CN108283056B - Elastic manipulator for picking fruit by sucking and grabbing - Google Patents
Elastic manipulator for picking fruit by sucking and grabbing Download PDFInfo
- Publication number
- CN108283056B CN108283056B CN201810163749.6A CN201810163749A CN108283056B CN 108283056 B CN108283056 B CN 108283056B CN 201810163749 A CN201810163749 A CN 201810163749A CN 108283056 B CN108283056 B CN 108283056B
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- Prior art keywords
- pipe
- thick
- thin
- manipulator
- tube
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 95
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims description 9
- 239000000806 elastomer Substances 0.000 claims description 9
- 230000008602 contraction Effects 0.000 abstract description 3
- 210000005239 tubule Anatomy 0.000 abstract 2
- 230000001788 irregular Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000000378 dietary effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a suction-grabbing cooperative fruit picking elastic manipulator which comprises a mechanical claw, a moving pipe, an air cylinder and a collecting pipe, wherein the mechanical claw is arranged on the outer side of the mechanical claw; the collection pipe is empty to be overlapped outside the movable pipe, one end and the collection pipe fixed connection of cylinder, the other end and the movable pipe fixed connection of cylinder, the gripper includes inboard bone, outside flexible member etc. inboard bone and outside flexible member link to each other through three thick, the tubule of overlapping each other, install the spring between thick, the tubule, the lower extreme of inboard bone articulates on the upper edge of movable pipe, and the lower extreme of outside flexible member is installed on the collection pipe. The invention utilizes the ingenious combination of the hinge, the flexible rod piece and the rigid rod piece, realizes the suction and grabbing to cooperate with the opening and closing of the fruit picking manipulator through the expansion and contraction of the small cylinder, and can pick fruits with different sizes; the elasticity of the spring is skillfully utilized, so that the finger of the suction-grabbing collaborative fruit picking manipulator can be reasonably deformed according to the appearance of fruits, and grabbing of various irregularly-shaped fruits is realized.
Description
Technical Field
The invention relates to the technical field of design of picking manipulators in fruit picking auxiliary equipment, in particular to a suction-grabbing cooperative fruit picking elastic manipulator capable of picking fruits with different sizes and irregular shapes.
Background
The fruit picking manipulator is an auxiliary tool for assisting in manually picking fruits and improving working efficiency. Along with the rapid development of social economy, the fruits are produced in large quantities and put on the market, so that the dietary varieties of people are enriched, and the life quality of people is improved. Most areas in China still rely on manual work, so that the fruit picking manipulator which has a reasonable structure, improves the picking efficiency and can ensure the quality of fruits becomes a primary tool. The fruit picking manipulator in the current market is various in variety, and has increased image recognition function somewhat, has improved the functionality. However, in terms of a picking manipulator grabbing manner, two types of grabbing type fruit picking manipulators and knife-shear type fruit picking manipulators are mainly available in the market at present, and the two types of grabbing type fruit picking manipulators are specifically as follows.
(1) Grabbing type fruit picking manipulator. The invention patent with application number 201510401026.1 is an under-actuated manipulator with a rigid-flexible mixed structure, and is a grabbing type fruit picking manipulator, and the picking mode is to inflate fingers to enable the fingers to bulge so as to grab fruits; the main function is that the flexible manipulator fingers are in contact with fruits to be flexible, so that the damage to the fruits caused by picking is avoided, and the quality of the picked fruits is improved. However, the flexible fingers of the manipulator are easy to damage, and the picking mode is single. The invention patent with the application number of 201710532483.3 relates to a grabbing type fruit picking manipulator, which consists of three rigid claws, and a supporting bowl is arranged below the manipulator, so that the picked fruits can be supported, and the fruits can be prevented from falling off and being damaged on the ground; the manipulator is provided with a sleeve, and fruits with different heights are picked by adjusting the length of the tube body. However, the claws of the invention are easy to damage fruits during picking, and can not pick fruits with irregular shapes.
