CN108076832B - Orange picking robot - Google Patents
Orange picking robot Download PDFInfo
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- CN108076832B CN108076832B CN201711487531.8A CN201711487531A CN108076832B CN 108076832 B CN108076832 B CN 108076832B CN 201711487531 A CN201711487531 A CN 201711487531A CN 108076832 B CN108076832 B CN 108076832B
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- picking
- material receiving
- vehicle body
- length direction
- clamping
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
the invention discloses a citrus picking robot, which comprises a mechanical execution system and a control system, and is characterized in that: the mechanical execution system comprises a vehicle body, a five-degree-of-freedom picking mechanical arm and an end effector; the vehicle body is long, and the upper surface of the vehicle body is provided with a picking position adjusting track along the length direction; the rotating base of the five-freedom-degree picking mechanical arm is slidably mounted on the picking position adjusting track, the end effector comprises two clamping plates which are parallel to each other, the two clamping plates can move oppositely to perform clamping action, a sponge clamping layer is arranged on the clamping surface of each clamping plate, a strip-shaped elastic sheet arched towards the clamping direction is arranged in each sponge clamping layer, each elastic sheet is arched, the middle protruding part of each elastic sheet is located at the middle position of each sponge clamping layer, and the middle protruding part of each elastic sheet is inwards bent to form a recess for clamping oranges. The invention provides a robot for picking oranges, which has a large picking area, does not cause the oranges to be picked in the picking process, and can automatically classify and recover the picked oranges according to the weight.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a citrus picking robot.
background
Fruit and vegetable harvesting is a labor-intensive task, and in many countries, labor costs increase due to aging of the population and the growing lack of agricultural labor. The fruit and vegetable picking operation is one of the most time-consuming and most labor-consuming links in the current fruit and vegetable production chain, and the quality of the picking operation directly influences subsequent processing and storage. Due to the complexity of picking operation, the picking automation degree is still very low, and the fruit picking in China is basically carried out manually at present.
disclosure of Invention
the invention aims to provide a citrus picking robot which has a large picking area, does not cause citrus picking in the picking process, and can automatically classify and recover picked citrus according to the weight.
In order to achieve the purpose, the invention adopts the technical scheme that:
a oranges and tangerines picking robot, includes mechanical execution system and control system, its characterized in that: the mechanical execution system comprises a vehicle body, a five-degree-of-freedom picking mechanical arm and an end effector;
The vehicle body is long, wheels are arranged on the bottom surface of the vehicle body, the traveling driving device is arranged in the vehicle body, and the picking position adjusting track is arranged on the upper surface of the vehicle body along the length direction of the vehicle body;
A rotating base of the five-degree-of-freedom picking mechanical arm is slidably mounted on the picking position adjusting track, and an end effector is mounted at the tail end of the five-degree-of-freedom picking mechanical arm;
The end effector includes two splint that are parallel to each other, and two splint can move in opposite directions and carry out the centre gripping action, are equipped with the sponge centre gripping layer on the clamping face of splint, the soft wearing layer of sponge centre gripping layer outer cladding one deck, are equipped with the bar flexure strip that arches to the centre gripping direction in the sponge centre gripping layer, and the flexure strip becomes the arch, and protruding position is located the intermediate position on sponge centre gripping layer in the middle of it, and its both ends extend the guide part, be equipped with on the splint with guide part sliding fit's guide way, the guide way sets up along the length direction of flexure strip, and the middle protruding position incurving of flexure strip forms the sunken that is used for centre gripping oranges.
the invention is further provided with two elastic pieces which are arranged vertically, the middle sunken parts of the two elastic pieces are abutted, and one elastic piece is positioned at the inner side of the other elastic piece.
the invention is further provided that the part between the guide part and the middle recess of the elastic sheet is designed into a wave shape, and the elastic sheet is a metal sheet.
The invention is further configured in that the elastic sheet is of a net structure as a whole and is made of a plastic material.
the invention is further provided that the surface of the wear-resistant layer is provided with a fluff layer.
