Intelligent manipulator system for picking fruits with thick carpopodium

Abstract

The utility model discloses an intelligent manipulator system for picking fruits with thick fruit stems, which relates to the technical field of manipulators, solves the problem that fruits are easy to damage due to the action of a fruit picking manipulator in the aspect of picking soft fruits, and comprises a high-degree-of-freedom mechanical arm, a shearing paw and a grabbing paw, the high-degree-of-freedom mechanical arm is installed on the driving walking equipment, the grabbing paw is installed at the driving end of the high-degree-of-freedom mechanical arm, the shearing paw is installed on the grabbing paw, the high-degree-of-freedom mechanical arm can freely move in a three-dimensional space, and the fruit picking task can be completed under the condition that fruits and fruit trees are prevented from being damaged; power transmission of the shearing paw and the grabbing paw is achieved through inverse movement of the crank sliding block mechanism, and the picking process can be divided into two stages. In the initial stage, fruits are grabbed and sheared; in the second stage, the fruits are released immediately after being moved to the designated position; and one-time picking operation is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mechanical hand, especially to a kind of intelligent mechanical hand system for picking coarse fruit stem fruit. BACKGROUND

[0002] Fruit agricultural production occupies an irreplaceable position in the field of agricultural economy, due to the problems such as low efficiency and high cost of artificial picking, with the continuous development of science and technology, fruit picking gradually changes from artificial picking to mechanized picking, but the current fruit picking mechanical hand has problems such as the action of mechanical hand easily leading to fruit damage in soft fruit picking. At the same time in the field of agricultural automation, especially for the picking of fruit with relatively thick stem (such as pear, plum), the traditional direct pulling method is easy to cause flesh damage, affecting fruit quality.

[0003] In the national agricultural development policy, promoting agricultural modernization, improving production efficiency and reducing production cost is one of the focuses. At the same time, it also emphasizes the application and popularization of technological innovation in the field of agriculture. The development of mechanical hand structure design for soft fruit picking conforms to these policy guidelines, which can improve the automation level of agricultural production, promote the development of agricultural equipment manufacturing industry and accelerate the process of agricultural modernization. With the promotion of agricultural modernization, soft fruit picking has become an important technical challenge. Traditional artificial picking method faces the problems of labor shortage, high cost and low efficiency, and the existing design exists, and the gripping force control system often cannot realize accurate control. This leads to the mechanical hand to easily exert too much or too little force in the process of grabbing, causing damage to the fruit or failing to successfully grab. Secondly, in the motion control system, the problems such as speed, acceleration and trajectory planning, stability and precision are not high, which affects the accuracy and efficiency of picking to some extent.

[0004] China is the largest peach producing country in the world, with its production accounting for more than 50% of the world's total production. In the current market environment, the picking process of peaches mainly relies on manual operation. However, with the gradual reduction of labor resources, the cost of related labor is also on the rise. In the process of agricultural mechanization, in order to reduce the cost of harvesting and the dependence on human resources, the picking method in the orchard is gradually changing from manual picking to mechanized picking. With the gradual rise of peach picking robots, the hand structure has always been the focus of research. Therefore, the research and development of mechanical hand structure design for soft fruit picking have become the current research hotspot. The mechanical hand can be optimized according to the shape and characteristics of different soft fruits, achieving efficient and accurate picking. This can greatly improve the picking rate, avoid the damage and missed picking phenomenon in the traditional manual picking process, increase the quality and yield of fruits, and at the same time, reduce the pollution risk of agricultural products and improve the quality and safety of agricultural products. Automatic picking technology also helps to improve the sustainability of agricultural production, reduce the consumption of natural resources and the load on the environment. Secondly, robots can replace part of the labor, reduce costs, and reduce the physical labor burden of farmers. This is helpful to solve the problem of labor shortage in agriculture and improve the income level of farmers. The research on the mechanical hand structure design for soft fruit picking plays a crucial role in improving the efficiency of agricultural production, promoting agricultural modernization, and promoting the sustainable development of agriculture in the agricultural field. With the help of scientific development and utilization, the intelligent, efficient and sustainable development of agricultural planting can be achieved, and the income of farmers, the quality of agricultural products and the sustainable development of agriculture can be contributed. Practical new type content

[0005] In view of the problem that the mechanical hand of the fruit picking mechanical hand generated above is prone to causing damage to the soft fruit during picking, the purpose of the present application is to provide an intelligent mechanical hand system for picking fruit with thick fruit stems, which aims to realize non-destructive picking of mature fruit.

