A completely motion-decoupled, easy-to-control hybrid operator

Abstract

The invention relates to the technical field of agricultural mobile picking robots, and in particular to an easy-to-control hybrid operator with complete motion decoupling, comprising a series mechanism part and a parallel mechanism part, wherein the series mechanism part comprises a horizontal beam, a plumb beam, a plumb member and a plumb movable arm, wherein the horizontal beam is installed on a guide rail, and the horizontal beam is connected to a moving pair 1 and can move forward and backward in an X direction; the upper end of the plumb beam is connected to the horizontal beam through a moving pair 2 and can move left and right in a Y direction; when in use, the series mechanism part enables the hybrid operator to move in X-Y-Z-γ, so that the hybrid operator has a large working space, and the parallel part enables the hybrid operator to adjust its posture in α-β, so as to improve the posture accuracy of the hybrid operator and reduce the cumulative error of the hybrid operator, that is, the series mechanism part and the parallel part make it easy and convenient to solve the dynamics of the hybrid operator, easy to manufacture and low in cost, and each of them is responsible for an output that is easy to control and has high control accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural mobile picking robots, and in particular to an easy-to-control hybrid operator with complete motion decoupling. Background Art

[0002] The cost of harvesting special economic crops such as fruits and tea accounts for 50% to 70% of the production cost. In order to solve the problem of labor substitution in the harvesting process, it is urgent to develop agricultural mobile picking robots that can efficiently and accurately pick in non-structured environments. At present, the picking efficiency of picking robots is low, and many products basically stay at a single fruit picking time of about 20 seconds. Picking robots also have the following characteristics: first, the operation of fruit and tea robots is highly seasonal and the cost of use is high; second, the operating environment of fruit and tea picking robots is complex and changeable; and third, the objects of use of fruit and tea picking robots are particular. Therefore, for special economic crops such as fruits and tea, providing lightweight, low-cost, small-volume, and high-efficiency picking robots, providing more compact and multifunctional mechanism designs, and meeting the efficient picking of special economic crops such as fruits and tea in China's complex terrain is the next design trend of picking robots.

[0003] The performance of the picking robot determines the quality and picking rate of picking. At present, the patents related to the picking robot are mainly: 1. Patent No.: ZL201510546355.5, the name of the invention is: Tea picking machine, 2. Patent No.: ZL201710322278.4, the name of the invention is: Tea bionic picking finger, 3. Patent No.: ZL202010397126.2, the name of the invention is: A parallel automatic famous tea picking robot, 4. Patent No.: ZL201811294419.7, the name of the invention is: The name is: a famous tea picking robot, 5. Patent number: ZL201810756487.4, the name of the invention is: a fruit picking robot, 6. Patent number: ZL201810756487.4, the name of the invention is: a suspended fruit picking robot arm, 7. Patent number: ZL201711308897.4, the name of the invention is: a flexible mechanical claw based on force sensitivity and its use method, 8. Patent number: ZL202020367930.1, the name of the invention is: a picking robot. The above devices are all connected in series with each other and perform actions. The posture of the series mechanism is limited when performing actions. For example, when working at high altitude, it is necessary to cut branches or pick fruits, etc., which cannot meet the cutting or picking posture. At the same time, the series mechanism is transmitted step by step, and it is not easy to control the accuracy of the execution end, which reduces work efficiency, limits the use of the equipment, and increases the labor intensity of the staff.

[0004] In order for the harvesting manipulator to work smoothly, it is necessary to reach any point position and multiple postures in the physical space. To this end, it is necessary to research and invent a new type of 6-DOF harvesting manipulator that is easy to manufacture, low in cost and easy to control, laying a technical foundation for the high efficiency, flexibility and precise intelligent harvesting of special crops in complex environments. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the problem that the existing devices are all connected in series between mechanisms to execute actions, the posture is limited, and the cumulative error transmitted step by step by the series mechanism makes it difficult to control the accuracy of the execution end, reduces work efficiency, limits the use of the equipment, and increases the labor intensity of the staff, a fully motion-decoupled and easy-to-control hybrid operator is provided.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a completely motion-decoupled, easy-to-control hybrid operator, comprising a series mechanism part and a parallel mechanism part, wherein the series mechanism part comprises a horizontal beam, a plumb beam, a plumb member and a plumb arm, wherein the horizontal beam is installed on a guide rail, and the horizontal beam is connected to a moving pair 1 and can move forward and backward in the X direction; the upper end of the plumb beam is connected to the horizontal beam through a moving pair 2 and can move left and right in the Y direction; the upper end of the plumb member is connected to the lower end of the plumb beam through a moving pair 3 and can move up and down in the Z direction; the upper end of the plumb arm is connected to the lower end of the plumb member through a plumb rotating pair 5 and can rotate around the axis of the plumb member;

