CN109772710B - Round fruit transmission grading collection system of double-arm apple picking grading collection robot - Google Patents
Round fruit transmission grading collection system of double-arm apple picking grading collection robot Download PDFInfo
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- CN109772710B CN109772710B CN201910226857.8A CN201910226857A CN109772710B CN 109772710 B CN109772710 B CN 109772710B CN 201910226857 A CN201910226857 A CN 201910226857A CN 109772710 B CN109772710 B CN 109772710B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 358
- 230000005540 biological transmission Effects 0.000 title claims abstract description 38
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 30
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000026058 directional locomotion Effects 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 19
- 241000220225 Malus Species 0.000 description 12
- 238000004140 cleaning Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 9
- 239000012636 effector Substances 0.000 description 8
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000012546 transfer Methods 0.000 description 7
- 238000012856 packing Methods 0.000 description 6
- 241000132456 Haplocarpha Species 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The invention discloses a round fruit transmission grading collection system of a double-arm apple picking grading collection robot, which comprises a fruit transmission channel consisting of an upper part and a lower part, wherein a round fruit automatic classifier corresponding to the fruit transmission channel is arranged between the upper part and the lower part, the round fruit automatic classifier is arranged on a supporting device, the middle of the lower part of the fruit transmission channel is arranged on a three-coordinate moving system assembly, the tail end of the fruit transmission channel extends into a fruit collection box, and the fruit collection box is correspondingly arranged below a portal frame of the three-coordinate moving system assembly. The supporting device comprises a first channel outlet connecting supporting ring, a second channel inlet connecting supporting ring, a third channel inlet connecting supporting ring, a first supporting frame, a second supporting frame and a third supporting frame, wherein the first supporting frame, the second supporting frame and the third supporting frame are used for installing an upper fruit conveying channel and a lower fruit conveying channel, and a fourth channel inlet supporting ring and a fifth channel inlet supporting ring are installed on the three-coordinate moving system assembly. The apple picking and grading collection device has the advantages of strong adaptability, flexible movement, safety, reliability, compact structure and apple picking and grading collection capability.
Description
Technical Field
The invention relates to a robot technology, in particular to a round fruit transmission grading collection system of a double-arm apple picking grading collection robot.
Background
The fruit picking is time-consuming and labor-consuming, and timely picking is needed in order to ensure the quality of the fruits. At present, fruit picking in China is mainly finished by hand, a large amount of manpower and material resources are required to be invested in picking all fruits in a short time, and the picking labor intensity is high. Fruit size is a very important item in apple appearance quality, directly influencing commodity rate and economic benefits. The round fruit transmission grading collection system of the double-arm apple picking grading collection robot has the function of fruit collection and transportation, can rapidly distinguish big fruits from common fruits, and realizes grading collection.
Chinese patent document 201410159419.1 discloses a double arm fruit picking robot and a fruit picking method. The double arm fruit picking robot includes a fruit picking mechanism and a control system. The fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left end effector, a right end effector, a moving platform and a fruit basket. The left mechanical arm and the right mechanical arm have the same structure and are respectively arranged on the left side and the right side of the mobile platform. The left mechanical arm and the right mechanical arm respectively finish the work of conveying the left end effector and the right end effector to the appointed picking point. The left end effector and the right end effector have the same structure and are respectively arranged at the front ends of the left mechanical arm and the right mechanical arm. The left end effector and the right end effector respectively finish the fruit acquisition and recovery work of fruit trees on the left side and the right side of the travelling direction of the robot. The control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot, the mechanical arm picks the fruits at different picking points, and one picking point can realize continuous and separate picking of a plurality of fruits. This patent application does not allow for automatic grading collection of the fruit.
