Flexible manipulator and method capable of adjusting positions and postures of fruits

Abstract

The invention discloses a flexible manipulator capable of adjusting positions and postures of fruits and a method. The flexible manipulator comprises a fixing mechanism, a driving mechanism, a connecting mechanism and a finger-shaped directional adjusting mechanism; the fixing mechanism is fixedly mounted on an external mechanical arm and is used for fixing the flexible manipulator; one end of the driving mechanism is mounted on the fixing mechanism and is used for driving the flexible manipulator to move; and the finger-shaped directional adjusting mechanism is arranged at the other end of the driving mechanism, is connected with the driving mechanism through the connecting mechanism and is used for clamping and adjusting the position posture of the fruit. The method comprises a fruit grabbing translation position adjusting method and a fruit grabbing rotation posture adjusting method. The flexible mechanical arm is simple in structure and convenient to control, the automatic operation capacity of the flexible mechanical arm is improved, the grabbing position and posture of fruits in the mechanical arm are adjusted, it is guaranteed that the fruits can be effectively controlled and adjusted under various complex operation situations, and the flexible mechanical arm has wide application prospects and practical value.

Description

Technical Field

[0001] The invention relates to the field of fruit grabbing, and in particular to a flexible manipulator capable of adjusting the position and posture of fruits and a method thereof. Background Art

[0002] With the development of the fruit and vegetable industry, the demand for efficient and precise handling of fruits is increasing. However, existing fruit grasping technology often has difficulty adapting to the shapes and weights of different fruits, resulting in the fruits being easily damaged or unstable during picking, transportation and storage. Traditional grasping methods usually rely on mechanical clamps or fixtures, which lack flexibility and have difficulty dealing with fruits of different types and sizes, resulting in unstable grasping and affecting the appearance and quality of the fruits.

[0003] In addition, existing processing technologies often cannot be effectively adjusted in real time during operation, especially when multiple fruits are mixed, and cannot be personalized according to the specific shape and size of the fruit. The lack of flexible posture adjustment means limits the efficiency and accuracy of the manipulator in different operating environments, thus affecting the quality and circulation efficiency of fruit and vegetable products. Especially in the harvesting and transportation links, the damage rate of fruits is high, causing great economic losses. Therefore, it is particularly important to develop a manipulator that can adjust the position and posture of fruits in real time to improve the efficiency of operations and the safety of fruits. Summary of the invention

[0004] In order to solve the problems and defects in the background technology, the present invention provides a flexible manipulator and method that can adjust the position and posture of fruits, and realizes dynamic position and posture adjustment of fruits through the cooperation of a reduction motor module and a synchronous belt.

[0005] The technical solution adopted by the present invention is as follows:

[0006] 1. A flexible manipulator that can adjust the position and posture of fruits

[0007] It includes a fixing mechanism, a driving mechanism, a connecting mechanism and a finger-shaped directional adjustment mechanism; the fixing mechanism is fixedly mounted on an external mechanical arm and is used to fix the flexible mechanical arm; one end of the driving mechanism is mounted on the fixing mechanism and is used to drive the movement of the flexible mechanical arm; the finger-shaped directional adjustment mechanism is arranged at the other end of the driving mechanism and is connected to the driving mechanism through a connecting mechanism and is used to clamp and adjust the position and posture of the fruit.

[0008] The fixing mechanism includes a base plate, four connecting columns and a motor fixing plate; the base plate is fixedly installed on an external robotic arm, one end of the four connecting columns is vertically installed at the four corners of the base plate, the motor fixing plate is vertically installed at the other ends of the four connecting columns, a part of the driving mechanism is arranged on the base plate and fixedly connected to the motor fixing plate, the other part of the driving mechanism is arranged on a side of the motor fixing plate away from the base plate through a through hole opened in the motor fixing plate, and both ends of the motor fixing plate are hinged to the connecting mechanism.

[0009] The driving mechanism includes a stepper motor, two sliding rods and a lifting platform; the stepper motor is arranged on the bottom plate and fixedly connected to the motor fixing plate, the stepper motor shaft lead screw of the stepper motor passes through the through hole opened in the motor fixing plate and is threadedly connected to the lifting platform, the two sliding rods pass through the through holes opened on both sides of the lifting platform and are vertically installed on the motor fixing plate, and both ends of the lifting platform are hinged to the connecting mechanism.

