A rotary clamping type robot end effector for green asparagus picking

Abstract

A rotary clamping type robot end effector for green asparagus picking, comprising a connecting frame, a cutting and clamping mechanism, a guide mechanism and a collection and transfer mechanism. The application mainly rotates the cutting drive motor and the rotary clamping drive motor to drive the cutting blade to rotate and cut the green asparagus, while the green asparagus is transported backward by the rotary clamp into the collection area surrounded by the backstop; after picking several green asparagus by repeating the above steps, the push-pull electromagnet is powered to push the transfer bottom cover to open downward, so that the green asparagus falls out of the collection and transfer mechanism. The application can continuously pick multiple green asparagus within a certain range, and the rotary clamp immediately clamps the cut green asparagus out of the picking area, improving the efficiency of robot picking; the rotary clamp forces the green asparagus to be tensioned back, effectively providing clamping force to assist the cutting blade in cutting the green asparagus at high speed, improving the cutting success rate; the automatic clamping and releasing actions are realized by changing the curvature of the rotary path of the clamp, and the control is simple.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation, and relates to a robot end effector, in particular to a rotary clamping type robot end effector for green asparagus picking. BACKGROUND

[0002] Up to now, field crops such as rice, wheat, corn, rapeseed, soybean, peanut and potato can be mechanically harvested, but the mechanical harvesting of commercially available fresh green asparagus has not been achieved yet. With the continuous expansion of the planting area of green asparagus, the pressure on the harvesting link is gradually increasing. Considering the long harvesting period, high labor intensity, poor working environment and high labor cost of green asparagus, it is urgent to develop an automatic green asparagus picking robot to replace manual harvesting. However, the existing picking robot end effector basically needs to perform a rotation motion after picking once, which has low picking efficiency and is the main reason for restricting the popularization and application of the picking robot. Therefore, solving the problem of the picking robot end effector and focusing on how to realize continuous picking and picking and transporting integration is the key to realizing the mechanical harvesting of green asparagus. SUMMARY

[0003] In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the present application is to provide a rotary clamping type robot end effector for green asparagus picking, and to innovate an automatic harvesting method of green asparagus. Through the end effector, a plurality of green asparagus can be continuously picked within a certain working range, thereby effectively improving the picking efficiency of the robot.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0005] A rotary clamping type robot end effector for green asparagus picking, comprising a connecting frame 1, a cutting and clamping mechanism 2, a guide mechanism 3 and a transfer mechanism 4, characterized in that:

[0006] The connecting frame 1 is located above the cutting and clamping mechanism 2 and the collection and transfer mechanism, and the connecting frame 1 has a mounting hole for connecting a mechanical arm on the upper end face.

[0007] The cutting and clamping mechanism 2 comprises a transmission structure, a support structure, a clamping member and a cutting member; the support structure mainly comprises an upper structural member 222, a middle structural member 220 and a lower structural member 228, which are arranged in three layers from top to bottom, are connected through support connecting members and are fixed through bolts and nuts; the clamping member comprises a flexible clamp 236 and a pair of clamping synchronous pulleys, which are located between the upper structural member 222 and the middle structural member 220; the cutting member comprises a cutting blade 241, a cutting synchronous belt 239 and a pair of cutting synchronous pulleys, which are located between the front end of the middle structural member 220 and the lower structural member 228; the transmission structure comprises a rotary clamping drive motor 201, a cutting drive motor 202, a belt transmission assembly and a rotating shaft, the rotary clamping drive motor 201 and the cutting drive motor 202 are fixed to the tail of the middle structural member 220 through screws, power is transmitted to the clamping member and the cutting member through the belt transmission assembly, the belt transmission assembly is located between the middle structural member 220 and the lower structural member 228, and the upper and lower layers are arranged to avoid interference.

[0008] The guide mechanism 3 is located at the side of the cutting and clamping mechanism 2 and is fixedly connected, mainly comprises a front baffle 301, a side baffle 302, a rear baffle 305, a support rod and a baffle support; the front baffle 301 is fixed to the front end of the upper structural member 222 through bolts and nuts, the side baffle 302 and the baffle support are connected through the support rod, the baffle support is connected with the lower structural member 228 through bolts and nuts, the rear baffle 305 and the baffle support are connected through the support rod, and the baffle support is fixed to the rear of the connecting frame 1 through screws.

[0009] The transfer mechanism 4 is located at the tail end of the cutting and clamping mechanism 2 and is connected with the middle structural member 220 and the connecting frame 1 through bolts and nuts, mainly comprises a push-pull electromagnet 401, an electromagnet support 414, a connecting rod, a transfer structural member 404, a connecting member and a transfer bottom cover 407; the push-pull electromagnet 401 is vertically installed on the electromagnet support 414 and is connected with the transfer bottom cover 407 through the connecting rod and the adapter, and the connecting rod and the adapter are hinged.

