CN108934342A - A kind of six axis leaf vegetables plantation picking robot - Google Patents
A kind of six axis leaf vegetables plantation picking robot Download PDFInfo
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- CN108934342A CN108934342A CN201810780406.4A CN201810780406A CN108934342A CN 108934342 A CN108934342 A CN 108934342A CN 201810780406 A CN201810780406 A CN 201810780406A CN 108934342 A CN108934342 A CN 108934342A
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- motor
- leaf vegetables
- control panel
- gripper
- picking robot
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C14/00—Methods or apparatus for planting not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Environmental Sciences (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Soil Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six axis leaf vegetables to plant picking robot, the rotation of multiple first motors can be controlled according to the tracking signal that gray-scale sensor acquires, and then control the rotation of Mecanum wheel, to control the motion profile of the robot entirety, and it can be according to camera, ultrasonic sensor and the signal of pressure sensor acquisition control the second motor, the rotation of third motor and the 4th motor, accurately to control the direction of the second transmission arm and third transmission arm in mechanical arm unit, and then accurately control the movement of gripper, to realize the accurate positioning to leaf vegetables culture medium, and then leaf vegetables culture medium is accurately extracted and is placed, since six axis leaf vegetables plantation picking robot has very high freedom degree, six axis are suitable for the work of any track or angle, and, it can freely program, it completes full-automatic work and improves production effect Rate, error rate is controllable, and then operation is very easy, and can realize that cross-layer efficiently extracts culture medium.
Description
Technical field
The present invention relates to leaf vegetables plantation and picked technology field, in particular to a kind of six axis leaf vegetables plant picking robot.
Background technique
Greenhouse is widely applied in the world and carries out facility cultivation, industrialized agriculture is typical labor-intensive production, wherein planting
It plants and harvest is the key link for accounting for labour at most and being most difficult to realize do mechanization operation again, even if the facility agriculture of developed country
Industry operation has had reached increasingly automated, but the culture medium for having leaf vegetables seedling is being moved to culture plate from nutrient solution
It still relies on bracket or with being moved to picking by the culture medium with mature leaf vegetables from culture board bracket and largely manually completes,
Realize that the automation of above-mentioned operation has become the current demand of agricultural development.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is an object of the invention to propose that a kind of six axis leaf vegetables plant picking robot, it can be achieved that automatically from culture
Base frame extracts culture medium and is placed back on bracket to Solution culture method pond and by mature leaf vegetables culture medium extraction, saves people
Power.
To achieve the above object, the embodiment of the present invention proposes a kind of six axis leaf vegetables plantation picking robot, including pedestal
Unit, mechanical arm unit and gripper unit are connected between the base unit and the mechanical arm unit by rotatable chassis
It connects, is connected between the machinery arm unit and the gripper unit by joint, the base unit includes being arranged in pedestal
The control panel of body central position, the multiple first motor drivers being connected with the control panel and each first motor
The connected first motor of driver, the Mecanum wheel being connected with each first motor and it is connected with the control panel
Multiple gray-scale sensors, the control panel is according to the route analog signal control that each gray-scale sensor acquires described the
One motor driver drives first motor, to drive the Mecanum wheel；It is described machinery arm unit include with it is described rotatable
The first support arm that chassis is fixedly connected, the second transmission arm being connect with the first support arm other end by the second motor and
The third transmission arm being connect with the second transmission arm other end by third motor, the third transmission arm other end pass through the
Four motors are connect with the joint；The gripper unit includes the ultrasonic wave that gripper ontology supporting part two sides of the bottom are arranged in
Sensor, the pressure sensor that the gripper ontology plate washer lower part two sides are arranged in and setting are before the gripper ontology
The camera at end, wherein the angle between the supporting part and the plate washer is in 85 ~ 88o；The control panel is respectively with described
Two motors, the third motor, the 4th motor, the camera, the ultrasonic sensor and the pressure sensor
Be connected, distance signal that image information that the control panel acquire according to the camera, the ultrasonic sensor acquire and
The pressure signal of the pressure sensor controls the rotation of second motor, the third motor and the 4th motor.