Chinese patent application 201810949753.5 discloses an intelligent picking robot comprising: the lifting rod comprises a main body rod and a sliding rail, and the sliding rail is arranged on the main body rod; the fruit picking clamp assembly comprises a clamp body and a driving device, wherein the clamp body is in sliding connection with the sliding rail, and the driving device is used for driving the clamp body to move along the extending direction of the sliding rail; the fruit barrel comprises a barrel body, a movable plate, an elastic piece and a key block, wherein the barrel body is in sliding connection with the sliding rail, an opening of the barrel body faces the pliers body, the movable plate is arranged in the barrel body, the elastic piece is elastically connected with the movable plate and the barrel body, the key block is fixedly arranged on the movable plate, and the movable plate covers the elastic piece and the key block; the automatic locking piece comprises a rotating piece, a rotating shaft, a supporting piece, a slideway structure, a clamping block, a spring and a locking block, wherein the rotating piece is connected with the main body rod in a rotating way through the rotating shaft, one end of the rotating piece is in butt joint with the barrel body, the supporting piece is positioned in the main body rod and is connected with the main body rod, the slideway structure is connected with the supporting piece, a locking channel is formed in the rotating piece, one end of the clamping block is inserted into the locking channel, the other end of the clamping block slides into the slideway structure and is in butt joint with the slideway structure, the other end of the clamping block is elastically connected with the supporting piece, and the locking block penetrates through the barrel body and stretches into the locking channel and faces to the key block. The length of the locking block is equal to that of the locking channel, and the length of the key block is greater than or equal to that of the clamping block. The technique of this patent application does not allow automatic grading collection of the fruit.
Chinese patent application 201710857174.3 discloses an intelligent fruit picking robot based on machine vision, including control system and the running gear who is connected respectively with it, picking the manipulator, visual system, electrical power generating system, control system, electrical power generating system and running gear fixed connection, picking the manipulator and being four degrees of freedom articulated manipulator and through base and running gear fixed connection, visual system's visual sensor is fixed to be set up in the wrist top of picking the manipulator, visual system's visual control module and control system integration and with visual sensor signal connection, visual control module is used for carrying out target location discernment to visual sensor's image based on image segmentation's full convolution network image processing technique, visual control module gives control system with target location information, control system control running gear removes and/or the manipulator picks fruit. The technology of the patent application does not have a fruit conveying and grading system, and the picking and collecting are all completed by a single mechanical arm, so that the picking efficiency is low.
Chinese patent application 201811099973.X discloses a fruit picking, grading and boxing robot, comprising a frame, wherein crawler travelling wheels are installed on two sides of the frame, and a driving device for driving the crawler travelling wheels to rotate is installed in the frame; the left side plate and the right side plate are respectively arranged on the left side and the right side of the frame along the vertical direction, a horizontal transverse plate is arranged between the left side plate and the right side plate, a left cleaning mechanism and a right cleaning mechanism are arranged on the horizontal transverse plate near the front end, a left conveying belt and a right conveying belt for conveying packing box bodies are respectively arranged on the horizontal transverse plate at the outlets of the left cleaning mechanism and the right cleaning mechanism along the length direction perpendicular to the frame, and a throwing opening for placing the packing box bodies on the left conveying belt and the right conveying belt is respectively arranged on the left side plate and the right side plate; the grabbing mechanism is used for grabbing fruits from the outlet of the left cleaning mechanism to be placed in the packing box body on the left conveyor belt and grabbing fruits from the outlet of the right cleaning mechanism to be placed in the packing box body on the right conveyor belt; a left rear conveyor belt matched with the left conveyor belt and a right rear conveyor belt matched with the right conveyor belt are arranged on the horizontal transverse plate near the rear end of the horizontal transverse plate along the length direction of the frame; a left pushing mechanism for pushing the packing box body on the left conveyor belt to the left rear conveyor belt is arranged between the left cleaning mechanism and the left conveyor belt on the horizontal transverse plate, and a right pushing mechanism for pushing the packing box body on the right conveyor belt to the right rear conveyor belt is arranged between the right cleaning mechanism and the right conveyor belt; a packaging mechanism for sealing the packaging box body on the left rear conveyor belt and the packaging box body on the right rear conveyor belt is arranged between the left side plate and the right side plate; the fruit picking machine is characterized in that a picking mechanism used for picking fruits and placing the fruits into the left cleaning mechanism and the right cleaning mechanism according to the sizes of the fruits is arranged on the left side plate, and an intelligent camera used for controlling the picking mechanism and the driving device is arranged on the picking mechanism. The technology of this patent application does not have a fruit transport grading system.
