CN109176451A - A kind of high-level cultivating strawberry picking robot - Google Patents
A kind of high-level cultivating strawberry picking robot Download PDFInfo
- Publication number
- CN109176451A CN109176451A CN201811009834.3A CN201811009834A CN109176451A CN 109176451 A CN109176451 A CN 109176451A CN 201811009834 A CN201811009834 A CN 201811009834A CN 109176451 A CN109176451 A CN 109176451A
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- China
- Prior art keywords
- driving device
- driving
- gear
- arm
- principal arm
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Classifications
-
- 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
-
- 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
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of high-level cultivating strawberry picking robots.Existing high-level cultivating strawberry picking robot structure is more complicated.The present invention includes walking mechanism, robotic arm, end effector mechanism and driving device；Mechanical arm includes sequentially connected principal arm, large arm and telescopic forearm；Driving device includes first driving device, the second driving device, third driving device and fourth drive device；Principal arm is arranged in walking mechanism, and walking mechanism is equipped with the 7th driving device that driving principal arm is rotated around principal arm axis；First driving device driving large arm is rotated around principal arm, and the second driving device driving forearm is rotated around large arm；End effector mechanism is located on forearm, and third driving device driving fourth drive device and end effector mechanism are rotated around forearm；Fourth drive device drives end effector mechanism rotation.The present invention is low using less component type and better simply package assembly, equipment cost.
Description
Technical field
The present invention relates to field of agricultural robots more particularly to high-level cultivating strawberry picking robot fields.
Background technique
Currently, domestic strawberry cultivating mode mainly has overhead system cultivation and alley formula to plant two kinds, and most of strawberries
Planting base is all by the way of high-level cultivating.The artificial harvest operation amount of high-level cultivating strawberry is big, and labor intensity is high, efficiency
It is low.With the development of China's Development of China's Urbanization, labour is also gradually shifted from the first and second industry to the tertiary industry, while adjoint
Population aging and rural laborer foot phenomenon does not become clear day by day, strawberry production labour is more and more nervous, and exploitation is high
Frame planting strawberry picking robot replaces artificial picking at urgent problem to be solved.
Currently, having had developed corresponding high-level cultivating strawberry picking robot to replace artificial picking.But mostly
Structure is more complicated.
Summary of the invention
For overcome the deficiencies in the prior art, simple, easily operated, cost that the purpose of the present invention is to provide a kind of structures
Lower high-level cultivating strawberry picking robot.
The purpose of the present invention adopts the following technical scheme that realization:
The present invention includes walking mechanism, mechanical arm, end effector mechanism and driving device, and the mechanical arm includes successively connecting
Principal arm, large arm and the telescopic forearm connect, the driving device include first driving device, the second driving device, third drive
Dynamic device and fourth drive device；
The principal arm is arranged in the walking mechanism, and the walking mechanism, which is equipped with, drives the principal arm around principal arm axis
7th driving device of rotation；
The first driving device drives the large arm to rotate around the principal arm, and the second driving device driving is described small
Arm is rotated around the large arm；
The end effector mechanism is located on forearm, and the third driving device drives the fourth drive device and end
Executing agency rotates around the forearm；The fourth drive device drives end effector mechanism rotation；
The end effector mechanism includes the first finger section, second finger portion, end mounting plate and the 6th driving device, institute
The extension for stating the first finger section and second finger portion is hinged with end mounting plate, and the extension articulated shaft of the first finger section
On be fixed with first gear, second gear, first finger section and institute are fixed on the extension articulated shaft in second finger portion
Second finger portion is stated in symmetrical structure, the first gear and second gear intermeshing, first finger section and the
Two finger sections are equipped with blade far from one end of extension, and the pedestal of the 6th driving device is fixed on the mounting plate of end；The
Six driving devices drive the first gear；First finger section and second finger portion are additionally provided with strawberry clamp port.
It further, further include first connecting rod, second connecting rod and the 5th driving device, one end of the first connecting rod and institute
It is hinged to state principal arm, the other end and described second connecting rod one end are hinged, and the second connecting rod other end and the large arm are hinged, described
The 5th driving device driving first connecting rod is rotated around the principal arm or the 5th driving device drives the second connecting rod
It is rotated around the large arm.
Further, the principal arm includes rotating mechanism and telescoping mechanism.
