CN109769479B - Intelligent picking robot capable of preventing fruits from being damaged - Google Patents
Intelligent picking robot capable of preventing fruits from being damaged Download PDFInfo
- Publication number
- CN109769479B CN109769479B CN201910227975.0A CN201910227975A CN109769479B CN 109769479 B CN109769479 B CN 109769479B CN 201910227975 A CN201910227975 A CN 201910227975A CN 109769479 B CN109769479 B CN 109769479B
- Authority
- CN
- China
- Prior art keywords
- base
- rotary
- rotating
- fruit
- picking
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an intelligent picking robot capable of preventing fruits from being damaged, which comprises a mobile unit, a fruit picking unit, a detection unit and a processor unit, wherein the mobile unit comprises a chassis, the fruit picking unit comprises a first base, a fixed frame is arranged on the first base, top plates are respectively arranged at the top and the bottom of the fixed frame, a first rotating motor and a second rotating motor are fixedly arranged on the top plate, the fruit picking unit also comprises a first rotary table and a rotary arm, the rotary arm comprises a second base, a first rotary arm, a second rotary arm and a third rotary arm are arranged on the second base, a manipulator is arranged on the third rotary arm, the detection unit comprises a second rotary table, a straight rod is arranged on the second rotary table, a rotary rod is arranged on the straight rod, the rotary rod is hinged with the straight rod through a fifth rotating motor, a vision sensor is arranged at the top of the rotary rod, and position sensors are arranged on the manipulator and the chassis. The intelligent picking robot greatly improves the picking efficiency, and meanwhile, the mechanical arm is high in reliability, small in size and flexible to operate.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to an intelligent picking robot capable of preventing fruits from being damaged.
Background
In the agricultural field, considerable manpower and material resources are consumed for picking fruits, and the trend of realizing mechanization of fruit picking under the wave of industrial production is already a trend. The fruit picking robot is one of important equipment of precision agriculture in the 21 st century, is an automatic mechanical harvesting system with sensing capability aiming at fruits and vegetables and capable of completing picking, transferring, packaging and other related operation tasks of the crops through programming in the development direction of intelligent agricultural machinery in the future, is a cross marginal science integrating mechanical, electronic, information, intelligent technology, computer science, agriculture, biology and other subjects, and needs knowledge in the subject fields of multiple aspects such as mechanical structure, visual image processing, robot kinematics dynamics, sensor technology, control technology, calculation information processing and the like.
However, the existing fruit picking robot has some problems in the practical application process, firstly, the rotating arm works for a long time, the reliability is low, the fault often occurs, the rotating arm is not flexible enough, the volume is too large, and the phenomenon that other immature fruits are knocked off and damaged often occurs in the picking process; secondly, picking efficiency is slow, and current picking robot only sets up a set of arm usually, and the camera is installed on the manipulator usually moreover, and the manipulator must discover the target fruit earlier before picking, and efficiency is very slow, often can not reach the speed of artifical picking, and the flexibility teaches poorly to influence picking efficiency.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide an intelligent picking robot capable of preventing fruits from being damaged, and the intelligent picking robot can overcome the defects that in the prior art, a picking robot is low in picking efficiency, low in mechanical arm reliability and large in size.