The picking robots can be used for picking apples, but lack an intelligent grading collection system for apples.
Disclosure of Invention
The invention aims to overcome the defects of the prior apple picking robot technology, and provides a round fruit transmission grading collection system of a double-arm apple picking grading collection robot, which has the advantages of strong adaptability, flexible movement, safety, reliability, compact structure and apple grading collection capability.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a circular fruit transmission classification collecting system of hierarchical collection robot is picked to both arms apple, includes the fruit transmission passageway of constituteing by upper and lower two parts, is provided with the automatic classifier of circular fruit rather than corresponding between upper and lower two parts, and the automatic classifier of circular fruit is installed on strutting arrangement, and the centre of lower part fruit transmission passageway is installed on three-dimensional moving system assembly, and the end of fruit transmission passageway extends to the fruit collection incasement, and the fruit collection incasement corresponds to be set up in the portal frame below of three-dimensional moving system assembly.
The supporting device comprises a first channel outlet connecting supporting ring, a second channel inlet connecting supporting ring, a third channel inlet connecting supporting ring, a first supporting frame, a second supporting frame and a third supporting frame, which are used for installing an upper fruit conveying channel and a lower fruit conveying channel, and a fourth channel inlet supporting ring and a fifth channel inlet supporting ring which are arranged on a three-coordinate moving system assembly.
The upper fruit conveying channel is a first channel, the first channel is an inverted cone-shaped threaded pipe, the inlet end of the first channel is fixedly provided with a first support frame, the outlet end of the first channel is fixed on a first channel outlet connection support ring, and the first channel outlet connection support ring is fixed on a second support frame.
The fruit conveying channel at the lower part is divided into two independent parts, wherein one part is a third channel with an upper port corresponding to the outlet end of the first channel, the lower port of the third channel is communicated with the upper port of the fifth channel through a fifth channel inlet supporting ring, and the lower port of the fifth channel extends into a fruit collecting box; the other part comprises a second channel arranged at one side of the third channel, the lower port of the second channel is communicated with the upper port of the fourth channel through a fourth channel inlet supporting ring, and the lower port of the fourth channel extends into the other fruit collecting box.
The first channel, the second channel, the third channel, the fourth channel and the fifth channel are all formed by corrugated pipes.
The upper ports of the second channel and the third channel are respectively fixed on the second channel inlet connection supporting ring and the third channel inlet connection supporting ring correspondingly, and the second channel inlet connection supporting ring and the third channel inlet connection supporting ring are symmetrically arranged on the third supporting frame.
The length of the third channel is longer than the linear distance between the inlet of the third channel and the upper port of the fifth channel, and the support ring is connected with the inlet of the third channel; the length of the second channel is longer than the linear distance between the inlet of the second channel and the upper port of the fourth channel, and the support ring is connected with the inlet of the second channel; the length of the second channel and the length of the third channel are increased, so that the second channel and the third channel are always in a bending state, buffering and decelerating of fruits in the channels are realized, and the reachable positions of the second channel and the third channel are increased.
