CN109769479A - A kind of intelligent picking robot for preventing fruit from damaging - Google Patents
A kind of intelligent picking robot for preventing fruit from damaging Download PDFInfo
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- CN109769479A CN109769479A CN201910227975.0A CN201910227975A CN109769479A CN 109769479 A CN109769479 A CN 109769479A CN 201910227975 A CN201910227975 A CN 201910227975A CN 109769479 A CN109769479 A CN 109769479A
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- fruit
- electric machine
- rotating electric
- cleft hand
- spiral arm
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 76
- 239000000523 sample Substances 0.000 claims abstract description 14
- 244000309464 bull Species 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 33
- 230000000694 effects Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 6
- 241000220225 Malus Species 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a kind of intelligent picking robots for preventing fruit from damaging, it includes mobile unit, pluck fruit unit, probe unit and processor unit, mobile unit includes chassis, plucking fruit unit includes first base, fixed frame is installed in first base, top plate is installed respectively at the top and bottom of fixed frame, the first rotating electric machine and the second rotating electric machine are fixedly installed on top plate, plucking fruit unit further includes the first turntable and rotating arm, rotating arm includes second base, first spiral arm is installed in second base, second spiral arm, third spiral arm, installation manipulator on third spiral arm, probe unit includes the second turntable, straight-bar is installed on second turntable, bull stick is installed on straight-bar, bull stick is hinged by the 5th rotating electric machine and straight-bar, visual sensor is installed at the top of bull stick, position sensor is mounted on manipulator and chassis.Intelligent picking robot of the invention substantially increases picking efficiency, while mechanical arm high reliablity and small volume, flexible operation.
Description
Technical field
The present invention relates to agricultural robot technical fields, especially with regard to a kind of intelligent picking machine for preventing fruit from damaging
Device people.
Background technique
In agriculture field, fruit-picking needs to expend sizable manpower and material resources, under industrial production tide, realizes water
Fruit picking machine tool has become a kind of trend.Fruit picking robot, fruit have been had already appeared in fruit picking field at present
Important kind of the picking robot as agricultural robot has very big development potentiality, and picking robot is that 21 century is accurate
It is to be directed to fruits and vegetables that one of the important equipment of agricultural, which is the developing direction picking robot of the following Intelligent agricultural machinery, can
With the automation with sensing capability of the related job task such as picking, transhipment, packing for completing these crops by programming
Mechanical harvest system integrates the subjects such as machinery, electronics, information, intellectual technology, computer science, agricultural and biology
Overlapping edges sexology needs to be related to mechanical structure, visual pattern processing, robot kinematics' dynamics, sensor technology, control
Various ambit knowledge such as technology processed and calculating information processing.
However, existing fruit picking robot is in actual application, there are some problems, firstly, rotating arm is due to length
Time service, the low failure frequent occurrence of reliability, and it is inflexible, volume is excessive, in picking process often occur will
The phenomenon that other unripe fruits touch off damage generation；Secondly, picking efficiency is slow, current picking robot is usually only arranged one group
Mechanical arm, and camera is commonly installed on a robotic arm, and manipulator will must first find objective fruit, efficiency before picking
It is very slow, the speed manually picked often is not achieved, flexibility religion is poor, to influence picking efficiency.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent picking robots for preventing fruit from damaging, to overcome in the prior art
Machine for picking fruits device people picking efficiency is slow, the low and bulky defect of mechanical arm reliability.