[0010] The connecting mechanism includes two connecting parts, two L-shaped connecting rods and two supporting connecting rods; one end of the two L-shaped connecting rods is hinged to the two ends of the motor fixing plate respectively, the other end of the two L-shaped connecting rods is hinged to one end of the two supporting connecting rods respectively, the other end of the two supporting connecting rods is hinged to the two ends of the lifting platform respectively, and the finger-shaped directional adjustment mechanism is installed on the two supporting connecting rods through the connecting parts.

[0011] The finger-shaped directional adjustment mechanism includes two symmetrically arranged finger-shaped directional adjustment components; the two finger-shaped directional adjustment components are each installed on two supporting connecting rods through a connecting piece; each finger-shaped directional adjustment component includes a flexible soft finger, a synchronous belt, a bearing, two supporting bearings, a driving gear, a reduction motor module and two soft finger splints; the cross-section of the flexible soft finger is an isosceles triangle, the bearing is installed in the limiting through hole opened at the triangular vertex of the flexible soft finger, the two soft finger splints are respectively arranged on both sides of the bottom edge of the flexible soft finger and are fixedly connected to the flexible soft finger, and the two A flexible finger splint is fixedly mounted on the supporting connecting rod through a connecting piece, and the two supporting bearings are respectively arranged on the outside of the two bottom corners of the triangle of the flexible flexible finger, and the synchronous belt is arranged on the outer periphery of the flexible soft finger, and the inner edge of the synchronous belt is rollingly connected with the bearing and the two supporting bearings respectively; the driving gear is arranged in the middle part of the outer side of the triangular bottom side of the synchronous belt, and the outer edge of the synchronous belt is meshingly connected with the driving gear; the reduction motor module is mounted on the flexible finger splint through a reduction motor fixing bracket, and the reduction motor output shaft of the reduction motor module passes through the hole groove opened in the flexible finger splint and is transmission-connected with the driving gear.

[0012] The flexible manipulator also includes a laser ranging sensor and a PID control system; the laser ranging sensor is fixedly installed at one end of two sliding rods away from the stepping motor, and is used to measure the moving distance of the fruit; the PID control system is electrically connected to the stepping motor, the reduction motor module, and the laser ranging sensor respectively.

[0013] 2. A method for adjusting the position and posture of a flexible manipulator for grasping fruit

[0014] The invention comprises a method for adjusting the translation position of grasped fruits and a method for adjusting the rotation posture of grasped fruits.

[0015] The method for adjusting the translation position of the grasped fruit comprises: firstly clamping the fruit by two finger-shaped directional adjustment components, and then adjusting the moving distance of the synchronous belt according to the translation distance required by the fruit to drive the fruit to move the required translation distance.

[0016] The method for adjusting the rotation posture of grasping fruits comprises: firstly clamping the fruits by two finger-shaped directional adjustment components, and then adjusting the moving distance of the synchronous belt according to the required rotation angle of the fruits to drive the fruits to rotate to the required rotation angle.

[0017] The method for adjusting the translational position of grasped fruits is specifically as follows: placing the fruits between two finger-shaped directional adjustment components, and the PID control system controls the stepper motor output shaft screw of the stepper motor to drive the lifting platform to move towards the direction of the stepper motor, and then drives the two finger-shaped directional adjustment components to clamp the fruits through the connecting mechanism; according to the translational distance required for the fruits, the PID control system controls the two reduction motor modules to rotate in opposite directions, drives the two synchronous belts to move in opposite directions and the same movement distance as the translational distance required for the fruits, and then drives the fruits to move the required translational distance, thereby realizing the translational position adjustment of the fruits.

[0018] The method for adjusting the rotation posture of grasped fruits is specifically as follows: placing the fruits between two finger-shaped directional adjustment components, and using a PID control system to control the stepper motor output shaft screw of the stepper motor to drive the lifting platform to move toward the direction of the stepper motor, and then driving the two finger-shaped directional adjustment components to clamp the fruits through a connecting mechanism; according to the rotation angle required by the fruits, a rotation angle method is used to process and obtain the required moving distance of the synchronous belts, and then the PID control system is used to control the two reduction motor modules to rotate in the same direction with each other, driving the two synchronous belts to move in the same direction with each other by the required moving distance, and then driving the fruits to rotate by the required rotation angle, thereby realizing the rotation posture adjustment of the fruits.

[0019] The rotation angle method is set according to the following formula:

[0020]

[0021] Among them, step is the required moving distance of the synchronous belt, θ is the angle of rotation of the fruit, R is the cross-sectional radius of the fruit, and π is a constant.

