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CN-121970609-A - Apple picking robot based on rope-driven actuator

CN121970609ACN 121970609 ACN121970609 ACN 121970609ACN-121970609-A

Abstract

An apple picking robot based on a rope-driven actuator relates to the technical field of agricultural picking equipment and comprises a picking assembly and a collecting assembly which are arranged on a base. The picking assembly comprises a mechanical arm and a rope driven actuator, the rope driven actuator comprises a connecting seat, mechanical claws, constraint plates, first recovery springs and first driving ropes, each mechanical claw comprises three grabbing fingers, one ends of the grabbing fingers are rotationally connected with the connecting seat, the other ends of the grabbing fingers are used for grabbing fruits, arc-shaped portions are arranged in the middle of the grabbing fingers, the constraint plates are provided with constraint holes, the constraint holes are in one-to-one correspondence with the arc-shaped portions, the first recovery springs are arranged between the connecting seat and the constraint plates, and one ends of the first driving ropes are connected with the constraint plates. The collection assembly includes a follower collection device and a position adjustment device. The invention can solve the problems of high cost, low efficiency, high time consumption, easy damage to apples, heavy structure, poor flexibility, low cooperativity, easy damage to fruits, poor adaptability to complex orchard environments and the like of the existing automatic picking equipment.

Inventors

  • QUAN PENGKUN
  • WANG ZHENYU
  • Du Shucan
  • LI CHAOYANG
  • LIU DUO
  • LI KUN
  • WEI XIANGYU
  • WANG ZHUO
  • LI QIANWEN
  • Zhao kaixuan
  • JI JIANGTAO
  • SUN JINGWEI
  • Qiu Tieling

Assignees

  • 河南科技大学

Dates

Publication Date
20260505
Application Date
20260122

Claims (10)