To achieve the above object, the present invention provides a kind of intelligent picking robots for preventing fruit from damaging, including movement
Unit plucks fruit unit, probe unit and processor unit, and mobile unit includes chassis, and plucking fruit unit includes first base, and first
Pedestal is mounted on chassis, and fixed frame is equipped in first base, is separately installed with top plate and first at the top and bottom of fixed frame
Fixed flange, the first fixed flange are fastenedly connected with first base, and the first rotating electric machine and the second rotation are fixedly mounted on top plate
Motor, the first rotating electric machine and the second rotating electric machine respectively include first rotating shaft and the second shaft, first rotating shaft bottom and second
Rotating shaft bottom portion is separately installed with gear wheel and pinion gear, and bearing bracket stand is also equipped on top plate, and bearing bracket stand bottom is fixedly installed with
Two fixed flanges, the second fixed flange and top plate fasten, and bearing bracket stand inner cavity is fixedly installed with bearing, connection first at the top of bearing bracket stand
Third shaft is installed in turntable, the first turntable bottom, and third shaft is each passed through bearing and top plate, and bearing bottom is equipped with rotary teeth
Wheel, rotation gear and gear wheel and pinion fits, the first turntable top are equipped with rotating arm, and rotating arm includes second base,
The first hinged seat and the second hinged seat are fixedly mounted in second base, the first spiral arm is installed on the first hinged seat, second is hinged
The first cylinder is installed on seat, third hinged seat and the 4th rotating electric machine are installed on the first spiral arm, the first cylinder other end connects
Third hinged seat, hinged second spiral arm of the first spiral arm are connect, the 4th rotating electric machine connects the hinge between the first spiral arm and the second spiral arm
Spindle simultaneously controls articulated shaft rotation, and the second spiral arm connects third spiral arm, installs the 4th hinge on the second spiral arm and third spiral arm respectively
Joint chair and the 5th hinged seat install the second cylinder on the 4th hinged seat and the 5th hinged seat, and third spiral arm is connected with manipulator, machine
Tool hand includes third pedestal, and third pedestal is welded and fixed with third spiral arm, and third pedestal is fixed by the bracket the 4th pedestal of connection,
Multiple third rotating electric machines are installed between third pedestal and the 4th pedestal, multiple fairleads, the 4th bottom are opened up on the 4th pedestal
Seat upper mounting jaw hand platform, cleft hand platform side wall install multiple lead plates, and pulley is installed in lead plate one end, and installation is multiple at the top of cleft hand platform
Cleft hand, cleft hand include fixed cleft hand and movable cleft hand, and movable cleft hand is hinged by articulated shaft and fixed cleft hand, third rotating electric machine
Rotary shaft on lead is installed, lead pass through lead plate be fixedly connected with movable cleft hand and and pulley contact, movable cleft hand with
Elastic device is installed between fixed cleft hand, range sensor is installed on cleft hand platform；Probe unit include the second turntable, second turn
Straight-bar is installed on platform, bull stick is installed on straight-bar, bull stick is hinged by the 5th rotating electric machine and straight-bar, and installation vision passes at the top of bull stick
Position sensor is mounted on sensor, manipulator and chassis.
In a preferred embodiment, crawler belt, crawler belt connecting base plate motor, first base are installed in tray bottom two sides
It is fixedly connected by scissors lift frame with chassis, scissors lift frame is fixedly connected with first base and chassis respectively.
In a preferred embodiment, chassis both ends are separately installed with fruit basket, and fruit basket laid inside has spongy layer.
In a preferred embodiment, the quantity for plucking fruit unit is two, and two are plucked fruit unit in probe unit two sides.
In a preferred embodiment, the quantity of third rotating electric machine, fairlead, lead plate and cleft hand is four.
In a preferred embodiment, the material of movable cleft hand and fixed cleft hand is silica gel, and the material of lead is to close
Jin Gang.
In a preferred embodiment, elastic device includes spring base and spring, and spring base is fixedly mounted on lead plate
On, spring mount elastically and both ends respectively with movable cleft hand and fixed cleft hand.
In a preferred embodiment, straight-bar is telescopic rod, and straight-bar includes female bar and sub bar, female bar intracavity bottom installation
There is third cylinder, sub bar is inserted into female bar inner cavity and connect with third cylinder.
In a preferred embodiment, visual sensor is the camera with position location functionality, and camera is used for
Identification fruit maturity simultaneously positions fruit, and processor unit includes image processor and robot processor, at image
Device connection camera and robot processor are managed, robot processor connects range sensor and multiple position sensors, and energy
It is enough that the motion profile of manipulator is planned.
