CN107223408B - Fruit picking robot with force sensing function and operation method - Google Patents
Fruit picking robot with force sensing function and operation method Download PDFInfo
- Publication number
- CN107223408B CN107223408B CN201710546393.XA CN201710546393A CN107223408B CN 107223408 B CN107223408 B CN 107223408B CN 201710546393 A CN201710546393 A CN 201710546393A CN 107223408 B CN107223408 B CN 107223408B
- Authority
- CN
- China
- Prior art keywords
- picking
- fingers
- operator
- palm
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a fruit picking robot with a force sensing function and an operation method thereof. The intelligent fruit picking machine is suitable for the field of intelligent fruit picking.
Description
Technical Field
The invention relates to the field of fruit picking robots, in particular to a fruit picking robot with a force sensing function and an operation method.
Background
Fruit picking is the most time-consuming and labor-consuming link in an agricultural production chain, and with the development of robot technology, industrial robots have already enjoyed quite favorable results, but few robots are applied in agriculture. A large amount of manpower and material resources are consumed in the fruit picking link, and the requirement of the existing fruit picking can not be met only by manual labor. With the development of the robot technology, the increase of the harm of agricultural chemical fertilizers and pesticides to human bodies, the shortage of labor force in the fruit picking aspect and other problems, the agricultural robot capable of being applied to the fruit picking aspect becomes more and more necessary.
The fruit picking robot has great application potential mainly in the aspects of solving the problem of insufficient labor force, reducing the labor intensity of workers, improving the labor comfort of the workers, lightening the harm of agricultural chemical fertilizers and pesticides to human bodies, ensuring the safety of the picking workers, protecting the integrity of picked fruits and the like.
Fruit picking robots currently studied are mainly divided into two categories: one is an autonomous picking robot, and the other is a man-machine cooperation type picking robot. The autonomous picking robot has the defects that the existing sensor technology, control technology and other technologies are difficult to achieve the degree of complete intelligence, and the requirements on control cost and control precision are high, so that the autonomous picking robot is difficult to completely achieve. Therefore, the man-machine cooperation type picking robot is an ideal choice under the current conditions. However, the existing man-machine cooperation type picking robot generally does not have the function of force feedback, so that the problems of fruit surface damage, excessive extrusion and the like can occur when the end effector picks the fruit. Thus, a semi-autonomous picking robot can be developed that adds the decision, feel, and/or the like of the picker to the picking process performed by the picking robot. Therefore, the picking machine has great significance in the aspects of improving picking efficiency, enhancing picking safety, protecting the integrity of picked fruits and the like.
Disclosure of Invention
The invention aims to provide a fruit picking robot with a force sensing function and an operation method thereof, and aims to solve the problem that a man-machine cooperation type picking robot in the prior art does not have the force feedback function.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a fruit picking robot with force sensing function, its characterized in that: including mobilizable automobile body, automobile body the place ahead is provided with XY translation drive mechanism, the camera is installed to XY translation drive mechanism's Y to the top, hydraulic telescoping rod is installed forward perpendicularly to the translation piece among the XY translation drive mechanism, the hydraulic telescoping rod end is fixed with servo motor, it picks dexterous hand to be connected with underactuated fruit in servo motor's the pivot, still dress in the automobile body and realize the mutual induction at the manual rope pull-type magnetic current power feedback data gloves of operator, rope pull-type magnetic current power feedback data gloves and underactuated fruit are picked dexterous hand and are passed through the on-vehicle computer, wherein:
the underactuated fruit picking dexterous hand comprises a palm, the back end of the palm is connected to a rotating shaft of a servo motor, the servo motor is fixed at the front end of a hydraulic telescopic rod, the front end of the palm is connected with four fingers, one side of the palm is connected with a thumb, the four fingers are respectively composed of four-finger proximal knuckle joints, four-finger middle knuckle joints and four-finger distal knuckle joints, the back ends of the four-finger proximal knuckle joints are respectively and rotatably connected with the front end of the palm, the front ends of the four-finger proximal knuckles are respectively connected with the back ends of the four-finger distal knuckle joints through hinges, the thumb is composed of a thumb proximal knuckle joint and a thumb distal knuckle joint, the back ends of the thumb proximal knuckle joints are rotatably connected with the side of the palm, the front ends of the thumb proximal knuckle joints are connected with the back ends of the thumb distal knuckle joints through hinges, and each hinge is respectively provided with a torsion spring, in the four fingers, a small pulley is respectively and rotatably arranged in each proximal knuckle joint and each distal knuckle joint of the four fingers, a large pulley is rotatably arranged in each middle knuckle joint of