The invention is further provided with a driving part which is vertical to the clamping plates, the driving parts of the two clamping plates are positioned in the same plane and are mutually spaced, the opposite surfaces of the two driving parts are respectively provided with a rack, the invention also comprises a rotatable gear which is respectively meshed with the racks on the two driving parts, and the tail end of the five-freedom picking mechanical arm is provided with a track structure which is in sliding fit with the driving parts.
the invention is further arranged in that a long material storage cabinet is arranged on the vehicle body along the length direction of the vehicle body, two side surfaces of the material storage cabinet are made of transparent plates, a feeding hole is formed in one end of the material storage cabinet in the length direction, a material receiving hole is arranged under the two clamping plates, the material receiving hole is annular and is fixedly connected to the tail end of the five-freedom-degree picking mechanical arm, the feeding hole and the material receiving hole are connected through a telescopic hose, the material storage cabinet is arranged in an inclined mode in the length direction, and the end where the feeding hole is located is higher than the other end.
the invention is further provided that a long material storage cabinet is arranged on the vehicle body along the length direction of the vehicle body, a feeding hole is arranged at one end of the material storage cabinet in the length direction, a material receiving hole is arranged right below the two clamping plates, the material receiving hole is annular and is fixedly connected with the tail end of the five-degree-of-freedom picking mechanical arm, and the feeding hole and the material receiving hole are connected through a telescopic hose; an orange screening device is arranged in the storage cabinet and comprises a conveying belt arranged along the length direction of the storage cabinet, conveying rollers connected with the conveying belt are respectively arranged at two ends of the length direction of the storage cabinet, a plurality of partition plates are arranged on the conveying belt along the length direction of the conveying belt to divide the conveying belt into a plurality of material receiving areas at equal intervals, a slide way perpendicular to the length direction of the conveying belt is arranged on each material receiving area, a material receiving trolley is connected onto each slide way in a sliding mode, and the material receiving trolley is fixedly connected with the slide way in the; the material receiving trolley is provided with a driving motor for driving the material receiving trolley to move, a weighing sensor, a control module and a position sensor; the material receiving area is divided into three levels of areas along the direction of the slide way, and each level of area is provided with a position identifier corresponding to the position sensor; the weighing sensor is used for weighing the weight of oranges falling into the material receiving trolley and transmitting weight information to the control module, three weight range values corresponding to each level region are preset in the control module, the control module drives the material receiving trolley to move to the corresponding level region according to the weight range value in which the received weight information falls, and when the material receiving trolley is empty, the control module drives the material receiving trolley to move to the middle level region of the three level regions; the discharging direction of the feeding hole is arranged towards the middle grade area of the three grade areas, and three material receiving bags corresponding to the three grade areas are arranged on the material storage cabinet at the tail end of the conveying belt.
the invention is further configured that the five-degree-of-freedom picking mechanical arm comprises a rotating base, a large arm, a small arm, three direct-current servo steering engines and a rotating direct-current motor, wherein: the rotating base comprises a rotating direct current motor and a rotating machine body, and the rotating base is slidably mounted on the picking position adjusting track.
The invention is further set up in that the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular camera, an infrared sensor, a pressure sensor, an electrical control cabinet, a control circuit and the like; the binocular camera is located on a support of the upper plane of the electric control cabinet, the servo motor driver and the electric control cabinet are placed on the vehicle body, the industrial personal computer host is located on the upper side of the electric control cabinet, and the motion control card, the data acquisition card and the image acquisition card are respectively inserted into a PCI slot of the industrial personal computer.
The invention has the beneficial effects that: the citrus picking robot provided by the invention is provided with the long vehicle body, so that the five-freedom-degree picking mechanical arm can move on the long vehicle body to enlarge the picking range, meanwhile, the end effector provided by the invention can play a good protection role on citrus when picking citrus, the citrus epidermis can not be scratched, meanwhile, the screening device in the vehicle body can automatically grade citrus according to the weight, the screening workload after recovery is reduced, and the working efficiency is improved.
drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an end effector of the present invention;
FIG. 3 is a schematic view of the structure of the clamping plate and the elastic plate of the present invention;
FIG. 4 is an exploded view of the clamping plate and the resilient tab of the present invention;
FIG. 5 is a schematic view of a sponge holding layer of the present invention;
FIG. 6 is a schematic view of the present invention with an airbag retaining pocket;
FIG. 7 is a schematic view of the present invention with an airbag cushion;
FIG. 8 is a schematic view of a structure of the present invention with a silica gel clamping layer;
FIG. 9 is a schematic structural view of a metal spring sheet according to the present invention;
FIG. 10 is a schematic view of the structure of the plastic elastic sheet of the present invention;
FIG. 11 is a schematic structural view of a first citrus fruit recovery embodiment of the present invention;
FIG. 12 is a schematic structural view of a second citrus fruit recovery embodiment of the present invention;
FIG. 13 is a top view of a conveyor belt and a receiving cart in a second citrus fruit recovery embodiment of the present invention;
FIG. 14 is a side view of a conveyor belt and receiving cart in a second citrus fruit recovery embodiment of the present invention;
FIG. 15 is a schematic view of a second embodiment of a separating and dispensing mechanism for citrus fruit recovery according to the present invention;
Fig. 16 is a second schematic structural view of the separating and distributing mechanism in the second citrus recovery embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The present invention is explained below with reference to fig. 1 to 16.
a citrus picking robot comprises a mechanical execution system and a control system, wherein the mechanical execution system comprises a vehicle body 1, a five-degree-of-freedom picking mechanical arm and an end effector;
The long vehicle body 1 is long, wheels 92 are arranged on the bottom surface of the long vehicle body 1, a traveling driving device is arranged in the long vehicle body 1, a picking position adjusting track 93 is arranged on the upper surface of the long vehicle body 1 along the length direction of the long vehicle body, and the length of the long vehicle body 1 can be designed into any suitable length according to needs;
A rotating base 94 of the five-degree-of-freedom picking mechanical arm is slidably mounted on the picking position adjusting track 93, an end effector is mounted at the tail end of the five-degree-of-freedom picking mechanical arm, and the rotating base 94 is driven by a driving device;
The end effector a comprises two parallel splints 100, strip-shaped arched elastic pieces 200 are arranged on the clamping surface of the splints 100, the elastic pieces 200 are arranged in an arched manner in the clamping direction, guide parts 2001 are respectively arranged at two ends of the elastic pieces 200, guide grooves 1001 matched with the guide parts 2001 are arranged on the clamping surface of the splints 100, the arched parts in the middle of the elastic pieces 200 are bent inwards to form a recess 2002, the two elastic pieces 200 are arranged vertically, the recesses 2002 in the middle of the two elastic pieces 200 are abutted, and one elastic piece 200 is positioned at the inner side of the other elastic piece 200; the clamping side of the elastic piece 200 is provided with a soft and elastic contact part 300, and the contact part 300 is directly clamped on the surface of the citrus; still set up one rather than vertically drive division 400 on splint 100, the drive division 400 of two splint 100 is located the coplanar and separates each other, all be equipped with rack 500 on the face in opposite directions of two drive division 400, still include one respectively with two drive division 400 on the rotatable gear 600 of rack 500 intermeshing, still include with drive division 400 sliding fit's track structure 700, above-mentioned technical scheme is that two splint 100 carry out the action structure that the oranges and tangerines were taken in the centre gripping, it realizes the drive to two splint 100 through the meshing of gear 600 and rack 500, reasonable in design, job stabilization is reliable, control sensitive precision is high.
among the above-mentioned technical scheme, drive two drive division 400 rather than the meshing through gear 600, make splint 100 grab along with gear 600 positive and negative rotation and put the action, splint 100 is when plucking oranges and tangerines, the direct centre gripping of contact site 300 on it is on the oranges and tangerines surface, oranges and tangerines can not contact with any other hard structure of this end effector, protected oranges and tangerines not scratched as far as, and the elastic sheet 200 that sets up between splint 100 and contact site 300 then plays and provides the elastic force, form the effect of elastic clamping, the deformation of contact site 300 of both being convenient for resumes, can avoid oranges and tangerines to be hindered by the clamp again. The elastic pieces 200 are strip-shaped and arched, when the citrus is clamped, the citrus is clamped in the concave 2002 in the middle of the citrus, the elastic pieces 200 are elastically deformed along the direction of the guide groove 1001, and the two elastic pieces 200 which are vertically arranged form stable clamping and can provide stable elastic force.