[0022] The innovation of the present invention lies in that the flexible manipulator used has the function of dynamically adjusting the posture of the fruit, and the movable surface of the synchronous belt used has the function of enhancing the grasping ability of the flexible manipulator, ensuring stable grasping of the fruit while also having the beneficial effect of flexible dynamic adjustment. The combined PID control system ensures precise control effect, realizes high stability and high precision of the flexible manipulator, and brings the advantage of effectively realizing control and adjustment of the fruit in various complex operating situations.

[0023] The beneficial effects of the present invention are:

[0024] 1. The flexible manipulator in the present invention has the ability to dynamically adjust the position and posture of fruits, and can accurately grasp and adjust according to the sizes of different fruits.

[0025] 2. The use of active surfaces (such as synchronous belts) can enhance the grasping and manipulation capabilities of the flexible manipulator. The robot hand with active surfaces can drive the grasped fruit to move continuously without breaking contact. At the same time, the adaptive deformation ability of the flexible manipulator can ensure the wrapping of the fruit when grasping, thereby ensuring the grasping stability and dynamic adjustment flexibility of the flexible manipulator during operation.

[0026] 3. Combined with the PID control system, the flexible manipulator can keep the speed of the synchronous belt consistent under different loads and fruit sizes, ensuring precise control. The application of the laser rangefinder provides real-time feedback for distance detection and position adjustment of the fruit, allowing the flexible manipulator to maintain high stability and accuracy during operation.

[0027] 4. By precisely controlling the movement of the synchronous belt, the flexible manipulator can not only firmly grasp the fruit, but also adjust its posture in multiple directions, providing important technical support for fruit detection and operation in different directions. The present invention significantly improves the automation capability of the flexible manipulator, ensuring that the control and adjustment of the fruit can be effectively achieved in various complex operation scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the flexible manipulator of the present invention;

[0029] Figure 2 is a schematic diagram of a stepper motor driven lifting platform of the present invention;

[0030] Figure 3 It is a schematic diagram of the flexible manipulator of the present invention adjusting the position and posture of fruits;

[0031] Figure 4 is an exploded view of the finger-shaped directional adjustment assembly of the present invention;

[0032] Figure 5 It is a schematic diagram of the assembly of the driving gear and the synchronous belt of the present invention;

[0033] Figure 6 It is a schematic diagram of adjusting the position and posture of grabbing fruit in an embodiment of the present invention.

[0034] In the figure: 1. Flexible soft finger, 2. Synchronous belt, 3. Soft finger splint, 4. Reducer motor module, 4a. Reducer motor fixing bracket, 4b. Reducer motor output shaft, 5. Connector, 6. Support connecting rod, 7. Lifting platform, 8. L-shaped connecting rod, 9. Motor fixing plate, 10. Sliding rod, 11. Stepper motor, 11a. Stepper motor output shaft screw, 12. Bottom plate, 13. Connecting column, 14. Laser ranging sensor, 15. Fruit, 16. Support bearing, 17. Driving gear, 18. Bearing, 19. Finger-shaped directional adjustment mechanism. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown, a flexible manipulator capable of adjusting the position and posture of fruits of the present invention comprises a fixing mechanism, a driving mechanism, a connecting mechanism and a finger-shaped orientation adjustment mechanism; the fixing mechanism is fixedly mounted on an external manipulator arm, and is used to fix the flexible manipulator; one end of the driving mechanism is mounted on a side of the fixing mechanism away from the manipulator arm, and is used to drive the movement of the flexible manipulator; the finger-shaped orientation adjustment mechanism is arranged at the other end of the driving mechanism and is connected to the driving mechanism through a connecting mechanism, and is used to clamp and adjust the position and posture of fruits 15.

[0037] The fixing mechanism includes a base plate 12, four connecting columns 13 and a motor fixing plate 9; the base plate 12 is fixedly mounted on an external robotic arm, one end of the four connecting columns 13 is vertically mounted at the four corners of the base plate 12 to ensure the stability of the fixing mechanism, the motor fixing plate 9 is vertically mounted at the other end of the four connecting columns 13, a part of the driving mechanism is arranged on the base plate 12 and fixedly connected to the motor fixing plate 9, a part of the driving mechanism is arranged in the space formed by the base plate 12, the four connecting columns 13 and the motor fixing plate 9, the base plate 12 and the four connecting columns 13 play a limiting role, the other part of the driving mechanism is arranged on the side of the motor fixing plate 9 away from the base plate 12 through the through hole opened in the motor fixing plate 9, and both ends of the motor fixing plate 9 are hinged to the connecting mechanism.