[0010] When picking, the green asparagus enters the cutting and clamping mechanism 2 between the front end of the front baffle 301 and the side baffle 302, is clamped and forced backward, and is cut off by the cutting blade 241 in high-speed circular motion at the same time, the cut asparagus is continuously transported backward into the transfer mechanism 4 by the rotary flexible clamp 236, after collecting a certain amount of green asparagus, the push-pull electromagnet 401 is powered to drive the transfer bottom cover 407 to open, and the picking of a batch of green asparagus is completed.

[0011] The inner side of the flexible holder 236 has synchronous teeth, which can be matched with a pair of synchronous clamping pulleys arranged in a straight line to rotate circularly, the outer side of the flexible holder 236 is uniformly distributed clamping pieces, the contact position of the flexible holder 236 with the clamping synchronous pulley is a circular trajectory in the whole rotary path of the flexible holder 236, and the non-contact position is a straight line trajectory, so that the adjacent clamping pieces are automatically opened when passing through the circular trajectory and are automatically clamped when passing through the straight line trajectory, thereby enabling the green asparagus to enter the clamping member and be clamped and transported to the last release.

[0012] The transfer mechanism 4 is a kind of rocker slider mechanism, the middle part of the electromagnet support 414 has a boss and is vertically installed with a linear bearing 413, link one 402 is matched with the linear bearing 413 to form a moving pair in vertical direction, the pushing and pulling end of the electromagnet is fixedly connected with the upper end of link one 402, the lower end of link one 402 and the upper end of link two 412 are hinged through hinged bearing one 403 to form a rotating pair, the lower end of link two 412 and connecting piece one 408 are hinged through hinged shaft 410 to form a rotating pair, connecting piece one 408 is fixed with transfer bottom cover 407 through screws, one side of transfer bottom cover 407 is connected through connecting piece two 405 and screws, connecting piece two 405 and transfer structure 404 are hinged through hinged bearing two 406 to form a rotating pair;When the push-pull electromagnet 401 is powered, link one 402 is pushed to move linearly downward, link one 402 drives link two 412 to move downward, and pushes transfer bottom cover 407 to rotate around the center line of hinged bearing two 406, so that the transfer bottom cover 407 is opened downward;When the push-pull electromagnet 401 is powered off, link one 402 is pulled upward to drive the components and drive the transfer bottom cover 407 to return to the original position.

[0013] Compared with the prior art, the end effector of the present application can continuously pick a plurality of green asparagus within a certain range, the cut green asparagus is immediately clamped and transferred out of the picking area by the rotating holder, the efficiency of the robot picking is improved;At the same time, the rotating holder forces the green asparagus to be tensioned back, effectively provides clamping force, assists the cutting blade in high-speed circular motion to cut the green asparagus, and improves the cutting success rate;The automatic clamping and releasing actions are realized through the change of the curvature of the rotary path of the holder, and the control is simple. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a perspective structural schematic diagram of the present application.

[0015] Figure 2 It is a transmission structure schematic diagram of the cutting and clamping mechanism of the present application.

[0016] Figure 3 It is a support structure schematic diagram of the cutting and clamping mechanism of the present application.

[0017] Figure 4 It is a clamping member schematic diagram of the present application.

[0018] Figure 5 Cutting member of the present invention.

[0019] Figure 6 Guiding mechanism of the present invention.

[0020] Figure 7 Collecting and transferring mechanism of the present invention.

[0021] Figure: connecting frame 1; cutting clamping mechanism 2; guiding mechanism 3; transferring mechanism 4; nut 101; bolt 102; nut 103; bolt 104; rotary clamping drive motor 201; cutting drive motor 202; bearing 203; rotating shaft one 204; bearing 205; bearing 206; rotating shaft two 207; bearing 208; bearing 209; bearing 210; rotating shaft three 211; rotating shaft four 212; cutting transmission pulley two 213; belt two 214; bearing 215; clamping transmission pulley two 216; cutting transmission pulley one 217; belt one 218; clamping transmission pulley one 219; middle structural part 220; nut 221; upper structural part 222; bolt 223; support connecting part one 224; bolt 225; support connecting part two 226; nut 227; lower structural part 228; support connecting part three 229; nut 230; support connecting part four 231; bolt 232; screw 233; screw 234; clamping synchronous pulley one 235; flexible clamping device 236; clamping synchronous pulley two 237; cutting synchronous pulley one 238; synchronous belt 239; cutting synchronous pulley two 240; cutting blade 241; front baffle 301; side baffle 302; support rod one 303; support rod two 304; rear baffle 305; support rod three 306; baffle bracket three 307; screw 308; baffle bracket two 309; nut 310; bolt 311; baffle bracket one 312; bolt 313; nut 314; bolt 315; nut 316; push-pull electromagnet 401; connecting rod one 402; hinged bearing one 403; transferring structural part 404; connecting part two 405; hinged bearing two 406; transferring bottom cover 407; connecting part one 408; screw 409; hinged shaft 410; screw 411; connecting rod two 412; linear bearing 413; electromagnet bracket 414; screw 415; bolt 416; nut 417. Specific implementation method