Several embodiments of the contact portion 300 are provided in the present invention as follows:
In the first embodiment, as shown in fig. 5, the contact portion 300 is a sponge holding layer (made of sponge), the elastic sheet 200 is inserted into the sponge holding layer, the sponge holding layer is covered by a soft wear-resistant layer 800, a fluff layer is disposed on the surface of the wear-resistant layer 800, and the sponge holding layer is connected to the splint 100. The sponge clamping layer has good elasticity and deformation restorability, can not press from both sides and hinder oranges and tangerines, and flexure strip 200 wears to establish and is favorable to the restoration of sponge clamping layer deformation in the sponge clamping layer to form the state of flexure strip 200 and the centre gripping oranges and tangerines of sponge clamping layer mutually supporting. The setting of wearing layer 800 is for protecting the sponge, avoids the sponge to be worn and damaged, and setting up of tapetum makes the clamping face to oranges and tangerines softer simultaneously, can not cause the damage to oranges and tangerines surface.
In the second embodiment, as shown in fig. 6, the contact portion 300 is an air bag holding bag (an inflated bag body) whose inside is inflated, the elastic sheet 200 is located inside the air bag holding bag, the air bag holding bag is connected to the splint 100, and the air bag holding bag is made of a stretchable elastic material, so that the air bag holding bag has good deformation performance and can meet the deformation, stretching and abrasion conditions during picking. The air bag clamping bag is filled with appropriate gas, when the citrus is clamped, the citrus can force the air bag clamping bag to deform, along with the deformation of the air bag clamping bag, the citrus is in contact with the concave 2002 on the elastic sheet 200 and gradually forces the elastic sheet 200 to deform, so that the citrus is clamped, the citrus is clamped by the gas elasticity of the air bag clamping bag and the deformation elasticity of the elastic sheet 200, and meanwhile, the concave 2002 plays a role in positioning the clamping of the citrus.
third embodiment, as shown in fig. 7, the contact portion 300 is an air bag holding pad (an air cushion having a certain thickness) which is internally inflated, four corners of the air bag holding pad are respectively connected to two crossing elastic pieces 200, and the air bag holding pad is made of a stretchable elastic material. Just use this technical scheme, when plucking oranges and tangerines, oranges and tangerines are by the centre gripping between two gasbag centre gripping pads, force gasbag centre gripping pad to take place elastic deformation to take place deformation in sunken 2002 gradually, make oranges and tangerines by stable centre gripping in sunken 2002, because the air cushion plays good guard action in the middle of, oranges and tangerines can not be pressed from both sides by flexure strip 200 and hinder.
in the fourth embodiment, as shown in fig. 8, the contact portion 300 is a silicone clamping layer (made of silicone), and four corners of the silicone clamping layer are respectively connected to the two crossed elastic pieces 200. Because silica gel has better elasticity and stretch-proofing performance, so when centre gripping oranges and tangerines, the silica gel layer can take place deformation to sunken 2002 along with oranges and tangerines together, can play good clamping effect to oranges and tangerines, and surperficial oranges and tangerines are hindered by the clamp.
In order to improve the elastic force of the elastic sheet 200, the following two schemes are provided for the structural design of the elastic sheet 200:
First, as shown in fig. 9, the portion between the guide portion 2001 and the middle recess 2002 of the elastic piece 200 is designed to be wavy, and the elastic piece is a metal piece and is designed to be wavy, so that the elastic force generated by the deformation of the elastic piece can be increased.
in the second embodiment, as shown in fig. 10, the elastic sheet 200 is a net structure, the elastic sheet 200 is made of a plastic material, and the plastic elastic sheet of the net structure enhances the elastic force generated by the deformation of the plastic elastic sheet.
The five-degree-of-freedom picking mechanical arm comprises a rotating base 94, a large arm 916, a small arm 917, three direct-current servo steering engines and a rotary direct-current motor, wherein: the rotating base 4 comprises a rotating direct current motor and a rotating machine body, and the rotating base 4 is installed on the picking position adjusting track 3 in a sliding mode.
