CN204272703U - The flexible fruit picking actuator of a kind of self-adapting type - Google Patents

Abstract

The utility model discloses the flexible fruit picking actuator of a kind of self-adapting type; Technical problem to be solved is: existing harvesting actuator is in the deficiency easily breaking fixture and easily destroy in fruit.The technical scheme adopted is: the flexible fruit picking actuator of a kind of self-adapting type, comprises the driver that actuator main body, blade, mounting flange, fruit containers, crank and rocker mechanism and driving crank endplay device swing; Actuator main body is connected with mounting flange slidingtype by the polished rod being no less than; Blade is fixedly installed in actuator main body; Fruit containers is connected with actuator main body, and fruit containers and the fruit in the actuator main body mouth that falls is connected; Fruit containers is positioned at immediately below blade; Driver is fixedly installed in actuator main body; The output shaft connecting crank endplay device of driver.Advantage: the departure that can absorb robot vision and mechanical arm preferably, harvesting success rate is high.Drive with control mode simple, pluck operating speed higher.

Description

An adaptive flexible fruit picking actuator

technical field

The utility model relates to an adaptive flexible fruit picking actuator, in particular to the development field of an agricultural fruit and vegetable picking robot end effector, in particular to the technical field of a spherical fruit picking robot end effector.

Background technique

Agricultural informatization is a major strategic choice for our country to build modern agriculture after entering the 21st century, and it is an important part of realizing agricultural modernization. As an integral part of agricultural informatization, digital agriculture's technological innovation and application practice will lead the rapid development of modern agriculture in my country. Agricultural intelligent control technology is the symbol of realizing digital agriculture. However, in fruit production, the picking operation is the most time-consuming and labor-intensive link, and its cost accounts for about 50% to 70% of the cost. Fruit picking robot is an important type of agricultural robot. It can reduce the labor intensity and production cost of workers, and has great development potential.

At present, most of the methods of picking actuators to separate fruit trees and fruits are roughly divided into two categories. The first category is to forcibly pull off the fruit stem to separate the fruit from the fruit tree; the second category is to tighten the fruit with a clamp first, and then pass Scissors, saw blades, high-pressure water guns, lasers and other tools cut off the stems and pick the fruits from the trees. For the first type of picking end, it is easy to pull off other branches, which will cause greater damage to the fruit tree. The second type of picking execution end also has fatal shortcomings: First, before the actuator cuts off the fruit stem, it must first clamp the fruit with a clamp. The force of the clamp is difficult to control. If it is too small, the fruit will fall off. It will damage the fruit; the second is to firmly grasp the fruit, so the requirements for image processing and the control of the picking point are relatively high, and small errors will lead to the failure of picking. And too many sensors will make the control complicated and cumbersome.

Utility model content

In order to overcome the deficiencies of the existing picking actuators in terms of easily breaking the clamp and easily destroying the fruit, the utility model provides an adaptive flexible fruit picking end effector, which can not only effectively protect the plants, but also have a high impact on precision, The control requirements are low, which effectively guarantees the picking efficiency.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:

An adaptive flexible fruit picking actuator, comprising an actuator body, a blade, a fixing flange, a fruit container, a crank rocker mechanism and a driver for driving the crank rocker mechanism to swing;

The main body of the actuator is slidably connected to the fixed flange through no less than one polished rod;

The blade is fixedly arranged on the main body of the actuator;

The fruit container is connected to the main body of the actuator, and the fruit container is connected to the fruit drop opening on the main body of the actuator; the fruit container is located directly below the blade;

The driver is fixedly arranged on the main body of the actuator; the output shaft of the driver is connected with the crank rocker mechanism.

Further improvement, the crank and rocker mechanism in the utility model adopts the crank and rocker mechanism of the prior art and can also realize the purpose of the invention of the utility model, and the utility model preferably adopts the crank and rocker mechanism of the following structure.