[0022] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front end", "tail end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "one", "two", "three" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] The embodiments of the present application will be described in detail below with reference to the drawings and examples, which are exemplary and intended to explain the present application, and cannot be understood as limiting the present application.

[0025] As shown in Figure 1 A rotary clamping type robot end effector for green asparagus picking includes a connecting frame 1, a cutting and clamping mechanism 2, a guide mechanism 3 and a transfer mechanism 4, wherein:

[0026] The connecting frame 1 is located above the cutting and clamping mechanism 2 and the collection and transfer mechanism, and the upper end surface of the connecting frame 1 has a mounting hole for connecting a mechanical arm, which is connected to the upper structural member 222 through a nut 101 and a bolt 102.

[0027] As shown in Figure 2 、 3 、4、5, the cutting and clamping mechanism 2 includes a transmission structure, a support structure, a clamping member and a cutting member.

[0028] As shown in Figure 2 、 3As shown, the support structure mainly comprises an upper structural member 222, a middle structural member 220, and a lower structural member 228, which are arranged in three layers from top to bottom. The upper structural member 222 and the middle structural member 220 are connected by a support connecting member one 224 and a support connecting member two 226, and the middle structural member 220 and the lower structural member 228 are connected by a support connecting member three 229 and a support connecting member four 231. A bolt 223 passes through the internal through hole of the support connecting member one 224, the hole position at the front end of the upper structural member 222, and the hole position at the front end of the middle structural member 220, and is fastened by a nut 227. A bolt 225 passes through the internal through hole of the support connecting member two 226, the hole position at the rear end of the upper structural member 222, the hole position at the middle of the middle connecting member, the internal through hole of the support connecting member three 229, and the hole position at the front end of the lower structural member 228, and is fastened by a nut 230. A bolt 232 passes through the internal through hole of the support connecting member four 231, the hole position at the rear end of the middle structural member 220, and the hole position at the rear end of the lower structural member 228, and is fastened by a nut 221.

[0029] As shown in Figure 2 , 3 , the transmission structure comprises a rotary clamping drive motor 201, a cutting drive motor 202, a belt transmission assembly, and a rotating shaft. The rotary clamping drive motor 201 and the cutting drive motor 202 are fixed to the tail of the middle structural member 220 by screws 234 and 233, respectively. Bearings 203 and 215 are coaxially assembled at the tail end of the upper structural member 222 and the middle of the middle structural member 220, and a rotating shaft one 204 is coaxially assembled with the bearings. Bearings 206 and 208 are coaxially assembled at the front end of the upper structural member 222 and the front end of the middle structural member 220, and a rotating shaft two 207 is coaxially assembled with the bearings. Bearings 209 and 210 are coaxially assembled at the front end side of the middle structural member 220 and the front end side of the lower structural member 228, and a rotating shaft three 211 is coaxially assembled with the bearings. Bearings 205 and a rotating shaft four 212 are coaxially assembled at the front end of the middle structural member 220. A clamping drive pulley one 219 is connected with the output shaft of the rotary clamping drive motor 201, a clamping drive pulley two 216 is connected with the rotating shaft one 204, and a belt one 218 and the above pulleys constitute a rotary clamping belt transmission assembly. A cutting drive pulley one 217 is connected with the output shaft of the cutting drive motor 202, a cutting drive pulley two 213 is connected with the rotating shaft four 212, and a belt two 214 and the above pulleys constitute a cutting belt transmission assembly.

[0030] Preferably, the rotary clamping belt transmission assembly and the cutting belt transmission assembly are arranged in upper and lower layers so as not to interfere with each other.

[0031] As shown in Figure 2 , 4As shown, the clamping synchronous pulley one 235 is connected with the rotating shaft one 204, the clamping synchronous pulley two 237 is connected with the rotating shaft two 207, and the flexible clamping device 236 cooperates with the two pulleys to form the clamping member.

