning seat (1), the sliding frame part (4) is slidably installed at the top end of the inner wall of the sliding positioning seat (1), the sliding frame part (4) is correspondingly and slidably clamped with a parallel slideway, and the power part is installed at the tail part between the fixed frame part (3) and the sliding frame part (4);
the fixed frame part (3) comprises two groups of reinforcing rods (5) and positioning plates (6), the reinforcing rods (5) are arranged on two sides of the bottom end of the inner wall of the sliding positioning seat (1) in a parallel locking mode, and two ends of each positioning plate (6) are fixed with the reinforcing rods (5) in a locking mode through bolts;
The sliding frame component (4) comprises two groups of reinforcing pieces (7), two groups of sliding rods (8) and reinforcing plates (9), wherein the reinforcing pieces (7) are arranged on two sides of the top end of the inner wall of the sliding positioning seat (1) in a parallel sliding manner, the tail parts of the reinforcing pieces (7) are correspondingly clamped with the parallel tracks (2) in a sliding manner, the reinforcing plates (9) are arranged on the rear half parts between the two groups of reinforcing pieces (7) in a locking manner, and the sliding rods (8) are arranged on the front half parts between the reinforcing pieces (7) in a spaced locking manner;
The power part comprises a mobile motor (10), four groups of optical axes (11), a threaded rod (12) and a thread block (13), wherein the mobile motor (10) is installed at the tail part of the lower surface of a positioning plate (6) in a locking manner, the four groups of optical axes (11) are installed on the upper surface of the positioning plate (6) in a rectangular manner, the top of the optical axis (11) slides through a reinforcing plate (9) to be arranged, the threaded rod (12) is rotatably installed on the upper surface of the positioning plate (6) and is positioned at the center of the four groups of optical axes (11), the thread block (13) is arranged on the reinforcing plate (9) in a penetrating manner, the threaded rod (12) penetrates through the thread block (13) in a threaded manner through threaded screwing, and the mobile motor (10) is in transmission connection with the threaded rod (12) through a coupling;
The dynamic clamping assembly comprises a first flexible clamping block (15), a ranging sensor (16), a moving part (17), a detection spring (18) and two groups of second flexible clamping blocks (19), wherein the first flexible clamping block (15) is fixedly sleeved outside the two groups of sliding rods (8), the ranging sensor (16) is arranged on the positioning plate (6), the moving part (17) is slidably arranged on the ranging sensor (16) in a penetrating manner, the detection spring (18) is sleeved outside the ranging sensor (16), the top of the detection spring (18) is in fit contact with the lower surface of the moving part (17), and the two groups of second flexible clamping blocks (19) are symmetrically sleeved on two sides of the top of the moving part (17);
The fine-tuning cutting assembly comprises a rectangular frame (20), a moving block (21), a slicing knife (22), a slicing motor (23) and an adjusting part, wherein the rectangular frame (20) is installed at the edge of one side of the lower surface of a positioning plate (6) in a locking mode, the moving block (21) is installed in the rectangular frame (20) in a sliding mode, the slicing knife (22) is installed on the outer side of the moving block (21) in a rotating mode, the output end of the slicing knife (22) extends out of the positioning plate (6) to be arranged towards the dynamic clamping assembly, the slicing motor (23) is installed on the inner side of the moving block (21) in a locking mode, the slicing motor (23) is in corresponding transmission connection with the slicing knife (22), and the adjusting part is installed at the bottom end in the rectangular frame (20).
The sliding positioning seat (1) is of a rectangular structure as a whole, a threaded positioning piece (14) is arranged at the center of the back of the sliding positioning seat (1), and the threaded positioning piece (14) is connected with an external robot;
The utility model provides a regulation portion is including adjusting rack (24), electric gear (25), scale strip (26) and pointer (27), it is fixed with movable block (21) lower surface closure to adjust rack (24) slip wearing to establish in rectangular frame (20) bottom, electric gear (25) are installed at rectangular frame (20) lower surface through the support, and electric gear (25) are connected with adjusting rack (24) meshing transmission, scale strip (26) are installed at rectangular frame (20) lateral wall, pointer (27) closure is installed in movable block (21) one side middle part, and pointer (27) correspond and extend to on scale strip (26).
2. A gripping controlled fruit non-destructive picking end effector according to claim 1, wherein: the parallel slide ways are arranged corresponding to the reinforcing pieces (7), and the cross sections of the parallel slide ways are of T-shaped structures.
3. A gripping controlled fruit non-destructive picking end effector according to claim 2, wherein: the reinforcing piece (7) is made of metal materials, and the reinforcing piece (7) is integrally of a Z-shaped structure.
4. A gripping controlled fruit non-destructive picking end effector according to claim 3, wherein: the first flexible clamping blocks (15) and the second flexible clamping blocks (19) are arranged in parallel, and the two groups of the second flexible clamping blocks (19) are symmetrically distributed.
5. A gripper-controllable fruit non-destructive picking end effector as claimed in claim 4, wherein: the groove is reserved on the lower surface of the first flexible clamping block (15), and the second flexible clamping block (19) is integrally of a half crescent structure.
6. A gripper-controllable fruit non-destructive picking end effector as claimed in claim 5, wherein: the side wall of the moving block (21) is in sliding fit with the inner wall of the rectangular frame (20), and a sliding rail corresponding to the moving block (21) is arranged on the inner wall of the rectangular frame (20).