  1. 1. An apple picking robot based on a rope-driven actuator is characterized by comprising a picking assembly and a collecting assembly which are arranged on a base, The picking assembly comprises a mechanical arm (1) and a rope driven actuator (2) arranged at the free end of the mechanical arm (1), the rope driven actuator (2) comprises a connecting seat (21), a mechanical claw (22), a constraint plate (23), a first recovery spring (24) and a first driving rope (25), the connecting seat (21) is used for being connected with the mechanical arm (1), the mechanical claw (22) comprises three grabbing fingers (221), one ends of the grabbing fingers (221) are rotationally connected with the connecting seat (21), the other ends of the grabbing fingers (221) are used for grabbing fruits, the three grabbing fingers (221) are uniformly distributed on the connecting seat (21) along the circumferential direction, arc-shaped parts (222) are arranged in the middle of the grabbing fingers (221), three constraint holes (231) are uniformly arranged along the circumferential direction, the constraint holes (231) are matched with the arc-shaped parts (222) in a one-to-one correspondence mode to achieve the matching of the constraint plate (23) and the mechanical claw (22), the first recovery spring (24) is arranged between the connecting seat (21) and the constraint plate (23), one end of the first driving rope (25) is connected with the constraint plate (23) in a control mode, Pulling the first driving rope (25) to enable the constraint plate (23) to overcome the elasticity of the first restoring spring (24) and approach the connecting seat (21) and enable the grabbing fingers (221) to approach each other through the cooperation of the constraint hole (231) and the arc-shaped part (222) so as to achieve grabbing action, when the first driving rope (25) is loosened, the constraint plate (23) can restore to the initial position under the action of the elasticity of the first restoring spring (24) to enable the grabbing fingers (221) to be far away from each other so as to release the picked fruits, The collecting assembly comprises a following collecting device (3) and a position adjusting device (4), one end of the following collecting device (3) is connected with the base through the position adjusting device (4) and used for enabling the following collecting device (3) to be kept under the actuator (2) through the position adjusting device (4), and a conveying belt (31) is arranged on the following collecting device (3) and used for conveying fruits falling on the following collecting device (3) to a preset position.
  2. 2. The apple picking robot based on a rope-driven actuator according to claim 1, wherein the connecting seat (21) comprises a fixed part (211), a movable part (212) and a second recovery spring (213), the fixed part (211) is fixedly connected with the mechanical arm (1), the movable part (212) is coaxially arranged with the fixed part (211) and can slide relative to the fixed part (211) along the axial direction, a spiral chute (214) is arranged in the fixed part (211), a sliding block matched with the spiral chute (214) is arranged on the movable part (212), the second recovery spring (213) is arranged between the fixed part (211) and the movable part (212), the gripping finger (221) is rotatably arranged on the movable part (212), the first recovery spring (24) is arranged between the movable part (212) and the constraint plate (23), After the restraint plate (23) overcomes the elasticity of the first restoring spring (24) to reach the limit position to grasp the mechanical claw (22), the first driving rope (25) is pulled continuously to enable the movable part (212) to slide along the axial direction relative to the fixed part (211) against the elasticity of the second restoring spring (213), the movable part (212) rotates along the axial direction under the action of the cooperation of the sliding block and the spiral sliding groove (214) simultaneously, the mechanical claw (22) is driven to realize screwing action, the movable part (212) can restore to the initial position under the action of the second restoring spring (213) when the first driving rope (25) is loosened, and then the restraint plate (23) can restore to the initial position under the action of the elasticity of the first restoring spring (24) to enable the grasping fingers (221) to be mutually far away from the picked fruits.
  3. 3. The apple picking robot based on the rope-driven actuator of claim 1, wherein the gripping fingers (221) are provided with flexible structures (26) at one ends for gripping fruits, the flexible structures (26) comprise enveloping chains (261), third restoring springs (262) and second driving ropes (263), the enveloping chains (261) are sleeved at the tail ends of the gripping fingers (221), the third restoring springs (262) are arranged between the gripping fingers (221) and the enveloping chains (261), one ends of the second driving ropes (263) are sequentially connected with the tail ends of the enveloping chains (261) to form a converging ring (264), the other ends of the second driving ropes are connected with a driving rope controller, The second driving rope (263) is pulled to tighten the binding ring (264) so that the enveloping chain (261) can slide out of the tail end of the corresponding grabbing finger (221) against the elastic force of the corresponding third restoring spring (262), the mutual approaching is realized, and when the second driving rope (263) is loosened, the enveloping chain (261) can restore to the initial position under the elastic force of the corresponding third restoring spring (262).
  4. 4. An apple picking robot based on a rope-driven actuator as claimed in claim 3, characterized in that the enveloping chain (261) is made of flexible material for protecting the fruit to be picked.
  5. 5. An apple picking robot based on a rope-driven actuator as claimed in claim 3, characterized in that the second drive rope (263) extends to the end of one of the gripping fingers (221) through a drive rope channel (265) provided in one of the gripping fingers (221) of the gripper (22).
  6. 6. The apple picking robot based on the rope-driven actuator as claimed in claim 1, wherein the position adjusting device (4) comprises a linear sliding device (41), a horizontal rotating device (42) and a pitching adjusting device (43), one end of the following collecting device (3) is fixedly connected with the pitching adjusting device (43) and used for adjusting a pitching angle, the following collecting device (3) is made to be as close to the actuator (2) as possible, the pitching adjusting device (43) is connected with the horizontal rotating device (42), and the horizontal rotating device (42) is connected with the linear sliding device (41) and used for increasing the application range of the following collecting device (3) on a horizontal plane.
  7. 7. The apple picking robot based on the rope-driven actuator of claim 1, wherein the mechanical arm (1) is a rope-driven mechanical arm, and the gesture of the mechanical arm (1) can be controlled by driving the rope controller, so that the actuator (2) can be moved to a target position.
  8. 8. An apple picking robot based on a rope-driven actuator as claimed in claim 1, characterized in that the free end of the mechanical arm (1) is provided with a vision camera (11) for identifying the position of the fruit to be picked.
  9. 9. The apple picking robot based on the rope-driven actuator as claimed in claim 1, wherein the free end of the mechanical arm (1) is provided with a calibration ball (12), the following collecting device (3) is provided with a depth vision camera (32), the depth vision camera (32) is used for detecting the position of the calibration ball (12), and the position adjusting device (4) can adjust the position of the following collecting device (3) according to the data of the depth vision camera (32) so as to keep the position within a preset distance below the actuator (2).
  10. 10. The apple picking robot based on a rope-driven actuator of claim 1, wherein the base is a movable chassis.