The six axis leaf vegetables plantation picking robot proposed according to embodiments of the present invention, can follow according to what gray-scale sensor acquired
Mark signal controls the rotation of multiple first motors, and then controls the rotation of Mecanum wheel, to control the robot entirety
Motion profile, and the signal that can be acquired according to camera, ultrasonic sensor and pressure sensor controls the second motor, third
The rotation of motor and the 4th motor, accurately to control the direction of the second transmission arm and third transmission arm in mechanical arm unit, in turn
The movement of accurate control gripper, to realize the accurate positioning to leaf vegetables culture medium, accurately to be extracted to leaf vegetables culture medium and
It places.
According to one embodiment of present invention, the base unit further includes multiple groups damper, damper described in every group
Side is connect with the Mecanum wheel, and the other side is connect with the fixed bracket of the damper being arranged on the base body.
According to one embodiment of present invention, the base unit further includes battery supply, the battery supply with it is described
Control panel is connected, and the battery supply is used to provide electricity consumption to the control panel.
According to one embodiment of present invention, the base unit further includes metal outer frame frame and motor fixing frame, described
Motor fixing frame is arranged inside the metal outer frame frame, and the motor fixing frame is for fixing the control panel, multiple described
First motor, multiple first motor drivers and the battery supply.
According to one embodiment of present invention, pass through first bearing seat between the first motor and the Mecanum wheel
It is connected；Between second motor and second transmission arm, between the third motor and the third transmission arm by the
Two bearing bracket is connected.
According to one embodiment of present invention, the gripper ontology supporting part is made of plurality of rods, the gripper sheet
The plate washer of body is the sketch plate of intermediate hollow out, is equipped with the connector connecting with the joint, the sketch plate at the top of the sketch plate
Lower part is fixedly connected with the plurality of rods.
According to one embodiment of present invention, the first motor, second motor, the third motor and described
Four motors are servo motor.
Wherein, each servo motor band encoder.
According to one embodiment of present invention, the control panel is arduino control panel.
According to one embodiment of present invention, the rotatable chassis is 360o all-directional rotation chassis.
According to one embodiment of present invention, the gray-scale sensor is eight railway digital amount gray-scale sensors.
Compared with prior art, the invention has the following advantages: (1) can accurately be controlled by the use of servo motor
The movement of Mecanum wheel, mechanical arm unit and gripper unit processed；(2) pass through the setting of eight railway digital amount gray-scale sensors,
It can accurate tracking, the accurate route for controlling robot traveling and direction；(3) it is passed by camera, pressure sensor and ultrasonic wave
The setting of sensor accurately controls the movement of mechanical arm unit and gripper, and is accurately positioned leaf vegetables culture medium, thus real
Now to leaf vegetables culture medium accurately lifting and placing, no longer need to by manual type obtain culture medium state, more hommization and
It is intelligent；(4) angle is set as 85 ~ 88o between the supporting part and plate washer of gripper ontology, prevent on culture solution or bracket
Plastic plate generate actuation；(5) the six axis leaf vegetables plants picking robot, has very high freedom degree, six axis are suitable for any
The work of track or angle completes full-automatic work and improves production efficiency furthermore, it is possible to freely program, and error rate is controllable,
Operation is very easy, and can realize that cross-layer efficiently extracts culture medium；(6) the six axis leaf vegetables plants picking robot, with intelligence
Automation mode, which transplants leaf vegetables, can utmostly liberate labour.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, wherein
Fig. 1 is six axis leaf vegetables plantation picking robot structural schematic diagram according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the base unit of six axis leaf vegetables plantation picking robot according to an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the base unit of six axis leaf vegetables plantation picking robot according to an embodiment of the invention；
Fig. 4 is the mechanical arm unit of six axis leaf vegetables plantation picking robot according to an embodiment of the present invention and the knot of gripper unit
Structure schematic diagram；
Fig. 5 is the joint structure schematic diagram of six axis leaf vegetables plantation picking robot according to an embodiment of the present invention；
Fig. 6 is culture medium carrier structure schematic diagram according to an embodiment of the present invention；
Fig. 7 is the gripper structural schematic diagram of six axis leaf vegetables plantation picking robot according to an embodiment of the invention；
Fig. 8 is the control principle drawing of six axis leaf vegetables plantation picking robot according to an embodiment of the present invention.