In order to achieve the above purpose, the invention provides an intelligent picking robot for preventing fruits from being damaged, which comprises a moving unit, a fruit picking unit, a detection unit and a processor unit, wherein the moving unit comprises a chassis, the fruit picking unit comprises a first base, the first base is arranged on the chassis, a fixed frame is arranged on the first base, a top plate and a first fixed flange are respectively arranged at the top and the bottom of the fixed frame, the first fixed flange is fixedly connected with the first base, a first rotating motor and a second rotating motor are fixedly arranged on the top plate, the first rotating motor and the second rotating motor respectively comprise a first rotating shaft and a second rotating shaft, a big gear and a small gear are respectively arranged at the bottom of the first rotating shaft and the bottom of the second rotating shaft, a bearing frame is also arranged on the top plate, a second fixed flange is fixedly arranged at the bottom of the bearing frame, the second fixed flange is fixedly connected with the top plate, and a bearing is, the top of the bearing frame is connected with a first rotary table, the bottom of the first rotary table is provided with a third rotary shaft, the third rotary shaft respectively penetrates through a bearing and a top plate, the bottom of the bearing is provided with a rotary gear, the rotary gear is matched with a large gear and a small gear, the top of the first rotary table is provided with a rotary arm, the rotary arm comprises a second base, the second base is fixedly provided with a first hinge seat and a second hinge seat, the first hinge seat is provided with a first rotary arm, the second hinge seat is provided with a first air cylinder, the first rotary arm is provided with a third hinge seat and a fourth rotary motor, the other end of the first air cylinder is connected with the third hinge seat, the first rotary arm is hinged with a second rotary arm, the fourth rotary motor is connected with a hinge shaft between the first rotary arm and the second rotary arm and controls the rotation of the hinge shaft, the second rotary arm is connected with the third rotary arm, the second rotary arm and the third rotary arm are respectively provided with a fourth hinge seat and a fifth hinge seat, and the fourth hinge seat and the fifth, the third swing arm is connected with a manipulator, the manipulator comprises a third base, the third base and the third swing arm are welded and fixed, the third base is fixedly connected with a fourth base through a support, a plurality of third rotating motors are installed between the third base and the fourth base, a plurality of lead holes are formed in the fourth base, a claw table is installed on the fourth base, a plurality of lead plates are installed on the side wall of the claw table, a pulley is installed at one end of each lead plate, a plurality of claws are installed at the top of the claw table, each claw comprises a fixed claw and a movable claw, the movable claw is hinged to the fixed claw through a hinge shaft, a lead is installed on a rotating shaft of the third rotating motor, the lead penetrates through the lead plates to be fixedly connected with the movable claw and to be in contact with the pulley, an elastic device is installed between the movable claw and the fixed claw, and a distance sensor is installed on the claw table; the detection unit comprises a second rotary table, a straight rod is mounted on the second rotary table, a rotating rod is mounted on the straight rod and hinged to the straight rod through a fifth rotating motor, a vision sensor is mounted at the top of the rotating rod, and position sensors are mounted on the manipulator and the chassis.
In a preferred embodiment, crawler belts are installed on two sides of the bottom of the chassis, the crawler belts are connected with a chassis motor, the first base is fixedly connected with the chassis through a scissor type lifting frame, and the scissor type lifting frame is fixedly connected with the first base and the chassis respectively.
In a preferred embodiment, the two ends of the chassis are respectively provided with a fruit basket, and a sponge layer is laid inside the fruit basket.
In a preferred embodiment, the number of the fruit picking units is two, and the two fruit picking units are arranged on two sides of the detection unit.
In a preferred embodiment, the number of the third rotating electric machines, the lead holes, the lead plates, and the claws is four.
In a preferred embodiment, the movable claw and the fixed claw are both made of silica gel, and the lead is made of alloy steel.
In a preferred embodiment, the elastic device comprises a spring seat and a spring, the spring seat is fixedly installed on the lead plate, and the spring is installed on the spring seat and has two ends respectively connected with the movable claw and the fixed claw.
In a preferred embodiment, the straight rod is a telescopic rod and comprises a female rod and a sub-rod, a third cylinder is installed at the bottom of an inner cavity of the female rod, and the sub-rod is inserted into the inner cavity of the female rod and connected with the third cylinder.
In a preferred embodiment, the visual sensor is a camera with a position positioning function, the camera is used for identifying the ripeness of the fruit and positioning the fruit, the processor unit comprises an image processor and a robot processor, the image processor is connected with the camera and the robot processor, the robot processor is connected with the distance sensor and the position sensors, and the motion trail of the manipulator can be planned.
In a preferred embodiment, the robot processor is further connected with the first rotating electrical machine, the second rotating electrical machine, the third rotating electrical machine, the fourth rotating electrical machine, the fifth rotating electrical machine, the first air cylinder, the second air cylinder and the chassis motor and sends commands according to the position information.
Compared with the prior art, the intelligent picking robot for preventing the fruit from being damaged has the following beneficial effects:
1. the invention solves the defect of slow picking efficiency of the current picking robot, the invention installs two groups of fruit picking units and one group of detection unit on the base, when in work, the camera with position positioning function on the detection unit firstly transmits the image to the image processor, the image processor feeds back the position information of the fruit (such as apple) meeting the picking standard to the robot processor, the robot processor respectively controls the two groups of fruit picking units to carry out fruit picking operation, because the invention separately carries out picking and detection, and two groups of fruit picking units are arranged, the picking efficiency of the invention is greatly accelerated.