The automatic classifier for the round fruits comprises a base, wherein a spring supporting device mounting hole is formed in the center of the base, four driven shaft mounting holes are symmetrically formed in the periphery of the spring supporting device mounting hole, and two driving steering engine mounting holes which are symmetrically formed in the center of the spring supporting device mounting hole are formed outside the driven shaft mounting hole on the center line of the length direction of the base;
the lower part of the base is provided with a spring fixing and supporting device, the spring fixing and supporting device comprises a bottom flange plate and a vertical rod arranged on the flange plate, the flange plate is fixed on a cross beam of the third support frame, a light spring and a base gear shaft are sleeved on the vertical rod from bottom to top in sequence, and the upper end of the vertical rod penetrates through a spring supporting device mounting hole and is locked by a locking nut of the spring fixing and supporting device; the lower end of the light spring is fixed on the upper surface of the flange plate, the upper end of the light spring is fixedly connected with the lower surface of the base gear shaft, and the pretightening degree of the light spring is adjusted by adjusting the position of a lock nut of a spring fixing and supporting device; the beam of the third support frame is also provided with a round fruit automatic classifier driving motor, and an output gear which can be meshed with a gear on the base gear shaft is fixed on the output shaft of the round fruit automatic classifier driving motor through a jackscrew;
Each driven shaft mounting hole on the base passes through one driven shaft, the upper end of the driven shaft is fixedly connected with a rotating shaft positioned on the upper surface of the base, the lower part of the driven shaft passes through the base and is sequentially sleeved with a sleeve and a gear from top to bottom, and the tail end of the driven shaft is locked by a fruit classifier locking nut; each rotary shaft is fixedly connected with a semicircular ring, two semicircular rings positioned on the same side of the central line in the length direction of the base are opposite to form an approximate circular ring, gears on two driven shafts forming the approximate circular ring are meshed, the outer surfaces of the semicircular rings are made of elastic rubber, and buffering of big fruits falling on the semicircular rings is achieved;
and the flange plates of the two driving steering gears are respectively and correspondingly fixed in the two driving steering gear mounting holes of the base on the lower surface of the base, and the gear on the output gear shaft of the driving steering gears is meshed with the gear on one driven shaft forming an approximate ring, so that the opening and closing of the driving approximate ring are realized.
The three-coordinate moving system assembly comprises two groups of portal frames, each group of portal frames comprises three beams and two vertical beams which are arranged in parallel up, down and up, two ends of each three beams are respectively arranged on the two vertical beams, the three beams are jointly provided with a transverse moving system, the transverse moving system is provided with a vertical moving system, and the bottoms of the vertical beams are fixed on the longitudinal moving system; the transverse direction, the longitudinal direction and the vertical direction respectively correspond to an X axis, a Y axis and a Z axis in a three-dimensional Cartesian coordinate system.
The transverse moving system comprises X-axis direction linear guide rails arranged on the front side surfaces of the uppermost and lowermost cross beams, and each X-axis direction linear guide rail is provided with an X-axis direction moving slide block to form a linear guide rail pair;
an X-axis direction driving motor is arranged on the middle cross beam, an output shaft of the X-axis direction driving motor is connected with an X-axis direction screw rod through a coupler, two ends of the X-axis direction screw rod are respectively supported on the middle cross beam through a supporting component, and an X-axis direction nut is arranged on the X-axis direction screw rod to form a screw nut pair.
The vertical moving system comprises an inverted L-shaped supporting plate, and the back surface of the side plate of the supporting plate is fixedly connected with two X-axis direction moving sliding blocks and X-axis direction nuts respectively; the Z-axis direction driving motor is installed on the top plate of the supporting plate, an output shaft of the Z-axis direction driving motor penetrates through the top plate and is connected with the Z-axis direction screw rod through the coupler, two ends of the Z-axis direction screw rod are respectively fixed in front of the side plate of the supporting plate through the Z-axis direction supporting assembly, two sides of the Z-axis direction screw rod are symmetrically provided with Z-axis direction linear guide rails fixed on the supporting plate, each Z-axis direction linear guide rail is provided with a Z-axis direction slide block to form a linear guide rail pair, each Z-axis direction screw rod is provided with a Z-axis direction nut fixedly connected with the two Z-axis direction slide blocks, and the Z-axis direction screw rod and the Z-axis direction nut form a screw nut pair.
The fourth channel inlet support ring and the fifth channel inlet support ring are correspondingly fixed on the nut in the Z-axis direction.
The longitudinal moving system comprises Y-axis direction sliding blocks fixedly connected with the bottoms of the vertical beams, the Y-axis direction sliding blocks are arranged on the Y-axis direction linear guide rails to form a linear guide rail pair, a Y-axis direction driving motor is arranged on the outer side face of the bottom of one vertical beam of the portal frame, a rack parallel to the Y-axis direction linear guide rails is arranged on the outer side of the bottom of the vertical beam where the Y-axis direction driving motor is located, and a gear on an output gear shaft of the Y-axis direction driving motor is meshed with the rack.
All motors in the invention are controlled by a central controller.
When the robot is applied, the robot is correspondingly installed and matched with the robot autonomous moving platform and the robot body.