the four fingers, a small pulley is respectively and rotatably arranged in each proximal knuckle joint and each distal knuckle joint of the thumb, servo motors are respectively arranged at the positions of the palm corresponding to the rear parts of the four fingers and the rear part of the thumb, winding drums are respectively fixed on output shafts of the servo motors, ropes are respectively wound on the winding drums, wherein, after the ropes on the servo motor winding drums corresponding to the four fingers sequentially wind the small pulley in the proximal knuckle joint of the four fingers, the large pulley in the middle knuckle joint of the four fingers and the small pulley in the distal knuckle joint of the four fingers, then the rope is fixed at the front end in the distal knuckle joint of the four fingers, and the rope on the servo motor reel corresponding to the thumb sequentially bypasses the small pulley in the proximal knuckle joint of the thumb and the small pulley in the distal knuckle joint of the thumb and then is fixed at the front end in the distal knuckle joint of the thumb;
the rope-traction type magneto-rheological force feedback data glove comprises a palm rack, five groups of magneto-rheological dampers which are sequentially arranged from left to right are arranged on the rear side of the top of the palm rack, the five groups of magneto-rheological dampers correspond to five fingers of an operator respectively, five palm pulleys are supported on the front side of the bottom of the palm rack through a vertical support, the five palm pulleys correspond to the five groups of magneto-rheological dampers one by one, finger sleeves and finger rings are arranged in front of the palm rack correspondingly, the finger sleeves are sleeved on the middle parts of the fingers of the operator respectively, the finger rings are sleeved on the finger ends of the fingers of the operator respectively, a finger sleeve pulley is supported on the top of each finger sleeve through the vertical support respectively, the piston rod end of each magneto-rheological damper is connected with a rope respectively, and the rope sequentially bypasses the corresponding palm pulleys and the finger sleeve pulleys and;
the servo motor in the under-actuated fruit picking dexterous hand and the magneto-rheological damper in the rope-traction type magneto-rheological force feedback data glove are respectively connected with the vehicle-mounted computer, and mutual induction of the driven fruit picking dexterous hand and the rope-traction type magneto-rheological force feedback data glove is achieved through the vehicle-mounted computer.
The fruit picking robot with the force sensing function is characterized in that: XY translation drive mechanism includes along X to the X ball translation platform of level setting, along Y to the Y ball translation platform of vertical setting, wherein X ball translation platform passes through the support mounting in automobile body the place ahead, and Y ball translation platform is fixed on X ball translation platform's sliding stand, and the camera is installed to the top to Y ball translation platform's Y, hydraulic telescoping rod rear end is connected perpendicularly on Y ball translation platform's sliding stand, and hydraulic telescoping rod front end level extends forward, flexible hand connection is in servo motor's pivot is picked to underactuated fruit, and servo motor fixes at the hydraulic telescoping rod front end.
An operation method of a fruit picking robot with force sensing function is characterized in that: the method comprises the following steps:
(1) initializing a system, adjusting the initial states of the sensor and the servo motor, and enabling the magnetorheological damper to be in a power-off state;
(2) sending out an instruction by an operator to adjust the picking robot to an optimal picking position; an operator acquires the position information of fruits through a camera, and adjusts the under-actuated fruit picking smart hand to a proper picking position by controlling the up-down and left-right positions of the XY moving mechanism, the extension and retraction of the hydraulic telescopic rod and the angular rotation of the servo motor behind the picking hand to prepare for picking;
(3) picking is started, the right hand of an operator grips, and the magnetorheological force feedback data gloves worn on the arms of the right hand transmit the gripping angle and force information of the right hand of the operator to the under-actuated fruit picking dexterous hand through the processing of a computer, so that the picking hand starts picking;
(4) the underactuated fruit picking dexterous hand starts to grasp, force signals and rotation angle signals received by the underactuated fruit picking dexterous hand in the grasping process are processed by a computer, and the force felt by an operator is controlled by controlling the magnitude of current through a magnetorheological force feedback data glove and a magnetorheological force feedback data glove worn by the operator, namely, the magnetorheological damper is controlled to generate certain damping force, so that the operator feels the force to realize the presence;
(5) when the feedback force felt by the operator is not enough to hold the fruit, the operator gradually increases the grasping angle and force and repeats the processes (3) and (4) until the operator feels the proper feedback force;
(6) when an operator feels that the under-actuated fruit picking dexterous hand can pick fruits, the twisting-off action of the under-actuated fruit picking dexterous hand is realized by controlling the rotation of a servo motor connected with the under-actuated fruit picking dexterous hand, so that the fruits and the fruit stalks can be separated, and the picking of the fruits is realized.