(2) Knife-shear type fruit picking manipulator. The invention patent with the application number of 20110190707. X is a scissor-type fruit picking manipulator, a cutter head is arranged above the manipulator, the manipulator grabs fruits during picking, then the cutter head shears off fruit handles, manual work is replaced, and picking efficiency is improved; the mechanical arm is also provided with a fruit pocket, so that picked fruits can fall into the pocket, and the fruits are prevented from falling into the ground to be damaged; however, the invention is easy to damage fruits when cutting fruit stalks. The invention patent with the application number of 200620058186.7 relates to a scissor type fruit picking manipulator, and the upper end of a manipulator handle is provided with a scissor which can cut off fruits, so that the picking efficiency is improved; the funnel-shaped nylon bags are arranged on the manipulator, so that cut fruits can fall into the bags, and the quality of the fruits is guaranteed. However, the invention is easy to damage fruits during picking, and the picking mode is single. Based on the current situation, the invention discloses a sucking and grabbing cooperative fruit picking manipulator, and the picking mode is various, so that the quality of fruits can be ensured to the greatest extent, and the picking efficiency is greatly improved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the suction-grabbing cooperative fruit picking elastic manipulator, which utilizes the ingenious combination of the hinge, the flexible rod piece and the rigid rod piece, realizes the opening and closing of the suction-grabbing cooperative fruit picking manipulator through the expansion and contraction of the cylinder, and can pick fruits with different sizes; the elasticity of the spring is skillfully utilized, so that the finger of the suction-grabbing collaborative fruit picking manipulator can be reasonably deformed according to the appearance of the fruit, and the grabbing of various irregularly-shaped fruits is realized; and the fruits can be quickly sucked down by sucking the fruits into the collecting pipe, so that the picking modes are diversified, and the picking efficiency is greatly improved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: an elastic picking manipulator for sucking and grabbing fruits comprises a mechanical claw, a moving pipe, an air cylinder and a collecting pipe; the collecting pipe is sleeved outside the moving pipe, one end of the air cylinder is fixedly connected with the collecting pipe, the other end of the air cylinder is fixedly connected with the moving pipe,
the mechanical claw comprises an inner side bone, an outer side flexible rod piece, a rigid rod piece, a first thick pipe, a second thick pipe, a third thick pipe, a first thin pipe, a second thin pipe and a third thin pipe,
the inner side bone consists of a long joint, a first inner side joint, a second inner side joint and an inner side connecting joint which are sequentially hinged, and the hinge shafts are a, b and c in sequence;
one end of the rigid rod piece is fixedly connected with the middle part of the long joint, the other end of the rigid rod piece is hinged with one end of the outer flexible rod piece, the first thick pipe, the second thick pipe and the third thick pipe are sequentially and fixedly connected with the middle part of the outer flexible rod piece,
the first thick pipe is sleeved outside the first thin pipe in a sliding way, an elastomer is arranged between the first thick pipe and the first thin pipe, the outer end of the first thin pipe is hinged with the hinge shaft a,
the second thick pipe is sleeved outside the second thin pipe in a sliding way, an elastomer is arranged between the second thick pipe and the second thin pipe, the outer end of the second thin pipe is hinged with the hinge shaft b,
the third thick pipe is sleeved outside the third thin pipe in a sliding way, an elastomer is arranged between the third thick pipe and the third thin pipe, the outer end of the third thin pipe is hinged with the hinge shaft c,
the lower extreme of inboard joint articulates on the upper edge of removal pipe, the outer extension in outer wall upper edge department of collection pipe has at least three articulated seat, and the lower extreme of outside flexible member is installed on articulated seat.
Further, the elastic body is a spring.
Further, the first thick pipe, the second thick pipe and the third thick pipe have the same structural size, and the first thin pipe, the second thin pipe and the third thin pipe have the same structural size.
Further, the number of the hinge seats is three.
Further, the upper edge of the moving tube extends outwards to form a supporting arm, and the other end of the air cylinder is fixedly connected with the supporting arm.
Further, the number of the supporting arms is at least two, and the supporting arms are uniformly distributed along the circumferential direction of the moving tube.
Further, the telescopic direction of the air cylinder and the axis of the collecting tube are parallel to each other.
The invention has the beneficial effects that: the quality of the fruit can not be ensured in the auxiliary manual picking process by the existing fruit picking manipulator, the fruit is easy to damage, the picking mode is single, and the picking efficiency can not be improved well. The invention avoids adopting complex or special devices, and utilizes ingenious combination of the hinge, the flexible rod piece and the rigid rod piece, and realizes the cooperation of suction and grabbing and the opening and closing of the fruit picking manipulator through the expansion and contraction of the small cylinder, so that fruits with different sizes can be picked; the elasticity of the spring is skillfully utilized, so that the finger of the suction-grabbing collaborative fruit picking manipulator can be reasonably deformed according to the appearance of the fruit, and the grabbing of various irregularly-shaped fruits is realized; and the fruits can be quickly sucked down by sucking the fruits into the collecting pipe, so that the picking modes are diversified, and the picking efficiency is greatly improved. The invention has simple operation, portability and practicability.