The invention provides two following implementation modes for recovering the picked oranges:
Embodiment one, it is equipped with microscler storage cabinet to go up along its length direction in the automobile body 1, the both sides face of storage cabinet all adopts transparent panel to make, be convenient for observe, storage cabinet length direction's one end is equipped with feed inlet 13, be equipped with under two splint 100 and connect material mouth 914, connect material mouth 914 for the end of annular steel ring and fixed connection in five degrees of freedom picking the arm, feed inlet 13 with connect to connect through retractable hose 915 between the material mouth 914, the storage cabinet sets up at its length direction one-tenth slope, and feed inlet 13 is held to be higher than the other end. Among the above-mentioned scheme, retrieve all oranges and tangerines of picking to the storage cabinet in, the storage cabinet that the slope set up is convenient for oranges and tangerines to fill up the storage cabinet, its simple structure, it is convenient to collect.
in the second embodiment, a long material storage cabinet is arranged on the vehicle body 1 along the length direction of the vehicle body, a feeding port 13 is arranged at one end of the material storage cabinet in the length direction, a material receiving port 914 is arranged right below the two clamping plates 100, the material receiving port 914 is a circular steel ring and is fixedly connected to the tail end of the five-degree-of-freedom picking mechanical arm, and the feeding port 13 is connected with the material receiving port 914 through a telescopic hose 15;
Be equipped with oranges and tangerines sieving mechanism in the storage cabinet, oranges and tangerines sieving mechanism includes that the endless conveyor belt 2 who sets up in the storage cabinet along storage cabinet length direction sets up and sets up, and storage cabinet length direction's both ends are equipped with the conveying roller 3 of connecting conveyer belt 2 respectively, still include 3 pivoted drive arrangement of drive conveying roller, drive 2 work of conveyer belt through conveying roller 3.
The conveying belt 2 is provided with a plurality of partition plates 4 along the length direction to divide the conveying belt 2 into a plurality of material receiving areas 5 at equal intervals, each material receiving area 5 is provided with a slideway 6 vertical to the length direction of the conveying belt 2, the slideway 6 is connected with a material receiving trolley 7 in a sliding way, and the material receiving trolley 7 is fixedly connected with the slideway 6 in the vertical direction to prevent the material receiving trolley 7 from falling off the conveying belt 2 when moving along with the conveying belt 2; the receiving trolley 7 is provided with a driving motor 8 for driving the receiving trolley to move, a weighing sensor 9, a control module and a position sensor 10; the material receiving area 5 is equally divided into three level areas 11 along the direction of the slide 6, and each level area 11 is respectively provided with a position identifier 12 corresponding to the position sensor 10; the weighing sensor 9 is used for weighing the weight of the oranges falling into the material receiving trolley 7 and transmitting weight information to the control module, three weight range values corresponding to each level region 11 are preset in the control module, the control module drives the material receiving trolley 7 to move to the corresponding level region 11 according to the weight range value in which the received weight information falls, and when the material receiving trolley 7 is empty, the control module drives the material receiving trolley 7 to move to the level region 11 in the middle of the three level regions 11; a feed inlet 13 is arranged at the initial end of the conveyer belt 2, and three receiving bags 14 corresponding to the respective levels of the areas 11 are arranged at the tail end of the conveyer belt 2; the discharge direction of the feed openings 13 is arranged toward the middle level region 11 of the three level regions 11.
by adopting the technical scheme, the screening and grading process of the citrus comprises the following steps:
(1) Firstly, the picked oranges fall from the feed inlet 13 into the receiving trolley 7 which is stopped on the level area 11 at the middle position;
(2) Weighing information of the weight of the oranges by a weighing sensor 9 on the material receiving trolley 7 and sending the information of the weight to the control module;
(3) the control module compares the received weight information with a preset weight range value to determine a corresponding level area 11 in which the weight information falls, and drives the driving motor 8 to work;
(4) The driving motor 8 drives the material receiving trolley 7 to move to the corresponding level area 11, and the position sensor 10 stops moving when sensing the position identifier 12 corresponding to the level area 11;
(5) at the moment, the material receiving trolley 7 moves along with the conveying belt 2, and oranges are poured into the corresponding material receiving bags 14 when reaching the tail end of the conveying belt 2;
(6) The weighing sensor 9 senses that no citrus exists in the material receiving trolley 7, the material receiving trolley 7 is driven to move to the middle grade area 11 of the three grade areas 11 through the control module to wait for material receiving, and the material receiving is circulated.