The invention provides a fruit picking robot with a force sensing function and an operation method, which are suitable for the field of intelligent fruit picking and have the following beneficial effects:
(1) the problem of the labour not enough in the fruit is picked can be solved, workman intensity of labour reduces, improves workman's work travelling comfort, alleviates the harm of agricultural chemical fertilizer and pesticide to the human body, guarantees to pick workman's safety and the integrality of protection picking fruit.
(2) The magneto-rheological damper is an energy dissipation type intelligent device and has the advantages of safety, stability, small size and the like. Through passive force feedback, a certain feedback force is provided for an operator, and meanwhile, the movable range of the finger joint is detected by combining the angle sensor, so that the operation comfort is improved, and the on-site feeling is better realized.
(3) When an operator grasps the exoskeleton-type force feedback data glove, the damage of the mechanism to the presence in the palm is avoided, and the operator can feel the presence more truly.
(4) The underactuated fruit picking dexterous hand can be used for well enveloping fruits, the structure is simple, excessive freedom degree is not needed, and the adding of the torsional spring can effectively realize the holding and stretching of the dexterous hand.
Drawings
Fig. 1 is an overall structural view of the present invention.
FIG. 2 is a structure diagram of the under-actuated fruit picking dexterous hand of the present invention.
FIG. 3 is a diagram of a cord-pull MR force feedback data glove of the present invention.
Fig. 4 is a structural view of the XY translation mechanism of the present invention.
Fig. 5 is a schematic view of the installation of the torsion spring of the present invention.
FIG. 6 is a flow chart of a method of operation of the present invention.
Detailed Description
As shown in fig. 1, a fruit picking robot with force sensing function, including mobilizable automobile body 5, automobile body 5 the place ahead is provided with XY translation drive mechanism 2, Y of XY translation drive mechanism 2 is to the top install camera 7, the translation piece among the XY translation drive mechanism 2 is installed hydraulic telescoping rod 8 perpendicularly forward, 8 rod ends of hydraulic telescoping rod are fixed with servo motor, flexible hand 1 is picked to underactuated fruit is installed in servo motor's pivot, dress rope pull-type magneto rheological force feedback data gloves 3 on 4 hands of operator in addition in the automobile body 5, rope pull-type magneto rheological force feedback data gloves 3, flexible hand 1 is picked to underactuated fruit and servo motor realizes mutual induction through on-board computer 6, wherein:
as shown in figure 2, the under-actuated fruit picking dexterous hand 1 comprises a palm 1.7, the rear end of the palm 1.7 is connected with a rotating shaft of a servo motor, the servo motor is fixed at the front end of a hydraulic telescopic rod 8, the front end of the palm 1.7 is connected with four fingers, one side of the palm 1.7 is connected with a thumb, the four fingers respectively comprise four-finger proximal knuckle joints 1.5, four-finger middle knuckle joints 1.4 and four-finger distal knuckle joints 1.2, the rear ends of the four-finger proximal knuckle joints 1.5 are respectively connected with the front end of the palm 1.7 in a rotating way, the front ends of the four-finger proximal knuckles 1.5 are respectively connected with the rear ends of the four-finger middle knuckle joints 1.4 through hinges, the front ends of the four-finger middle knuckle joints 1.4 are respectively connected with the rear ends of the four-finger distal knuckle joints 