In a preferred embodiment, robot processor is also connected with the first rotating electric machine, the second rotating electric machine, third
Rotating electric machine, the 4th rotating electric machine, the 5th rotating electric machine, the first cylinder, the second cylinder, chassis motor and according to location information
Send instruction.
Compared with prior art, the intelligent picking robot according to the present invention for preventing fruit from damaging has following beneficial to effect
Fruit is:
1, the slow defect of current picking robot picking efficiency is solved, the present invention plucks fruit by installing two groups on pedestal
Unit and one group of probe unit, at work, the camera with position location functionality on probe unit first passes image
Defeated to arrive image processor, the location information that image processor will meet the fruit (such as apple) of standard of plucking is fed back at robot
Device is managed, robot processor controls two groups respectively to be plucked fruit unit and carry out plucking fruit operation, since the present invention separates picking and detection
It carries out, and is arranged two groups and plucks fruit unit, greatly accelerate picking efficiency of the invention.
2, mechanical arm high reliablity of the present invention and small volume are equipped with rotation on current many machine for picking fruits tool arms
Motor so that mechanical arm can activity, but motor often heavier mass, and mechanical arm only leans on motor to provide rotary power, this
Invention using cylinder and motor combination by the way of, lower side the first spiral arm using cylinder progress load-bearing lifting, intermediate the
Two spiral arms often rotated in picking process the most frequently and require it is the most accurate, and the first spiral arm of load-bearing opposite lower compared with
It is small, so top side third spiral arm often carries the responsibility put fruits into fruit basket using servo motor, often there is
The rotation feature that angle is big, frequency is small, so mechanical arm of the present invention is taken using power device by the way of cylinder
With reasonable, failure rate can be made to be greatly reduced.
3, the present invention also have the characteristics that pick it is with high accuracy, in picking process, rotational positioning be it is very crucial, work as hair
When existing objective fruit, robot processor controls the first turntable first and rotates to suitable direction, in the present invention, the first turntable
It is controlled when rotation by gear, gear control has the characteristics that control is with high accuracy, and the present invention is provided with the first rotating electric machine
With the second rotating electric machine, gear wheel is installed on the first rotating electric machine, pinion gear, gear wheel and small tooth are installed on the second rotating electric machine
Wheel is connect with rotation gear, and when needing primary rotation wide-angle, robot processor controls gear wheel rotation first, works as rotation
When gyration is close, robot processor control gear wheel stops rotating, and pinion gear starts to rotate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the intelligent picking robot for preventing fruit from damaging according to an embodiment of the present invention.
Fig. 2 is the structural schematic diagram for plucking fruit unit according to an embodiment of the present invention.
Fig. 3 is the partial enlarged view I of Fig. 2.
Fig. 4 is the structural schematic diagram of manipulator according to an embodiment of the present invention.
Fig. 5 is the partial enlarged view II of Fig. 4.
Main appended drawing reference explanation:
1, chassis；2, crawler belt；3, first base；4, fixed frame；5, top plate；6, the first fixed flange；7, the first electric rotating
Machine；8, the second rotating electric machine；9, gear wheel；10, pinion gear；11, bearing bracket stand；12, the second fixed flange；13, the first turntable；
14, third shaft；15, gear is rotated；16, second base；17, the first hinged seat；18, the first spiral arm；19, the first cylinder；20,
Third hinged seat；21, the 4th rotating electric machine；22, the second spiral arm；23, third spiral arm；24, the 4th hinged seat；25, the 5th is hinged
Seat；26, the second cylinder；27, third pedestal；28, bracket；29, the 4th pedestal；30, third rotating electric machine；31, fairlead；32,
Cleft hand platform；33, lead plate；34, pulley；35, fixed cleft hand；36, movable cleft hand；37, lead；38, the second turntable；39, bull stick；
40, the 5th rotating electric machine；41, scissors lift frame；42, spring base；43, spring；44, female bar；45, sub bar；46, third gas
Cylinder；47, fruit basket；48, the second hinged seat；49, visual sensor.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other members
Part or other component parts.