[0038] The driving mechanism includes a stepper motor 11, two slide bars 10 and a lifting platform 7; the stepper motor 11 is arranged on a base plate 12 and fixedly connected to a motor fixing plate 9, the stepper motor 11 is arranged in a space formed by the base plate 12, four connecting columns 13 and the motor fixing plate 9, the base plate 12 and the four connecting columns 13 play a limiting role, the stepper motor output shaft lead screw 11a of the stepper motor 11 passes through a through hole opened in the motor fixing plate 9 and is threadedly connected to the lifting platform 7 to achieve stable transmission, the two slide bars 10 respectively pass through the through holes opened on both sides of the lifting platform 7 and are vertically installed on the motor On the fixed plate 9, two sliding rods 10 provide guidance and limiting functions for the lifting platform 7. The two ends of the lifting platform 7, which are consistent with the two ends of the motor fixing plate 9, are hinged with the connecting mechanism. The start of the stepper motor 11 causes the stepper motor shaft screw 11a to start rotating, thereby causing the lifting platform 7 to perform a linear motion parallel to the stepper motor shaft screw 11a. In order to ensure that the flexible manipulator can maintain a predetermined opening angle during the grasping process, the sliding rod 10 is designed with a certain height limiting function to limit the moving range of the lifting platform 7, thereby controlling the opening angle of the manipulator.

[0039] The connecting mechanism includes two connecting pieces 5, two L-shaped connecting rods 8 and two supporting connecting rods 6; one end of the two L-shaped connecting rods 8 is respectively hinged to the two ends of the motor fixing plate 9, and the other end of the two L-shaped connecting rods 8 is respectively hinged to one end of the two supporting connecting rods 6. The structure of the L-shaped connecting rod 8 enables it to exert a lever effect in the movement of the supporting connecting rods 6, further enhancing the opening and closing strength and stability of the flexible manipulator. The other ends of the two supporting connecting rods 6 are respectively hinged to the two ends of the lifting platform 7. The up and down movement of the lifting platform 7 directly drives the movement of the supporting connecting rods 6, and then drives the opening and closing of the finger-shaped directional adjustment mechanism. This design allows the supporting connecting rods 6 to maintain a stable connection during the action, while providing the necessary supporting force. The finger-shaped directional adjustment mechanism 19 is installed on the supporting side walls of the two supporting connecting rods 6 through the connecting piece 5. Through the combination of these two sections of hinges, the flexible manipulator can achieve precise displacement control when performing the opening and closing action, so that the finger-shaped directional adjustment mechanism can effectively grab the fruit.

[0040] The finger-shaped directional adjustment mechanism includes two symmetrically arranged finger-shaped directional adjustment components 19; the two finger-shaped directional adjustment components 19 are each installed on the supporting side walls of two supporting connecting rods 6 through a connecting piece 5; each finger-shaped directional adjustment component 19 includes a flexible soft finger 1, a synchronous belt 2, a bearing 18, two supporting bearings 16, a driving gear 17, a reduction motor module 4 and two soft finger splints 3.

[0041] like Figure 4 and Figure 5As shown, the cross-section of the flexible soft finger 1 is an isosceles triangle, and its stability in a static state is improved through a special structural design. The bearing 18 is installed in a limiting through hole opened at the triangular apex angle of the flexible soft finger 1. Two soft finger splints 3 are respectively arranged on both sides of the bottom edge of the flexible soft finger 1 and are fixedly connected to the flexible soft finger 1. The two soft finger splints 3 clamp and fix the flexible soft finger 1 from both sides. The two soft finger splints 3 are fixedly installed on the supporting side walls of the supporting connecting rod 6 through the connecting piece 5. The two supporting bearings 16 are respectively arranged on the outside of the two bottom angles of the triangle of the flexible soft finger 1. The synchronous belt 2 is arranged on the outer periphery of the flexible soft finger 1, and the inner edges of the synchronous belt 2 are rollingly connected to the bearing 18 and the two supporting bearings 16 respectively. This layout ensures the stability and flexibility of the synchronous belt 2 through the common support of three bearings. Surrounding the three bearings, a closed synchronous belt 2 is laid on the gripping contact surface of the flexible soft finger 1. The synchronous belt 2 is precisely limited to the left and right under the action of the bearing 18 at the tip of the flexible soft finger 1 and the two supporting bearings 16 to prevent deviation during operation and ensure the smooth movement of the synchronous belt 2. The driving gear 17 is arranged in the middle of the outer side of the triangular bottom edge of the synchronous belt 2, and the outer edge of the synchronous belt 2 is meshed with the driving gear 17; the reduction motor module 4 is installed on one of the soft finger clamps 3 through the reduction motor fixing bracket 4a, and the reduction motor output shaft 4b of the reduction motor module 4 passes through the hole slot opened in the soft finger clamp 3 and is connected to the driving gear 17 for transmission.