1.2 through hinges, the thumb is composed of the thumb proximal knuckle joints 1.9 and the thumb distal knuckle joints 1.10, the rear ends of the thumb joints 1.9 are respectively connected with the palm 1.7 side through hinges, and each hinge is respectively provided with a torsion spring 1.11, among four fingers, each near knuckle joint 1.5 of the four fingers and the far knuckle joint 1.2 of the four fingers are respectively and rotatably provided with a small pulley 1.1, the middle knuckle joint 1.4 of the four fingers is rotatably provided with a large pulley 1.3, the near knuckle joint 1.9 of the thumb and the far knuckle joint 1.10 of the thumb are respectively and rotatably provided with a small pulley, a palm 1.7 is respectively provided with a servo motor 1.6 corresponding to the rear position of the four fingers and the rear position of the thumb, an output shaft of the servo motor 1.6 is respectively fixed with a winding drum 1.8, the winding drum 1.8 is respectively wound with ropes 1.12, wherein the ropes on the winding drum of the servo motor corresponding to the four fingers sequentially wind the small pulley in the near knuckle joint 1.5 of the four fingers, the large pulley in the middle knuckle joint 1.4 of the four fingers and the small pulley in the far knuckle joint 1.2 of the four fingers, and then are fixed at the front end in the far knuckle joint 1.2 of the four fingers, and the winding drum of the servo motor corresponding to the small pulley sequentially wind, The thumb far knuckle joint 1.10 is fixed at the front end in the thumb far knuckle joint 1.10 after the small pulley;
in the invention, the under-actuated fruit picking dexterous hand 1 consists of fingers and a palm 1.7, and the thumb consists of a proximal knuckle joint 1.9 and a distal knuckle joint 1.10. The structures of other four fingers are the same and all the four fingers are composed of a four-finger proximal knuckle joint 1.5, a four-finger middle knuckle joint 1.4 and a four-finger distal knuckle joint 1.2. Respectively installing a small pulley at the middle part of the thumb proximal knuckle joint 1.9 and the thumb distal knuckle joint 1.10, firstly connecting a rope on an installation hole at the front end of the thumb distal knuckle joint 1.10, then respectively winding the two small pulleys and then connecting the two small pulleys to a winding drum on the corresponding servo motor; the middle parts of the four-finger proximal knuckle joint 1.5 and the four-finger distal knuckle joint 1.2 are provided with a small pulley 1.1, the middle part of the four-finger middle knuckle joint 1.4 is provided with a large pulley 1.3, a rope is connected to a mounting hole at the front end of the four-finger distal knuckle joint 1.2, then wound on the three pulleys and finally connected to a winding drum 1.8 of a corresponding servo motor 1.6. The joints of the joints and the palms are respectively connected by torsion springs 1.11, so that the self-recovery capability between the joints and the palms is ensured. Five servo motors 1.6 are distributed on the palm, and winding drums 1.8 are respectively arranged on motor shafts. Five ropes 1.12 are respectively wound on a winding drum 1.8 on the servo motor 1.6, the joints are driven to rotate by winding the ropes 1.12, and the automatic recovery of the fingers is ensured by setting the torsion springs 1.11. When a picking hand needs to grasp, the servo motor 1.6 is controlled to rotate to drive the rope 1.12 to be pulled, then each joint is driven to start grasping movement, when the picking hand needs to recover, the servo motor 1.6 rotates reversely, and the joint is ensured to recover automatically through the torsion spring 1.11. Therefore, the picking hand can freely carry out grasping and stretching exercises.