Further, the end effector mechanism is additionally provided with third gear and intermediate gear, the third gear and described
Intermediate gear intermeshing, the intermediate gear and first gear engagement, the third gear are driven by the 6th driving device
Dynamic, the pedestal of the 6th driving device is fixed on the mounting plate of end；Intermediate gear is hinged on the mounting plate of end.
Further, the walking mechanism is in-wheel driving mechanism.
Further, the forearm includes bottom plate and expansion plate, and the bottom plate is equipped with lead-screw drive mechanism and driving motor,
The pedestal of driving motor is fixed on bottom plate；Driving motor drives expansion plate linear reciprocating motion through lead-screw drive mechanism.
Further, the first driving device, the second driving device, third driving device, fourth drive device, the 5th
Driving device, the 6th driving device and the 7th driving device are servo motor.
It further, further include lid, the lid is detachably connected on vehicle panel, and covers the rotating mechanism.
Compared with prior art, the beneficial effects of the present invention are:
High-level cultivating strawberry picking robot provided by the invention has used less component type and better simply assembling
Structure, equipment cost are lower.
Detailed description of the invention
Fig. 1 is overall structure stereogram of the invention；
Fig. 2 is side view of the invention；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the structural schematic diagram of expansion plate in the present invention；
Fig. 5 is the left view of Fig. 4；
The structural schematic diagram of end effector mechanism in Fig. 6 present invention.
In figure: 11, rotating mechanism；12, telescoping mechanism；121, the first mounting portion；122, the 4th mounting portion；20, large arm；
21, the first installation axle；22, the second installation axle；23, the 5th mounting portion；31, bottom plate；311, the second mounting portion；32, expansion plate；
321, third mounting portion；322, the 6th mounting portion；33, driving motor；40, walking mechanism；41, vehicle panel；50, end executes machine
Structure；51, the first finger section；511, the extension of the first finger section；512, first gear；52, second finger portion；521, second-hand
The extension in finger portion；522, second gear；53, third gear；54, intermediate gear；55, blade；56, strawberry clamp port；61,
One driving device；62, the second driving device；63, third driving device；64, fourth drive device；65, the 5th driving device；
66, the 6th driving device；70, power control cabinet；81, first connecting rod；82, second connecting rod；90, connector；100, revolving part；200, it covers
Son；300, car light.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described further the present invention.
As shown in figures 1 to 6, a kind of high-level cultivating strawberry picking robot, including walking mechanism 40, mechanical arm, end execution
Mechanism 50 and driving device；Walking mechanism 40 is equipped with vehicle panel 41, and mechanical arm includes sequentially connected principal arm, large arm 20 and can
Flexible forearm, driving device include first driving device 61, the second driving device 62, the driving of third driving device the 63, the 4th
Device 64, the 6th driving device 66 and the 7th driving device；
Principal arm includes rotating mechanism 11 and telescoping mechanism 12；The setting of rotating mechanism 11 is at 41 middle part of vehicle panel；7th driving
Device drives telescoping mechanism 12 through rotating mechanism；360 degree rotation, 12 retractable travel of telescoping mechanism may be implemented in rotating mechanism 11
For 0.1cm.