Description

Apple picking robot based on rope-driven actuator Technical Field The invention relates to the technical field of agricultural picking equipment, in particular to an apple picking robot based on a rope-driven actuator. Background At present, the harvesting of apples in mature seasons at home and abroad mainly depends on manual harvesting, and the apples are high in cost, long in time consumption and low in efficiency, and the fruits are easy to damage due to human factors in the conveying and collecting process, so that the quality and the value are reduced. The existing automatic picking equipment mostly adopts a joint mechanical arm and rigid clamping, and the picking and collecting process is poor in cooperativity, the overall efficiency is low, the joint mechanical arm body is heavy, the flexibility is insufficient, the adaptability is poor, and the actuator of the rigid clamping is easy to cause fruit damage. Disclosure of Invention The invention aims to provide an apple picking robot based on a rope-driven actuator, which can solve the problems of high cost, low efficiency, high time consumption, easy damage to apples, heavy structure, poor flexibility, low cooperativity, easy damage to fruits, poor adaptability to complex orchard environments and the like of the existing automatic picking equipment. In order to achieve the above purpose, the present invention adopts the following technical scheme. An apple picking robot based on a rope-driven actuator comprises a picking assembly and a collecting assembly which are arranged on a base. The picking assembly comprises a mechanical arm and a rope driven actuator arranged at the free end of the mechanical arm, the rope driven actuator comprises a connecting seat, a mechanical claw, a constraint plate, a first recovery spring and a first driving rope, the connecting seat is used for being connected with the mechanical arm, the mechanical claw comprises three grabbing fingers, one ends of the grabbing fingers are rotationally connected with the connecting seat, the other ends of the grabbing fingers are used for grabbing fruits, the three grabbing fingers are uniformly distributed on the connecting seat along the circumferential direction, an arc-shaped portion is arranged in the middle of the grabbing fingers, three constraint holes are uniformly arranged on the constraint plate along the circumferential direction, the constraint holes are matched with the arc-shaped portion in a one-to-one mode to achieve the matching of the constraint plate and the mechanical claw, the first recovery spring is arranged between the connecting seat and the constraint plate, one end of the first driving rope is connected with the constraint plate, and the other end of the first driving rope is connected with a driving rope controller. Pulling the first drive rope makes the constraint plate overcome the elasticity of first recovery spring and be close to the connecting seat and can make the finger of grabbing be close to each other through the cooperation of constraint hole and arc portion and realize snatching the action, and the constraint plate can resume initial position under the elasticity effect of first recovery spring when loosening the first drive rope and make the finger of grabbing keep away from each other and release the fruit of picking. The collecting assembly comprises a following collecting device and a position adjusting device, one end of the following collecting device is connected with the base through the position adjusting device and used for enabling the following collecting device to be kept under the actuator through the position adjusting device, and a conveying belt is arranged on the following collecting device and used for conveying fruits falling on the following collecting device to a preset position. Further, the connecting seat comprises a fixed part, a movable part and a second restoring spring, wherein the fixed part is fixedly connected with the mechanical arm, the movable part is coaxially arranged with the fixed part and can slide relative to the fixed part along the axial direction, a spiral chute is arranged in the fixed part, a sliding block matched with the spiral chute is arranged on the movable part, the second restoring spring is arranged between the fixed part and the movable part, the grabbing finger is rotationally arranged on the movable part, and the first restoring spring is arranged between the movable part and the constraint plate. After the constraint plate overcomes the elasticity of the first restoring spring to reach the limit position to achieve grabbing of the mechanical gripper, the first driving rope is pulled continuously to enable the movable portion to overcome the elasticity of the second restoring spring and slide along the axial direction relative to the fixed portion, the movable portion rotates along the axial direction simultaneously under the action of the matching of the sliding block and the spiral sl