As shown in fig. 3, the rope-traction type magnetorheological force feedback data glove comprises a palm frame 3.3, five groups of magnetorheological dampers 3.2 sequentially arranged from left to right are arranged on the rear side of the top of the palm frame 3.3, the five groups of magnetorheological dampers 3.2 respectively correspond to five fingers of an operator, five palm pulleys 3.4 are supported on the front side of the bottom of the palm frame 3.3 through a vertical bracket, the positions of the five palm pulleys 3.4 correspond to the positions of the five groups of magnetorheological dampers 3.2 one by one, a finger sleeve 3.7 and a finger ring 3.8 are respectively arranged in front of the palm frame 3.3 corresponding to the five fingers, the finger sleeves 3.7 are respectively sleeved at the middle parts of fingers of an operator 4, the finger rings 3.8 are respectively sleeved at the finger ends of the fingers of the operator 4, the top of each finger sleeve 3.7 is respectively supported with a finger sleeve pulley 3.5 through a vertical support, the rod end of a piston rod of each magnetorheological damper 3.2 is respectively connected with a rope 3.1, and the rope 3.1 sequentially bypasses the corresponding palm pulley 3.4 and the finger sleeve pulley 3.5 and then is fixed on the corresponding finger ring 3.8;
in the invention, the rope type magneto-rheological force feedback data glove 3 is composed of a palm frame 3.3, a ring 3.8, a finger sleeve pulley 3.5, a palm pulley 3.4, a magneto-rheological damper 3.2 and a rope 3.1. A finger ring 3.8 is sleeved on the fingertip part of each finger, a finger sleeve pulley 3.5 is sleeved on the middle part of each finger, five metacarpal bone pulleys 3.4 and five magneto-rheological dampers 3.2 are correspondingly and respectively installed on the metacarpal bones, and the finger ring 3.8, the finger sleeve pulley 3.5, the metacarpal bone pulleys 3.4 and the magneto-rheological dampers 3.2 are connected through a rope 3.1. A wire loop 3.6 is also provided, by means of which wire loop 3.6 the direction of the thumb rope is turned. After the picking hand selects a position, the hand of an operator starts to perform simulated gripping movement, the rope 3.1 drives the piston of the magnetorheological damper 3.2 to move in the gripping process of the operator, and the size of the magnetic field is controlled by controlling the current of the magnetorheological damper 3.2, so that the hand of the operator can feel different feedback forces in the gripping process.
The servo motor 1.6 in the under-actuated fruit picking dexterous hand 1 and the magneto-rheological damper 3.2 in the rope-traction type magneto-rheological force feedback data glove 3 are respectively connected with the vehicle-mounted computer 6, the mutual induction of the actuated fruit picking dexterous hand 1 and the rope-traction type magneto-rheological force feedback data glove 3 is realized through the vehicle-mounted computer 6,
as shown in fig. 4, XY translation drive mechanism 2 includes along X to the horizontal X ball translation platform 2.2 that sets up, along Y to the vertical Y ball translation platform 2.1 that sets up, wherein X ball translation platform 2.2 passes through support mounting in automobile body 5 the place ahead, Y ball translation platform 2.1 is fixed on X ball translation platform 2.2's sliding stand, Y of Y ball translation platform 2.1 is to the top camera 7 of installing, hydraulic telescoping rod 8 rear end is connected perpendicularly on Y ball translation platform 2.1's sliding stand, 8 front ends of hydraulic telescoping rod level extend forward, under-actuated fruit is picked flexible hand 1 and is rotated and connect 8 front ends at hydraulic telescoping rod.
In the invention, the XY translation transmission mechanism consists of an X ball screw translation platform 2.2, a Y ball screw translation platform 2.1, a hydraulic telescopic rod 8 and a servo motor 2.3. The sliding table of the X ball screw translation platform 2.2 is fixedly connected with the Y ball screw translation platform 2.1, the sliding table of the Y ball screw translation platform 2.1 is fixedly connected with the hydraulic telescopic rod 8, and the bottom of the servo motor 2.3 is fixed at the top of the hydraulic telescopic rod 8.
As shown in fig. 2 and 4, the palm part of the under-actuated fruit picking dexterous hand 1 is connected with the rotating shaft of the servo motor through the hydraulic telescopic rod 8 and the servo motor 2.3 arranged on the sliding table on the upper layer of the XY translation transmission mechanism 2, so that a mechanism capable of ensuring that the under-actuated fruit picking dexterous hand moves up and down, moves left and right and rotates is formed. The realization of the positioning, twisting off and grasping motions of the under-actuated fruit picking dexterous hand is also ensured.
As shown in figure 5, the proximal knuckle joint 1.9 of the thumb and the distal knuckle joint 1.10 of the thumb are connected through the torsion spring, when the two joints move relatively, the torsion spring can rotate to a certain degree, and the connecting rod can automatically return to the original position when the rope is loosened. The four fingers use the same structure to guarantee self-recovery.
As shown in fig. 6, an operation method of a fruit picking robot with force sensing function includes the following steps:
(1) and initializing the system, adjusting the initial states of the sensor and the servo motor, and enabling the magnetorheological damper to be in a power-off state.
(2) The operator gives an instruction to adjust the picking robot to an optimal picking position. The operator gathers the positional information of fruit through the camera, picks dexterous hand and adjusts to a suitable picking position through controlling XY moving mechanism's upper and lower and left and right positions, hydraulic telescoping rod's flexible and the angle of the servo motor behind the picking hand, is prepared to pick.