[0007] The parallel mechanism part includes a planar four-bar mechanism and a motor. The planar four-bar mechanism is composed of a rotating pair 1, a rotating pair 2, a rotating pair 3 and a rotating pair 4 whose rotation axes are parallel to each other and connected in series in sequence. The bottom edge component between the rotating pair 1 and the rotating pair 2 is connected to the lower end of the vertical movable arm through a rotating pair 6, so that the planar four-bar mechanism can rotate around the axis of the rotating pair 6. One end of the bottom edge component is connected to the extended shaft of the motor. The motor is installed on the vertical movable arm. A hand grip is installed on the component between the rotating pair 2 and the rotating pair 3. The moving pair 1, the moving pair 2, the moving pair 3, the vertical rotating pair 5 and the rotating pair 1 are all driving pairs. The rotation center axis of the rotating pair 6 is perpendicular to the rotation center axis of the rotating pair 2.

[0008] Furthermore, the rotation center axis of the sixth rotation pair is perpendicular to the rotation center axis of the fifth vertical rotation pair.

[0009] Furthermore, the rotation center axis of the second rotation pair is perpendicular to the rotation center axis of the fifth vertical rotation pair.

[0010] Furthermore, the motor is mounted on the vertical movable arm via a fixed support plate.

[0011] One embodiment of the planar four-bar mechanism is as follows: a fully motion-decoupled, easy-to-control hybrid operator, comprising a serial mechanism part and a parallel mechanism part, wherein the serial mechanism part comprises a horizontal beam, a plumb beam, a plumb member and a plumb arm, wherein the horizontal beam is mounted on a guide rail, and the horizontal beam is connected to a moving pair 1 and can move forward and backward in the X direction; the upper end of the plumb beam is connected to the horizontal beam through a moving pair 2 and can move left and right in the Y direction; the upper end of the plumb member is connected to the lower end of the plumb beam through a moving pair 3 and can move up and down in the Z direction; the upper end of the plumb arm is connected to the lower end of the plumb member through a plumb rotating pair 5 and can rotate around the axis of the plumb member;

[0012] The parallel mechanism part includes a planar four-bar mechanism and a motor. The planar four-bar mechanism is composed of a slider four, a rotating pair one, a rotating pair two and a rotating pair three connected in series in sequence. The rotation center axes of the rotating pair one, the rotating pair two and the rotating pair three are parallel to each other. The components between the rotating pair one and the rotating pair three are connected by a slider four. The bottom edge component between the rotating pair one and the rotating pair two is connected to the lower end of the vertical movable arm through a rotating pair six, so that the planar four-bar mechanism can rotate around the axis of the rotating pair six. One end of the bottom edge component is connected to the extended shaft of the motor. The motor is installed on the vertical movable arm. A hand grip is installed on the component between the rotating pair two and the rotating pair three. The moving pair one, the moving pair two, the moving pair three, the vertical rotating pair five and the rotating pair one are all driving pairs. The rotation center axis of the rotating pair six is ​​perpendicular to the rotation center axis of the rotating pair two.

[0013] Furthermore, the rotation center axis of the sixth rotation pair is perpendicular to the rotation center axis of the fifth vertical rotation pair.

[0014] Furthermore, the rotation center axis of the second rotation pair is perpendicular to the rotation center axis of the fifth vertical rotation pair.

[0015] Furthermore, the motor is mounted on the vertical movable arm via a fixed support plate.

[0016] The beneficial effects of the present invention are as follows: when the fully motion-decoupled and easily controllable hybrid operator is in use, the series mechanism part enables the hybrid operator to move in XYZ-γ, so that the hybrid operator has a large working space, and the parallel part enables the hybrid operator to adjust its posture in α-β, thereby improving the posture accuracy of the hybrid operator and reducing the cumulative error of the hybrid operator. That is, the series mechanism part and the parallel part make it easy and convenient to solve the dynamics of the hybrid operator, easy to manufacture and low in cost, and each is responsible for an output that is easy to control and has high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention;

[0019] Figure 2 It is a structural diagram of embodiment 2 of the present invention.