2. The mechanical arm is high in reliability and small in size, rotating motors are mounted on a plurality of current fruit picking mechanical arms to enable the mechanical arms to move, but the motors are often heavy in weight, the mechanical arms only provide rotating power through the motors, the mechanical arm adopts a mode of combining the air cylinders and the motors, the first rotary arm at the lowest side adopts the air cylinders to carry out bearing lifting, the second rotary arm in the middle is often rotated most frequently and required most accurately in the picking process, and the bearing is smaller than the first rotary arm at the lower side, so that the servo motors are adopted, the third rotary arm at the highest side is often responsible for placing fruits into fruit baskets, the mechanical arm is often characterized by large rotating angle and small frequency, and the mode of the air cylinders is adopted, power devices adopted by the mechanical arm are reasonably matched, and the failure rate can be greatly reduced.
3. The invention also has the characteristic of high picking precision, the rotation positioning is very critical in the picking process, when a target fruit is found, the robot processor firstly controls the first rotating platform to rotate to a proper direction, in the invention, the first rotating platform is controlled by a gear when rotating, the gear control has the characteristic of high control precision, in addition, the invention is provided with a first rotating motor and a second rotating motor, the first rotating motor is provided with a large gear, the second rotating motor is provided with a small gear, both the large gear and the small gear are connected with the rotating gear, when the large angle needs to be rotated once, the robot processor firstly controls the large gear to rotate, when the rotating angle is close, the robot processor controls the large gear to stop rotating, and the small gear starts to rotate.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent picking robot for preventing fruit damage according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a fruit picking unit according to an embodiment of the present invention.
Fig. 3 is a partial enlarged view I of fig. 2.
Fig. 4 is a schematic structural view of a robot according to an embodiment of the present invention.
Fig. 5 is a partial enlarged view II of fig. 4.
Description of the main reference numerals:
1. a chassis; 2. a crawler belt; 3. a first base; 4. a fixed mount; 5. a top plate; 6. a first fixing flange; 7. a first rotating electrical machine; 8. a second rotating electrical machine; 9. a bull gear; 10. a pinion gear; 11. a bearing bracket; 12. a second fixing flange; 13. a first turntable; 14. a third rotating shaft; 15. a rotating gear; 16. a second base; 17. a first hinge mount; 18. a first swing arm; 19. a first cylinder; 20. a third hinge mount; 21. a fourth rotating electrical machine; 22. a second swing arm; 23. a third swing arm; 24. a fourth hinge base; 25. a fifth hinge base; 26. a second cylinder; 27. a third base; 28. a support; 29. a fourth base; 30. a third rotating electrical machine; 31. a wire hole; 32. a claw stage; 33. a lead plate; 34. a pulley; 35. fixing the claw; 36. a movable claw; 37. a lead wire; 38. a second turntable; 39. a rotating rod; 40. a fifth rotating electrical machine; 41. a scissor type lifting frame; 42. a spring seat; 43. a spring; 44. a female rod; 45. a sub-rod; 46. a third cylinder; 47. a fruit basket; 48. a second hinge mount; 49. a vision sensor.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Example 1
The invention relates to an intelligent picking robot capable of preventing fruits from being damaged, which comprises a moving unit, a fruit picking unit, a detection unit and a processor unit, wherein the moving unit comprises a chassis 1, the fruit picking unit comprises a first base 3, the first base 3 is arranged on the chassis 1, a fixed frame 4 is arranged on the first base 3, a top plate 5 and a first fixed flange 6 are respectively arranged at the top and the bottom of the fixed frame 4, the first fixed flange 6 is fixedly connected with the first base 3 through a bolt and a nut, a first rotating motor 7 and a second rotating motor 8 are fixedly arranged on the top plate 5, the first rotating motor 7 and the second rotating motor 8 respectively comprise a first rotating shaft and a second rotating shaft, a big gear 9 and a small gear 10 are respectively arranged at the bottom of the first rotating shaft and the bottom of the second rotating shaft, a bearing frame 11 is also arranged at the top of the top plate 