[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is:

[0007] An intelligent mechanical hand system for picking fruit with thick fruit stems, the intelligent mechanical hand system for picking fruit with thick fruit stems, wherein it comprises: a high-degree-of-freedom mechanical arm, a shearing hand claw 6 and a grabbing hand claw 7, the high-degree-of-freedom mechanical arm is installed on a driving walking device, the grabbing hand claw 7 is installed on the driving end of the high-degree-of-freedom mechanical arm, the shearing hand claw 6 is installed on the grabbing hand claw 7, the high-degree-of-freedom mechanical arm is used to move the shearing hand claw 6 and the grabbing hand claw 7 to a working position, the grabbing hand claw 7 is used to grab the fruit, and the shearing hand claw 6 is used to shear the fruit stem of the fruit;

[0008] The shearing hand claw 6 is provided with a first sensing device 65, a shearing assembly and a second sensing device 66, the second sensing device 66 is arranged between the shearing assembly and the grabbing hand claw 7, and the second sensing device 66 is used to identify the positional relationship between the shearing assembly and the fruit; the first sensing device 65 is installed on the shearing assembly, and the first sensing device 65 is used to identify the positional relationship between the shearing assembly and the fruit stem.

[0009] The grabbing hand claw 7 is provided with a plurality of fingers 75, and the plurality of fingers 75 are used to enclose and hold the fruit; a pressure sensor is installed on each finger 75.

[0010] The intelligent mechanical hand system for picking thick fruit stem fruits described above, wherein the high-degree-of-freedom mechanical arm comprises a base 1, a large arm 2, an elbow joint 3, a small arm 4 and a wrist joint 5, the base 1 is installed on a driving walking device, the bottom end of the large arm 2 is rotationally connected with the base 1, the elbow joint 3 is rotationally installed at the top end of the large arm 2, the rear end of the small arm 4 is rotationally connected with the elbow joint 3, and the wrist joint 5 is rotationally installed at the front end of the small arm 4; the grabbing hand claw 7 is rotationally installed on the wrist joint 5.

[0011] The intelligent mechanical hand system for picking thick fruit stem fruits described above, wherein the base 1 comprises a fixed mounting seat 11, a rotationally mounted seat 12, a first driving device 13 and a second driving device 14, the fixed mounting seat 11 is installed on a driving walking device, and the rotationally mounted seat 12 is rotationally mounted on the upper surface of the fixed mounting seat 11; the first driving device 13 and the second driving device 14 are both installed on the rotationally mounted seat 12, the first driving device 13 is used to drive the rotationally mounted seat 12 to rotate around its own axis on the upper surface of the fixed mounting seat 11; the bottom end of the large arm 2 is rotationally connected with the side surface of the rotationally mounted seat 12, and the second driving device 14 is used to drive the large arm 2 to swing forward.

[0012] The intelligent mechanical hand system for picking thick fruit stem fruits described above, wherein the elbow joint 3 comprises a switching mounting seat 31, a third driving device 32 and a fourth driving device 33, the top end of the large arm 2 is rotationally connected with the side surface of the switching mounting seat 31, the third driving device 32 is used to drive the switching mounting seat 31 to swing up and down on the top end of the large arm 2; the rear end of the small arm 4 is rotationally connected with the front end of the switching mounting seat 31, and the fourth driving device 33 is used to drive the small arm 4 to rotate around its own axis.

[0013] The intelligent mechanical hand system for picking thick fruit stem fruits described above, wherein the wrist joint 5 comprises a switching housing and a switching transmission shaft, the switching transmission shaft is rotationally installed in the switching housing, and the grabbing hand claw 7 is installed at the front end of the switching transmission shaft.

[0014] The small arm 4 comprises: an assembly housing 41, a fifth driving device 42, a first transmission belt device 44 and a connecting shaft, the front end of the assembly housing 41 is rotationally connected with the adapter housing; the fifth driving device 42 is installed in the assembly housing 41, and the fifth driving device 42 drives the adapter transmission shaft to rotate along the axis of the adapter housing through the first transmission belt device 44, thereby driving the grabbing claw 7 to rotate.

[0015] The small arm 4 further comprises: a sixth driving device 43 and a second transmission belt device 45, the sixth driving device 43 is installed in the assembly housing 41, and the sixth driving device 43 drives the adapter housing to rotate through the second transmission belt device 45.

[0016] The intelligent mechanical hand system for picking the fruit with thick stalks as described above, wherein the input pulley of the first transmission belt device 44 and the output end of the fifth driving device 42 adopt bevel gear meshing transmission, the input pulley of the second transmission belt device 45 and the output end of the sixth driving device 43 adopt bevel gear meshing transmission, the output pulley of the first transmission belt device 44 and the rear end of the adapter transmission shaft adopt bevel gear meshing transmission, and the output pulley of the second transmission belt device 45 is installed on the side of the adapter housing.

[0017] The intelligent mechanical hand system for picking the fruit with thick stalks as described above, wherein the grabbing claw 7 further comprises: a claw mounting seat, a moving nut 71, a lead screw 72, a guide bracket 73 and a seventh driving device 74, the claw mounting seat is installed on the front end of the adapter transmission shaft, the seventh driving device 74 is installed on the claw mounting seat, the lead screw 72 is installed on the output end of the seventh driving device 74, the rear end of the guide bracket 73 is installed on the housing of the seventh driving device 74, a plurality of guide rods are arranged on the guide bracket 73 and surround the lead screw 72 and are parallel to the lead screw 72, the moving nut 71 is installed on the lead screw 72, a plurality of guide through holes are arranged on the outer periphery of the moving nut 71, and each guide through hole is used for penetrating a guide rod; the seventh driving device 74 is used for driving the lead screw 72 to rotate around the axis thereof, thereby driving the moving nut 71 to displace along the axis of the lead screw 72.