[0042] The cross section of the flexible soft finger 1 is an isosceles triangle in the non-working state, and its stability in the static state is improved through special structural design. In the working state, when the flexible soft finger 1 is subjected to external force, the shape of its cross section will be deformed, gradually changing from an isosceles triangle to a crescent shape, which can better fit the curve of the surface of the fruit 15, ensuring the contact area and grasping stability during the grasping process, thereby improving the grasping effect of the flexible manipulator.

[0043] The driving gear 17 is meshed and connected with the synchronous belt 2 through a tight fit. The driving gear 17 is not only used to drive the movement of the synchronous belt 2, but also can be used to tension the outer edge of the synchronous belt 2 to ensure that the synchronous belt 2 is always in a tensioned state during movement and is not easy to slip. The design of tensioning the outer edge of the synchronous belt 2 by the driving gear 17 increases the tensioning force of the synchronous belt 2 during operation, thereby making the driving gear 17 and the synchronous belt 2 more tightly combined and not easy to slip.

[0044] In addition, the tensioning fit design of the driving gear 17 significantly increases the wrap angle of the synchronous belt 2 and its contact area with the driving gear 17. This increased contact area effectively prevents the gear from slipping under high load or rapid movement, thereby improving the transmission stability and working reliability of the flexible manipulator.

[0045] The power of the synchronous belt 2 comes from the drive of the reduction motor module 4. The reduction motor module 4 realizes forward and reverse rotation through the PID control system, thereby controlling the rotation direction of the reduction motor output shaft 4b, and finally the driving gear 17 drives the movement of the synchronous belt 2. The driving gear 17 is tightly engaged with the synchronous belt 2 to ensure the transmission accuracy of the synchronous belt 2 and realize accurate clockwise or counterclockwise transmission. Through this design, the finger-shaped directional adjustment mechanism can dynamically adjust the grasping position and posture of the fruit under the precise drive of the synchronous belt 2, thereby ensuring that the best position and posture of the fruit are always maintained during the grasping and handling process.

[0046] The flexible soft finger 1 includes an external soft belt arranged in an isosceles triangle and several soft support belts arranged in parallel. All the soft support belts are arranged inside the triangle of the external soft belt, and both ends of each soft support belt are fixedly connected to the two waist sides of the triangle of the external soft belt. The bearing 18 is installed in the limiting through hole opened at the top angle of the triangle of the external soft belt. The two support bearings 16 are respectively arranged on the outside of the two bottom corners of the triangle of the external soft belt. The two soft finger splints 3 are respectively arranged on both sides of the bottom edge of the external soft belt and are fixedly connected to the external soft belt.

[0047] The flexible manipulator also includes a laser ranging sensor 14 and a PID control system; the laser ranging sensor 14 is fixedly installed at one end of the two sliding rods 10 away from the stepper motor 11, and is used to measure the moving distance of the fruit 15; the PID control system is electrically connected to the stepper motor 11, the reduction motor module 4, and the laser ranging sensor 14 respectively.

[0048] The laser distance sensor 14 detects the distance of the fruit 15 relative to the bottom plate 12 of the flexible manipulator in real time, and the signal measured by the laser distance sensor 14 is fed back to the PID control system. The PID control system adjusts the directional movement of the timing belt 2 so that the flexible manipulator can adjust the fruit 15 to the target distance. The real-time feedback control in this process enables the manipulator to automatically compensate and correct the distance, thereby improving the stability and accuracy in operation.

[0049] The method for adjusting the position and posture of the fruit grasped by the flexible manipulator of the present invention includes a method for adjusting the translation position of the fruit grasped and a method for adjusting the rotation posture of the fruit grasped:

[0050] Method for adjusting the translation position of the grabbed fruit: firstly, the fruit 15 is clamped by two finger-shaped directional adjustment components 19, and then, according to the required translation distance of the fruit 15, the moving distance of the synchronous belt 2 is adjusted to drive the fruit 15 to move the required translation distance.

[0051] The method for adjusting the translational position of grasped fruits is specifically as follows: placing the fruit 15 between the two finger-shaped directional adjustment components 19, and the PID control system controls the stepper motor output shaft screw 11a of the stepper motor 11 to drive the lifting platform 7 to move towards the direction close to the stepper motor 11, and then drives the two finger-shaped directional adjustment components 19 to clamp the fruit 15 through the connecting mechanism; according to the required translation distance of the fruit 15, the reduction motor modules 4 of the two finger-shaped directional adjustment components 19 are controlled by the PID control system to rotate in opposite directions, driving the synchronous belts 2 of the two finger-shaped directional adjustment components 19 to move in opposite directions and the same movement distance as the required translation distance of the fruit 15, and then driving the fruit 15 to move the required translation distance, thereby realizing the translational position adjustment of the fruit.