When the invention is adopted for operation, picked fruits are put into a fruit transmission grading collection system, and general fruits directly pass through a round fruit automatic grader through a first channel and enter a fruit collection box corresponding to the round fruit automatic grader through a third channel and a fifth channel; when larger fruits reach the circular fruit automatic classifier through the first channel, the fruits are clamped by a corresponding approximate circular ring below the first channel, under the action of fruit gravity, the light spring of the circular fruit automatic classifier is compressed, the fruit classifier base descends, the gear on the gear shaft of the fruit classifier base is meshed with the output gear of the circular fruit automatic classifier driving motor, the central controller controls the circular fruit automatic classifier driving motor to rotate, after synchronously driving the fruit classifier to rotate 180 degrees, the central controller controls the fruit classifier driving steering engine corresponding to the second channel to drive the gear of one semicircular ring of the corresponding fruit classifier to rotate, and drives the meshed gear of the other semicircular ring to synchronously rotate, so that two semicircular rings of the approximate circular ring are opened, and fruits enter the second channel and enter the other fruit collecting box through the fourth channel;
Resetting the fruit classifier; after the fruits leave the fruit classifier, the light spring resets; meanwhile, a gear on a gear shaft of a base of the fruit classifier is separated from an output gear of a driving motor of the automatic round fruit classifier; then, the fruit classifier corresponding to the second channel drives the steering engine output gear shaft to drive the corresponding fruit classifier gear to reversely rotate, and drives the fruit classifier gear meshed with the steering engine output gear shaft to reversely rotate, so that the two semicircular rings of the approximate ring are closed, and the initial state is restored; before the fruit classifier is reset, new fruits are not allowed to enter the first fruit conveying channel;
sorting and replacing the fruit collecting box; the central controller controls two Y-axis direction driving motors, two X-axis direction driving motors and two Z-axis direction driving motors in the three-coordinate moving system assembly to rotate, and the third channel and the second channel are pulled to stretch and reciprocate respectively, so that multidirectional movement of the fifth channel and the fourth channel in the two fruit collecting boxes is realized, and fruits are placed according to a set position; when any fruit collecting box is full, the picking operation is stopped, the fruit collecting box is transported to a fruit collecting box replacement point to replace the fruit collecting box, and then a new picking operation is carried out.
Compared with the prior art, the invention has the following characteristics:
(1) The fruit automatic grading and collecting device can grade fruits according to the size automatically, and the degree of automation is high. (2) The automatic grading and collecting device for fruits can automatically arrange fruits in order according to a plan, and collision in the transportation process is avoided.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the support grading system assembly of the present invention;
FIG. 3 is a schematic perspective view of the circular fruit automatic classifier of the present invention;
FIG. 4 is a schematic view showing the exploded structure of the automatic round fruit classifier according to the present invention;
FIG. 5 is a schematic diagram of the overall structure of a three-coordinate mobile system assembly according to the present invention;
FIG. 6 is a three-coordinate moving system assembly X according to the present invention 0 A schematic diagram of a directional movement system structure;
FIG. 7 shows a three-coordinate moving system assembly Z according to the present invention 0 A schematic diagram of a directional movement system structure;
the fruit conveying and grading system comprises a first supporting frame 11, a first fruit conveying and grading collecting system 12, a first fruit conveying channel 13, a three-coordinate moving system assembly 14, a supporting and grading system assembly 15, a second fruit conveying channel 16, a third fruit conveying channel 17, a fourth fruit conveying channel 18, a fruit collecting box 19 and a fifth fruit conveying channel;
21. The fruit conveying third channel inlet is connected with a supporting device (or a supporting ring), 22, a round fruit automatic classifier, 23, a fruit conveying first channel outlet is connected with the supporting device (or the supporting ring), 24, a fruit conveying grading collecting system second supporting frame, 25, a fruit conveying grading collecting system third supporting frame, 26, a fruit conveying second channel inlet is connected with the supporting device (or the supporting ring), 27, a round fruit automatic classifier drives a motor;
31. the spring-loaded support device 32, the light spring, 33, the fruit classifier base 34, the round fruit automatic classifier first rotation shaft 35, the fruit-loaded first half ring 36, the fruit-loaded second half ring 37, the round fruit automatic classifier second rotation shaft 38, the spring-loaded support device lock nut 39, the fruit classifier third rotation shaft 310, the fruit-loaded third half ring 311, the fruit-loaded fourth half ring 312, the fruit classifier fourth rotation shaft 313, the fruit classifier lock nut 314, the fruit classifier first gear, 315, the fruit classifier driving steering engine, 316, the fruit classifier first rotation shaft 317, the fruit classifier fourth rotation shaft 318, the fruit classifier second rotation shaft 319, the fruit classifier third rotation shaft 320, the fruit classifier rotation shaft mounting hole 321, the spring-loaded support device mounting hole 322, the fruit classifier driving steering engine mounting hole 323, the fruit classifier base gear shaft 324, the fruit classifier third gear, the fruit classifier second gear 325, the fruit classifier sleeve 327, the fruit classifier fourth gear.