[0018] The intelligent mechanical hand system for picking the fruit with thick stalks as described above, wherein the grabbing claw 7 further comprises: a rotating connecting rod and a third sensing device 76, a plurality of fingers 75 are arranged at equal angles around the axis of the lead screw 72, the rear end of each finger 75 is rotationally connected with the front end of the guide bracket 73, the rear end of each finger 75 is rotationally connected with the front end of a rotating connecting rod, the rear end of each rotating connecting rod is rotationally connected with the outer periphery of the moving nut 71, and the third sensing device 76 is located on the axis of the lead screw 72 and is installed on the front end of the guide bracket 73.

[0019] The intelligent mechanical hand system for picking the fruit with thick stalks, wherein the shearing hand claw 6 further comprises a first mounting plate, a second mounting plate 67, a second angle displacement adjusting device 68 and a first angle displacement adjusting device 69, the first angle displacement adjusting device 69 comprises a first servo motor and a first electric push rod, the fixed end of the first electric push rod is mounted on the driving end of the first servo motor, the first servo motor and the first electric push rod are located on the same axis, the first servo motor is mounted on the hand claw mounting seat, and the first mounting plate is mounted on the driving end of the first electric push rod.

[0020] The second angle displacement adjusting device 68 comprises a second servo motor and a second electric push rod, the fixed end of the second electric push rod is mounted on the driving end of the second servo motor, the second servo motor and the second electric push rod are located on the same axis, the second servo motor is mounted on the front side of the first mounting plate, and the second mounting plate 67 is mounted on the driving end of the second electric push rod.

[0021] The shearing assembly is mounted on the second mounting plate 67, and the second sensing device 66 is mounted on the first mounting plate and located below the second angle displacement adjusting device 68.

[0022] The axis of the second angle displacement adjusting device 68 is parallel to the axis of the lead screw 72, and the axis of the first angle displacement adjusting device 69 is perpendicular to the axis of the lead screw 72.

[0023] The intelligent mechanical hand system for picking the fruit with thick stalks, wherein the shearing assembly comprises a bracket mounting seat, a blade 61, a first connecting rod 62, a gas cylinder 63 and a second connecting rod 64, the bracket mounting seat is mounted on the second mounting plate 67, the gas cylinder 63 is mounted in the bracket mounting seat, two blades 61 are symmetrically arranged, each blade 61 is rotatably mounted at the front end of the bracket mounting seat through a group of first connecting rods 62, the front end of each second connecting rod 64 is rotatably connected with the middle part of a group of first connecting rods 62, and the rear ends of two first connecting rods 62 are rotatably connected with the cylinder rod end of the gas cylinder 63, and the first sensing device 65 is mounted at the front end of the bracket mounting seat.

[0024] The intelligent mechanical hand system for picking the fruit with thick stalks, wherein the shearing assembly comprises a bracket mounting seat, a blade 61, a first connecting rod 62, a gas cylinder 63 and a second connecting rod 64, the bracket mounting seat is mounted on the second mounting plate 67, the gas cylinder 63 is mounted in the bracket mounting seat, two blades 61 are symmetrically arranged, each blade 61 is rotatably mounted at the front end of the bracket mounting seat through a group of first connecting rods 62, the front end of each second connecting rod 64 is rotatably connected with the middle part of a group of first connecting rods 62, and the rear ends of two first connecting rods 62 are rotatably connected with the cylinder rod end of the gas cylinder 63, and the first sensing device 65 is mounted at the front end of the bracket mounting seat.

[0025] (1) The high-degree-of-freedom mechanical arm can freely move in three-dimensional space, has high action freedom, can complete fruit picking tasks without damaging fruits and fruit trees, and is provided with a pressure sensor on the grabbing hand claw to monitor the fruit surface pressure in the fruit grabbing process in real time, so that fruit damage is avoided in the picking process.

[0026] (2) In the utility model, the shearing hand claw and the grabbing hand claw realize power transmission through reverse movement of the crank slider mechanism, and the picking process can be divided into two stages. In the initial stage, the fruit is grabbed and sheared. In this process, the rotating motor rotates in the forward direction to drive the movement of the moving nut, so that the fingers can capture the fruit; similarly, the cylinder piston rod completes one-time reciprocating movement, the shearing fingers open and close rapidly, so that the cutting of the fruit stem root is realized. In the second stage, after the fruit is moved to the designated position, it is released immediately. The motor is reversed to start, the fingers are unfolded, and the fruit is released, completing one picking.