(3) Picking is started, the right hand of an operator grips, and the magnetic rheological force feedback data gloves worn on the arms of the right hand transmit information such as the angle and force sense gripped by the right hand of the operator to the under-actuated fruit picking dexterous hand through the processing of a computer, so that the picking hands start picking.
(4) The underactuated fruit picking dexterous hand starts to grasp, force signals, rotation angle signals and the like received by the underactuated fruit picking dexterous hand in the grasping process are processed by a computer, and the force felt by an operator is controlled by controlling the current through a magnetorheological force feedback data glove and a magnetorheological force feedback data glove worn by the operator, namely, a certain damping force is generated by controlling a magnetorheological damper, so that the operator feels the force to realize the presence.
(5) When the operator feels that the feedback force is not enough to hold the fruit, the operator gradually increases the grasping angle and force and repeats the processes (3) and (4) until the operator feels the proper feedback force.
(6) When an operator feels that the under-actuated fruit picking dexterous hand can pick fruits, the twisting-off action of the under-actuated fruit picking dexterous hand is realized by controlling the rotation of a servo motor connected with the under-actuated fruit picking dexterous hand, so that the fruits and the fruit stalks can be separated, and the picking of the fruits is realized.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. A fruit picking robot with force sensing function, its characterized in that: including mobilizable automobile body, automobile body the place ahead is provided with XY translation drive mechanism, the camera is installed to XY translation drive mechanism's Y to the top, hydraulic telescoping rod is installed forward perpendicularly to the translation piece among the XY translation drive mechanism, the hydraulic telescoping rod end is fixed with servo motor, it picks dexterous hand to be connected with underactuated fruit in servo motor's the pivot, still dress in the automobile body and realize the mutual induction at the manual rope pull-type magnetic current power feedback data gloves of operator, rope pull-type magnetic current power feedback data gloves and underactuated fruit are picked dexterous hand and are passed through the on-vehicle computer, wherein:
the underactuated fruit picking dexterous hand comprises a palm, the back end of the palm is connected to a rotating shaft of a servo motor, the servo motor is fixed at the front end of a hydraulic telescopic rod, the front end of the palm is connected with four fingers, one side of the palm is connected with a thumb, the four fingers are respectively composed of four-finger proximal knuckle joints, four-finger middle knuckle joints and four-finger distal knuckle joints, the back ends of the four-finger proximal knuckle joints are respectively and rotatably connected with the front end of the palm, the front ends of the four-finger proximal knuckles are respectively connected with the back ends of the four-finger distal knuckle joints through hinges, the thumb is composed of a thumb proximal knuckle joint and a thumb distal knuckle joint, the back ends of the thumb proximal knuckle joints are rotatably connected with the side of the palm, the front ends of the thumb proximal knuckle joints are connected with the back ends of the thumb distal knuckle joints through hinges, and each hinge is respectively provided with a torsion spring, in the four fingers, a small pulley is respectively and rotatably arranged in each proximal knuckle joint and each distal knuckle joint of the four fingers, a large pulley is rotatably arranged in each middle knuckle joint of the four fingers, a small pulley is respectively and rotatably arranged in each proximal knuckle joint and each distal knuckle joint of the thumb, servo motors are respectively arranged at the positions of the palm corresponding to the rear parts of the four fingers and the rear part of the thumb, winding drums are respectively fixed on output shafts of the servo motors, ropes are respectively wound on the winding drums, wherein, after the ropes on the servo motor winding drums corresponding to the four fingers sequentially wind the small pulley in the proximal knuckle joint of the four fingers, the large pulley in the middle knuckle joint of the four fingers and the small pulley in the distal knuckle joint of the four fingers, then the rope is fixed at the front end in the distal knuckle joint of the four fingers, and the rope on the servo motor reel corresponding to the thumb sequentially bypasses the small pulley in the proximal knuckle joint of the thumb and the small pulley in the distal knuckle joint of the thumb and then is fixed at the front end in the distal knuckle joint of the thumb;
the rope-traction type magneto-rheological force feedback data glove comprises a palm rack, five groups of magneto-rheological dampers which are sequentially arranged from left to right are arranged on the rear side of the top of the palm rack, the five groups of magneto-rheological dampers correspond to five fingers of an operator respectively, five palm pulleys are supported on the front side of the bottom of the palm rack through a vertical support, the five palm pulleys correspond to the five groups of magneto-rheological dampers one by one, finger sleeves and finger rings are arranged in front of the palm rack correspondingly, the finger sleeves are sleeved on the middle parts of the fingers of the operator respectively, the finger rings are sleeved on the finger ends of the fingers of the operator respectively, a finger sleeve pulley is supported on the top of each finger sleeve through the vertical support respectively, the piston rod end of each magneto-rheological damper is connected with a rope respectively, and the rope sequentially bypasses the corresponding palm pulleys and the finger sleeve pulleys and;
the servo motor in the under-actuated fruit picking dexterous hand and the magneto-rheological damper in the rope-traction type magneto-rheological force feedback data glove are respectively connected with the vehicle-mounted computer, and mutual induction of the driven fruit picking dexterous hand and the rope-traction type magneto-rheological force feedback data glove is achieved through the vehicle-mounted computer.