41.Y 0 Direction movement System drive Motor, 42.Y 0 Direction movement system driving motor mounting base, 43.Z 0 Direction movement System, 44.X 0 Direction movement system 45, first cross beam of portal frame 46, second cross beam of portal frame 47, third cross beam of portal frame 48, first frame of portal frame 49, rack, 410.Y 0 Linear guide rail of directional movement system, 411.Y 0 A direction moving system slider 412. A door type second frame 413. A door type frame base;
51.X 0 linear guide rail of direction moving system, 52.X 0 Directional movement System slider, 53.X 0 Second support assembly of direction moving system screw, 54.X 0 Directional movement System nut, 55.X 0 Direction movement System screw, 56.X 0 First support assembly of direction movement system lead screw, 57.X 0 Direction movement System coupling, 58.X 0 A direction moving system driving motor;
61.Z 0 linear guide rail of direction moving system, 62.Z 0 Directional movement System slider, 63.Z 0 Directional movement system support plate, 64.Z 0 Direction movement System drive Motor, 65.Z 0 Direction movement System coupling, 66.Z 0 First support assembly of direction moving system lead screw, 67.Z 0 Direction movement System lead screw, 68.Z 0 Directional movement System nut, 69. Bellows attachment, 610.Z 0 A second support assembly for the system lead screw;
Detailed Description
The invention will be further described with reference to the drawings and examples.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
X in the present invention 0 、Y 0 、Z 0 Refers to the transverse axis direction, the longitudinal axis direction and the vertical axis direction in the three-dimensional coordinate system.
As shown in fig. 1, the round fruit transmission and grading collection system of the double-arm apple picking and grading collection robot comprises a first support frame 11 of the fruit transmission and grading collection system, a first fruit transmission channel 12, a three-coordinate moving system assembly 13, a support and grading system assembly 14, a second fruit transmission channel 15, a third fruit transmission channel 16, a fourth fruit transmission channel 17, two fruit collection boxes 18 and a fifth fruit transmission channel 19.
The first supporting frame 11 of the fruit transmission grading collection system is fixed on the forward plane of the two-arm apple picking robot body 25; the fruit conveying first channel 12 is an inverted cone-shaped threaded pipe, the fruit inlet end of the inverted cone-shaped threaded pipe is fixed on the first supporting frame 11 of the fruit conveying grading collection system, and the fruit outlet end of the inverted cone-shaped threaded pipe is fixed on the fruit conveying first channel outlet connecting supporting device 23; the fruit conveying first channel 12, the fruit conveying second channel 15, the fruit conveying third channel 16, the fruit conveying fourth channel 17 and the fruit conveying fifth channel 19 are all formed by corrugated pipes.
One end of the fruit conveying third channel 15 and one end of the fruit conveying second channel 16 are respectively fixed on the fruit conveying second channel inlet connecting supporting device 26 and the fruit conveying third channel inlet connecting supporting device 21, and the other end is respectively fixed on Z 0 The two bellows connections 69 in the direction moving system 43.