Appended drawing reference: the fixed bracket of 1- base unit, 2- machinery arm unit, 3- gripper unit, 10- damper, 11- gold
Belong to outer framework, 12- motor fixing frame, 13- control panel, 14- first motor driver, 15- damper, 16- Mecanum wheel,
17- first motor, 18- battery supply, 19- first bearing seat, 21- rotatable chassis, the first support arm of 22-, 23- second are driven
Arm, 24- third transmission arm, the second motor of 25-, 26- second bearing seat, the joint 27-, 28- gripper, eight railway digital amount ash of 29-
Spend sensor, 31- culture medium bracket, 32- camera, 33- ultrasonic sensor, 34- pressure sensor, 35- third motor and
The 4th motor of 36-.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Picking robot is planted with reference to the accompanying drawing to describe six axis leaf vegetables of the embodiment of the present invention.
(1) base unit 1
1. the structure for describing base unit 1 in conjunction with attached drawing 1-3 is as follows:
As shown in Fig. 2, base body is equipped with metal outer frame frame 11 and motor fixing frame 12, motor fixing frame 12 is arranged in metal
It inside outer framework 11, is bolted to connection between motor fixing frame 12 and metal outer frame frame 11, wherein metal outer frame frame 11
Including upper metal outer framework 11 and lower metal outer framework 11.Motor fixing frame 12 is equipped with for installing motor 14, motor
The groove of driver 17 and control panel 13.
Using the top in attached drawing 2 as front, control panel 13 is arranged in 12 center of motor fixing frame, in control panel 13 or so
Two sides are symmetrically respectively provided with two first motor drivers 14, and control panel 13 is connected with each first motor driver 14, Yi Ji
13 front and rear sides of control panel are symmetrically respectively provided with two first motors 17, each first motor driver 14 and corresponding first motor
17 are connected, and are provided with Mecanum wheel 16 on the outside of each first motor 17, each first motor 17 and corresponding Mecanum
Wheel 16 is connected.
It should be noted that Mecanum wheel 16 is installed by first bearing seat 19 in the two sides of metal outer frame frame 11, also
It is to say, first motor axis connects Mecanum wheel 16 by first bearing seat 19.
And each 17 front and rear sides of first motor are symmetrically arranged with damper 15, one end of damper 15 and Mecanum
Wheel 16 is connected, and the other end is connected with the fixed bracket 10 of the damper that 12 front and back central location of motor fixing frame is arranged in.
Wherein, axis of the damper 15 by damping spring and for being socketed damping spring forms.
In addition, eight railway digital amount gray-scale sensors 29 there are two being set before and after the bottom of lower metal outer framework 11, two
Eight railway digital amount gray-scale sensors 29 are connected with control panel 13.
Also, battery supply 18 is provided in 15 fixed frame of the damper of rear side.
Using the top in attached drawing 2 as front, the Mecanum wheel 16 of 12 two sides of motor fixing frame can be named as the near front wheel, the right side
Front-wheel, left rear wheel and off hind wheel.
2. pedestal working principle
Two eight railway digital amount gray-scale sensors 29 carry out tracking signal acquisition, it should be noted that in advance in robot ambulation
Road on be equipped with tracking band for tracking, and the tracking signal of acquisition is sent to control panel 13, control panel 13 is according to adopting
The tracking signal of collection controls multiple first motor drivers 14 and drives to multiple first motors 17, thus to the near front wheel, the right side
Front-wheel, left rear wheel and off hind wheel are driven, to realize the accurate control to robot ambulation route.
(2) structure that mechanical arm unit 2 is described in conjunction with attached drawing 4-5 is as follows:
As illustrated in figures 4-5, mechanical arm unit 2 includes the first support arm 22 being fixedly connected with rotatable chassis 21 and first
The second transmission arm 23 and pass through third electricity with 23 other end of the second transmission arm that 22 other end of brace is connected by the second motor 25
The third transmission arm 24 that machine 35 connects, 24 other end of third transmission arm are connect by the 4th motor 36 with joint 27；
Wherein, 360o is rotatably connected between rotatable chassis 21 and the upper metal outer frame frame 11 of base unit 1, and three-way motor
The rotation angle of (not shown) control rotatable chassis 21.