[0027] (3) In the utility model, the fruit is first grabbed by the mechanical hand, and then the fruit stem is cut by the blade. Compared with the pulling type picking, the skin damage of the fruit caused by the pulling of the mechanical hand is reduced. In the structural design, the linear motion is converted into the rotary motion of the motor for driving through the combination of the crank slider movement and the screw rod transmission, so that the motion is more stable, and the intact rate of the fruit in the picking process is increased. The mechanical hand has simple structure and relatively low price, can guarantee the intact rate of the fruit in the picking process, and can be widely applied to the fruit picking industry. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic view of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0029] Figure 2 is a front view of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0030] Figure 3 is a bottom view of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0031] Figure 4 is a left view of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0032] Figure 5 is a structural schematic view of a base of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0033] Figure 6 is a structural schematic view of an elbow joint of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0034] Figure 7 is a structural schematic view of a forearm of an intelligent mechanical hand system for picking thick fruit stem fruits.

[0035] Figure 8It is a second transmission belt device structure schematic view of a small arm of an intelligent mechanical hand system for picking thick-fruit-stalk fruits.

[0036] Figure 9 It is a shearing assembly structure schematic view of an intelligent mechanical hand system for picking thick-fruit-stalk fruits.

[0037] Figure 10 It is a position schematic view of a shearing hand claw and a grabbing hand claw of an intelligent mechanical hand system for picking thick-fruit-stalk fruits.

[0038] Figure 11 It is a high-freedom mechanical arm simple view of an intelligent mechanical hand system for picking thick-fruit-stalk fruits.

[0039] Figure 12 It is a mechanical hand picking operation flow chart of an intelligent mechanical hand system for picking thick-fruit-stalk fruits.

[0040] In the drawings: 1, base; 2, large arm; 3, elbow joint; 4, small arm; 5, wrist joint; 6, shearing hand claw; 7, grabbing hand claw; 11, fixed mounting seat; 12, rotating mounting seat; 13, first driving device; 14, second driving device; 31, adapter mounting seat; 32, third driving device; 33, fourth driving device; 41, assembly shell; 42, fifth driving device; 43, sixth driving device; 44, first transmission belt device; 45, second transmission belt device; 61, blade; 62, first connecting rod; 63, air cylinder; 64, second connecting rod; 65, first sensing device; 66, second sensing device; 67, second mounting plate; 68, second angle displacement adjusting device; 69, first angle displacement adjusting device; 71, moving nut; 72, screw rod; 73, guide support; 74, seventh driving device; 75, finger; 76, third sensing device. DETAILED DESCRIPTION

[0041] The utility model will be further described below in combination with the drawings and specific embodiments, but not as the limitation of the utility model.

[0042] Please refer to Figures 1 to 12 It shows an intelligent mechanical hand system for picking thick-fruit-stalk fruits, adopts multi-stage visual positioning and power transmission mechanism to ensure efficient, accurate and non-damaging fruit picking process, and the operation process is as shown in Figure 12 The specific implementation is as follows:

[0043] Step 1: position positioning stage: the mechanical arm is first navigated to the approximate position of the target fruit, and the specific coordinates of the fruit are locked through the visible light camera built in the mechanical hand.

[0044] Step 2: Grasping fixation stage: The motor-driven lead screw combined with the crank slider mechanism reversely transmits power, enabling the mechanical fingers to stably grasp the fruit. Each finger is equipped with a pressure sensor to monitor and adjust the force applied to the fruit, thereby protecting the flesh from damage.

[0045] Step 3: Shearing preparation stage: The integrated motor and electric rod group on the combination plate are used to adjust the angle and height of the shearing hand claw relative to the fruit. This step is determined based on preliminary visual data from the camera on the combination plate, to adapt to different sizes and shapes of fruits and changes in fruit stem length.

[0046] Step 4: Fine adjustment stage: The small camera equipped on the shearing hand claw is responsible for further accurate calibration of its position, relying on a second set of servo motors and electric rod groups for fine-tuning, ensuring that the shearing hand claw accurately reaches the fruit stem.

[0047] Step 5: Shearing execution stage: Using the principle of inverse motion of the crank slider mechanism, the shearing hand claw can safely and accurately cut off the fruit stem, completing the fruit separation.

[0048] Step 6: Transportation and storage stage: Finally, the mechanical arm smoothly and quickly transports the picked fruit to the preset collection point, ending a complete picking cycle.

[0049] Further, in a preferred embodiment, the first driving device 13, the second driving device 14, the third driving device 32, the fourth driving device 33, the fifth driving device 42, the sixth driving device 43, and the seventh driving device 74 are all selected to be motors and are individually controlled and driven by the control device, and the driving walking equipment is used for control and power supply.

[0050] Further, in a preferred embodiment, the driving walking equipment can be selected to be a tractor, a forest land machine, or other agricultural and forest walking driving equipment.

[0051] Further, in a preferred embodiment, the first sensing device 65, the second sensing device 66, and the third sensing device 76 are all selected to be optical cameras, which are used to collect image information and distance information to realize accurate grasping of the fruit by the grasping hand claw 7 and accurate shearing of the fruit stem by the shearing hand claw 6.