[0032] Preferably, the inside of the flexible clamping device 236 has synchronous teeth, and the outside of the flexible clamping device 236 has uniformly distributed clamping pieces. In the entire rotation path of the flexible clamping device 236, the contact position with the clamping synchronous pulley is a circular trajectory, and the non-contact position is a straight trajectory. The change in curvature causes the adjacent clamping pieces to automatically open when passing through the circular trajectory and automatically clamp when passing through the straight trajectory, which corresponds to the green asparagus entering the clamping member and being clamped and transported to the final release.

[0033] Preferably, the clamping pieces on the outside of the flexible clamping device 236 are flexible EVA foam plastic.

[0034] As shown in Figure 2 , 5 , the cutting synchronous pulley one 238 is connected with the rotating shaft four 212, the cutting synchronous pulley two 240 is connected with the rotating shaft three 211, the synchronous belt 239 is assembled on the two pulleys, and the cutting blade 241 is connected with the cutting synchronous pulley two 240 to form the cutting member.

[0035] As shown in Figure 6 , the guide mechanism 3 is located on the side of the cutting and clamping mechanism 2 and is fixedly connected, mainly including the front baffle 301, the side baffle 302, the rear baffle 305, the support rod, and the baffle support; the front baffle 301 is fixed on the front end of the upper structure member 222 through the bolt 315 and the nut 316; the side baffle 302 is connected on the support rod one 303 and the support rod two 304; the support rod one 303 is connected with the baffle support one 312, and the baffle support one 312 is connected on the side of the lower structure member 228 through the bolt 313 and the nut 314; the support rod two 304 is connected with the baffle support two 309, and the baffle support two 309 is connected on the side of the lower structure member 228 through the bolt 311 and the nut 310; a plurality of rear baffles 305 are connected vertically on the support rod two 304 and the support rod three 306; the support rod three 306 is connected with the baffle support three 307; and the baffle support three 307 is fixed on the rear end of the connecting frame 1 through the screw 308.

[0036] As shown in Figure 6 , 7 , the transfer mechanism 4 is located at the tail end of the cutting and clamping mechanism 2, mainly including the push-pull electromagnet 401, the electromagnet support 414, the connecting rod, the transfer structure member 404, the connecting member, and the transfer bottom cover 407; the transfer structure member 404 is connected with the middle structure member 220 through the bolt 416 and the nut 417, and is connected with the rear end of the connecting frame 1 through the bolt 104 and the nut 103; and the push-pull electromagnet 401 is vertically installed on the electromagnet support 414 through the screw 415.

[0037] Preferably, the transfer mechanism 4 is a kind of rocker slider mechanism, the middle of the electromagnet support 414 has a boss and is vertically installed with a linear bearing 413, the connecting rod one 402 cooperates with the linear bearing 413 to form a moving pair in vertical direction, the upper end of the connecting rod one 402 is fixedly connected with the pushing and pulling end of the electromagnet, the lower end of the connecting rod one 402 and the upper end of the connecting rod two 412 are hinged through a hinge bearing one 403 to form a rotating pair, the lower end of the connecting rod two 412 is hinged with the connecting piece one 408 through a hinge shaft 410 to form a rotating pair, the connecting piece one 408 is connected with the transfer bottom cover 407 through a screw 409, meanwhile, one side of the transfer bottom cover 407 is connected with the connecting piece two 405 through a screw 411, the connecting piece two 405 is hinged with the transfer structure 404 through a hinge bearing two 406 to form a rotating pair; when the pushing and pulling electromagnet 401 is powered, the connecting rod one 402 is pushed to move linearly downward, the connecting rod one 402 drives the connecting rod two 412 to move downward, the transfer bottom cover 407 is pushed to rotate around the center line where the hinge bearing two 406 is located, so that the transfer bottom cover 407 is opened downward; when the pushing and pulling electromagnet 401 is powered off, the connecting rod one 402 is pulled upward, the components are driven, and the transfer bottom cover 407 is driven to return to the original position.

[0038] Preferably, during picking, the rotary clamping drive motor 201 and the cutting drive motor 202 are powered to drive the flexible clamping device 236 to rotate and the cutting blade 241 to move at high speed in a circle, the green asparagus enters the cutting and clamping mechanism 2 from between the front ends of the front baffle 301 and the side baffle 302, is clamped and forced backward, and is cut off by the cutting blade 241 moving at high speed in a circle, the cut asparagus is continuously transported backward by the rotary flexible clamping device 236 into the transfer mechanism 4, at this moment, the next picking target can be immediately cut and clamped, after a plurality of green asparagus are collected, the pushing and pulling electromagnet 401 is powered to push the transfer bottom cover 407 to open, and the picking of a batch of green asparagus is completed.