[0020] In the figure: 0, frame, 1, component, 1', hand grip, 2, component, 3, component, 4, bottom edge component, 4', coupling, 4", motor, 5, vertical arm, 5', fixed support plate, 6, vertical component, 7, vertical beam, 8, horizontal beam, 9, guide rail;

[0021] P1, mobile pair one, P2, mobile pair two, P3, mobile pair three;

[0022] R0, rotation pair 6, R1, rotation pair 1, R2, rotation pair 2, R3, rotation pair 3, R4, rotation pair 4, R5, vertical rotation pair 5;

[0023] α is the rotation angle of the hand grip around the second revolving pair;

[0024] β is the rotation angle of the hand grip around the revolving pair 6;

[0025] γ is the rotation angle of the vertical boom around the central axis of the vertical member. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with embodiments:

[0027] The present invention is not limited to the following specific embodiments. A person skilled in the art can implement the present invention in various other specific embodiments according to the contents disclosed in the present invention, or any simple changes or modifications made to the design structure and ideas of the present invention fall within the protection scope of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0030] Example 1

[0031] like Figure 1 As shown, a fully motion-decoupled easy-to-control hybrid operator comprises a serial mechanism part, which comprises a horizontal beam 8, a plumb beam 7, a plumb member 6 and a plumb boom 5. The two ends of the horizontal beam 8 are suspended on two parallel guide rails 9 of a frame 0 through a moving pair 1 P1, and the horizontal beam 8 can move forward and backward in the X direction; the upper end of the plumb beam 7 is connected to the horizontal beam 8 through a moving pair 2 P2, and the plumb beam 7 can move left and right in the Y direction; the upper end of the plumb member 6 is connected to the lower end of the plumb beam 7 through a moving pair 3 P3, and the plumb member 6 can move up and down in the Z direction; the upper end of the plumb boom 5 is connected to the lower end of the plumb member 6 through a plumb rotating pair 5 R5, and the plumb boom 5 can rotate around the central axis of the plumb member 6 by an angle γ. Since the crops to be picked are relatively high and the range is relatively wide, the serial mechanism part can realize the four-dimensional independent motion of XYZ-γ, and the operation range of the hybrid operator is expanded by the serial mechanism part;

[0032] The hybrid operator also includes a parallel mechanism part, which includes a planar four-bar mechanism and a motor 4", and the planar four-bar mechanism is composed of a rotating pair 1 R1, a rotating pair 2 R2, a rotating pair 3 R3 and a rotating pair 4 R4 whose rotation axes are parallel to each other and are connected in series in sequence. The bottom edge component 4 between the rotating pair 1 R1 and the rotating pair 2 R2 is connected to the lower end of the vertical movable arm 5 through the rotating pair 6 R0, so that the planar four-bar mechanism can rotate around the axis of the rotating pair 6 R0, and one end of the bottom edge component 4 is connected to the extended shaft of the motor 4" through a coupling 4', and the motor 4" is installed on the vertical movable arm 5 through a fixed supporting plate 5'. A hand grip 1' is installed on the component 1 between the rotating pair 2 R2 and the rotating pair 3 R3, and the moving pair 1 P1, the moving pair 2 P2, the moving pair 3 P3, the vertical rotating pair 5 R5 and the rotating pair 1 R1 are all driving The driving pair is a cylinder, an electric push rod or an oil cylinder, but is not limited to a cylinder, an electric push rod or an oil cylinder. Other devices that can realize the driving pair function are all acceptable. The rotation center axis of the rotating pair six R0 is perpendicular to the rotation center axis of the rotating pair two R2, the rotation center axis of the rotating pair six R0 is perpendicular to the rotation center axis of the vertical rotating pair five R5, the rotation center axis of the rotating pair two R2 is perpendicular to the rotation center axis of the vertical rotating pair five R5. The hand grip 1' can realize the rotation angle two β around the horizontal rotating pair six R0 and the rotation angle three α around the axis of the rotating pair two R2. The hand grip 1' performs posture adjustment through the parallel mechanism part, reduces the cumulative error caused by series connection, and improves the posture adjustment accuracy. Therefore, the six-degree-of-freedom hybrid manipulator can realize the output motion of three translations (XYZ) and three rotations (γ-α-β).