Drawings
FIG. 1 is a schematic view of a fruit picking robot of the present invention;
FIG. 2 is a schematic view of the elastic finger of the present invention without fruit;
FIG. 3 is a schematic view of the elastic finger of the present invention when sucking fruit;
FIG. 4 is a schematic view of the elastic fingers of the present invention when grasping fruit;
fig. 5 is a schematic view of the invention when sucking fruit;
FIG. 6 is a schematic view of the present invention when gripping fruit;
in the figure: the device comprises a moving tube 1, a cylinder 2, a collecting tube 3, an outer flexible rod 4, a rigid rod 5, a first thick tube 6, a second thick tube 7, a third thick tube 8, a first thin tube 9, a second thin tube 10, a third thin tube 11, a long joint 12, a first inner joint 13, a second inner joint 14, an inner connecting joint 15, a hinging seat 16 and a supporting arm 17.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1-4, the invention provides an elastic fruit picking manipulator with cooperative suction and grabbing, which comprises a mechanical claw, a moving pipe 1, an air cylinder 2 and a collecting pipe 3; the collecting tube 3 is sleeved outside the moving tube 1, one end of the air cylinder 2 is fixedly connected with the collecting tube 3, the other end of the air cylinder 2 is fixedly connected with the moving tube 1,
the mechanical claw comprises an inner bone, an outer flexible rod 4, a rigid rod 5, a first thick pipe 6, a second thick pipe 7, a third thick pipe 8, a first thin pipe 9, a second thin pipe 10 and a third thin pipe 11,
the inner bone consists of a long joint 12, a first inner joint 13, a second inner joint 14 and an inner connecting joint 15 which are hinged in sequence, and the hinge shafts are a, b and c in sequence;
one end of the rigid rod 5 is fixedly connected with the middle part of the long joint 12, the other end of the rigid rod 5 is hinged with one end of the outer flexible rod 4, the first thick pipe 6, the second thick pipe 7 and the third thick pipe 8 are sequentially fixedly connected with the middle part of the outer flexible rod 4,
the first thick pipe 6 is sleeved outside the first thin pipe 9 in a sliding way, an elastomer is arranged between the first thick pipe 6 and the first thin pipe 9, the outer end of the first thin pipe 9 is hinged with a hinge shaft a,
the second thick pipe 7 is sleeved outside the second thin pipe 10 in a sliding way, an elastomer is arranged between the second thick pipe 7 and the second thin pipe 10, the outer end of the second thin pipe 10 is hinged with a hinge shaft b,
the third thick pipe 8 is sleeved outside the third thin pipe 11 in a sliding way, an elastomer is arranged between the third thick pipe 8 and the third thin pipe 11, the outer end of the third thin pipe 11 is hinged with a hinge shaft c,
the lower extreme of inboard joint 15 articulates on the upper edge of movable tube 1, collection pipe 3's outer wall upper edge department is outer to have three articulated seat 16, and the lower extreme of outside flexible member 4 is installed on articulated seat 16.
Further, the elastic body is a spring.
Further, the first thick tube 6, the second thick tube 7 and the third thick tube 8 have the same structural dimensions, and the first thin tube 9, the second thin tube 10 and the third thin tube 11 have the same structural dimensions.
Further, a supporting arm 17 extends outwards from the upper edge of the moving tube 1, and the other end of the cylinder 2 is fixedly connected with the supporting arm 17.
Further, the number of the supporting arms 17 is at least two, and the supporting arms are uniformly distributed along the circumferential direction of the moving tube 1.
Further, the telescopic direction of the cylinder 2 and the axis of the collecting tube 3 are parallel to each other.
The fruit picking machine can realize the cooperative picking of fruits in a suction mode and a grabbing mode.
(1) The invention absorbs water and is in fruit state
The cylinder 2 acts positively, the air rod of the cylinder 2 pushes out upwards to drive the moving tube 1 to move upwards, the whole manipulator is opened by utilizing the hinge mechanism, and then the fruit is sucked downwards through the collecting tube 3, so that the fruit sucking state is achieved. As shown in fig. 5, this state is mainly applied to picking fruits with weak stalks and easy suction.
(2) The fruit grabbing state of the invention
The cylinder 2 acts reversely, the air rod of the cylinder 2 is retracted downwards to drive the moving tube 1 to move downwards, and when the claws touch fruits, the outer flexible rod 4 is bent inwards, all joints are attached to the surfaces of the fruits, and the fruits are picked down, so that the fruit grabbing device is in a fruit grabbing state. As shown in fig. 6, the state is mainly applied to picking fruits when the fruit stalks are strong in toughness or branches and leaves are flourishing and are not easy to suck.