5, a second fixed flange 12 is fixedly arranged at the bottom of the bearing frame 11, and the second fixed flange 12 is, a bearing is fixedly arranged in the inner cavity of the bearing frame 11, the top of the bearing frame 11 is connected with a first rotary table 13, the bottom of the first rotary table 13 is provided with a third rotary shaft 14, the third rotary shaft 14 respectively penetrates through the bearing and the top plate 5, the bottom of the bearing is provided with a rotary gear 15, the rotary gear 15 is matched with a large gear 9 and a small gear 10, the top of the first rotary table 13 is provided with a rotary arm, the rotary arm comprises a second base 16, the second base 16 is fastened with the first rotary table 13 through bolts and nuts, the second base 16 is fixedly provided with a first hinged seat 17 and a second hinged seat 48, the first hinged seat 17 is provided with a first rotary arm 18, the second hinged seat 48 is provided with a first air cylinder 19, the first rotary arm 18 is provided with a third hinged seat 20 and a fourth rotary motor 21, the other end of the first air cylinder 19 is connected with the third hinged seat 20, the first rotary arm 18 is hinged with a second rotary arm 22, the fourth rotary motor 21 is connected with a hinged shaft between the first rotary arm 18, the second radial arm 22 is connected with the third radial arm 23, the fourth articulated seat 24 and the fifth articulated seat 25 are respectively arranged on the second radial arm 22 and the third radial arm 23, the second air cylinder 26 is arranged on the fourth articulated seat 24 and the fifth articulated seat 25, the third radial arm 23 is connected with a manipulator, the manipulator comprises a third base 27, the third base 27 and the third radial arm 23 are fixedly welded, the third base 27 is fixedly connected with a fourth base 29 through a bracket 28, a plurality of third rotating motors 30 are arranged between the third base 27 and the fourth base 29, a plurality of lead holes 31 are arranged on the fourth base 29, a gripper table 32 is arranged on the fourth base 29, a plurality of lead plates 33 are arranged on the side wall of the gripper table 32, a pulley 34 is arranged at one end of each lead plate 33, a plurality of grippers are arranged on the top of the gripper table 32, each gripper comprises a fixed gripper 35 and a movable gripper 36, the movable gripper 36 is hinged with the fixed gripper 35 through a hinge shaft, a lead 37 is arranged on a rotating shaft of the third rotating motor 30, the lead 37 passes through the lead plate 33 to be fixedly connected with the movable claw 36 and is contacted with the pulley 34, an elastic device is arranged between the movable claw 36 and the fixed claw 35, and a distance sensor is arranged on the claw table 32; the detection unit comprises a second rotary table 38, a straight rod is arranged on the second rotary table 38, a rotating rod 39 is arranged on the straight rod, the rotating rod 39 is hinged with the straight rod through a fifth rotating motor 40, a visual sensor 49 is arranged at the top of the rotating rod 39, and position sensors are arranged on the manipulator and the chassis 1.
Example 2
In a preferred embodiment, the vision sensor 49 is a camera with position-locating functionality, the camera is used for visual recognition, the processor unit comprises an image processor and a robot processor, the image processor is connected with the camera and the robot processor, and the robot processor is connected with the distance sensor and the plurality of position sensors. The number of the fruit picking units is two, and the two fruit picking units are arranged on two sides of the detection unit.
In a preferred embodiment, the robot processor is further connected to the first rotating electrical machine 7, the second rotating electrical machine 8, the third rotating electrical machine 30, the fourth rotating electrical machine 21, the fifth rotating electrical machine 40, the first cylinder 19, the second cylinder 26, the chassis motor and sends commands based on the position information.
Example 3
In a preferred embodiment, crawler belts 2 are installed on two sides of the bottom of the chassis 1, the crawler belts 2 are connected with a chassis motor, the first base 3 is fixedly connected with the chassis 1 through a scissor type lifting frame 41, and the scissor type lifting frame 41 is fixedly connected with the first base 3 and the chassis 1 respectively.
In a preferred embodiment, fruit baskets 47 are respectively arranged at two ends of the chassis 1, and a sponge layer is laid inside the fruit baskets 47.