[0033] Example 2

[0034] Example 2 is another implementation of the planar four-bar mechanism, specifically: Figure 2 As shown, a fully motion-decoupled easy-to-control hybrid operator includes a serial mechanism part, wherein the two ends of a horizontal beam 8 are suspended on two parallel guide rails 9 of a frame 0 through a moving pair P1, and the horizontal beam 8 can move forward and backward in the X direction; the upper end of a vertical beam 7 is connected to the horizontal beam 8 through a moving pair P2, and the vertical beam 7 can move left and right in the Y direction; the upper end of a vertical member 6 is connected to the lower end of the vertical beam 7 through a moving pair P3, and the vertical member 6 can move up and down in the Z direction; the upper end of a vertical arm 5 is connected to the lower end of the vertical member 6 through a vertical rotating pair R5, and the vertical arm 5 can rotate around the central axis of the vertical member 6 by an angle γ. Since the crops to be picked are relatively high and the range is relatively wide, the serial mechanism part can realize four-dimensional independent motion of XYZ-γ, and the operation range of the hybrid operator is expanded through the serial mechanism part;

[0035] The hybrid operator also includes a parallel mechanism part, which includes a planar four-bar mechanism and a motor 4", and the planar four-bar mechanism is composed of a slider four P4, a rotating pair one R1, a rotating pair two R2 and a rotating pair three R3 connected in series in sequence. The rotation center axes of the rotating pair one R1, the rotating pair two R2 and the rotating pair three R3 are parallel to each other. The component 2 and the component 3 between the rotating pair one R1 and the rotating pair three R3 are connected through a slider four P4, and the bottom edge component 4 between the rotating pair one R1 and the rotating pair two R2 is connected to the lower end of the vertical movable arm 5 through a rotating pair six R0, so that the planar four-bar mechanism can rotate around the axis of the rotating pair six R0. One end of the bottom edge component 4 is connected to the extended shaft of the motor 4", and the motor 4" is installed on the vertical movable arm 5 through a fixed supporting plate 5'. A hand grip 1' is installed on the component 1 between the rotating pair two R2 and the rotating pair three R3, and the moving pair one P1, the moving pair two P2, the moving pair three P3, the vertical rotating pair five R5 and the rotating pair one R1 are connected. All of them are driving pairs. Mobile pair 1 P1, mobile pair 2 P2, mobile pair 3 P3, vertical rotation pair 5 R5 and rotation pair 1 R1 are all driving pairs. The driving pair is a cylinder, an electric push rod or an oil cylinder, but is not limited to cylinders, electric push rods or oil cylinders. Other types that can realize the function of the driving pair are all acceptable. The rotation center axis of rotation pair 6 R0 is perpendicular to the rotation center axis of rotation pair 2 R2, the rotation center axis of rotation pair 6 R0 is perpendicular to the rotation center axis of vertical rotation pair 5 R5, and the rotation center axis of rotation pair 2 R2 is perpendicular to the rotation center axis of vertical rotation pair 5 R5. The hand grip 1' can realize the rotation angle 2 β around the horizontal rotation pair 6 R0 and the rotation angle 3 α around the axis of rotation pair 2 R2. The hand grip 1' performs posture adjustment through the parallel mechanism part to reduce the cumulative error caused by series connection and improve the posture adjustment accuracy. Therefore, the six-degree-of-freedom hybrid manipulator can realize the output motion of three translations (XYZ) and three rotations (γ-α-β).