[0052] The translation position of the grabbed fruit is adjusted so that the fruit 15 moves parallel to the moving direction of the synchronous belt 2.

[0053] In a specific embodiment, Figure 6 a and Figure 6 As shown in b, the working principle of adjusting the translation position of the grabbed fruit is demonstrated, and descending, ascending, left side and right side are all nouns used in the embodiments to conveniently demonstrate how to implement the present invention.

[0054] Taking the fruit lowering adjustment as an example, the reduction motor module 4A drives the driving gear 17 to rotate counterclockwise, so that the synchronous belt 2 on the left rotates clockwise; the reduction motor module 4B drives the driving gear 17 to rotate clockwise, so that the synchronous belt 2 on the right rotates counterclockwise; because the synchronous belt 2 in the gripping area directly facing the two finger-shaped directional adjustment components 19 moves from top to bottom, the gripped fruit therefore moves in a downward translation. On the contrary, the fruit rising adjustment is the same, the reduction motor module 4A drives the driving gear 17 to rotate clockwise, so that the synchronous belt on the left rotates counterclockwise. The reduction motor module 4B drives the driving gear 17 to rotate counterclockwise, so that the synchronous belt 2 on the right rotates clockwise. Because the synchronous belt 2 in the gripping area of ​​the two finger-shaped directional adjustment components 19 moves from bottom to top, the gripped fruit therefore moves in an upward translation.

[0055] Method for adjusting the rotation posture of grasping fruits: firstly, the fruit 15 is clamped by two finger-shaped directional adjustment components 19, and then, according to the required rotation angle of the fruit 15, the moving distance of the synchronous belt 2 is adjusted to drive the fruit 15 to rotate to the required rotation angle.

[0056] The method for adjusting the rotation posture of grasping fruits is specifically as follows: placing the fruit 15 between the two finger-shaped directional adjustment components 19, and the PID control system controls the stepper motor output shaft screw 11a of the stepper motor 11 to drive the lifting platform 7 to move towards the direction of the stepper motor 11, and then drives the two finger-shaped directional adjustment components 19 to clamp the fruit 15 through the connecting mechanism; according to the required rotation angle of the fruit 15, the required moving distance of the synchronous belt 2 is obtained by using the rotation angle method, and then the reduction motor module 4 of the two finger-shaped directional adjustment components 19 is controlled by the PID control system to rotate in the same direction, driving the synchronous belts 2 of the two finger-shaped directional adjustment components 19 to move in the same direction The required moving distance, and then driving the fruit 15 to rotate the required rotation angle, thereby realizing the rotation posture adjustment of the fruit.

[0057] The rotation angle method is set according to the following formula:

[0058]

[0059] Among them, step is the required moving distance of the synchronous belt 2, θ is the required rotation angle of the fruit 15, R is the cross-sectional radius of the fruit 15, and π is a constant. By accurately controlling the movement of the synchronous belt 2 according to the cross-sectional radius of the fruit 15 and the required rotation angle of the fruit 15, the flexible robot arm can automatically adjust the angle of the fruit 15, thereby realizing stable multi-angle detection and operation.

[0060] This adjustment method not only achieves efficient grasping and stable control of the flexible manipulator by flexibly adjusting the movement of the synchronous belt 2, but also enables the fruit 15 to be accurately adjusted in different positions. This design provides important technical support for the automated operation of the flexible manipulator, ensuring that the fruit can be effectively controlled and adjusted in different operating scenarios.

[0061] The rotation posture of the grabbed fruit is adjusted to the rotation of the fruit 15 on the cross section formed by the moving directions of the two synchronous belts 2.

[0062] The shape of the fruit 15 is close to a sphere.

[0063] In a specific embodiment, Figure 6 c and Figure 6 As shown in d, the working principle of adjusting the translation position of the grabbed fruit is demonstrated, and descending, ascending, left side and right side are all nouns used in the embodiments to conveniently demonstrate how the present invention is specifically implemented.