[0052] Further, in a preferred embodiment, the first angle displacement adjusting device 69 comprises a first servo motor and a first electric push rod, the fixed end of the first electric push rod is installed on the driving end of the first servo motor, the first servo motor and the first electric push rod are located on the same axis, the first servo motor is installed on the hand claw mounting seat, and the first mounting plate is installed on the driving end of the first electric push rod.

[0053] The second angle displacement adjustment device 68 includes: a second servo motor and a second electric push rod. The fixed end of the second electric push rod is installed on the drive end of the second servo motor. The second servo motor and the second electric push rod are located on the same axis. The second servo motor is installed on the front side of the first mounting plate. The second mounting plate 67 is installed on the drive end of the second electric push rod.

[0054] The first electric push rod is used to push the shearing component upward, thereby adjusting the distance between the shearing component and the gripper 7, to avoid insufficient shearing height or damage to other fruits and branches, allowing the shearing component to pass between other fruits and branches during operation. The first servo motor is used to drive the first electric push rod to rotate, thereby adjusting the shearing direction of the shearing component. The second servo motor is used to drive the second electric push rod to rotate, thereby adjusting the shearing angle of the shearing component. The second electric push rod is used to push the shearing component forward, so that the shearing component can cut the fruit stalk of the fruit already gripped by the gripper 7, avoiding the situation where the length is insufficient and it cannot be cut.

[0055] Furthermore, in a preferred embodiment, the first driving device 13 is used to drive the rotating mounting base 12 to rotate on the upper surface of the fixed mounting base 11, and the second driving device 14 is used to drive the boom 2 to swing back and forth, such as... Figure 5 As shown, the third drive device 32 is used to drive the adapter mounting base 31 to swing up and down at the top of the upper arm 2, and the fourth drive device 33 is used to drive the forearm 4 to twist slightly around its own axis, adjusting the gripping angle of the gripper 7 and the shearing angle of the shearing gripper 6, as shown. Figure 6 As shown, the forearm 4 is equipped with a fifth drive device 42 and a sixth drive device 43. Combined with the first transmission belt device 44, the second transmission belt device 45 and the bevel gear meshing transmission on both sides, it realizes the pitching and large-scale twisting movements of the gripping claw 7, which makes it easier for the gripping claw 7 and the shearing claw 6 to avoid other fruits and branches during the process of grasping the fruit, and avoid damage to other fruits and branches.

[0056] Further, in a preferred embodiment, for the fruit picking manipulator, there are problems such as easy damage of the fruit caused by the action of the manipulator in the soft fruit picking. Since the peach fruit is soft and the skin is fragile after ripening, the utility model takes peach as the basis and designs a peach picking manipulator. The picking manipulator structure can better avoid damage to the surface of the fruit during picking. According to the characteristics of the surface of the picking object being easy to break, a picking method of cutting assisted picking is selected. It can be applied to the picking of other fruits that are harder than peach flesh and skin. The picking method first grasps the fruit by the manipulator, and then cuts the fruit stem with a blade. Compared with the pulling type picking, the method reduces the damage to the skin of the fruit caused by the pulling of the manipulator. In the structural design, the linear motion is converted into the rotary motion of the motor for driving through the combination of the crank slider mechanism and the screw transmission, so that the motion is more stable, and the integrity of the fruit during picking is increased. The manipulator structure is simple and relatively low in price, and can ensure the integrity of the fruit during picking, and can be widely applied to the fruit picking industry.

[0057] Further, in a preferred embodiment, the peach picking manipulator has its own particularity in addition to the characteristics common to other fruit picking manipulators. The working object of the peach picking manipulator is peach, and the working environment is outdoor. The working task is to pick mature peaches. Due to the seasonality and timeliness of the picking operation, the manipulator is required to work continuously, stably and reliably. Due to the softness and damage of the mature fruit, combined with the obvious shape difference, the manipulator is required to have good adaptability to different peaches. Due to the heavy weight of the peach fruit, the fruit and the fruit stem are mostly in a vertical posture under the action of gravity, so the posture precision of the manipulator during picking is not high. Therefore, compared with the common six-axis manipulator on the market, the manipulator for soft fruit picking can reduce a wrist rotating mechanism, adopt a five-degree-of-freedom manipulator scheme, simplify the structure and reduce the cost. Figure 11 It is a schematic diagram of the overall scheme of the manipulator.

[0058] Further, in a preferred embodiment, the high-degree-of-freedom manipulator is composed of a base 1, a large arm 2, an elbow joint 3, a small arm 4 and a wrist joint 5, as shown in Figure 1 , the structural diagram is referred to Figure 11 . With this structural design, the manipulator can move freely in three-dimensional space, has high freedom of action, can complete the fruit picking task without damaging the fruit and the fruit tree, and is provided with a pressure sensor on the grabbing claw 7 to monitor the surface pressure of the fruit in real time during the fruit grabbing process, so as to avoid damage to the fruit during picking. In actual application, the high-degree-of-freedom manipulator has a simple structure and low production cost.