[0036] The above-mentioned ideal embodiments of the present invention are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the technical idea of ​​the present invention. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A fully motion decoupled, easy-to-control hybrid operator, characterized by: The invention comprises a series mechanism part and a parallel mechanism part, wherein the series mechanism part comprises a horizontal beam (8), a vertical beam (7), a vertical member (6) and a vertical movable arm (5), wherein the horizontal beam (8) is mounted on a guide rail (9), and the horizontal beam (8) is connected to a first movable pair (P1) and can move forward and backward in the X direction; the upper end of the vertical beam (7) is connected to the horizontal beam (8) through a second movable pair (P2) and can move left and right in the Y direction; the upper end of the vertical member (6) is connected to the lower end of the vertical beam (7) through a third movable pair (P3) and can move up and down in the Z direction; the upper end of the vertical movable arm (5) is connected to the lower end of the vertical member (6) through a fifth movable pair (R5) and can rotate around the axis of the vertical member (6); The parallel mechanism part comprises a planar four-bar mechanism and a motor (4”), wherein the planar four-bar mechanism is composed of a rotation pair 1 (R1), a rotation pair 2 (R2), a rotation pair 3 (R3) and a rotation pair 4 (R4) whose rotation axes are parallel to each other and connected in series in sequence, and the bottom side member (4) between the rotation pair 1 (R1) and the rotation pair 2 (R2) is connected to the lower end of the vertical arm (5) through the rotation pair 6 (R0), so that the planar four-bar mechanism can rotate around the axis of the rotation pair 6 (R0), and the bottom side member One end of (4) is connected to the extended shaft of the motor (4"), and the motor (4") is installed on the vertical movable arm (5). A hand grip (1') is installed on the component (1) between the rotating pair 2 (R2) and the rotating pair 3 (R3). The movable pair 1 (P1), the movable pair 2 (P2), the movable pair 3 (P3), the vertical rotating pair 5 (R5) and the rotating pair 1 (R1) are all driving pairs. The rotation center axis of the rotating pair 6 (R0) is perpendicular to the rotation center axis of the rotating pair 2 (R2); The rotation center axis of the rotation pair six (R0) is perpendicular to the rotation center axis of the vertical rotation pair five (R5); The rotation center axis of the second rotation pair (R2) is perpendicular to the rotation center axis of the fifth vertical rotation pair (R5).

2. The easy-to-control hybrid operator with complete motion decoupling according to claim 1 is characterized in that: The motor (4") is mounted on the vertical movable arm (5) via a fixed support plate (5').

3. A fully motion decoupled, easy-to-control hybrid operator, characterized by: The invention comprises a series mechanism part and a parallel mechanism part, wherein the series mechanism part comprises a horizontal beam (8), a vertical beam (7), a vertical member (6) and a vertical movable arm (5), wherein the horizontal beam (8) is mounted on a guide rail (9), and the horizontal beam (8) is connected to a first movable pair (P1) and can move forward and backward in the X direction; the upper end of the vertical beam (7) is connected to the horizontal beam (8) through a second movable pair (P2) and can move left and right in the Y direction; the upper end of the vertical member (6) is connected to the lower end of the vertical beam (7) through a third movable pair (P3) and can move up and down in the Z direction; the upper end of the vertical movable arm (5) is connected to the lower end of the vertical member (6) through a fifth movable pair (R5) and can rotate around the axis of the vertical member (6); The parallel mechanism part comprises a planar four-bar mechanism and a motor (4”), wherein the planar four-bar mechanism is composed of a slider four (P4), a rotation pair one (R1), a rotation pair two (R2) and a rotation pair three (R3) which are sequentially connected in series, wherein the rotation center axes of the rotation pair one (R1), the rotation pair two (R2) and the rotation pair three (R3) are parallel to each other, the component (2) and the component (3) between the rotation pair one (R1) and the rotation pair three (R3) are connected via a slider four (P4), and the bottom side component (4) between the rotation pair one (R1) and the rotation pair two (R2) is connected to the vertical arm ( 5), so that the planar four-bar mechanism can rotate around the axis of the rotating pair six (R0), one end of the bottom edge member (4) is connected to the extended shaft of the motor (4"), and the motor (4") is installed on the vertical movable arm (5), and a hand grip (1') is installed on the member (1) between the rotating pair two (R2) and the rotating pair three (R3), and the movable pair one (P1), the movable pair two (P2), the movable pair three (P3), the vertical rotating pair five (R5) and the rotating pair one (R1) are all driving pairs, and the rotation center axis of the rotating pair six (R0) is perpendicular to the rotation center axis of the rotating pair two (R2); The rotation center axis of the rotation pair six (R0) is perpendicular to the rotation center axis of the vertical rotation pair five (R5); The rotation center axis of the second rotation pair (R2) is perpendicular to the rotation center axis of the fifth vertical rotation pair (R5).

4. The easy-to-control hybrid operator with complete motion decoupling according to claim 3 is characterized in that: The motor (4") is mounted on the vertical movable arm (5) via a fixed support plate (5').

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