Example 4
In a preferred embodiment, the number of the third rotating electrical machine 30, the lead hole 31, the lead plate 33 and the claw is four. The movable claw 36 and the fixed claw 35 are made of silica gel, and the lead 37 is made of alloy steel.
In a preferred embodiment, the elastic means includes a spring seat 42 and a spring 43, the spring seat 42 is fixedly mounted on the lead plate 33, and the spring 43 is mounted on the spring seat 42 and has two ends respectively connected with the movable claw 36 and the fixed claw 35.
The straight rod is a telescopic rod and comprises a female rod 44 and a sub rod 45, a third air cylinder 46 is installed at the bottom of an inner cavity of the female rod 44, and the sub rod 45 is inserted into the inner cavity of the female rod 44 and connected with the third air cylinder 46.
Example 5
The invention is mainly used for picking harder spherical fruits such as apples, two groups of fruit picking units and one group of detection unit are arranged on the base, when the fruit picking machine works, the camera with the position positioning function on the detection unit firstly transmits an image to the image processor, the image processor feeds back the position information of the fruits (such as apples) meeting the picking standard to the robot processor, and the robot processor respectively controls the two groups of fruit picking units to carry out fruit picking operation. The mechanical arm of the invention has high reliability and smaller volume, and the rotary motor is arranged on a plurality of fruit picking mechanical arms at present to ensure that the mechanical arm can move, but the motor is always heavier, the mechanical arm only provides rotary power by the motor, the invention adopts a mode of combining the cylinder and the motor, the first air cylinder 19 is adopted to carry out bearing lifting on the first rotary arm 18 at the lowest side, the second rotary arm 22 at the middle part is often rotated most frequently and accurately during the picking process, the bearing is smaller relative to the first rotary arm 18 at the lower side, therefore, the third swing arm 23 at the uppermost side usually takes charge of putting the fruits into the fruit basket 47 by adopting the servo motor, and has the characteristics of large rotation angle and low frequency, therefore, by adopting the mode of the second cylinder 26, the power device adopted by the mechanical arm is reasonable in collocation, so that the failure rate can be greatly reduced. The invention also has the characteristic of high picking precision, the rotation positioning is very critical in the picking process, when a target fruit is found, the robot processor firstly controls the first rotating platform 13 to rotate to a proper direction, in the invention, the first rotating platform 13 is controlled by a gear when rotating, the gear control has the characteristic of high control precision, in addition, the invention is provided with a first rotating motor 7 and a second rotating motor 8, the first rotating motor 7 is provided with a large gear 9, the second rotating motor 8 is provided with a small gear 10, the large gear 9 and the small gear 10 are both connected with a rotating gear 15, when the large angle needs to be rotated once, the robot processor firstly controls the large gear 9 to rotate, when the rotating angle is close, the robot processor controls the large gear 9 to stop rotating, and the small gear 10 starts to rotate.
When the manipulator of the invention works and reaches a target fruit, the robot processor controls the plurality of third rotating motors 30 to rotate forward at the same time, the plurality of leads 37 pull the movable claws 36 to rotate outward at the same time, the movable claws 36 move outward to compress the springs 43, and after the plurality of claws grab the fruit, the robot processor controls the plurality of third rotating motors 30 to rotate backward at the same time according to signals sent by the distance sensor, so that the movable claws 36 move inward slowly under the control of the leads 37 and the springs 43.