2. A fruit picking robot with force sensing function according to claim 1, characterized in that: XY translation drive mechanism includes along X to the X ball translation platform of level setting, along Y to the Y ball translation platform of vertical setting, wherein X ball translation platform passes through the support mounting in automobile body the place ahead, and Y ball translation platform is fixed on X ball translation platform's sliding stand, and the camera is installed to the top to Y ball translation platform's Y, hydraulic telescoping rod rear end is connected perpendicularly on Y ball translation platform's sliding stand, and hydraulic telescoping rod front end level extends forward, flexible hand connection is in servo motor's pivot is picked to underactuated fruit, and servo motor fixes at the hydraulic telescoping rod front end.
3. A method of operating a fruit picking robot with force sensing capability as claimed in claim 1, characterized by: the method comprises the following steps:
(1) initializing a system, adjusting the initial states of the sensor and the servo motor, and enabling the magnetorheological damper to be in a power-off state;
(2) sending out an instruction by an operator to adjust the picking robot to an optimal picking position; an operator acquires the position information of fruits through a camera, and adjusts the under-actuated fruit picking smart hand to a proper picking position by controlling the up-down and left-right positions of the XY moving mechanism, the extension and retraction of the hydraulic telescopic rod and the angular rotation of the servo motor behind the picking hand to prepare for picking;
(3) picking is started, the right hand of an operator grips, and the magnetorheological force feedback data gloves worn on the arms of the right hand transmit the gripping angle and force information of the right hand of the operator to the under-actuated fruit picking dexterous hand through the processing of a computer, so that the picking hand starts picking;
(4) the underactuated fruit picking dexterous hand starts to grasp, force signals and rotation angle signals received by the underactuated fruit picking dexterous hand in the grasping process are processed by a computer, and the force felt by an operator is controlled by controlling the magnitude of current through a magnetorheological force feedback data glove and a magnetorheological force feedback data glove worn by the operator, namely, the magnetorheological damper is controlled to generate certain damping force, so that the operator feels the force to realize the presence;
(5) when the feedback force felt by the operator is not enough to hold the fruit, the operator gradually increases the grasping angle and force and repeats the processes (3) and (4) until the operator feels the proper feedback force;
(6) when an operator feels that the under-actuated fruit picking dexterous hand can pick fruits, the twisting-off action of the under-actuated fruit picking dexterous hand is realized by controlling the rotation of a servo motor connected with the under-actuated fruit picking dexterous hand, so that the fruits and the fruit stalks can be separated, and the picking of the fruits is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546393.XA CN107223408B (en) | 2017-07-06 | 2017-07-06 | Fruit picking robot with force sensing function and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546393.XA CN107223408B (en) | 2017-07-06 | 2017-07-06 | Fruit picking robot with force sensing function and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107223408A CN107223408A (en) | 2017-10-03 |
| CN107223408B true CN107223408B (en) | 2020-06-09 |
Family
ID=59956908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710546393.XA Active CN107223408B (en) | 2017-07-06 | 2017-07-06 | Fruit picking robot with force sensing function and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107223408B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927061A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical Dextrous Hand of 14 freedom degree of drive lacking |
| CN109968388A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Dextrous Hand |
| US10913154B2 (en) * | 2018-01-02 | 2021-02-09 | General Electric Company | Systems and method for robotic learning of industrial tasks based on human demonstration |
| CN108121450B (en) * | 2018-01-15 | 2020-08-11 | 合肥工业大学 | Magneto-rheological force feedback data glove based on transmission of wire tube and steel wire rope |