It should be noted that being connected between the second motor shaft and the second transmission arm 23 by second bearing seat 26, third electricity
It is connected between arbor and third transmission arm 24 by second bearing seat 26, passes through second bearing between the 4th motor 36 and joint 27
Seat 26 connects.
(3) structure that gripper unit 3 is described in conjunction with attached drawing 7 is as follows:
As shown in fig. 7, gripper unit 3 includes the ultrasonic sensor that 28 ontology supporting part two sides of the bottom of gripper are arranged in
33, the pressure sensor 34 of 28 ontology plate washer lower part two sides of gripper is set and taking the photograph for 28 ontology front end of gripper is set
As head 32, wherein the angle between supporting part and plate washer is in 85 ~ 88o；
It should be noted that 28 ontology supporting part of gripper is made of plurality of rods, the plate washer of 28 ontology of gripper is intermediate hollow out
Sketch plate, the connector connecting with joint 27 is equipped at the top of sketch plate, sketch plate lower part is fixedly connected with plurality of rods.
Specifically, as shown in Figure 6 and Figure 8, control panel 13 controls mechanical arm unit 2 and the work of gripper unit 3 is former
It manages as follows: where camera 32, pressure sensor 34, ultrasonic sensor 33, the second motor 25, third motor 35 and the 4th
Motor 36 is connect with control panel 13, and control panel 13 is in the tracking signal control acquired according to eight railway digital amount gray-scale sensors 29
After near robot motion to culture liquid pool, control panel 13 controls the image information for the leaf vegetables culture medium that camera 32 captures,
After capturing the leaf vegetables culture basic image in culture liquid pool, gripper 28 that control panel 13 is acquired according to ultrasonic sensor 33
The distance between leaf vegetables culture medium information controls the rotation of the second motor 25, third motor 35 and the 4th motor 36, with accurate
Control the stretching of the second transmission arm 23, third transmission arm 24 and gripper 28, it is ensured that gripper 28 can accurately put in culture solution
Leaf vegetables culture medium is lifted, and after gripper 28 lifts leaf vegetables culture medium, is cultivated according to the leaf vegetables that pressure sensor 34 acquires
The pressure signal of base, it is ensured that leaf vegetables culture medium has been completely placed on gripper 28, to complete to hold in the palm from culture liquid pool
Lift the movement of leaf vegetables culture medium；
After gripper 28 lifts leaf vegetables culture medium, control panel 13 controls the second motor 25, third motor 35 and the 4th motor
36 rotations to control the retraction of the second transmission arm 23, third transmission arm 24 and gripper 28, and are passed according to eight railway digital amount gray scales
Sensor 29 acquire tracking signal controlling machine device people move near leaf vegetables culture medium bracket 31, then control the second motor 25,
Third motor 35 and the rotation of the 4th motor 36, to control the stretching of the second transmission arm 23, third transmission arm 24 and gripper 28, into
And leaf vegetables culture medium is placed on leaf vegetables culture medium bracket 31, wherein what control panel 13 can be acquired according to pressure sensor 34
The pressure signal of leaf vegetables culture medium judges whether leaf vegetables culture medium has moved away from gripper 28, it is ensured that leaf vegetables culture medium is placed on support
On frame 31.
Wherein, first motor 17, the second motor 25, third motor 35 and the 4th motor 36 are servo electricity with encoder
Machine.
Know it should be noted that being equipped in advance between culture pond and bracket 31 for eight railway digital amount gray-scale sensors 29
Other path-line.