The sliding way 6 is provided with a rack 15, an output gear 16 of the driving motor 8 is meshed with the rack 15, the technical scheme is adopted for driving the material receiving trolley 7 to move among the three level areas 11, and meanwhile, the rack 15 and the output gear 16 are matched to play a role in locking the material receiving trolley 7, so that the material receiving trolley 7 stably stays on the corresponding level area 11.
The material receiving trolley 7 comprises a flat-plate-shaped trolley body part 71, the trolley body part 71 is in sliding connection with the slide rail 6, a material receiving hopper 72 is arranged on the upper side of the trolley body part 71, four corners of the bottom of the material receiving hopper 72 are connected with the trolley body part 71 through springs 73, a weighing sensor 9 is arranged on the bottom surface of an inner cavity of the material receiving hopper 72, a bearing tray 74 is arranged on the weighing sensor 9, and the bearing tray 74 is horn-shaped. Through adopting this technical scheme, oranges and tangerines drop when connecing material dolly 7 on, can receive spring 73's cushioning effect, slow down oranges and tangerines to connecing the striking of material dolly 7, guarantee the stability of each mechanism's work.
The invention is further arranged that the feed port 13 is formed by a vertically arranged pipe body 17, an interval material distribution mechanism is arranged on the pipe body 17, the interval material distribution mechanism comprises an upper stop plate 18 and a lower stop plate 19 which are horizontally inserted on the pipe body 17, the upper stop plate 18 and the lower stop plate 19 are arranged at intervals, the upper stop plate 18 and the lower stop plate 19 are both connected with the pipe body 17 in a sliding way, the feed port 13 is opened and closed by the sliding of the upper stop plate 18 and the lower stop plate 19, a rotatable driving gear 20 is arranged between the upper stop plate 18 and the lower stop plate 19, and driving racks 21 meshed with the driving gear 20 are respectively arranged on the upper stop plate 18 and the lower stop plate 19. In the technical scheme, the oranges are separated at intervals through the upper cutoff plate 18 and the lower cutoff plate 19, the interval distance between the upper cutoff plate 18 and the lower cutoff plate 19 which is designed to contain only one orange is used for realizing the separation of the oranges one by one through the staggered opening and closing of the upper cutoff plate 18 and the lower cutoff plate 19. When the driving gear 20 rotates forward, the driving gear 20 drives the upper cutoff plate 18 to open the pipe 17, the lower cutoff plate 19 cuts the pipe 17, and when the driving gear 20 rotates backward, the driving gear 20 drives the upper cutoff plate 18 to cut the pipe 17, and the lower cutoff plate 19 opens the pipe 17.
the invention is further arranged to further comprise a bag body 22 which is arranged in the tube body 17 and has two open ends, the bag body 22 is positioned on the upper side of the upper stop plate 18, the edge of the upper opening of the bag body 22 is connected to the inner wall of the tube body 17, the lower opening of the bag body 22 is connected with a tying rope sleeve 23, the tying rope sleeve 23 is connected with the upper stop plate 18, and when the upper stop plate 18 moves towards the outer side of the tube body 17, the lower opening of the bag body 22 can be sealed through the tying rope sleeve 23. The bag 22 protects the citrus fruit and prevents the upper stop plate 18 from scraping the citrus fruit as it moves into the tube 17. The distance between the upper cut-off plate 18 and the lower opening of the bag body 22 is designed to be capable of accommodating only one citrus fruit, so that when the upper cut-off plate 18 moves towards the inside of the tube body 17, the lower opening of the bag body 22 can be opened under the action of the gravity of the citrus fruit, the citrus fruit can fall between the upper cut-off plate 18 and the lower opening of the bag body 22, at the moment, the upper cut-off plate 18 moves towards the outside of the tube body 17, the lower opening of the bag body 22 is sealed by pulling the tying rope sleeve 23, and the citrus fruit which previously falls between the upper cut-off plate 18 and the lower opening of the bag body 22 can fall between the upper cut-off plate 18 and the lower cut-off plate 19, so.