Embodiment 1
A kind of intelligent picking robot for preventing fruit from damaging of the invention, including mobile unit, to pluck fruit unit, detection single
Member and processor unit, mobile unit include chassis 1, and plucking fruit unit includes first base 3, and first base 3 is mounted on chassis 1
On, top plate 5 and the first fixed flange 6 are installed in mounting and fixing support 4 in first base 3, the top and bottom of fixed frame 4 respectively, and first
Fixed flange 6 is fastenedly connected by bolt and nut with first base 3, and the first rotating electric machine 7 and the second rotation are fixedly mounted on top plate 5
Rotating motor 8, the first rotating electric machine 7 and the second rotating electric machine 8 respectively include first rotating shaft and the second shaft, first rotating shaft bottom and
Gear wheel 9 and pinion gear 10 are installed respectively by second rotating shaft bottom portion, and bearing bracket stand 11,11 bottom of bearing bracket stand are also equipped at the top of top plate 5
It is fixedly installed with the second fixed flange 12, the second fixed flange 12 is fastened by bolt and nut and top plate 5, and 11 inner cavity of bearing bracket stand is solid
Dingan County is equipped with bearing, and the first turntable 13 is connected at the top of bearing bracket stand 11, and third shaft 14, third shaft are installed in 13 bottom of the first turntable
14 are each passed through bearing and top plate 5, bearing bottom installation rotation gear 15, and rotation gear 15 is matched with gear wheel 9 and pinion gear 10
It closes, rotating arm is installed at the top of the first turntable 13, rotating arm includes second base 16, and second base 16 passes through bolt and nut and first
Turntable 13 fastens, and the first hinged seat 17 and the second hinged seat 48 is fixedly mounted in second base 16, installs on the first hinged seat 17
There is the first spiral arm 18, the first cylinder 19 is installed on second hinged seat 48, third hinged seat 20 and are installed on first spiral arm 18
Four rotating electric machines 21,19 other end of the first cylinder connect third hinged seat 20, hinged second spiral arm 22 of the first spiral arm 18, the 4th rotation
Rotating motor 21 connects the articulated shaft between the first spiral arm 18 and the second spiral arm 22 and controls articulated shaft rotation, the connection of the second spiral arm 22
Third spiral arm 23 installs the 4th hinged seat 24 and the 5th hinged seat 25, the 4th hinge on second spiral arm 22 and third spiral arm 23 respectively
Second cylinder 26 is installed, third spiral arm 23 is connected with manipulator, and manipulator includes third bottom on joint chair 24 and the 5th hinged seat 25
Seat 27, third pedestal 27 is welded and fixed with third spiral arm 23, and third pedestal 27 is fixedly connected with the 4th pedestal 29 by bracket 28, the
Multiple third rotating electric machines 30 are installed between three pedestals 27 and the 4th pedestal 29, multiple fairleads 31 are opened up on the 4th pedestal 29,
Cleft hand platform 32 is installed, 32 side wall of cleft hand platform is equipped with multiple lead plates 33, and the installation of 33 one end of lead plate is slided on the 4th pedestal 29
34 are taken turns, multiple cleft hands are installed at the top of cleft hand platform 32, cleft hand includes fixed cleft hand 35 and movable cleft hand 36, and movable cleft hand 36 passes through hinge
Spindle and fixed cleft hand 35 are hinged, install lead 37 in the rotary shaft of third rotating electric machine 30, lead 37 pass through lead plate 33 with
Movable cleft hand 36 is fixedly connected and contacts with pulley 34, is equipped with elastic device, pawl between movable cleft hand 36 and fixed cleft hand 35
Range sensor is installed on hand platform 32；Probe unit includes the second turntable 38, installs straight-bar on the second turntable 38, pacifies on straight-bar
Bull stick 39 is filled, bull stick 39 is hinged by the 5th rotating electric machine 40 and straight-bar, and visual sensor 49, manipulator are installed at the top of bull stick 39
Position sensor is mounted on on chassis 1.
Embodiment 2
In a preferred embodiment, visual sensor 49 is the camera with position location functionality, and camera is used for
Visual identity is carried out, processor unit includes image processor and robot processor, and image processor connects camera and machine
Device people's processor, robot processor connect range sensor and multiple position sensors.The quantity for plucking fruit unit is two, two
A fruit unit of plucking is in probe unit two sides.
