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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
fruit
electric machine
rotating electric
cleft hand
spiral arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910227975.0A
Other languages
Chinese (zh)
Other versions
CN109769479B (en
Inventor
张峰
阴伟锋
吴豪琼
张建霞
崔鹏伟
张涛
田坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan Gurui Intelligent Technology Co ltd
Original Assignee
Henan Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Henan Institute of Technology filed Critical Henan Institute of Technology
Priority to CN201910227975.0A priority Critical patent/CN109769479B/en
Publication of CN109769479A publication Critical patent/CN109769479A/en
Application granted granted Critical
Publication of CN109769479B publication Critical patent/CN109769479B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Manipulator (AREA)

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

A kind of intelligent picking robot for preventing fruit from damaging
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.
CN201910227975.0A 2019-03-25 2019-03-25 Intelligent picking robot capable of preventing fruits from being damaged Active CN109769479B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910227975.0A CN109769479B (en) 2019-03-25 2019-03-25 Intelligent picking robot capable of preventing fruits from being damaged

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910227975.0A CN109769479B (en) 2019-03-25 2019-03-25 Intelligent picking robot capable of preventing fruits from being damaged

Publications (2)

Publication Number Publication Date
CN109769479A true CN109769479A (en) 2019-05-21
CN109769479B CN109769479B (en) 2021-06-04

Family

ID=66491198

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910227975.0A Active CN109769479B (en) 2019-03-25 2019-03-25 Intelligent picking robot capable of preventing fruits from being damaged

Country Status (1)

Country Link
CN (1) CN109769479B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110291880A (en) * 2019-07-31 2019-10-01 安徽工程大学 More arm apple picking robots
CN110800469A (en) * 2019-12-12 2020-02-18 李长玲 Self-triggering apple picking and collecting all-in-one machine
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

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3979876B2 (en) * 2002-05-10 2007-09-19 元田技研有限会社 Drive control method and mechanism of turning motion in horizontal plane in load handling device
KR20080098790A (en) * 2007-05-07 2008-11-12 오기수 An ascent and descent apparatus for palm-fruit of work party
CN101412216A (en) * 2008-11-20 2009-04-22 中国农业大学 Universal fruit tree manipulator
CN201776752U (en) * 2010-02-09 2011-03-30 重庆交通大学 Six-degree-of-freedom precise heavy-duty manipulator
CN102165880A (en) * 2011-01-19 2011-08-31 南京农业大学 Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
CN103192378A (en) * 2013-02-06 2013-07-10 李月芹 Stacking robot
CN103831826A (en) * 2013-12-27 2014-06-04 广州奥迪通用照明有限公司 Intelligent correction manipulator system
CN105690374A (en) * 2016-03-29 2016-06-22 天津大学 Three-freedom-degree coaxial output mechanism containing wire transmission
US20170326731A1 (en) * 2014-06-11 2017-11-16 Canon Kabushiki Kaisha Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component
CN107856029A (en) * 2017-11-29 2018-03-30 长春工业大学 A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3979876B2 (en) * 2002-05-10 2007-09-19 元田技研有限会社 Drive control method and mechanism of turning motion in horizontal plane in load handling device
KR20080098790A (en) * 2007-05-07 2008-11-12 오기수 An ascent and descent apparatus for palm-fruit of work party
CN101412216A (en) * 2008-11-20 2009-04-22 中国农业大学 Universal fruit tree manipulator
CN201776752U (en) * 2010-02-09 2011-03-30 重庆交通大学 Six-degree-of-freedom precise heavy-duty manipulator
CN102165880A (en) * 2011-01-19 2011-08-31 南京农业大学 Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
CN103192378A (en) * 2013-02-06 2013-07-10 李月芹 Stacking robot
CN103831826A (en) * 2013-12-27 2014-06-04 广州奥迪通用照明有限公司 Intelligent correction manipulator system
US20170326731A1 (en) * 2014-06-11 2017-11-16 Canon Kabushiki Kaisha Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component
CN105690374A (en) * 2016-03-29 2016-06-22 天津大学 Three-freedom-degree coaxial output mechanism containing wire transmission
CN107856029A (en) * 2017-11-29 2018-03-30 长春工业大学 A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110291880A (en) * 2019-07-31 2019-10-01 安徽工程大学 More arm apple picking robots
CN110291880B (en) * 2019-07-31 2021-10-22 安徽工程大学 Multi-arm apple picking robot
CN110832991A (en) * 2019-10-24 2020-02-25 广州大学 Picking machine based on image recognition and control method thereof
CN110800469A (en) * 2019-12-12 2020-02-18 李长玲 Self-triggering apple picking and collecting all-in-one machine
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
CN112740915A (en) * 2020-12-16 2021-05-04 孙浩 Orchard picking robot capable of sensing grabbing force
CN112720410A (en) * 2020-12-25 2021-04-30 浙江理工大学 Double-arm small fruit and vegetable harvesting robot
CN113079824A (en) * 2021-03-30 2021-07-09 武汉晴川学院 Water picking equipment
CN113079824B (en) * 2021-03-30 2022-02-22 武汉晴川学院 Water picking equipment
CN113016347A (en) * 2021-04-22 2021-06-25 安徽工程大学 Intelligent tea picking robot

Also Published As

Publication number Publication date
CN109769479B (en) 2021-06-04

Similar Documents

Publication Publication Date Title
CN109769479A (en) A kind of intelligent picking robot for preventing fruit from damaging
EP2431137A2 (en) Reducer abnormality determination method, abnormality determination device, and robot system
EP2536269B1 (en) An animal treating arrangement
CN106080755B (en) A kind of electronic steering mechanism, omnidirectional of intelligent machine
US10105853B1 (en) Flexible robot end-effector for assembling door closure
US6121743A (en) Dual robotic arm end effectors having independent yaw motion
JP4750231B2 (en) Workpiece processing system
CN105666519B (en) A kind of manipulator and a kind of implementation method of snakelike robotic arm system and device
US8528955B2 (en) Robot end effector with cable management
CN110561396B (en) High-precision quick-reaction manipulator
CN105171725B (en) Articulated robot with exercise assist device
CN108705561A (en) A kind of four-degree-of-freedom underloading industrial robot
JP2015536253A (en) Substrate handling robot with controlled vibration, system and method
CN105382840B (en) The control device and control method of robot
JP2016083713A (en) Robot control method, robot device, program, recording medium and assembly part manufacturing method
DK2492062T3 (en) industrial Robot
JP2014512979A (en) Method and apparatus for moving and positioning a gripping unit, and a robot including the gripping unit
CN107791241A (en) A kind of industrial robot automatic charging device and method
JP6630727B2 (en) Horizontal articulated robot
CN108821209A (en) A kind of Intelligentized mechanical arm and its working method for bottle body sealing
CN207013954U (en) Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing
CN107414823A (en) According to the method and device of torque adjustment balance
Iturralde et al. A cable driven parallel robot with a modular end effector for the installation of curtain wall modules
JP7407784B2 (en) Production system information gathering device, information gathering method and program
CN103851315A (en) Parallel connection fast direction pointing mechanism with virtual rotating center characteristic

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20240529

Address after: 450000 room 218, building 1, zone a, Zhengzhou optical electromechanical Industrial Park, No. 55, Yulan street, high tech Industrial Development Zone, Zhengzhou, Henan Province

Patentee after: Henan gurui Intelligent Technology Co.,Ltd.

Country or region after: China

Address before: No. 699, plain road, Xinxiang, Henan, Henan

Patentee before: HENAN INSTITUTE OF TECHNOLOGY

Country or region before: China

TR01 Transfer of patent right