the opening-binding rope sling 23 is a spring rope, and the opening-binding rope sling 23 made of the spring rope has better restorability, so that the opening-binding rope sling 23 can be prevented from being clamped.
the weight range values comprise three weight range values of 20-49g, 50-80g and 81-150g, and the picked oranges are classified according to the three weight intervals.
the control system comprises an industrial personal computer 930, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a photoelectric encoder, a binocular camera 931, an infrared sensor, a pressure sensor, an electrical control cabinet 932 and a control circuit. The pressure sensor is mounted on the clamp plate 100.
the binocular camera 931 is located on a support of the upper plane of the electrical control cabinet 932, the servo motor driver 1 and the electrical control cabinet 932 are placed on the vehicle body 1, the industrial personal computer 930 is located on the upper side of the electrical control cabinet 932, and the motion control card, the data acquisition card and the image acquisition card are respectively inserted into a PCI slot of the industrial personal computer 930.
the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and those modifications and variations assumed in the above are also considered to be within the scope of the present invention.
Claims (10)
1. A oranges and tangerines picking robot, includes mechanical execution system and control system, its characterized in that: the mechanical execution system comprises a vehicle body, a five-degree-of-freedom picking mechanical arm and an end effector;
The vehicle body is long, wheels are arranged on the bottom surface of the vehicle body, the traveling driving device is arranged in the vehicle body, and the picking position adjusting track is arranged on the upper surface of the vehicle body along the length direction of the vehicle body;
a rotating base of the five-degree-of-freedom picking mechanical arm is slidably mounted on the picking position adjusting track, and an end effector is mounted at the tail end of the five-degree-of-freedom picking mechanical arm;
The end effector includes two splint that are parallel to each other, and two splint can move in opposite directions and carry out the centre gripping action, are equipped with the sponge centre gripping layer on the clamping face of splint, the soft wearing layer of sponge centre gripping layer outer cladding one deck, and the sponge centre gripping in situ is equipped with the bar flexure strip that arches to the centre gripping direction, and the flexure strip becomes the arch, and protruding position is located the intermediate position on sponge centre gripping layer in the middle of it, and its both ends extend the guide part, be equipped with on the splint with guide part sliding fit's guide way, the guide way sets up along the length direction of flexure strip, and the middle protruding position incurving of flexure strip forms the sunken that is used for centre gripping.
2. A citrus picking robot according to claim 1, wherein: the elastic pieces are arranged in two numbers, the two elastic pieces are perpendicular to each other, the middle sunken parts of the two elastic pieces are abutted, and one elastic piece is located on the inner side of the other elastic piece.
3. a citrus picking robot according to claim 2, wherein: the part between the guide part and the middle recess of the elastic sheet is designed into a wavy shape, and the elastic sheet is a metal sheet.
4. A citrus picking robot according to claim 2, wherein: the elastic sheet is integrally of a net-shaped structure and is made of a plastic material.
5. A citrus picking robot according to claim 2, wherein: and a fluff layer is arranged on the surface of the wear-resistant layer.
6. A citrus picking robot according to any of claims 1 to 5, characterised in that: the five-freedom-degree picking mechanical arm comprises two clamping plates and is characterized in that a driving portion perpendicular to the clamping plates is further arranged on the clamping plates, the driving portions of the two clamping plates are located in the same plane and spaced from each other, racks are arranged on the opposite surfaces of the two driving portions, the five-freedom-degree picking mechanical arm further comprises a rotatable gear meshed with the racks on the two driving portions, and a track structure in sliding fit with the driving portions is arranged at the tail end of the five-freedom-degree picking mechanical arm.
7. A citrus picking robot according to claim 6, wherein: be equipped with microscler storage cabinet along its length direction on the automobile body, the both sides face of storage cabinet all adopts transparent panel to make, and storage cabinet length direction's one end is equipped with the feed inlet, is equipped with under two splint and connects the material mouth, connects the material mouth for ring shape and fixed connection in the end of five degrees of freedom picking arm, the feed inlet with connect through retractable hose connection between the material mouth, the storage cabinet sets up at its length direction one-tenth slope, and the feed inlet place end is higher than the other end.