Claims

1. A rotary gripping robot end effector for harvesting green asparagus, comprising a connecting frame (1), a cutting and gripping mechanism (2), a guiding mechanism (3), and a transfer mechanism (4), characterized in that: The connecting frame (1) is located above the cutting clamping mechanism (2) and the collection and transfer mechanism, and the upper end face of the connecting frame (1) has a mounting hole for connecting the robotic arm; The cutting clamping mechanism (2) includes a transmission structure, a support structure, a clamping component, and a cutting component; the support structure mainly includes an upper structural component (222), a middle structural component (220), and a lower structural component (228), which are connected by a support connector and fixed by bolts and nuts; the clamping component includes a flexible clamp (236) and a pair of clamping synchronous pulleys, located between the upper structural component (222) and the middle structural component (220); the cutting component includes a cutting blade (241), a cutting synchronous belt (239), and a... The cutting timing pulley is located between the front end of the middle structural member (220) and the lower structural member (228); the transmission structure includes a rotary clamping drive motor (201), a cutting drive motor (202), a belt drive assembly and a rotating shaft. The rotary clamping drive motor (201) and the cutting drive motor (202) are fixed to the tail end of the middle structural member (220) by screws. The power is transmitted to the clamping member and the cutting member through the belt drive assembly, which is located between the middle structural member (220) and the lower structural member (228). The flexible gripper (236) has synchronous teeth on its inner side, which cooperate with a pair of clamping synchronous pulleys arranged in a straight line to rotate in a cycle. The flexible gripper (236) has evenly distributed flexible clamping pieces on its outer side. Due to the change in its curvature, the adjacent clamping pieces automatically open when passing through a circular track and automatically clamp when passing through a straight track, so that the green asparagus can enter the clamping component and be clamped and transported until the final release. The guiding mechanism (3) is located on the side of the cutting clamping mechanism (2) and is fixedly connected. It mainly includes a front baffle (301), a side baffle (302), a rear baffle (305), a support rod, and a baffle bracket. The front baffle (301) is fixed to the front end of the upper structural member (222) by bolts and nuts. The side baffle (302) and the baffle bracket are connected by a support rod. The baffle bracket is connected to the lower structural member (228) by bolts and nuts. Multiple rear baffles (305) and the baffle bracket are connected by a support rod. The baffle bracket is fixed to the rear of the connecting frame (1) by screws. The transfer mechanism (4) is located at the tail end of the cutting clamping mechanism (2) and is connected to the middle structural component (220) and the connecting frame (1) by bolts and nuts. It mainly includes a push-pull electromagnet (401), an electromagnet bracket (414), a connecting rod, a transfer structural component (404), a connecting component and a transfer bottom cover (407); the push-pull electromagnet (401) is vertically installed on the electromagnet bracket (414); The electromagnet bracket (414) has a boss in the middle and a linear bearing (413) is vertically installed. The connecting rod (402) and the linear bearing (413) cooperate to form a vertical moving pair. The push-pull end of the electromagnet is fixedly connected to the upper end of the connecting rod (402). The lower end of the connecting rod (402) and the upper end of the connecting rod (412) are hinged to form a rotating pair through the hinge bearing (403). The lower end of the connecting rod (412) and the connecting piece (408) are hinged to form a rotating pair through the hinge shaft (410). The connecting piece (408) is fixed to the transfer bottom cover (407) by screws. At the same time, one side of the transfer bottom cover (407) is connected by the connecting piece (405) and screws. The connecting piece (405) and the transfer structure (404) are hinged to form a rotating pair through the hinge bearing (406). During harvesting, the green asparagus enters the cutting and clamping mechanism (2) between the front end of the front baffle (301) and the side baffle (302), is clamped and subjected to backward force, and is cut by the high-speed circular cutting blade (241). The cut asparagus continues to be transported backward by the rotating flexible clamp (236) into the transfer mechanism (4). After a number of green asparagus are collected, the push-pull electromagnet (401) is energized to push the transfer bottom cover (407) to open, completing the harvesting of a batch of green asparagus.

2. The rotary gripping robot end effector for green asparagus harvesting according to claim 1, characterized in that, When the push-pull electromagnet (401) is energized, it pushes the first connecting rod (402) to move downward in a straight line. The first connecting rod (402) drives the second connecting rod (412) to move downward, pushing the transfer bottom cover (407) to rotate around the center line of the hinge bearing (406), so that the transfer bottom cover (407) opens downward. When the push-pull electromagnet (401) is de-energized, it pulls the first connecting rod (402) upward, driving the transfer bottom cover (407) back to its original position.

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