[0059] Further, in a preferred embodiment, the grabbing claw 7 is as shown in Figure 1 and Figure 10As shown, by analyzing the motion relationship of the crank slider mechanism, the gripping paw 7 realizes power transmission through the inverse motion of the crank slider mechanism. In the process of the manipulator picking around the fruit, it is necessary to ensure the smooth completion of the picking task and prevent damage to other fruits or leaves. According to the appearance of the fruit, the shape of the gripping paw 7 of the manipulator is designed, and the gripping paw 7 adopts a finger-shaped design, which simulates the action of human hand grasping in the process of manual picking to grasp the fruit.

[0060] Further, in a preferred embodiment, the operation process of the manipulator can be divided into two stages as shown. Figure 12 In the initial stage, the fruit is grasped and cut. In this process, the seventh driving device 74 operates in the forward direction to drive the movement of the moving nut 71 along the screw rod 72, so that the fingers 75 are tightened to capture the fruit; similarly, the piston rod of the cylinder 63 completes one reciprocating motion, and the two blades 61 are quickly opened and closed, thereby realizing the cutting of the fruit stem at the root. In the second stage, after the fruit is moved to the designated position, it is released. The seventh driving device 74 is reversed to start, the fingers 75 are unfolded, and the fruit is released, completing a picking.

[0061] Further, in a preferred embodiment, the cutting paw 6 adopts the inverse motion of the crank slider mechanism for power transmission as shown in Figure 9 and Figure 10 The cylinder 63 extends, the blades 61 open, the cylinder 63 retracts, the blades 61 close, and the cutting action is completed.

[0062] Further, in a preferred embodiment, the cylinder 63 is connected to the cutting overload protection circuit. If the closing action of the cutting paw is blocked, the gas pressure in the rod cavity and the rodless cavity of the cylinder 63 is adjusted in time through the reversing valve to return the piston rod of the cylinder 63, thereby realizing the overload protection function.

[0063] Further, in a preferred embodiment, the gripping paw 7 directly contacts the surface of the fruit to be picked, and the four fingers 75 form a cage structure when they are closed, fixing the fruit and completing the gripping, and then the cutting paw 6 cuts the fruit stem to complete the complete picking action.

[0064] Further, in a preferred embodiment, since the gripping paw 7 directly contacts the surface of the fruit, the damage to the fruit often occurs in this gripping action, so the structure of the gripping paw should be designed according to this feature. In order to prevent the fruit from being damaged, the structure design of the gripping paw mainly includes the following two points: (1) making the closing motion of the gripping paw more stable; (2) reducing the stress on the surface of the fruit in the picking process.

[0065] Further, in a preferred embodiment, in order to make the closing movement of the gripping claw 7 more stable, the gripping claw 7 also adopts the reverse movement of the crank slider for power transmission, and different from the shearing claw 6, the slider part of the gripping claw 7 is not directly controlled by the extension of the air cylinder, but is combined with the lead screw transmission and is controlled by the rotation of the motor. In order to prevent the gripping claw 7 from damaging the fruits when completing the gripping action due to excessive driving force, the linear reciprocating motion is converted into rotary motion through the lead screw 72, so that the movement of the gripping claw 7 is more stable when completing the closing action, and the integrity of the fruits is protected.

[0066] Further, in a preferred embodiment, a guide rod is added around the lead screw 72, so that the movement of the moving nut 71 is more stable, the gripping claw 7 is prevented from shaking when closing, and at the same time, the wear caused by the friction between the moving nut 71 and the lead screw 72 is reduced, and the service life of the manipulator is increased.

[0067] Further, in a preferred embodiment, the stress on the surface of the fruits during picking is reduced; a plurality of fingers 75 are arranged at equal angles around the axis of the lead screw 72, and a pressure sensor is arranged inside the finger 75, so that the stress on the surface of the fruits during picking is reduced by increasing the contact area, and the damage of the fruits caused by the closing of the gripping claw 7 during picking is avoided.

[0068] The above is only a preferred embodiment of the utility model, and does not limit the implementation mode and protection scope of the utility model.

[0069] The utility model has the following implementation modes on the basis of the above:

[0070] In a further embodiment of the utility model, since the peach skin is relatively fragile, if the driving force suddenly increases in the accidental situation of directly adopting the crank slider mechanism for transmission, the fruits are easily damaged, therefore, the gripping claw 7 adopts the combination of the lead screw transmission and the crank slider for transmission. According to the mechanical damage characteristics of peaches, the pressure on the surface of the fruits during picking and transporting should be less than about 12.5N. Since the four fingers 75 are arranged in axial symmetry, the seventh driving device 74 can be selected as an AKM21-C brushless DC motor. The lead screw 72 can be selected as an SFNI01605-4 model; the nominal diameter of the lead screw 72 of this model is 16mm, and the lead is 5mm.