The length of the fruit transfer third channel 15 is greater than the fruit transfer third channel inlet connection support 26 to Z 0 The distance between bellows couplings 69 in directional translation system 43; the length of the fruit conveying second channel 15 is longer than that of the fruit conveying second channelThe two-channel inlet connects the support means 21 to Z 0 The distance between bellows couplings 69 in directional translation system 43; buffering, slowing down and increasing the reachable positions of the fruit transport second channel 15 and the fruit transport third channel 16 are achieved by increasing the length of the fruit transport second channel 15 and the fruit transport third channel 16.
The support and grading system assembly 14 of the present invention, shown in fig. 2, comprises a fruit transfer third channel inlet connection support 21, a round fruit automatic classifier 22, a fruit transfer first channel outlet connection support 23, a fruit transfer grading collection system second support 24, a fruit transfer grading collection system third support 25, a fruit transfer second channel inlet connection support 26, and a round fruit automatic classifier drive motor 27.
The fruit conveying first channel outlet connecting supporting device 23 is fixed on a cross beam of a second supporting frame 24 of the fruit conveying grading collecting system; the fruit conveying third channel inlet connecting supporting device 21 and the fruit conveying second channel inlet connecting supporting device 26 are respectively fixed on the inner side and the outer side of a cross beam of a third supporting frame 25 of the fruit conveying grading collection system; the round fruit automatic classifier 22 and the round fruit automatic classifier driving motor 27 are both fixed on the beam of the third supporting frame 25 of the fruit transmission classification collecting system.
The circular fruit automatic classifier 22 of the present invention, as shown in fig. 3 and 4, comprises a spring fixing and supporting device 31, a light spring 32, a fruit classifier base 33, a circular fruit automatic classifier first rotating shaft 34, a fruit carrying first semi-ring 35, a fruit carrying second semi-ring 36, a circular fruit automatic classifier second rotating shaft 37, a spring fixing and supporting device lock nut 38, a fruit classifier third rotating shaft 39, a fruit carrying third semi-ring 310, a fruit carrying fourth semi-ring 311, a fruit classifier fourth rotating shaft 312, four fruit classifier lock nuts 313, a fruit classifier first gear 314, two fruit classifier driving steering gears 315, a fruit classifier first driven shaft 316, a fruit classifier fourth semi-ring 317, a fruit classifier second driven shaft 318, a fruit classifier third driven shaft 319, four fruit classifier driven shaft mounting holes 320, a spring supporting device mounting hole 321, two fruit classifier gear shafts 322, one fruit classifier fourth gear 326, one fruit classifier fourth gear 327, one fruit classifier fourth gear 325, one fruit classifier fourth gear 324, one fruit classifier fourth gear 325.
The fruit classifier base gear shaft 323 is fixed on the fruit classifier base 33; the flange of the spring fixing and supporting device 31 is fixed on the cross beam of the third supporting frame 25 of the fruit conveying, grading and collecting system, and the upper end of the flange passes through the fruit classifier base gear shaft 323 and the fruit classifier base 33 to be connected with the locking nut 38 of the spring fixing and supporting device; the first rotary shaft 34 of the circular fruit automatic classifier, the second rotary shaft 37 of the circular fruit automatic classifier, the third rotary shaft 39 of the fruit classifier and the fourth rotary shaft 312 of the fruit classifier are fixed on the upper surface of the fruit classifier base 33 and are respectively fixedly connected with the first half bearing ring 35, the second half bearing ring 36, the third half bearing ring 310 of the fruit classifier and the fourth half bearing ring 311 of the fruit classifier; the outer surfaces of the fruit bearing first half ring 35, the fruit bearing second half ring 36, the third half ring 310 of the fruit classifier and the fourth half ring 311 of the fruit classifier are made of elastic rubber materials, so that effective buffering of fruits falling on the bearing is realized; one end of the light spring 32 is fixedly connected with the upper surface of the spring fixing and supporting device 31, the other end of the light spring 32 is fixedly connected with the lower surface of the fruit classifier base gear shaft 323, and the pretightening degree of the light spring 32 is adjusted by adjusting the position of the locking nut 38 of the spring fixing and supporting device;