The first rotating electric machine 7, the second rotating electric machine 8, the third rotating electric machine 30, the fourth rotating electric machine 21, and the fifth rotating electric machine 40 are all servo motors, and the servo motors have a feature of high accuracy of information control.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a prevent intelligent picking robot of fruit damage, includes the mobile unit, plucks fruit unit, detection unit and processor unit, its characterized in that: the fruit picking unit comprises a chassis (1), the fruit picking unit comprises a first base (3), the first base (3) is installed on the chassis (1), a fixing frame (4) is installed on the first base (3), a top plate (5) and a first fixing flange (6) are installed at the top and the bottom of the fixing frame (4) respectively, the first fixing flange (6) is tightly connected with the first base (3), a first rotating motor (7) and a second rotating motor (8) are fixedly installed on the top plate (5), the first rotating motor (7) and the second rotating motor (8) respectively comprise a first rotating shaft and a second rotating shaft, a gear wheel (9) and a pinion (10) are installed at the bottom of the first rotating shaft and the bottom of the second rotating shaft respectively, a bearing frame (11) is further installed on the top plate (5), and a second fixing flange (12) is fixedly installed at the bottom of the bearing frame (11), the second fixing flange (12) is fastened with the top plate (5), a bearing is fixedly mounted in an inner cavity of the bearing frame (11), a first rotary table (13) is connected to the top of the bearing frame (11), a third rotary shaft (14) is mounted at the bottom of the first rotary table (13), the third rotary shaft (14) penetrates through the bearing and the top plate (5) respectively, a rotary gear (15) is mounted at the bottom of the bearing, the rotary gear (15) is matched with the gear wheel (9) and the pinion (10), a rotary arm is mounted at the top of the first rotary table (13), the rotary arm comprises a second base (16), a first hinged seat (17) and a second hinged seat (48) are fixedly mounted on the second base (16), a first rotary arm (18) is mounted on the first hinged seat (17), a first air cylinder (19) is mounted on the second hinged seat (48), a third hinged seat (20) and a fourth rotary motor (21) are mounted on the first rotary arm (18), the other end of the first air cylinder (19) is connected with a third hinged seat (20), the first swing arm (18) is hinged with a second swing arm (22), the fourth rotating motor (21) is connected with a hinged shaft between the first swing arm (18) and the second swing arm (22) and controls the hinged shaft to rotate, the second swing arm (22) is connected with a third swing arm (23), the second swing arm (22) and the third swing arm (23) are respectively provided with a fourth hinged seat (24) and a fifth hinged seat (25), the fourth hinged seat (24) and the fifth hinged seat (25) are respectively provided with a second air cylinder (26), the third swing arm (23) is connected with a manipulator, the manipulator comprises a third base (27), the third base (27) and the third swing arm (23) are welded and fixed, and the third base (27) is fixedly connected with a fourth base (29) through a support (28), install a plurality of third rotating electrical machines (30) between third base (27) and fourth base (29), set up a plurality of pin holes (31) on fourth base (29), install cleft hand platform (32) on fourth base (29), a plurality of lead plates (33) of cleft hand platform (32) lateral wall installation, lead plate (33) one end installation pulley (34), a plurality of clefts of cleft hand platform (32) top installation, the cleft hand includes fixed cleft hand (35) and activity cleft hand (36), activity cleft hand (36) pass the articulated axle with fixed cleft hand (35) are articulated, install lead wire (37) on the rotation axis of third rotating electrical machine (30), lead wire (37) pass lead plate (33) with activity cleft hand (36) fixed connection and with pulley (34) contact, activity cleft hand (36) with install resilient means between fixed cleft hand (35), a distance sensor is arranged on the claw hand table (32); the detection unit comprises a second rotary table (38), a straight rod is installed on the second rotary table (38), a rotating rod (39) is installed on the straight rod, the rotating rod (39) is hinged to the straight rod through a fifth rotating motor (40), a visual sensor (49) is installed at the top of the rotating rod (39), and the manipulator and the chassis (1) are all provided with position sensors.
2. The intelligent fruit damage prevention picking robot of claim 1, wherein: the crawler belt (2) is installed on two sides of the bottom of the chassis (1), the crawler belt (2) is connected with a chassis motor, the first base (3) is fixedly connected with the chassis (1) through a scissor type lifting frame (41), and the scissor type lifting frame (41) is fixedly connected with the first base (3) and the chassis (1) respectively.
3. The intelligent fruit damage prevention picking robot of claim 1, wherein: fruit baskets (47) are respectively installed at two ends of the chassis (1), and a sponge layer is laid inside the fruit baskets (47).
4. The intelligent fruit damage prevention picking robot of claim 1, wherein: the number of the fruit picking units is two, and the two fruit picking units are arranged on two sides of the detection unit.
5. The intelligent fruit damage prevention picking robot of claim 1, wherein: the number of the third rotating electric machines (30), the number of the lead holes (31), the number of the lead plates (33) and the number of the claws are four.
6. The intelligent fruit damage prevention picking robot of claim 5, wherein: the material of activity cleft hand (36) and fixed cleft hand (35) is silica gel, the material of lead wire (37) is alloy steel.