8. A citrus picking robot according to claim 6, wherein: a long material storage cabinet is arranged on the vehicle body along the length direction of the vehicle body, a feeding hole is formed in one end of the material storage cabinet in the length direction, a material receiving hole is formed right below the two clamping plates, the material receiving hole is annular and is fixedly connected to the tail end of the five-degree-of-freedom picking mechanical arm, and the feeding hole is connected with the material receiving hole through a telescopic hose; an orange screening device is arranged in the storage cabinet and comprises a conveying belt arranged along the length direction of the storage cabinet, conveying rollers connected with the conveying belt are respectively arranged at two ends of the length direction of the storage cabinet, a plurality of partition plates are arranged on the conveying belt along the length direction of the conveying belt to divide the conveying belt into a plurality of material receiving areas at equal intervals, a slide way perpendicular to the length direction of the conveying belt is arranged on each material receiving area, a material receiving trolley is connected onto each slide way in a sliding mode, and the material receiving trolley is fixedly connected with the slide way in the; the material receiving trolley is provided with a driving motor for driving the material receiving trolley to move, a weighing sensor, a control module and a position sensor; the material receiving area is divided into three levels of areas along the direction of the slide way, and each level of area is provided with a position identifier corresponding to the position sensor; the weighing sensor is used for weighing the weight of oranges falling into the material receiving trolley and transmitting weight information to the control module, three weight range values corresponding to each level region are preset in the control module, the control module drives the material receiving trolley to move to the corresponding level region according to the weight range value in which the received weight information falls, and when the material receiving trolley is empty, the control module drives the material receiving trolley to move to the middle level region of the three level regions; the discharging direction of the feeding hole is arranged towards the middle grade area of the three grade areas, and three material receiving bags corresponding to the three grade areas are arranged on the material storage cabinet at the tail end of the conveying belt.
9. A citrus picking robot according to claim 8, wherein: the five-degree-of-freedom picking mechanical arm comprises a rotating base, a large arm, a small arm, three direct-current servo steering engines and a rotary direct-current motor, wherein: the rotating base comprises a rotating direct current motor and a rotating machine body, and the rotating base is slidably mounted on the picking position adjusting track.
10. A citrus picking robot according to claim 8, wherein: the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular camera, an infrared sensor, a pressure sensor, an electrical control cabinet, a control circuit and the like; the binocular camera is located on a support of the upper plane of the electric control cabinet, the servo motor driver and the electric control cabinet are placed on the vehicle body, the industrial personal computer host is located on the upper side of the electric control cabinet, and the motion control card, the data acquisition card and the image acquisition card are respectively inserted into a PCI slot of the industrial personal computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711487531.8A CN108076832B (en) | 2017-12-30 | 2017-12-30 | Orange picking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711487531.8A CN108076832B (en) | 2017-12-30 | 2017-12-30 | Orange picking robot |
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| CN108076832B true CN108076832B (en) | 2019-12-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109592415B (en) * | 2018-10-23 | 2020-11-13 | 温州睿程机械科技有限公司 | Fruit picking and conveying device |
| CN110174065B (en) * | 2019-06-17 | 2021-02-26 | 湖南农业大学 | Fruit size nondestructive testing method based on orthogonal binocular machine vision |
| CN111744802B (en) * | 2020-07-07 | 2022-01-07 | 山东华宝隆轻工机械有限公司 | Fruit collecting and sorting machine |
| CN111742710B (en) * | 2020-07-29 | 2022-04-26 | 山东交通学院 | Semi-automatic strawberry picking device and picking method |
| CN113575131B (en) * | 2021-08-23 | 2022-07-19 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
| CN114347004B (en) * | 2022-02-21 | 2024-04-12 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm cooperation positioning control system |
| CN115500150B (en) * | 2022-10-28 | 2024-04-02 | 中国科学院东北地理与农业生态研究所农业技术中心 | Blueberry harvester convenient to adjust |
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| CN203775715U (en) * | 2014-04-18 | 2014-08-20 | 金陵科技学院 | Fruit picking device |
| CN106426234A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Clamping device for fragile part |
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