First driving device 61 drives large arm 20 to rotate around principal arm, and the second driving device 62 drives forearm to revolve around large arm 20
Turn；End effector mechanism 50 is located on forearm, and third driving device 63 drives end effector mechanism 50 to rotate around forearm；
Telescoping mechanism 12 is equipped with the first mounting portion 121 far from one end of rotating mechanism 11, and one end of large arm 20 is fixed with the
One installation axle 21, the other end are hinged with the second installation axle 22, and forearm is made of bottom plate 31 and expansion plate 32, and bottom plate 31 is equipped with lead screw
Transmission mechanism and driving motor 33, the lead screw and nut of lead-screw drive mechanism constitute screw pair, and expansion plate 32 is equipped with the 6th installation
Portion 322, the 6th mounting portion 322 are fixed with nut, and the pedestal of driving motor 33 is fixed on bottom plate 31；Driving motor 33 drives silk
The lead screw of thick stick transmission mechanism rotates, and the nut of lead-screw drive mechanism does linear reciprocating motion, the expansion plate 32 connecting with nut
Do linear reciprocating motion.31 middle position of bottom plate is equipped with outwardly extending second mounting portion 311 of vertical base plate 31, and expansion plate 32 is remote
One end from large arm 20 is equipped with third mounting portion 321.The lead-screw drive mechanism of the embodiment of the present invention is passed using ball-screw nut
Motivation structure, the mechanism friction coefficient is small, and transmission efficiency is high, and stable drive is not likely to produce and creeps, transmission accuracy and positioning accuracy
It is high；
First mounting portion 121 and the first installation axle 21 are hinged, and first driving device 61 drives the first installation axle 21, and first drives
The pedestal and the first mounting portion 121 of dynamic device 61 are fixed；Under the driving of first driving device 61, large arm 20 can be around the first installation
Do flexion-extension movement in portion 121；Second installation axle 22 and the second mounting portion 311 are hinged, and the second driving device 62 drives the second installation axle
22, the pedestal of the second driving device 62 is fixed in large arm；Under the driving of the second driving device 62, bottom plate 31 can be around large arm
20 do flexion-extension movement；
The pedestal of third driving device 63 is connect by connector 90 with third mounting portion 321, and third driving device is driven
The central axis of moving axis is vertical with 32 side of expansion plate, preferably, connector used in the embodiment of the present invention 90 is L-type connection
Part；
End effector mechanism 50 is detachably connected by ring flange with fourth drive device 64, preferably, the present invention is implemented
Example is made rotating motion using 64 driving flange disk of fourth drive device, to make the end effector mechanism being threadedly coupled with ring flange
50 make rotating motion；
End effector mechanism 50 includes the first finger section 51, second finger portion 52, end mounting plate and the 6th driving device
66, the extension in the first finger section 51 and second finger portion 52 is hinged with end mounting plate, and the extension of the first finger section
It is fixed with first gear 512 on 511 articulated shafts, is fixed with second gear 522 on 521 articulated shaft of extension in second finger portion,
First finger section 51 is in symmetrical structure with second finger portion 52, and first gear 512 and second gear 522 are intermeshed, first-hand
Finger portion 51 and second finger portion 52 are equipped with blade 55 far from one end of extension, and the first finger section 51 and second finger portion 52 are also
Equipped with strawberry clamp port 56.The end effector mechanism 50 of the embodiment of the present invention is additionally provided with third gear 53 and intermediate gear 54, the
Three gears 53 are set in the 6th driving device 66, and the pedestal of the 6th driving device 66 is fixed on the mounting plate of end；Intermediate gear
54 are hinged on the mounting plate of end, and third gear 53 and intermediate gear 54 are intermeshed, and intermediate gear 54 and first gear 512 are nibbled
It closes, the 6th driving device 66 work, driving first gear 512 moves, to drive the second gear 522 engaged, realizes
The opening and gathering of finger；
Third driving device 63 is connect by revolving part 100 with the pedestal of fourth drive device 64, in third driving device
Under 63 driving, fourth drive device 64 can be rotated around third driving device 63, preferably, rotation used in the embodiment of the present invention
Part 100 is ring flange.
To sum up, the working principle of the high-level cultivating strawberry picking robot is: under the driving of first driving device 61, greatly
Arm 20 can do flexion-extension movement around the first mounting portion 121；Under the driving of the second driving device 62, bottom plate 31 can be done around large arm 20
Pitch movement；Driving motor 33 drives ball-screw nut transmission mechanism, and the nut being mounted on lead screw also moves therewith, with spiral shell
The expansion plate 32 of mother's connection also does linear reciprocating motion together, that is, realizes the Telescopic of forearm；In third driving device 63
Under driving, fourth drive device 64 can be rotated around third driving device 63；Under the driving of fourth drive device 64, flange is driven
Disk makes rotating motion, and ring flange is threadedly coupled with end effector mechanism 50, and end effector mechanism 50 is with fourth drive device 64
It drives and rotates；After end effector mechanism 50 reaches target position, the 6th driving device 66 drives third gear 53 to rotate, and leads to
The transmission of the intermediate gear 54 engaged with third gear 53 is crossed, first gear 512 and second gear 522 is driven to rotate, thus real
The opening and gathering of existing finger；Principal arm passes through the rotation of rotating mechanism 11 and flexible, control large arm and the forearm of telescoping mechanism 12
Integral-rotation and flexible, entire mechanical arm increases two freedom degrees, makes the mechanical arm of high-level cultivating strawberry picking robot
There are five freedom degrees for tool, and the mechanical arm overall structure assembling of the strawberry picking robot is simple, and component type is few, and flexibility ratio is high.