7. The intelligent fruit damage prevention picking robot of claim 6, wherein: the elastic device comprises a spring seat (42) and a spring (43), the spring seat (42) is fixedly installed on the lead plate (33), the spring (43) is installed on the spring seat (42), and two ends of the spring (43) are respectively connected with the movable claw (36) and the fixed claw (35).
8. The intelligent fruit damage prevention picking robot of claim 1, wherein: the straight rod is a telescopic rod and comprises a female rod (44) and a sub-rod (45), a third cylinder (46) is installed at the bottom of the inner cavity of the female rod (44), and the sub-rod (45) is inserted into the inner cavity of the female rod (44) and connected with the third cylinder (46).
9. The intelligent fruit damage prevention picking robot of claim 1, wherein: the vision sensor (49) is a camera with a position positioning function, the camera is used for identifying the fruit maturity and positioning the fruit, the processor unit comprises an image processor and a robot processor, the image processor is connected with the camera and the robot processor, and the robot processor is connected with the distance sensor and the position sensors and can plan the motion track of the manipulator.
10. The intelligent fruit damage prevention picking robot of claim 9, wherein: the robot processor is further connected with a first rotating motor (7), a second rotating motor (8), a third rotating motor (30), a fourth rotating motor (21), a fifth rotating motor (40), a first air cylinder (19), a second air cylinder (26) and a chassis motor and sends instructions according to position information.
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 CN109769479A (en) | 2019-05-21 |
| CN109769479B true 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) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110291880B (en) * | 2019-07-31 | 2021-10-22 | 安徽工程大学 | Multi-arm apple picking robot |
| CN110832991B (en) * | 2019-10-24 | 2021-07-13 | 广州大学 | Picking machine based on image recognition |
| CN110800469A (en) * | 2019-12-12 | 2020-02-18 | 李长玲 | Self-triggering apple picking and collecting all-in-one machine |
| 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 |
| CN113079824B (en) * | 2021-03-30 | 2022-02-22 | 武汉晴川学院 | Water picking equipment |
Citations (9)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9718187B2 (en) * | 2014-06-11 | 2017-08-01 | Canon Kabushiki Kaisha | Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component |
-
2019
- 2019-03-25 CN CN201910227975.0A patent/CN109769479B/en active Active
Patent Citations (9)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109769479A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109769479B (en) | Intelligent picking robot capable of preventing fruits from being damaged | |
| CN110832991B (en) | Picking machine based on image recognition | |
| CN103950033B (en) | The mechanical arm of fruit picking robot and end effector and fruit picking method | |
| CN107098145B (en) | A kind of automatic production line workpiece turning means for correcting | |
| CN106625734A (en) | Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws | |
| CN107932528B (en) | control method for intelligent storage loading and unloading equipment | |
| CN207631377U (en) | A kind of adaptive high-precision intelligent avoidance material carrier loader | |
| CN104175331A (en) | Joint type manipulator low gravity compensation system | |
| CN109110164B (en) | Continuous arm group capturing mechanism oriented to non-cooperative targets | |
| CN208438333U (en) | Logistics robot palletizer trolley | |
| CN113443161A (en) | Unmanned aerial vehicle recovery method, system, control terminal and processing terminal | |
| CN204686886U (en) | A kind of flexible adaptive manipulator control system | |
| CN203775716U (en) | Fruit picking manipulator | |
| CN106541391A (en) | All-around mobile parallel robot and cooperating method | |
| CN208560731U (en) | Grabbing device | |
| CN108145686B (en) | Flip type cylindrical material intelligent logistics trolley | |
| CN106956253B (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN111972127A (en) | Swallowing type fruit and vegetable picking robot | |
| CN107824476B (en) | A kind of carrying out flaw detection tooling of stepped gear wheel | |
| CN107511815B (en) | Parallel transplanting robot | |
| CN110302518A (en) | Automatic football server | |
| CN113661834A (en) | Fruit and vegetable picking robot device | |
| CN113808981A (en) | Anti-falling device and air transport vehicle | |
| CN111615931B (en) | Multifunctional harvesting robot for vertical plant factory | |
| CN113814996A (en) | Intelligent robot |
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 |