The crank rocker mechanism in the utility model includes a first connecting rod, a second connecting rod and a swing rod; one end of the first connecting rod is connected to the output shaft of the driver. The other end is rotatably connected to one end of the second connecting rod; the other end of the second connecting rod is rotatably connected to the swing rod. When the crank rocker mechanism of the utility model is working, when the external mechanical arm drives the actuator close to the fruit, the pendulum rotates at a slower angular speed. If it touches the fruit stem, it will pull the actuator closer. When the fruit stem approaches the blade When the time swing bar can rotate with a faster angular velocity, and then cut off the fruit stalk, the fruit just in time falls into the fruit container.

Further improvement, the front end of the swing rod is arc-shaped. In the utility model, the front end of the pendulum is set in an arc shape to better adapt to the shape of the fruit and to prevent the fruit from falling off during the process of pulling the actuator closer.

As a further improvement, the actuator also includes a compression spring; the compression spring is sleeved on the polished rod; one end of the compression spring is in contact with the step surface on the polished rod, and the other end is in contact with the main body of the actuator. The compression spring in the utility model can ensure that after the fruits are picked, the main body of the actuator returns to the initial position.

As a further improvement, the number of the polished rods is three; the polished rods are arranged in a straight line; the compression spring is sleeved on the polished rods located in the middle. In the utility model, such a design is preferred to make the main body of the actuator more stable.

As a further improvement, the driver is a motor.

Compared with the prior art, the utility model has the beneficial effects of:

1. It can better absorb the control error of robot vision and mechanical arm, and has a high picking success rate. 2. The driving and control methods are simple, and the picking speed is high. 3. It has good versatility and can meet the requirements of picking different types of spherical fruits. 4. The blade used to cut off the fruit stem is fixed on the frame of the actuator body above the fruit container, which can avoid picking failure caused by the fruit falling outside the fruit container; this design also solves the problem that the clamp is easy to scratch The problem of damaging the fruit skin.

Description of drawings

Fig. 1 is an assembly perspective view of the utility model.

Fig. 2 is a sectional view of the utility model.

Fig. 3 is a perspective view of the embodiment.

In the figure, 1. Fixed flange; 2. Driver; 3. First connecting rod; 4. Second connecting rod; 5. Swing rod; 6. Fruit container; 7. Actuator main body; 8. Polished rod; 9. Blade ; 10. Compression spring; 11. Fruit.

Detailed ways

The technical solutions of the utility model are described in detail below, but the protection scope of the utility model is not limited to the embodiments.

In order to make the content of the present utility model more obvious and understandable, further description will be made below in conjunction with accompanying drawings 1-3 and specific implementation methods.

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Example:

Figures 1 and 2 are assembly perspective views of the present utility model; including actuator main body 7, blade 9, fixed flange 1, fruit container 6, crank rocker mechanism and driver 2;

The crank rocker mechanism includes a first connecting rod 3 , a second connecting rod 4 and a swing rod 5 .

In Figures 1 and 2, one side of the fixing flange 1 is connected to the end of the mechanical arm by screws, and the other side is connected to the actuator body 7 through three polished rods 8, and the actuator body 7 can slide along the direction of the polished rods 8. A very small stage clip 10 with an elastic coefficient is housed on a polished rod 8 in the middle, which can ensure that the actuator main body 7 is driven back to the initial position in time after the blade 9 cuts off the fruit stem. A motor is installed above the actuator main body 7, and its constant-speed rotational motion is converted into variable-speed swing of the fork 5 after passing through the first connecting rod 3 and the second connecting rod 4 . Wherein, the motor shaft and the first connecting rod 3 are fixed together, and the first connecting rod 3 rotates together with the motor shaft. The first connecting rod 3 and the second connecting rod 4 are connected by a hinge, and they can rotate relative to each other. The swing link 5 and the second connecting rod 4 are also connected by a hinge, and the swing link 5 is connected to the actuator body 7 by a pin at the same time, so that the swing link 5 can rotate around the center of the pin. Blade 9 is fixed on the actuator main body 7, and a fruit container 6 is placed directly below blade 9.

