CN104647337A - Dual-arm multifunctional greenhouse robot - Google Patents
Dual-arm multifunctional greenhouse robot Download PDFInfo
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- CN104647337A CN104647337A CN201510007326.1A CN201510007326A CN104647337A CN 104647337 A CN104647337 A CN 104647337A CN 201510007326 A CN201510007326 A CN 201510007326A CN 104647337 A CN104647337 A CN 104647337A
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Abstract
The invention provides a dual-arm multifunctional greenhouse robot. The dual-arm multifunctional greenhouse robot comprises a seeding function module, an irrigation function module and a picking function module, which are integrated on a working platform, wherein the working platform mainly comprises a pedestal, rolling wheels, a waist joint, a shoulder joint, a big arm joint, a small arm joint, a manipulator and a box body, wherein the waist joint, the shoulder joint, the big arm joint and the small arm joint are connected in series through a moving pair, so that the tail end of the small arm joint has six freedom degrees; the pedestal is used for mounting each module and related components; the rolling wheels are arranged under the pedestal and are used for realizing walking; the box body is arranged on the pedestal and is used for storing vegetables; the manipulator is arranged on the small arm joint and is used for finishing picking. According to the multifunctional robot provided by the invention, three basic functions, i.e. seeding, picking and irrigation functions, are well integrated on a public platform, so that the utilization rate of the robot is greatly improved.
Description
Technical field
The present invention relates to a kind of agricultural greenhouse robot, in particular, relate to the Multifunctional double-arm robot that a kind of sowing that can realize vegetables is irrigated and plucked.
Background technology
At present, relative maturity is developed for the seeder of agricultural, Irrigation Machine and picking machine.Sowing mechanism is primarily of supplying kind of a system, depositing kind of a system, dividing kind of a system, metering system, ditcher mechanism composition.Existing seeding technique is mainly outer groove wheel, nibs formula, Pneumatic type three kinds.Wherein, for less seed, Pneumatic type sowing can take into account Seeding Uniformity and speed of drilling preferably.
Irrigation mechanism forms primarily of water system, control system and associated component.Existing irrigation technique is divided into sprinkling irrigation and slight irrigation, and because the requirement of slight irrigation to control system is higher and be difficult to the economy demand meeting large-scale irrigation, China's irrigation sprinkler mainly adopts the operation of sprinkling irrigation mode.
Picking mechanism is primarily of the composition such as recognition system, picker system.The picking robot that existing picked technology is mainly divided into traditional mechanical jolting formula and pneumatic jolting formula and current various countries developing.Tradition jolting method fruit rapid wear, and cannot selectively gather in the crops, picking robot then generally faces the problems such as picking efficiency is low.
The large problem that current every technology faces is exactly the decentralized of each frame for movement.Three modules realize automation simultaneously, need to buy three kinds of plant equipment respectively, and cost is high, and hocket due to three kinds of functions, can cause a large amount of standby time, thus cause the waste of resource in whole harvest cycle.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide the multi-functional Greenhouse Robot of a kind of both arms, solve functional module dispersion, each operation rate of machinery is low, cost is high, waste serious problem, the common platform of robot well combines three basic functions integrating sowing, pluck, irrigate, greatly improves the utilization ratio of robot.
For achieving the above object, the present invention is achieved by the following technical solutions:
The multi-functional Greenhouse Robot of a kind of both arms, comprise the sowing functional module be integrated on a workbench, irrigation function module and harvesting functional module, described workbench is primarily of base, roller, waist joint, shoulder joint, large-arm joint, little shoulder joint, manipulator and casing composition, wherein, waist joint, shoulder joint, large-arm joint, little shoulder joint is connected mutually by kinematic pair, little shoulder joint end is made to have six-freedom degree, base is for installing each module and associated component, under roller is arranged on base, for realizing walking, casing is arranged on base, for storing vegetables, manipulator is arranged on little shoulder joint, for completing harvesting.
Described kinematic pair comprises revolute pair or ball is secondary.
Described associated component comprises movable motor, irrigation pump and irrigates motor, sowing air pump and sowing motor.
Described sowing functional module is by strength mode, is promoted the seed be stored in little shoulder joint, realize separation and the sowing of seed by air pump.
Described irrigation function module is sprayed by pipeline by water by water pump.
Described sowing functional module and irrigation function module adopt same tube connector, are connected on air pump or water pump according to required function difference.
Described manipulator is primarily of initiatively finger, driven finger and work finger form, initiatively finger is driven by motor, driven finger is under the gear driven initiatively pointed, with initiatively point common driving work grip finger, harvesting work is realized under the drive of little shoulder joint, again under the acting in conjunction of waist joint, shoulder joint, large-arm joint, little shoulder joint, dish is put into casing.