[0071] The mechanical arm is composed of a base 1, a large arm 2 and a small arm 4, adopts a five-degree-of-freedom mechanical arm scheme, and the basic structure is as shown in Figures 1 to 8As shown, base 1, large arm 2, elbow joint 3, small arm 4, wrist joint 5. The rotation freedom degree of base 1 determines the direction of the mechanical arm, the moving action of the fruit after the picking action of the mechanical hand is mainly completed by three pitch freedom degrees, the rotation freedom degree of elbow joint 3 determines the posture of grabbing claw 7, so as to realize the rotation of grabbing claw 7.

[0072] In further embodiments of the utility model, the working sequence is:

[0073] S1: the third sensing device 76 first captures the position of the fruit, after feedback to the controller, the high-degree-of-freedom mechanical arm is controlled to approach the fruit position and is adjusted in real time, so as to avoid causing damage to other fruits and branches, the controller controls grabbing claw 7 to complete the grabbing of the fruit.

[0074] S2: after the fruit is grabbed, the general position of the fruit stem (the fruit stem length of different fruits is different) is pre-judged by the second sensing device 66, the shearing direction of the shearing assembly is adjusted through the first servo motor, the distance between the shearing assembly and grabbing claw 7 is adjusted through the first electric push rod, so as to realize that the cutter head reaches the position near the fruit stem.

[0075] S3: finally, the shearing angle of the shearing assembly is finely adjusted by the second servo motor, the forward and backward displacement of the shearing assembly along the axis of the second servo motor is finely adjusted by the second electric push rod, and finally the accurate shearing of the fruit stem is completed.

[0076] The above is only the preferred embodiment of the utility model, and does not limit the implementation and protection scope of the utility model, and for those skilled in the art, it should be realized that the schemes obtained by equivalent replacement and obvious changes of the utility model specification and drawing contents should be included in the protection scope of the utility model.

Claims

1. An intelligent robotic hand system for picking thick-stemmed fruits, the intelligent robotic hand system for picking thick-stemmed fruits, characterized in that, The application relates to a high-degree-of-freedom mechanical arm, a shearing hand claw (6) and a grabbing hand claw (7), the high-degree-of-freedom mechanical arm is installed on a driving walking device, the grabbing hand claw (7) is installed on a driving end of the high-degree-of-freedom mechanical arm, the shearing hand claw (6) is installed on the grabbing hand claw (7), the high-degree-of-freedom mechanical arm is used for moving the shearing hand claw (6) and the grabbing hand claw (7) to a working position, the grabbing hand claw (7) is used for grabbing fruits, and the shearing hand claw (6) is used for shearing fruit stems of the fruits. A first sensing device (65), a shearing assembly and a second sensing device (66) are arranged on the shearing hand claw (6), the second sensing device (66) is arranged between the shearing assembly and the grabbing hand claw (7), the second sensing device (66) is used for identifying a positional relationship between the shearing assembly and the fruits, the first sensing device (65) is installed on the shearing assembly, and the first sensing device (65) is used for identifying a positional relationship between the shearing assembly and the fruit stems. A plurality of fingers (75) are arranged on the grabbing hand claw (7), the plurality of fingers (75) are used for surrounding and holding the fruits, and a pressure sensor is arranged on each finger (75). The high-degree-of-freedom mechanical arm comprises a base (1), a large arm (2), an elbow joint (3), a small arm (4) and a wrist joint (5), the base (1) is installed on the driving walking device, a bottom end of the large arm (2) is rotationally connected with the base (1), the elbow joint (3) is rotationally installed on a top end of the large arm (2), a rear end of the small arm (4) is rotationally connected with the elbow joint (3), and the wrist joint (5) is rotationally installed on a front end of the small arm (4); the grabbing hand claw (7) is rotationally installed on the wrist joint (5).

2. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 1, wherein, The base (1) comprises a fixed mounting seat (11), a rotation mounting seat (12), a first driving device (13) and a second driving device (14), the fixed mounting seat (11) is installed on the driving walking device, and the rotation mounting seat (12) is rotationally installed on an upper surface of the fixed mounting seat (11); the first driving device (13) and the second driving device (14) are both installed on the rotation mounting seat (12), the first driving device (13) is used for driving the rotation mounting seat (12) to rotate around an axis of the rotation mounting seat (12) on the upper surface of the fixed mounting seat (11), a bottom end of the large arm (2) is rotationally connected with a side surface of the rotation mounting seat (12), and the second driving device (14) is used for driving the large arm (2) to swing forward.

3. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 2, characterized in that, The elbow joint (3) comprises a switching mounting seat (31), a third driving device (32) and a fourth driving device (33), a top end of the large arm (2) is rotationally connected with a side surface of the switching mounting seat (31), the third driving device (32) is used for driving the switching mounting seat (31) to swing up and down on the top end of the large arm (2), a rear end of the small arm (4) is rotationally connected with a front end of the switching mounting seat (31), and the fourth driving device (33) is used for driving the small arm (4) to rotate around an axis of the small arm (4).

4. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 2, wherein, The wrist joint (5) comprises a switching housing and a switching transmission shaft, the switching transmission shaft is rotationally installed in the switching housing, and the grabbing hand claw (7) is installed on a front end of the switching transmission shaft.

5. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 2, wherein, ​ The small arm (4) comprises: an assembly housing (41), a fifth driving device (42), a first transmission belt device (44) and a connecting rotating shaft, the front end of the assembly housing (41) is rotationally connected with the adapter housing; the fifth driving device (42) is installed in the assembly housing (41), and the fifth driving device (42) drives the adapter transmission shaft to rotate along the axis of the adapter housing through the first transmission belt device (44) and in turn drives the grabbing claw (7) to rotate. The small arm (4) further comprises: a sixth driving device (43) and a second transmission belt device (45), the sixth driving device (43) is installed in the assembly housing (41), and the sixth driving device (43) drives the adapter housing to rotate through the second transmission belt device (45).

6. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 5, wherein, The input pulley of the first transmission belt device (44) and the output end of the fifth driving device (42) are in meshing transmission through helical gears, the input pulley of the second transmission belt device (45) and the output end of the sixth driving device (43) are in meshing transmission through helical gears, the output pulley of the first transmission belt device (44) and the rear end of the adapter transmission shaft are in meshing transmission through helical gears, and the output pulley of the second transmission belt device (45) is installed on the side of the adapter housing.

7. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 5, wherein, The grabbing claw (7) further comprises: a claw mounting seat, a moving nut (71), a lead screw (72), a guide bracket (73) and a seventh driving device (74), the claw mounting seat is installed on the front end of the adapter transmission shaft, the seventh driving device (74) is installed on the claw mounting seat, the lead screw (72) is installed on the output end of the seventh driving device (74), the rear end of the guide bracket (73) is installed on the housing of the seventh driving device (74), a plurality of guide rods are arranged on the guide bracket (73) and are parallel to the lead screw (72), the moving nut (71) is installed on the lead screw (72), a plurality of guide through holes are arranged on the outer periphery of the moving nut (71), and each guide through hole is used for penetrating a guide rod; the seventh driving device (74) is used for driving the lead screw (72) to rotate around the axis of the lead screw (72) and in turn driving the moving nut (71) to displace along the axis of the lead screw (72).

8. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 7, wherein, The grabbing claw (7) further comprises: rotating connecting rods and a third sensing device (76), a plurality of fingers (75) are arranged at equal angles around the axis of the lead screw (72), the rear end of each finger (75) is rotationally connected with the front end of the guide bracket (73), the rear end of each finger (75) is rotationally connected with the front end of a rotating connecting rod, the rear end of each rotating connecting rod is rotationally connected with the outer periphery of the moving nut (71), and the third sensing device (76) is located on the axis of the lead screw (72) and is installed on the front end of the guide bracket (73).

9. The intelligent robotic hand system for picking the coarse-stemmed fruit as claimed in claim 7 wherein, The shearing hand claw (6) further comprises a first mounting plate, a second mounting plate (67), a second angle displacement adjusting device (68) and a first angle displacement adjusting device (69), the first angle displacement adjusting device (69) comprising a first servo motor and a first electric push rod, the fixed end of the first electric push rod being mounted on the driving end of the first servo motor, the first servo motor and the first electric push rod being located on the same axis, the first servo motor being mounted on the hand claw mounting seat, and the first mounting plate being mounted on the driving end of the first electric push rod. The second angle displacement adjusting device (68) comprises a second servo motor and a second electric push rod, the fixed end of the second electric push rod being mounted on the driving end of the second servo motor, the second servo motor and the second electric push rod being located on the same axis, the second servo motor being mounted on the front side of the first mounting plate, and the second mounting plate (67) being mounted on the driving end of the second electric push rod. The shearing assembly is mounted on the second mounting plate (67), and the second sensing device (66) is mounted on the first mounting plate and located below the second angle displacement adjusting device (68). The axis of the second angle displacement adjusting device (68) is parallel to the axis of the lead screw (72), and the axis of the first angle displacement adjusting device (69) is perpendicular to the axis of the lead screw (72).

10. The intelligent robotic hand system for picking the coarse-stemmed fruit according to claim 9, wherein, The shearing assembly comprises a bracket mounting seat, a blade (61), a first connecting rod (62), a gas cylinder (63) and a second connecting rod (64), the bracket mounting seat being mounted on the second mounting plate (67), the gas cylinder (63) being mounted in the bracket mounting seat, two blades (61) being symmetrically arranged, each blade (61) being rotatably mounted at the front end of the bracket mounting seat through a set of first connecting rods (62), the front end of each second connecting rod (64) being rotatably connected with the middle part of a set of first connecting rods (62), and the rear ends of two first connecting rods (62) being rotatably connected with the cylinder rod end of the gas cylinder (63), and the first sensing device (65) being mounted at the front end of the bracket mounting seat.

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