In a preferred embodiment, robot processor is also connected with the first rotating electric machine 7, the second rotating electric machine 8, third
Rotating electric machine 30, the 4th rotating electric machine 21, the 5th rotating electric machine 40, the first cylinder 19, the second cylinder 26, chassis motor and root
It sends and instructs according to location information.
Embodiment 3
In a preferred embodiment, crawler belt 2,2 connecting base plate motor of crawler belt, the first bottom are installed in 1 two sides of the bottom of chassis
Seat 3 is fixedly connected by scissors lift frame 41 with the chassis 1, scissors lift frame 41 respectively with first base 3 and chassis 1
It is fixedly connected.
In a preferred embodiment, 1 both ends of chassis are separately installed with fruit basket 47, and 47 laid inside of fruit basket has spongy layer.
Embodiment 4
In a preferred embodiment, the quantity of third rotating electric machine 30, fairlead 31, lead plate 33 and cleft hand is four
It is a.The material of movable cleft hand 36 and fixed cleft hand 35 is silica gel, and the material of the lead 37 is steel alloy.
In a preferred embodiment, elastic device includes spring base 42 and spring 43, and spring base 42, which is fixedly mounted on, to be drawn
On line plate 33, spring 43 be mounted on spring base 42 and both ends respectively with movable cleft hand 36 and fixed cleft hand 35.
Straight-bar is telescopic rod, and straight-bar includes that female bar 44 and sub bar 45, female 44 intracavity bottom of bar are equipped with third cylinder 46, son
Bar 45 is inserted into female 44 inner cavity of bar and connect with third cylinder 46.
Embodiment 5
Present invention is mainly used for harder spherical class fruit such as picking apples, two groups are installed on pedestal of the present invention and plucks fruit unit
With one group of probe unit, at work, the camera with position location functionality on probe unit first arrives image transmission
Image processor, image processor, which feeds back the location information for the fruit (such as apple) for meeting standard of plucking to robot, to be handled
Device, robot processor controls two groups respectively to be plucked fruit unit and carries out plucking fruit operation, due to the present invention will picking and detection separate into
Row, and be arranged two groups and pluck fruit unit, greatly accelerate efficiency of the invention.Mechanical arm high reliablity of the present invention and volume compared with
It is small, on current many machine for picking fruits tool arms rotating electric machine is installed so that mechanical arm can activity, but motor often quality compared with
Weight, and mechanical arm only leans on motor to provide rotary power, and the present invention is by the way of cylinder and motor combination, in lower side first
Spiral arm 18 carries out load-bearing lifting using the first cylinder 19, and the second intermediate spiral arm 22 often rotates often the most in picking process
Frequently and requirement is the most accurate, and load-bearing opposite lower the first spiral arm 18 is smaller, so using servo motor, top side third
Spiral arm 23 often carries the responsibility put fruits into fruit basket 47, often haves the characteristics that rotation angle is big, frequency is small, institute
In a manner of using the second cylinder 26, the used power device collocation of mechanical arm of the present invention rationally, can make failure rate big
Width reduces.The present invention also have the characteristics that picking it is with high accuracy, in picking process, rotational positioning be it is very crucial, work as discovery
When objective fruit, robot processor controls the first turntable 13 first and rotates to suitable direction, in the present invention, the first turntable
It is controlled when 13 rotation by gear, gear control has the characteristics that control is with high accuracy, and the present invention is provided with the first electric rotating
Machine 7 and the second rotating electric machine 8 install gear wheel 9 on first rotating electric machine 7, install pinion gear 10 on the second rotating electric machine 8, greatly
Gear 9 and pinion gear 10 are connect with rotation gear 15, and when needing primary rotation wide-angle, robot processor controls first
Gear wheel 9 rotates, and when rotation angle is close, robot processor control gear wheel 9 stops rotating, and pinion gear 10 starts to revolve
Turn.