The control system of described both arms is separate, can complete entire exercise respectively.
The invention has the beneficial effects as follows, sowing can be realized, irrigate, be plucked three operations by a robot, avoid the redundancy of instrument and the waste of resource
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the front view of the medium and small shoulder joint of the present invention;
Fig. 4 is the top view of the medium and small shoulder joint of the present invention;
Fig. 5 is the front view of manipulator in the present invention;
Fig. 6 is the rearview of manipulator in the present invention.
1. bases, 2. casing, 3. waist joint, 4. shoulder joint, 5. large-arm joint, 6. rubber tube in figure, 7. little shoulder joint, 8. roller, 9. water pump, 10. air pump, 11. stored seed places, 12. outlets, 13. interfaces, 14. initiatively point, 15. work fingers, 16. driven fingers, 17. gripper shoes.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Shown in Fig. 1 ~ Fig. 6, the multi-functional Greenhouse Robot of both arms provided by the present invention, sowing, irrigation, harvesting functional module are integrated on a set of common platform, reasonably settle sowing, irrigation in the above, pluck module, thus realize the integration of sowing, irrigation, harvesting function.Common platform is made up of base 1, roller 8, waist joint 3, shoulder joint 4, large-arm joint 5, little shoulder joint 7, manipulator, casing 2.Base 1 is the mounting platform of the associated component of each functional module.Associated component comprises: the auxiliary facilities such as movable motor, irrigation pump 9 and motor, auxiliary facility etc. such as sowing air pump 10 and motor etc.Waist joint 3 is connected on base 1 with a revolute pair.Both sides large-arm joint 5 is connected on waist joint 3 with ball pair respectively by shoulder joint 4.Narrowing toward each end shoulder joint 7 is connected on large-arm joint 5 with revolute pair respectively.The combination of walking mechanism and several motion makes each arm six-freedom motion to reach.Casing 2 is arranged on base 1, for storing the vegetables of having plucked.In real work, sowing and irrigation module adopt same rubber tube 6, be connected on water pump 9 or air pump 10, undertaken sowing or irrigating by the little shoulder joint 7 of hollow by demand.When sowing, by seed storage in little shoulder joint 7, utilize the even drop down of pneumatic control seed.When irrigating, by water pump valve size control irrigation amount.Picking mechanism, as independent module, completes harvesting action by manipulator, under the cooperation of large-arm joint 5 and little shoulder joint 7, is positioned in casing 2 by the vegetables of plucking.When needs are plucked, manipulator is arranged on little shoulder joint 7.
In FIG, wheel 8 is arranged on base 1 time, under driven by motor, realize walking function.Casing 2 is arranged on base 1, for storing the vegetables of plucking and arriving.Waist joint 3 is arranged on base 1 by rotating width.Two shoulder joint 4 are connected with waist joint 3 upper end by ball pair.Large-arm joint 5 is connected with shoulder joint 4 by rotating width.Little shoulder joint 7 is connected with large-arm joint 6 by rotating width.These kinematic pairs make little shoulder joint 7 end have six degree of freedom.
In one embodiment as shown in figure 2, rubber tube 6 is connected with air pump 10, agitates the seed being stored in stored seed place 11 in little shoulder joint 7 under wind-force effect, makes it pass through outlet 12 and ejects, reach the object of sowing.
And when implementing irrigation function, rubber tube 6 is connected with water pump 9, and at this moment, seed is not deposited at seed storage place 11, and water directly sprays from outlet 12.
In the embodiment of shown in Fig. 4, motor is connected in gripper shoe 17, drive and initiatively point 14, driven finger 16 is initiatively being pointed under the gear driven of 14, point 15 with 14 common driving work of initiatively pointing to clamp, under the drive of little shoulder joint 7, realize pulling out dish action complete harvesting work, then under the actings in conjunction such as waist joint 3, shoulder joint 4, large-arm joint 5, little shoulder joint 7, dish is put into casing 2.
The control system of two-arm is separate, can complete entire exercise respectively.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. the multi-functional Greenhouse Robot of both arms, it is characterized in that, comprise the sowing functional module be integrated on a workbench, irrigation function module and harvesting functional module, described workbench is primarily of base, roller, waist joint, shoulder joint, large-arm joint, little shoulder joint, manipulator and casing composition, wherein, waist joint, shoulder joint, large-arm joint, little shoulder joint is connected mutually by kinematic pair, little shoulder joint end is made to have six-freedom degree, base is for installing each module and associated component, under roller is arranged on base, for realizing walking, casing is arranged on base, for storing vegetables, manipulator is arranged on little shoulder joint, for completing harvesting.
2. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described kinematic pair comprises revolute pair or ball is secondary.
3. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described associated component comprises movable motor, irrigation pump and irrigates motor, sowing air pump and sowing motor.
4. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described sowing functional module is by strength mode, is promoted the seed be stored in little shoulder joint, realize separation and the sowing of seed by air pump.
5. the multi-functional Greenhouse Robot of both arms according to claim 4, is characterized in that, described irrigation function module is sprayed by pipeline by water by water pump.
6. the multi-functional Greenhouse Robot of both arms according to claim 5, is characterized in that, described sowing functional module and irrigation function module adopt same tube connector, is connected on air pump or water pump according to required function difference.
7. the multi-functional Greenhouse Robot of both arms according to claim 1, it is characterized in that, described manipulator is primarily of initiatively finger, driven finger and work finger form, initiatively finger is driven by motor, driven finger, under the gear driven of initiatively finger, and initiatively points common driving work grip finger, realizes harvesting work under the drive of little shoulder joint, again under the acting in conjunction of waist joint, shoulder joint, large-arm joint, little shoulder joint, dish is put into casing.
8. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, the control system of described both arms is separate, can complete entire exercise respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510007326.1A CN104647337A (en) | 2015-01-07 | 2015-01-07 | Dual-arm multifunctional greenhouse robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510007326.1A CN104647337A (en) | 2015-01-07 | 2015-01-07 | Dual-arm multifunctional greenhouse robot |
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| CN104647337A true CN104647337A (en) | 2015-05-27 |
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| CN201510007326.1A Pending CN104647337A (en) | 2015-01-07 | 2015-01-07 | Dual-arm multifunctional greenhouse robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105021225A (en) * | 2015-07-08 | 2015-11-04 | 江苏大学 | Greenhouse intelligent and mobile detection platform |
| CN105320046A (en) * | 2015-11-02 | 2016-02-10 | 常州大学 | Booth multifunctional management system based on WiFi |
| CN107486834A (en) * | 2017-08-24 | 2017-12-19 | 上海大学 | Chamber crop grows crusing robot |
| CN109176470A (en) * | 2018-09-18 | 2019-01-11 | 北京邮电大学 | A kind of robot arm |
| WO2020028076A1 (en) * | 2018-07-31 | 2020-02-06 | Walmart Apollo, Llc | Robotic watering device for maintaining live plants |
| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
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| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| US20050126144A1 (en) * | 2003-12-12 | 2005-06-16 | Vision Robotics Corporation | Robot mechanical picker system and method |
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| CN103503639A (en) * | 2013-09-30 | 2014-01-15 | 常州大学 | Double-manipulator fruit and vegetable harvesting robot system and fruit and vegetable harvesting method thereof |
| CN203537883U (en) * | 2013-09-24 | 2014-04-16 | 丹阳市茂园果业专业合作社 | Multifunctional fruit collecting machine for fruit trees |
| CN203646000U (en) * | 2013-12-31 | 2014-06-18 | 施国樑 | Agricultural land rail-based automatic tillage device |
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| JPH114956A (en) * | 1997-06-18 | 1999-01-12 | Japan Servo Co Ltd | Gripping device |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| US20050126144A1 (en) * | 2003-12-12 | 2005-06-16 | Vision Robotics Corporation | Robot mechanical picker system and method |
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| CN203537883U (en) * | 2013-09-24 | 2014-04-16 | 丹阳市茂园果业专业合作社 | Multifunctional fruit collecting machine for fruit trees |
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| CN203646000U (en) * | 2013-12-31 | 2014-06-18 | 施国樑 | Agricultural land rail-based automatic tillage device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105021225A (en) * | 2015-07-08 | 2015-11-04 | 江苏大学 | Greenhouse intelligent and mobile detection platform |
| CN105021225B (en) * | 2015-07-08 | 2017-07-14 | 江苏大学 | A kind of greenhouse intelligent movable detecting platform |
| CN105320046A (en) * | 2015-11-02 | 2016-02-10 | 常州大学 | Booth multifunctional management system based on WiFi |
| CN107486834A (en) * | 2017-08-24 | 2017-12-19 | 上海大学 | Chamber crop grows crusing robot |
| CN107486834B (en) * | 2017-08-24 | 2021-05-07 | 上海大学 | Greenhouse crop growth inspection robot |
| WO2020028076A1 (en) * | 2018-07-31 | 2020-02-06 | Walmart Apollo, Llc | Robotic watering device for maintaining live plants |
| CN109176470A (en) * | 2018-09-18 | 2019-01-11 | 北京邮电大学 | A kind of robot arm |
| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| CN111702778B (en) * | 2020-06-16 | 2022-01-04 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
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Application publication date: 20150527 |