Due to the adoption of the crank rocker mechanism, different speeds of the swing rod can be realized under the uniform rotation of the motor.

Below in conjunction with embodiment the utility model is described in further detail:

As shown in Figure 3, this embodiment is implemented on the premise of the technical solution of the utility model, and the detailed implementation and specific operation process are given, but the protection scope of the utility model is not limited to the following embodiments.

When using this actuator for picking, it is divided into four steps:

In the first step, the robotic arm moves together with the actuator to a proper position away from the target fruit.

In the second step, the motor rotates, driving the pendulum 5 to rotate slowly, and pulling the actuator main body 7 to move closer to the target fruit.

The 3rd step, when fruit is close to blade 9, fork 5 rotates fast, cuts fruit stem.

In the fourth step, after the fruit stem is cut short, the actuator main body 7 is only subjected to the thrust of the compression spring in the lateral direction, and under the action of this force, the actuator main body returns to the initial position.

In Fig. 3, under the driving of the mechanical arm, the actuator is brought to a certain distance from the fruit. At this moment, the motor rotates to drive the first connecting rod 3, the second connecting rod 4, and the swing rod 5 to move (see Fig. 3 ). The swing rod 5 has a certain radian, so as not to allow the fruit to slide down. Fork 5 rotates slowly at first, and after rotating a certain angle, will touch fruit stem, if continue to rotate again, actuator main body 7 just can slide toward the direction close to fruit along polished rod 8. When the fork 5 was near the blade 9, the fork 5 cut off the fruit stem at a faster speed, and the fruit fell into the fruit container 6. At this time, the fork 5 was not given its active force by the fruit stalk. Under the action of the compression spring 10, the actuator body 7 is pulled back to the initial position. So far, the executor has completed one of its picking tasks.

As stated above, although the invention has been shown and described with reference to certain preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. An adaptive flexible fruit picking actuator is characterized in that it comprises an actuator body (7), a blade (9), a fixed flange (1), a fruit container (6), a crank rocker mechanism and a drive crank A driver (2) for swinging of the rocker mechanism; The actuator body (7) is slidingly connected to the fixed flange (1) through no less than one polished rod (8); The blade (9) is fixedly arranged on the actuator body (7); The fruit container (6) is connected to the actuator main body (7), and the fruit container (6) is connected to the fruit drop port on the actuator body (7); the fruit container (6) is located on the blade (9) directly below; The driver (2) is fixedly arranged on the actuator main body (7); the output shaft of the driver (2) is connected to the crank rocker mechanism. 2. The self-adaptive flexible fruit picking actuator according to claim 1, characterized in that, said crank rocker mechanism comprises a first connecting rod (3), a second connecting rod (4) and a swing rod (5) One end of the first connecting rod (3) connects the output shaft of the driver (2); the other end rotates and connects an end of the second connecting rod (4); the other end of the second connecting rod (4) rotates and connects the fork ( 5). 3. The self-adaptive flexible fruit picking actuator according to claim 2, characterized in that, the front end of the swing rod (5) is arc-shaped. 4. The self-adaptive flexible fruit picking actuator according to claim 1, characterized in that, the actuator also includes a compression spring (10); the compression spring (10) is sleeved on the polished rod (8); One end of the spring (10) is in contact with the step surface on the polished rod (8), and the other end is in contact with the actuator main body (7). 5. adaptive type flexible fruit picking actuator as claimed in claim 4, is characterized in that, the quantity of described polished rod (8) is three; Described polished rod (8) is straight-line arrangement; Described stage clip (10 ) is set on the polished rod (8) in the middle. 6. The adaptive flexible fruit picking actuator according to claim 1, characterized in that, the driver (2) is a motor.