The foregoing detailed description is provided to illustrate the present invention and not to limit the invention, and any modifications and changes made to the present invention within the spirit of the present invention and the scope of the appended claims fall within the scope of the present invention.
Claims (7)
1. The elastic fruit picking manipulator is characterized by comprising a mechanical claw, a moving pipe, an air cylinder and a collecting pipe; the collecting pipe is sleeved outside the moving pipe, one end of the air cylinder is fixedly connected with the collecting pipe, the other end of the air cylinder is fixedly connected with the moving pipe,
the mechanical claw comprises an inner side bone, an outer side flexible rod piece, a rigid rod piece, a first thick pipe, a second thick pipe, a third thick pipe, a first thin pipe, a second thin pipe and a third thin pipe,
the inner side bone consists of a long joint, a first inner side joint, a second inner side joint and an inner side connecting joint which are sequentially hinged, and the hinge shafts are a, b and c in sequence;
one end of the rigid rod piece is fixedly connected with the middle part of the long joint, the other end of the rigid rod piece is hinged with one end of the outer flexible rod piece, the first thick pipe, the second thick pipe and the third thick pipe are sequentially and fixedly connected with the middle part of the outer flexible rod piece,
the first thick pipe is sleeved outside the first thin pipe in a sliding way, an elastomer is arranged between the first thick pipe and the first thin pipe, the outer end of the first thin pipe is hinged with the hinge shaft a,
the second thick pipe is sleeved outside the second thin pipe in a sliding way, an elastomer is arranged between the second thick pipe and the second thin pipe, the outer end of the second thin pipe is hinged with the hinge shaft b,
the third thick pipe is sleeved outside the third thin pipe in a sliding way, an elastomer is arranged between the third thick pipe and the third thin pipe, the outer end of the third thin pipe is hinged with the hinge shaft c,
the lower extreme of inboard joint articulates on the upper edge of removal pipe, the outer extension in outer wall upper edge department of collection pipe has at least three articulated seat, and the lower extreme of outside flexible member is installed on articulated seat.
2. The suction gripping cooperative fruit picking elastic manipulator of claim 1, wherein the elastic body is a spring.
3. The suction gripping cooperative fruit picking elastic manipulator according to claim 1 or 2, wherein the first thick tube, the second thick tube and the third thick tube have the same structural size, and the first thin tube, the second thin tube and the third thin tube have the same structural size.
4. A suction gripping cooperative fruit picking elastic manipulator as claimed in claim 3, wherein the number of hinge seats is three.
5. The elastic suction and grabbing cooperative fruit picking manipulator as claimed in claim 4, wherein the upper edge of the moving tube is extended outwards to form a supporting arm, and the other end of the cylinder is fixedly connected with the supporting arm.
6. The suction gripping cooperative fruit picking elastic manipulator as defined in claim 5, wherein the number of the supporting arms is at least two and is uniformly distributed along the circumferential direction of the moving tube.
7. The suction and grabbing collaborative fruit picking elastic manipulator according to claim 6, wherein the telescopic direction of the cylinder and the axis of the collection tube are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163749.6A CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163749.6A CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
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| Publication Number | Publication Date |
|---|---|
| CN108283056A CN108283056A (en) | 2018-07-17 |
| CN108283056B true CN108283056B (en) | 2024-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810163749.6A Active CN108283056B (en) | 2018-02-27 | 2018-02-27 | Elastic manipulator for picking fruit by sucking and grabbing |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12269158B2 (en) * | 2020-11-12 | 2025-04-08 | Board Of Trustees Of The University Of Arkansas | Soft robotic gripper for berry harvesting |
| CN112273053B (en) * | 2020-11-27 | 2022-06-17 | 南宁学院 | A flexible passion fruit picking manipulator end effector |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN208029498U (en) * | 2018-02-27 | 2018-11-02 | 浙江水利水电学院 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004000508A1 (en) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| US9554512B2 (en) * | 2014-09-12 | 2017-01-31 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
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2018
- 2018-02-27 CN CN201810163749.6A patent/CN108283056B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203752160U (en) * | 2014-03-25 | 2014-08-06 | 甘肃农业大学 | Quick under-actuated absorbing picking manipulator |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN208029498U (en) * | 2018-02-27 | 2018-11-02 | 浙江水利水电学院 | A kind of inhale grabs collaboration fruit picking Elastic manipulator |
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| CN108283056A (en) | 2018-07-17 |
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