This six axis leaf vegetables plants picking robot as a result, and vehicle controls first motor driver by arduino control panel 13
14 drive first motor 17 with encoder to rotate, to drive Mecanum wheel 16 to move, according to eight railway digital amount gray scales
The analog signal that sensor 29 receives realizes tracking motor function.Add between metal outer frame frame 11 and motor fixing frame 12
The fixed bracket 10 of damper for filling fixed damper 15, install additional damper 15 make robot special road conditions when driving, gripper
Unit 3 and mechanical arm unit 2 still keep to balance；Secondly, the first support arm 22 is fixed on rotatable chassis 21, with rotatable bottom
Disk 21 rotates together, and the first support arm 22 connects the second transmission arm 23 by the second motor 25 and second bearing seat 26, in control
Lower movement, the second transmission arm 23 are connect by third motor 35 and second bearing seat 26 with third transmission arm 24, realize that front and back is moved
Dynamic, third transmission arm 24 is connect by joint 27 with gripper 28, and when movement, gripper 28 passes through camera 32 and is accurately positioned,
It is moved to below culture medium, gently lifts upwards, by 34 feedback signal of pressure sensor, successfully complete and the support of culture medium is taken；
3 three base unit 1, mechanical arm unit 2 and gripper unit parts, mechanical arm list are included in addition, entirely transplanting robot and being divided into
Member 2 and gripper unit 3 by mechanical arm rotary shaft carry out transplanting work, it can be done using linear axis repositioning
The flexible movement obtained as the mankind out, has six axis freedom degrees, and robot can execute the instruction of operator, mostly
Running extracts culture medium to battalion from culture medium bracket 31 by the precise positioning of 33 module of camera 32 and ultrasonic sensor
Nutrient solution culture pond and it mature leaf vegetables culture medium is extracted into the process for being placed back into a series of complex such as bracket 31 can be carried out,
The mounted benefit of knot that can be undone by a pull is a simplified the tool configuration of arm terminal, and in some cases, these tools can be transported in component
It is shared between row, six-joint robot mechanical arm also quite flexible, culture medium can be taken out from the top of machine or side；And
Base unit 1 may be implemented the movement of high-freedom degree, passed through eight railway digital amount gray scales using the driving chassis of Mecanum wheel 16
The information that sensor 29 receives can put in experiment shed and carry out accurate tracking movement between leaf vegetables culture medium bracket 31,
To reach specified operating area.
In conclusion the six axis leaf vegetables plantation picking robot proposed according to embodiments of the present invention, can sense according to gray scale
The tracking signal of device acquisition controls the rotation of multiple first motors, and then controls the rotation of Mecanum wheel, to control the machine
The motion profile of device people's entirety, and can be according to the signal control that camera, ultrasonic sensor and pressure sensor acquire
The rotation of two motors, third motor and the 4th motor, accurately to control the second transmission arm and third transmission arm in mechanical arm unit
Direction, and then accurately control the movement of gripper, to realize the accurate positioning to leaf vegetables culture medium, and then leaf vegetables cultivated
Base is accurately extracted and is placed, and since the six axis leaf vegetables plants picking robot, has very high freedom degree, six axis are suitable for any
The work of track or angle furthermore, it is possible to freely program, and then completes full-automatic work and improves production efficiency, error rate
Controllably, operation is very easy, and can realize that cross-layer efficiently extracts culture medium, saves manpower.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
For this purpose, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, on
Deng unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be connected directly, can also can be inside two elements indirectly connected through an intermediary
Connection or two elements interaction relationship, unless otherwise restricted clearly.For those of ordinary skill in the art and
Speech, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms need not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
It can be combined in any suitable manner in a or multiple embodiment or examples.In addition, without conflicting with each other, the technology of this field
The feature of different embodiments or examples described in this specification and different embodiments or examples can be combined by personnel
And combination.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of six axis leaf vegetables plant picking robot, including base unit (1), mechanical arm unit and gripper unit (3), institute
It states and is connect between base unit (1) and the mechanical arm unit (2) by rotatable chassis (21), the machinery arm unit (2)
It is connect between the gripper unit (3) by joint (27), which is characterized in that
The base unit (1) include the control panel (13) that base body center is set, with the control panel (13) phase
Even multiple first motor drivers (14), be connected with each first motor driver (14) first motor (17), and
The connected Mecanum wheel (16) of each first motor (17) and the multiple gray scales being connected with the control panel (13) pass
Sensor, the control panel (13) control the first motor according to the route analog signal that each gray-scale sensor acquires and drive
Dynamic device (14) driving first motor (17), to drive the Mecanum wheel (16)；
It is described machinery arm unit (2) include the first support arm (22) being fixedly connected with the rotatable chassis (21), with it is described
First support arm (22) other end by the second motor (25) connect the second transmission arm (23) and with second transmission arm
(23) other end passes through the third transmission arm (24) that third motor (35) connect, and third transmission arm (24) other end passes through the
Four motors (36) are connect with the joint (27)；
The gripper unit (3) includes ultrasonic sensor of the setting in gripper (28) ontology supporting part two sides of the bottom
(33), it is arranged in the pressure sensor (34) of the gripper (28) ontology plate washer lower part two sides and setting in the gripper
(28) camera (32) of ontology front end, wherein the angle between the supporting part and the plate washer is in 85 ~ 88o；
The control panel (13) respectively with second motor (25), the third motor (35), the 4th motor (36), institute
State camera (32), the ultrasonic sensor (33) is connected with the pressure sensor (34), control panel (13) basis
The distance signal and the pressure sensing that the image information of camera (32) acquisition, the ultrasonic sensor (33) acquire
The pressure signal of device (34) controls turning for second motor (25), the third motor (35) and the 4th motor (36)
It is dynamic.
2. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the base unit (1) is also
Including multiple groups damper (15), the side of damper described in every group (15) is connect with the Mecanum wheel (16), the other side with
Damper fixed bracket (10) connection on the base body is set.
3. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the base unit (1) is also
Including battery supply (18), the battery supply (18) is connected with the control panel (13), the battery supply (18) be used for
The control panel (13) provides electricity consumption.
4. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the base unit (1) is also
Including metal outer frame frame (11) and motor fixing frame (12), the motor fixing frame (12) is arranged in the metal outer frame frame (11)
Inside, the motor fixing frame (12) is for fixing the control panel (13), multiple first motors (17), multiple described the
One motor driver (14) and the battery supply (18).
5. six axis leaf vegetables according to claim 1 or 2 plants picking robot, which is characterized in that the first motor
(17) it is connected between the Mecanum wheel (16) by first bearing seat (19)；Second motor and second transmission
Between arm (23), between the third motor and the third transmission arm and the 4th motor (36) and the joint (27)
Between by second bearing seat (26) be connected.
6. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that gripper (28) ontology
Supporting part is made of plurality of rods, and the plate washer of gripper (28) ontology is the sketch plate of intermediate hollow out, at the top of the sketch plate
Equipped with the connector connecting with the joint (27), the sketch plate lower part is fixedly connected with the plurality of rods.
7. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the first motor (17),
Second motor, the third motor and the 4th motor (36) are servo motor.
8. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the control panel (13) is
Arduino control panel (13).
9. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the rotatable chassis (21)
For 360o all-directional rotation chassis.
10. six axis leaf vegetables according to claim 1 plants picking robot, which is characterized in that the gray-scale sensor is
Eight railway digital amount gray-scale sensors (29).
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| CN2018100446947 | 2018-01-17 |
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| CN108934342A true CN108934342A (en) | 2018-12-07 |
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| CN201810780406.4A Pending CN108934342A (en) | 2018-01-17 | 2018-07-17 | A kind of six axis leaf vegetables plantation picking robot |
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| CN (1) | CN108934342A (en) |
Cited By (4)
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| CN110428687A (en) * | 2019-08-08 | 2019-11-08 | 北京赛育达科教有限责任公司 | A kind of real training robot polishing system |
| CN111168640A (en) * | 2020-01-16 | 2020-05-19 | 宁德师范学院 | Logistics robot |
| CN113455181A (en) * | 2021-07-02 | 2021-10-01 | 浙江理工大学 | Rotary driving type full-automatic water-cultured leaf vegetable harvesting vehicle |
| CN114714322A (en) * | 2022-04-08 | 2022-07-08 | 常熟理工学院 | Picking robot |
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| CN113455181A (en) * | 2021-07-02 | 2021-10-01 | 浙江理工大学 | Rotary driving type full-automatic water-cultured leaf vegetable harvesting vehicle |
| CN114714322A (en) * | 2022-04-08 | 2022-07-08 | 常熟理工学院 | Picking robot |
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Application publication date: 20181207 |