7. The clamp-controllable fruit non-destructive picking end effector of claim 6, wherein: the intelligent picking device is characterized by further comprising a PLC (programmable logic controller) 28, wherein the PLC (28) is embedded at the top end of the inner side of the sliding positioning seat (1), the input end of the PLC (28) is connected with the ranging sensor (16) through wireless data, the output end of the PLC (28) is connected with the mobile motor (10) and the slicing motor (23) through wireless data respectively, and the PLC (28) can coordinate and control the ranging sensor (16) with the mobile motor (10) and the slicing motor (23) to pick.
8. A control method of a clamping controllable fruit nondestructive picking end effector is characterized by comprising the following steps of: a gripping controllable fruit non-destructive picking end effector according to any one of claims 1-7, the control method comprising in particular the steps of:
Step one, a step one; firstly, the whole equipment is connected with an external robot through a thread positioning piece (14), and the equipment can be driven to follow movement subsequently, so that the whole operation range of the equipment is enlarged;
step two, a step two is carried out; when the clamping range and the clamping force of the equipment are required to be measured before picking current fruits, the fruits are placed on two groups of second flexible clamping blocks (19), then the moving motor (10) is started to rotate forward, the threaded rod (12) is driven to rotate in a following manner, as the threaded blocks (13) are connected with the threaded rod (12) through threaded screwing, the reinforcing plate (9) moves along with the threaded blocks (13), the integral sliding frame part (4) moves up and down on the parallel tracks (2), the distance between the integral sliding frame part (4) and the fixed frame part (3) is reduced, the first flexible clamping block (15) is driven to move downwards to be attached to the fruits, the first flexible clamping block (15) and the second flexible clamping block (19) are driven to realize the common clamping of the sides of the fruits, then the motor (10) is continuously rotated forward, the first flexible clamping block (15) and the second flexible clamping block (19) can compress the detection ranging spring (18), the second flexible clamping block (19) can compress the detection ranging spring (16) at the moment, the work of the sensor (16) can be prevented from being damaged by the manual deformation of the fruit sensor (16), the fruit sensor (16) can be prevented from being damaged by the manual deformation, the manual deformation of the sensor can be prevented from being caused, the clamping force measurement work of the fruits can be realized, so that the picking success rate is improved, and the damage rate is reduced;
Step three, a step of performing; under the regulation and control of the PLC (28), the coordination and intercommunication of the ranging sensor (16) with the mobile motor (10) and the slicing motor (23) are realized through the PLC (28), and after the follow-up measurement of the clamping force is completed, the PLC (28) regulates and controls the mobile motor (10) and the slicing motor (23) according to the measurement data, so that the efficient proceeding of the follow-up picking work is ensured;
step four, a step four is carried out; before picking, the robot linkage equipment integrally moves to a fruit position, under the control of a PLC (programmable logic controller) (28), a mobile motor (10) is started to rotate positively, a linkage sliding frame part (4) slides towards a fixed frame part (3), when a ranging sensor (16) reaches a position where measurement is finished in advance, a signal is transmitted to the PLC (28) to stop the rotation of the mobile motor (10), and the fruit is fixed under the clamping of a first flexible clamping block (15) and a second flexible clamping block (19), so that the follow-up picking work is facilitated;
step five, a step of performing a step of; when picking, after the fruit is clamped, a fine adjustment cutting assembly is arranged, a slicing motor (23) is started, and the slicing knife (22) is driven to rotate to cut off the fruit stalks of the fruit, so that the fruit is separated from the fruit stalks, and the picking work of the fruit is realized;
Step six, a step of performing a step of; when the cutting position is finely adjusted, the electric gear (25) is started, and as the electric gear (25) is in meshed transmission connection with the adjusting rack (24), the moving block (21) slides up and down along with the positive and negative rotation of the electric gear (25) in the rectangular frame (20), so that the fine adjustment of the working height of the slicing knife (22) is realized, the situation that the slicing knife (22) with higher fruit stalk height cannot cover the cutting is avoided, the success rate of integral picking is improved, and meanwhile, under the matched arrangement of the scale bar (26) and the pointer (27), the accurate control of the adjusting range is facilitated for workers, and the slicing knife can be freely regulated and controlled by the workers;
Step seven, a step of performing a step of; after picking, the rotation of the slicing knife (22) is stopped, after the fruits are driven to move to the throwing position, the moving motor (10) is started to rotate reversely, the sliding frame part (4) is far away from the fixed frame part (3), the first flexible clamping block (15) is separated from the second flexible clamping block (19), the fruits are conveniently and rapidly thrown, and the follow-up picking work can be rapidly carried out.
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|---|---|---|---|---|
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN109479522A (en) * | 2018-12-27 | 2019-03-19 | 甘肃农业大学 | A kind of fruit picking robot and its picking method |
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| CN109788732B (en) * | 2016-07-19 | 2022-07-22 | 欧科体尼恩公司 | Device for picking fruit with a robot arm |
| GB201802335D0 (en) * | 2018-02-13 | 2018-03-28 | Norwegian Univ Of Life Sciences | Device for picking fruit |
| CN111247962B (en) * | 2020-02-06 | 2023-11-24 | 山东农业大学 | End effector of fruit picking robot and picking method |
| CN215122223U (en) * | 2021-07-13 | 2021-12-14 | 西北农林科技大学 | Rotary separating type kiwi fruit picking end effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN109479522A (en) * | 2018-12-27 | 2019-03-19 | 甘肃农业大学 | A kind of fruit picking robot and its picking method |
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