Preferably, further including first connecting rod 81, second connecting rod 82 and the 5th driving device 65；The middle part of telescoping mechanism 12 is set
There is the 4th mounting portion 122, is equipped with the 5th mounting portion 23 in the middle part of large arm 20；One end of first connecting rod 81 and the 4th mounting portion 122 are cut with scissors
It connects, the other end and 82 one end of second connecting rod are hinged；82 other end of second connecting rod and the 5th mounting portion 23 are hinged.Certainly due to large arm 20
The heavier-weight of body, and it is connected to forearm and other mechanisms above, the load totally carried is larger, is easy to cause facing upward for large arm 20
The reached position of movement of bowing is not accurate, and large arm 20 is connected with second connecting rod 82 with principal arm by first connecting rod 81, is conducive to
Mitigate load suffered by large arm 20, so that it is more accurate to move the flexion-extension of large arm 20；5th driving device 65 driving first connects
Bar 81 is rotated around principal arm, and the pedestal of the 5th driving device 65 is fixed on principal arm.
Preferably, 11 composition mechanism of rotating mechanism of the invention is simple, including rotary shaft and driving gear；Rotary shaft is by
The driving of seven driving devices, the pedestal of the 7th driving device are fixed on vehicle panel 41；Driving gear and it is hinged on telescoping mechanism 12
The driven gear of bottom engages；7th driving device drives rotating mechanism 11, to drive telescoping mechanism 12 also with being installed on bottom
The driven gear in portion rotates.
Preferably, telescoping mechanism 12 is made of loop bar and telescopic rod, telescopic rod is nested in loop bar, and the sliding slot with loop bar
It is bolted.
Preferably, walking mechanism 40 is in-wheel driving mechanism, share four wheels, before two be driving wheel, by walking
Motor control forward-reverse and turning, with a wheel axis connection, to guarantee that speed is consistent, walking mechanism 40 between two driven wheels
On be additionally provided with strawberry collecting box；Compared to crawler type driving mechanism, in-wheel driving mechanism structure is simpler, practical.
Preferably, further include position identification device and pattern recognition device, the position of position identification device strawberry for identification
It sets, pattern recognition device is used to judge the maturity of strawberry.
Preferably, each driving device in the embodiment of the present invention is servo motor.
Preferably, further including lid 200, lid 200 is detachably connected on vehicle panel 41, covers rotating mechanism 11, can
To protect rotating mechanism 11, prevent from falling into dust and other sundries.
Preferably, further including car light 300, two car lights 300 of the embodiment of the present invention are set to the 41 head end two sides of vehicle panel,
Be conducive to night work equipped with car light 300.
Preferably, further including power control cabinet 70, it is fixed on vehicle panel 41, power control cabinet 70 is equipped with opening for control walking mechanism 40
The speed button for closing and advancing.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (8)
1. a kind of high-level cultivating strawberry picking robot, including walking mechanism, mechanical arm, end effector mechanism and driving device,
It is characterized by: the mechanical arm includes sequentially connected principal arm, large arm and telescopic forearm, the driving device includes the
One driving device, the second driving device, third driving device and fourth drive device；
The principal arm is arranged in the walking mechanism, and the walking mechanism, which is equipped with, drives the principal arm to rotate around principal arm axis
The 7th driving device；
The first driving device drives the large arm rotate around the principal arm, the second driving device driving forearm around
The large arm rotation；
The end effector mechanism is located on forearm, and the third driving device drives the fourth drive device and end to execute
Mechanism is rotated around the forearm；The fourth drive device drives end effector mechanism rotation；
The end effector mechanism includes the first finger section, second finger portion, end mounting plate and the 6th driving device, and described the
The extension in one finger section and second finger portion is hinged with end mounting plate, and solid on the extension articulated shaft of the first finger section
Surely there is first gear, be fixed with second gear on the extension articulated shaft in second finger portion, first finger section and described the
Two finger sections are in symmetrical structure, the first gear and second gear intermeshing, first finger section and second-hand
Finger portion is equipped with blade far from one end of extension, and the pedestal of the 6th driving device is fixed on the mounting plate of end；6th drives
Dynamic device drives the first gear；First finger section and second finger portion are additionally provided with strawberry clamp port.