[0064] Figure 6 c and Figure 6Figure d shows the working principle of adjusting the rotation posture of the fruit being grabbed. The reduction motor modules 4A and B rotate clockwise at the same time, while the synchronous belt 2 rotates counterclockwise, and the fruit is grabbed and rotated clockwise. When the fruit is adjusted to rotate counterclockwise, the reduction motor modules 4A and B rotate counterclockwise at the same time. That is, when the fruit is adjusted to rotate forward and reverse, the reduction motor modules 4A and B are in the same direction as the fruit. Through the adjustment of the forward and reverse rotation posture of the fruit, the detection of multiple points on the equatorial surface of the fruit can be realized, which expands the perception ability of the flexible manipulator.

[0065] This design enables the flexible manipulator to not only firmly grasp the fruit, but also adjust its posture in multiple directions by flexibly controlling the movement of the synchronous belt 2, ensuring that the directional adjustment of the fruit during the processing is more accurate and efficient. Coordinating the transmission mode of the two finger-shaped directional adjustment components 19 and the synchronous belt 2 can realize complex operations and improve the adaptability and operation ability of the flexible manipulator.

[0066] The innovation of the present invention lies in that the flexible manipulator used has the function of dynamically adjusting the posture of the fruit, and the movable surface of the synchronous belt used has the function of enhancing the grasping ability of the flexible manipulator, ensuring stable grasping of the fruit while also having the beneficial effect of flexible dynamic adjustment. The combined PID control system ensures precise control effect, realizes high stability and high precision of the flexible manipulator, and brings the advantage of effectively realizing control and adjustment of the fruit in various complex operating situations.

[0067] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any slight modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims

1. A flexible manipulator capable of adjusting the position and posture of fruits, characterized in that: It comprises a fixing mechanism, a driving mechanism, a connecting mechanism and a finger-shaped directional adjustment mechanism; the fixing mechanism is fixedly mounted on an external mechanical arm and is used to fix the flexible mechanical arm; one end of the driving mechanism is mounted on the fixing mechanism and is used to drive the movement of the flexible mechanical arm; the finger-shaped directional adjustment mechanism is arranged at the other end of the driving mechanism and is connected to the driving mechanism via a connecting mechanism and is used to clamp and adjust the position and posture of the fruit (15).

2. The flexible manipulator capable of adjusting the position and posture of fruits according to claim 1 is characterized in that: The fixing mechanism comprises a base plate (12), four connecting columns (13) and a motor fixing plate (9); the base plate (12) is fixedly mounted on an external mechanical arm, one end of the four connecting columns (13) is vertically mounted at four corners of the base plate (12), the motor fixing plate (9) is vertically mounted at the other ends of the four connecting columns (13), a part of the driving mechanism is arranged on the base plate (12) and fixedly connected to the motor fixing plate (9), the other part of the driving mechanism passes through a through hole provided in the motor fixing plate (9) and is arranged on a side of the motor fixing plate (9) away from the base plate (12), and both ends of the motor fixing plate (9) are hinged to the connecting mechanism.

3. The flexible manipulator capable of adjusting the position and posture of fruits according to claim 2 is characterized in that: The driving mechanism comprises a stepper motor (11), two slide bars (10) and a lifting platform (7); the stepper motor (11) is arranged on a bottom plate (12) and fixedly connected to a motor fixing plate (9); a stepper motor shaft lead screw (11a) of the stepper motor (11) passes through a through hole provided in the motor fixing plate (9) and is threadedly connected to the lifting platform (7); the two slide bars (10) respectively pass through through holes provided on both sides of the lifting platform (7) and are vertically installed on the motor fixing plate (9); and both ends of the lifting platform (7) are hinged to the connecting mechanism.

4. The flexible manipulator capable of adjusting the position and posture of fruits according to claim 3 is characterized in that: The connecting mechanism comprises two connecting members (5), two L-shaped connecting rods (8) and two supporting connecting rods (6); one end of the two L-shaped connecting rods (8) is respectively hinged to the two ends of the motor fixing plate (9), the other end of the two L-shaped connecting rods (8) is respectively hinged to one end of the two supporting connecting rods (6), the other end of the two supporting connecting rods (6) is respectively hinged to the two ends of the lifting platform (7), and the finger-shaped directional adjustment mechanism (19) is installed on the two supporting connecting rods (6) through the connecting member (5).