Manipulator of the invention at work, when manipulator reaches target fruit, robot processor control multiple the
Three rotating electric machines 30 rotate forward simultaneously, and pulling activity cleft hand 36 rotates a plurality of leads 37 outward simultaneously, and movable cleft hand 36 is outside
Sidesway dynamic formula meeting compressed spring 43, after multiple cleft hands grab fruit, robot processor is sent according to range sensor
Signal controls multiple third rotating electric machines 30 and inverts simultaneously, delays under controlling movable cleft hand 36 while lead 37 and spring 43
Slowly move inward.
It should be noted that the first rotating electric machine 7, the second rotating electric machine 8, third rotating electric machine 30 and the 4th rotating electric machine
21, the 5th rotating electric machine 40 is servo motor, and servo motor has the characteristics that information control is with high accuracy.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and its actually answering
With so that those skilled in the art can be realized and utilize a variety of different exemplary implementation schemes of the invention and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (10)
1. a kind of intelligent picking robot for preventing fruit from damaging, including mobile unit, pluck fruit unit, probe unit and processor
Unit, it is characterised in that: the mobile unit includes chassis (1), and the fruit unit of plucking includes first base (3), and described first
Pedestal (3) is mounted on the chassis (1), is equipped with fixed frame (4) on the first base (3), at the top of the fixed frame (4)
Top plate (5) and the first fixed flange (6) are separately installed with bottom, first fixed flange (6) and the first base (3)
It is fastenedly connected, the first rotating electric machine (7) and the second rotating electric machine (8), first electric rotating is fixedly mounted on the top plate (5)
Machine (7) and the second rotating electric machine (8) respectively include first rotating shaft and the second shaft, first rotating shaft bottom and the second rotating shaft bottom part
Gear wheel (9) and pinion gear (10) are not installed, are also equipped with bearing bracket stand (11) on the top plate (5), the bearing bracket stand (11)
Bottom is fixedly installed with the second fixed flange (12), and second fixed flange (12) and the top plate (5) fasten, bearing bracket stand
(11) inner cavity is fixedly installed with bearing, connects the first turntable (13) at the top of bearing bracket stand (11), the first turntable (13) bottom peace
It fills third shaft (14), the third shaft (14) is each passed through bearing and the top plate (5), and bearing bottom is equipped with rotary teeth
It takes turns (15), the rotation gear (15) and the gear wheel (9) and pinion gear (10) cooperate, peace at the top of first turntable (13)
Equipped with rotating arm, the rotating arm includes second base (16), and the first hinged seat is fixedly mounted on the second base (16)
(17) and the second hinged seat (48) it, is equipped with the first spiral arm (18) on first hinged seat (17), second hinged seat
(48) it is equipped on the first cylinder (19), third hinged seat (20) and the 4th rotating electric machine is installed on first spiral arm (18)
(21), the first cylinder (19) other end connection third hinged seat (20), hinged second spiral arm of the first spiral arm (18)
(22), the 4th rotating electric machine (21) connects the articulated shaft between first spiral arm (18) and the second spiral arm (22) and control
Articulated shaft rotation, second spiral arm (22) connect third spiral arm (23), second spiral arm (22) and the third spiral arm
(23) the 4th hinged seat (24) and the 5th hinged seat (25), the 4th hinged seat (24) and the 5th hinged seat are installed respectively on
(25) it is installed on the second cylinder (26), the third spiral arm (23) is connected with manipulator, and the manipulator includes third pedestal
(27), the third pedestal (27) is welded and fixed with the third spiral arm (23), and the third pedestal (27) passes through bracket (28)
It is fixedly connected with the 4th pedestal (29), multiple third rotating electric machines are installed between third pedestal (27) and the 4th pedestal (29)
(30), it is opened up multiple fairleads (31) on the 4th pedestal (29), the 4th pedestal (29) the upper mounting jaw hand platform (32), institute
It states cleft hand platform (32) side wall and multiple lead plates (33) is installed, pulley (34) are installed in described lead plate (33) one end, the cleft hand platform
(32) multiple cleft hands are installed at top, and the cleft hand includes fixed cleft hand (35) and movable cleft hand (36), the activity cleft hand (36)
Hingedly by articulated shaft and the fixed cleft hand (35), lead is installed in the rotary shaft of the third rotating electric machine (30)
(37), the lead (37) pass through the lead plate (33) with it is described activity cleft hand (36) be fixedly connected and with the pulley (34)
Contact is installed elastic device between the activity cleft hand (36) and the fixed cleft hand (35), is installed on the cleft hand platform (32)
There is range sensor；The probe unit includes the second turntable (38), installs straight-bar on the second turntable (38), pacifies on the straight-bar
It fills bull stick (39), the bull stick (39) is hinged by the 5th rotating electric machine (40) and the straight-bar, peace at the top of the bull stick (39)
It fills visual sensor (49), is mounted on position sensor on the manipulator and the chassis (1).
2. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: chassis (1) bottom
Crawler belt (2) are installed in two sides, crawler belt (2) the connecting base plate motor, and the first base (3) passes through scissors lift frame (41)
Be fixedly connected with the chassis (1), the scissors lift frame (41) respectively with the first base (3) and the chassis (1)
It is fixedly connected.
3. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: the chassis (1)
Both ends are separately installed with fruit basket (47), and fruit basket (47) laid inside has spongy layer.
4. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: described to pluck fruit unit
Quantity be two, fruit unit is plucked described in two in probe unit two sides.
5. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: the third rotation
Motor (30), fairlead (31), lead plate (33) and cleft hand quantity be four.
6. the intelligent picking robot according to claim 5 for preventing fruit from damaging, it is characterised in that: the activity cleft hand
(36) and the material of fixed cleft hand (35) is silica gel, and the material of the lead (37) is steel alloy.
7. the intelligent picking robot according to claim 6 for preventing fruit from damaging, it is characterised in that: the elastic device
Including spring base (42) and spring (43), the spring base (42) is fixedly mounted on lead plate (33), and spring (43) is mounted on
On spring base (42) and both ends respectively with movable cleft hand (36) and fixed cleft hand (35).
8. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: the straight-bar is to stretch
Contracting bar, the straight-bar include female bar (44) and sub bar (45), and described mother's bar (44) intracavity bottom is equipped with third cylinder (46), institute
Sub bar (45) are stated to be inserted into female bar (44) inner cavity and connect with the third cylinder (46).
9. the intelligent picking robot according to claim 1 for preventing fruit from damaging, it is characterised in that: the visual sensing
Device (49) is the camera with position location functionality, and the camera fruit maturity and carries out the fruit for identification
Positioning, the processor unit include image processor and robot processor, and described image processor connects the camera
And robot processor, the robot processor connect the range sensor and multiple position sensors, and can be to institute
The motion profile for stating manipulator is planned.
10. the intelligent picking robot according to claim 9 for preventing fruit from damaging, it is characterised in that: the robot
Processor is also connected with the first rotating electric machine (7), the second rotating electric machine (8), third rotating electric machine (30), the 4th rotating electric machine
(21), it the 5th rotating electric machine (40), the first cylinder (19), the second cylinder (26), chassis motor and is sent according to location information
Instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110832991A (en) * | 2019-10-24 | 2020-02-25 | 广州大学 | Picking machine based on image recognition and control method thereof |
| CN111624175A (en) * | 2020-06-12 | 2020-09-04 | 浙大城市学院 | Intelligent vehicle combined structure and method for nondestructive testing and grading of fruit quality |
| CN112425373A (en) * | 2020-12-02 | 2021-03-02 | 陕西中建建乐智能机器人股份有限公司 | Kiwi fruit picking and sorting robot and kiwi fruit sorting method thereof |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
| CN112740915A (en) * | 2020-12-16 | 2021-05-04 | 孙浩 | Orchard picking robot capable of sensing grabbing force |
| CN113016347A (en) * | 2021-04-22 | 2021-06-25 | 安徽工程大学 | Intelligent tea picking robot |
| CN113079824A (en) * | 2021-03-30 | 2021-07-09 | 武汉晴川学院 | Water picking equipment |
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