2. a kind of high-level cultivating strawberry picking robot according to claim 1, it is characterised in that: further include the first company
Bar, second connecting rod and the 5th driving device, one end of the first connecting rod and the principal arm are hinged, and the other end and described second connects
Bar one end is hinged, and the second connecting rod other end and the large arm are hinged, and the 5th driving device drives the first connecting rod
The second connecting rod is driven to rotate around the large arm around principal arm rotation or the 5th driving device.
3. a kind of high-level cultivating strawberry picking robot according to claim 1, it is characterised in that: the principal arm includes rotation
Rotation mechanism and telescoping mechanism.
4. a kind of high-level cultivating strawberry picking robot according to claim 1, it is characterised in that: the end executes machine
Structure is additionally provided with third gear and intermediate gear, the third gear and intermediate gear intermeshing, the intermediate gear and
The first gear engagement, the third gear are driven by the 6th driving device, and the pedestal of the 6th driving device is fixed on end
On mounting plate；Intermediate gear is hinged on the mounting plate of end.
5. a kind of high-level cultivating strawberry picking robot according to claim 1, it is characterised in that: the walking mechanism is
In-wheel driving mechanism.
6. a kind of high-level cultivating strawberry picking robot according to claim 1, it is characterised in that: the forearm includes bottom
Plate and expansion plate, the bottom plate are equipped with lead-screw drive mechanism and driving motor, and the pedestal of driving motor is fixed on bottom plate；Driving
Motor drives expansion plate linear reciprocating motion through lead-screw drive mechanism.
7. a kind of high-level cultivating strawberry picking robot according to claim 2, it is characterised in that: the first driving dress
It sets, the second driving device, third driving device, fourth drive device, the 5th driving device, the 6th driving device and the 7th drive
Device is servo motor.
8. a kind of high-level cultivating strawberry picking robot according to claim 3, it is characterised in that: it further include lid, institute
It states lid to be detachably connected on vehicle panel, and covers the rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009834.3A CN109176451A (en) | 2018-08-31 | 2018-08-31 | A kind of high-level cultivating strawberry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009834.3A CN109176451A (en) | 2018-08-31 | 2018-08-31 | A kind of high-level cultivating strawberry picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109176451A true CN109176451A (en) | 2019-01-11 |
Family
ID=64917673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811009834.3A Pending CN109176451A (en) | 2018-08-31 | 2018-08-31 | A kind of high-level cultivating strawberry picking robot |
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| Country | Link |
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| CN (1) | CN109176451A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421333A (en) * | 2019-08-12 | 2019-11-08 | 中核检修有限公司深圳分公司 | Side stopboard changer device people and a side stopboard installation method |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111052937A (en) * | 2019-12-31 | 2020-04-24 | 张群 | Movable lifting type fruit picking equipment capable of adapting to multiple terrains |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN111869417A (en) * | 2020-08-07 | 2020-11-03 | 广西大学 | Bionic sugarcane harvesting method and device |
| CN113236331A (en) * | 2021-06-02 | 2021-08-10 | 中国矿业大学(北京) | Frame moving device of door type support |
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| CN202846528U (en) * | 2012-10-14 | 2013-04-03 | 余晓飞 | Mechanical finger and arm mechanism |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN205623271U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Robot for picking fruits |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202846528U (en) * | 2012-10-14 | 2013-04-03 | 余晓飞 | Mechanical finger and arm mechanism |
| CN205623271U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Robot for picking fruits |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421333A (en) * | 2019-08-12 | 2019-11-08 | 中核检修有限公司深圳分公司 | Side stopboard changer device people and a side stopboard installation method |
| CN110421333B (en) * | 2019-08-12 | 2024-04-19 | 中核检修有限公司深圳分公司 | Primary side blocking plate dismounting robot and primary side blocking plate mounting method |
| CN111052937A (en) * | 2019-12-31 | 2020-04-24 | 张群 | Movable lifting type fruit picking equipment capable of adapting to multiple terrains |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111034465B (en) * | 2020-01-14 | 2021-05-18 | 芜湖挺优机电技术有限公司 | Apple picking robot |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN111869417A (en) * | 2020-08-07 | 2020-11-03 | 广西大学 | Bionic sugarcane harvesting method and device |
| CN113236331A (en) * | 2021-06-02 | 2021-08-10 | 中国矿业大学(北京) | Frame moving device of door type support |
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Application publication date: 20190111 |