5. The flexible manipulator capable of adjusting the position and posture of fruits according to claim 4 is characterized in that: The finger-shaped directional adjustment mechanism comprises two symmetrically arranged finger-shaped directional adjustment components (19); the two finger-shaped directional adjustment components (19) are respectively installed on two supporting connecting rods (6) through a connecting piece (5); each of the finger-shaped directional adjustment components (19) comprises a flexible soft finger (1), a synchronous belt (2), a bearing (18), two supporting bearings (16), a driving gear (17), a reduction motor module (4) and two soft finger splints (3); the cross section of the flexible soft finger (1) is an isosceles triangle, the bearing (18) is installed in a limiting through hole opened at the triangular vertex of the flexible soft finger (1), the two soft finger splints (3) are respectively arranged on both sides of the bottom edge of the flexible soft finger (1) and are fixedly connected to the flexible soft finger (1), and the two soft finger splints (3) is fixedly mounted on the supporting connecting rod (6) through a connecting piece (5), the two supporting bearings (16) are respectively arranged outside the two bottom corners of the triangle of the flexible soft finger (1), the synchronous belt (2) is arranged on the outer periphery of the flexible soft finger (1), and the inner edge of the synchronous belt (2) is rollingly connected with the bearing (18) and the two supporting bearings (16) respectively; the driving gear (17) is arranged in the middle of the outer side of the triangle bottom side of the synchronous belt (2), and the outer edge of the synchronous belt (2) is meshingly connected with the driving gear (17); the reduction motor module (4) is mounted on the soft finger clamp (3) through a reduction motor fixing bracket (4a), and the reduction motor output shaft (4b) of the reduction motor module (4) passes through the hole groove opened in the soft finger clamp (3) and is transmission-connected with the driving gear (17).

6. The flexible manipulator capable of adjusting the position and posture of fruits according to claim 3 is characterized in that: The flexible manipulator further comprises a laser distance measuring sensor (14) and a PID control system; the laser distance measuring sensor (14) is fixedly mounted on one end of two sliding bars (10) away from the stepping motor (11) and is used to measure the moving distance of the fruit (15); the PID control system is electrically connected to the stepping motor (11), the reduction motor module (4), and the laser distance measuring sensor (14), respectively.

7. The method for adjusting the position and posture of the fruit grasped by the flexible manipulator according to claims 1-6 is characterized in that: Including the method of adjusting the translation position of the grabbed fruit and the method of adjusting the rotation posture of the grabbed fruit: The method for adjusting the translation position of the grasped fruit comprises: firstly clamping the fruit (15) by two finger-shaped directional adjustment components (19); then adjusting the moving distance of the synchronous belt (2) according to the translation distance required by the fruit (15) to drive the fruit (15) to move the required translation distance; The method for adjusting the rotation posture of grasped fruit comprises firstly clamping the fruit (15) by two finger-shaped directional adjustment components (19), and then adjusting the moving distance of the synchronous belt (2) according to the required rotation angle of the fruit (15) to drive the fruit (15) to rotate to the required rotation angle.

8. The control method of the flexible manipulator according to claim 7, characterized in that: The method for adjusting the translation position of the fruit being grabbed is specifically as follows: The fruit (15) is placed between the two finger-shaped directional adjustment components (19), and the PID control system controls the stepper motor output shaft screw (11a) of the stepper motor (11) to drive the lifting platform (7) to move towards the stepper motor (11), thereby driving the two finger-shaped directional adjustment components (19) to clamp the fruit (15) through the connecting mechanism; according to the required translation distance of the fruit (15), the two reduction motor modules (4) are controlled by the PID control system to rotate in opposite directions, thereby driving the two synchronous belts (2) to move in opposite directions to the same distance as the required translation distance of the fruit (15), thereby driving the fruit (15) to move the required translation distance, thereby realizing the translation position adjustment of the fruit.

9. The control method of the flexible manipulator according to claim 7, characterized in that: The method for adjusting the rotation posture of grabbing fruit is specifically as follows: The fruit (15) is placed between two finger-shaped directional adjustment components (19), and the PID control system controls the stepper motor output shaft screw (11a) of the stepper motor (11) to drive the lifting platform (7) to move towards the stepper motor (11), and then drive the two finger-shaped directional adjustment components (19) to clamp the fruit (15) through the connecting mechanism; according to the required rotation angle of the fruit (15), the required moving distance of the synchronous belt (2) is obtained by using the rotation angle method, and then the PID control system controls the two reduction motor modules (4) to rotate in the same direction, driving the two synchronous belts (2) to move in the same direction The required moving distance, and then driving the fruit (15) to rotate to the required rotation angle, thereby realizing the rotation posture adjustment of the fruit.

10. The control method of the flexible manipulator according to claim 7, characterized in that: The rotation angle method is set according to the following formula: Among them, step is the required moving distance of the synchronous belt (2), θ is the angle of rotation of the fruit (15), R is the cross-sectional radius of the fruit (15), and π is a constant.

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