| CN108781763A (en) * | 2018-05-21 | 2018-11-13 | 昆明理工大学 | One kind is based on monolithic processor controlled from travelling wheel type walnut picker |
| CN111052936B (en) * | 2019-12-30 | 2022-03-29 | 陈光福 | Fruit picking cart |
| CN111360854B (en) * | 2020-03-09 | 2022-12-02 | 雷国华 | Mechanical arm |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| US8381501B2 (en) * | 2003-12-12 | 2013-02-26 | Vision Robotics Corporation | Agricultural robot system and method |
| CN103503637A (en) * | 2013-10-14 | 2014-01-15 | 青岛农业大学 | Intelligent identification picking robot and picking method |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN106236505A (en) * | 2016-08-26 | 2016-12-21 | 合肥工业大学 | Based on pneumatic muscles and the finger rehabilitation training device of MR damper and method |
| CN106426137A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulated manipulator |
| CN106808461A (en) * | 2017-03-16 | 2017-06-09 | 合肥工业大学 | Magnetorheological force feedback type data glove and realize remote-operated method using it |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
-
2017
- 2017-07-06 CN CN201710546393.XA patent/CN107223408B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8381501B2 (en) * | 2003-12-12 | 2013-02-26 | Vision Robotics Corporation | Agricultural robot system and method |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
| CN103503637A (en) * | 2013-10-14 | 2014-01-15 | 青岛农业大学 | Intelligent identification picking robot and picking method |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN106236505A (en) * | 2016-08-26 | 2016-12-21 | 合肥工业大学 | Based on pneumatic muscles and the finger rehabilitation training device of MR damper and method |
| CN106426137A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulated manipulator |
| CN106808461A (en) * | 2017-03-16 | 2017-06-09 | 合肥工业大学 | Magnetorheological force feedback type data glove and realize remote-operated method using it |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107223408A (en) | 2017-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107223408B (en) | Fruit picking robot with force sensing function and operation method | |
| CN106041995B (en) | A kind of Apery manipulator | |
| CN205552540U (en) | Both arms work robot | |
| CN104908056B (en) | A kind of three finger mechanical paws of variable configuration | |
| US8511964B2 (en) | Humanoid robot | |
| KR101457147B1 (en) | Humanoid robot and shoulder joint assembly thereof | |
| CN107140055B (en) | Hand-foot fusion electric six-foot robot | |
| CN107182443B (en) | Full-drive human-hand-simulated three-finger fruit and vegetable picking end effector | |
| CN104889998A (en) | Under-actuated robot finger device with covering and clamping functions | |
| CN104942791B (en) | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator | |
| CN110171011B (en) | Three-finger robot dexterous hand driven in coordination | |
| CN111300408B (en) | Motion planning control method for humanoid double-arm robot combining shape similarity and look similarity | |
| CN102729255A (en) | Finger structure of skillful hand of fruit picking robot | |
| Tincani et al. | Implementation and control of the velvet fingers: a dexterous gripper with active surfaces | |
| CN104029208A (en) | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device | |
| CN203197923U (en) | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device | |
| CN113799162B (en) | Robot grabbing paw for special-shaped objects | |
| CN110370305B (en) | Mechanical finger and mechanical arm | |
| CN114815693A (en) | Fruit picking robot based on bionic design and picking control method thereof | |
| KR20090118542A (en) | Humanoid robot and neck joint assembly thereof | |
| Li et al. | A bionic adaptive end-effector with rope-driven fingers for pear fruit harvesting | |
| CN102873691B (en) | Dexterous manipulator aiding in gluing diving mittens | |
| CN111687847B (en) | Remote control device and control interaction mode of foot robot | |
| CN111805517A (en) | Upper limb exoskeleton robot with collinear human-computer shoulder rotation center lines | |
| CN206048245U (en) | A kind of Apery manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211014 Address after: 230000 No. 16, Qiyun Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Anhui Changshuo Intelligent Technology Co.,Ltd. Address before: Tunxi road in Baohe District of Hefei city of Anhui Province, No. 193 230009 Patentee before: Hefei University of Technology |