The fruit classifier first driven shaft 316, the fruit classifier second driven shaft 318, the fruit classifier third driven shaft 319 and the fruit classifier fourth driven shaft 317 are completely identical in structure, the upper ends of the fruit classifier first driven shaft 316, the fruit classifier second driven shaft 37 and the fruit classifier fourth driven shaft 326 are respectively fixed on the round fruit classifier first rotating shaft 34, the round fruit classifier third rotating shaft 39 and the fruit classifier fourth rotating shaft 312, the lower ends of the fruit classifier third rotating shaft 39 and the fruit classifier fourth rotating shaft 312 respectively penetrate through four fruit classifier driven shaft mounting holes 320 and four fruit classifier sleeves 326, and then are respectively connected with a fruit classifier first gear 314, a fruit classifier second gear 325, a fruit classifier third gear 324 and a fruit classifier fourth gear 327, and the tail ends of the fruit classifier third rotating shaft 39 and the fruit classifier fourth rotating shaft 312 are locked by four fruit classifier locking nuts 313; the first gear 314 of the fruit classifier is meshed with the second gear 325 of the fruit classifier, and the third gear 324 of the fruit classifier is meshed with the fourth gear 327 of the fruit classifier; the flanges of the two fruit classifier driving steering gears 315 are respectively fixed in the two fruit classifier driving steering gear mounting holes 322 of the fruit classifier base 33, and the output gear shafts thereof are respectively meshed with the first gear 314 of the fruit classifier and the third gear 324 of the fruit classifier to respectively drive the opening and closing of the first half ring 35 of the fruit bearing and the second half ring 36 of the fruit bearing, and the third half ring 310 of the fruit classifier and the fourth half ring 311 of the fruit bearing.
As shown in FIG. 5, the three-coordinate moving system assembly 13 of the present invention includes two Y' s 0 Direction movement System drive Motor 41, two Y 0 Direction movement System drive Motor mounting Engine base 42, two Z 0 Direction movement System 43, two X 0 Direction moving system 44, two first beams 45 of door frame, two second beams 46 of door frame, two third beams 47 of door frame, one first frame 48 of door frame, two racks 49, four Y' s 0 Linear guide 410 of directional movement system, eight Y 0 The system slide 411, a door-type second frame 412, and four door-type frame bases 413 are moved in the direction.
Eight Y 0 The sliding blocks 411 of the direction moving system are equally divided into four groups and are arranged on four Y groups 0 On the linear guide 410 of the direction moving system, four linear guide pairs are formed; the first door frame 48 and the second door frame 412 are respectively provided with a first door frame beam 45, a second door frame beam 46, a third door frame beam 47 and two door frame bases 413; four portal frame bases 413 are respectively fixed to four Y' s 0 Four groups Y corresponding to the linear guide 410 of the direction moving system 0 A direction moving system slider 411; the two Y' s 0 The direction moving system driving motor mounting bases 42 are respectively arranged at the left side of the door-type first frame 48 and the door-type second frame A door frame base 413 on the right side of the frame 412; the two racks 49 and four Y' s 0 The linear guide rails 410 of the direction moving system are arranged in parallel and are respectively positioned at two Y' s 0 The direction moving system driving motor is installed at the outer side of the frame 42; the two Y' s 0 The direction moving system driving motors 41 are respectively installed at two Y' s 0 The direction moving system driving motor is installed on the base 42, and gears on the output gear shafts thereof are respectively engaged with the two racks 49.
Two X 0 The direction moving system 44 is structurally identical and is fixed on the door-type first frame 48 and the door-type second frame 412 respectively;
two Z 0 The direction moving system 43 is identically structured and respectively fixed at two X' s 0 Two X of the direction moving system 44 0 The direction moves the system slider 52.
As shown in FIG. 6, the three-coordinate moving system assembly 13X of the present invention 0 The directional movement system 44 includes two X' s 0 Linear guide rail 51 of direction moving system, two X 0 Directional movement System slider 52, an X 0 Second support assembly 53 of screw of direction moving system, X 0 Directional movement System nut 54, an X 0 Direction movement system screw 55, an X 0 First support assembly 56 for lead screw of directional movement system, an X 0 Direction movement System coupling 57, an X 0 The directional movement system drives a motor 58.
Two X 0 The linear guide rail 51 of the direction moving system is respectively and parallelly arranged on the forward planes of the first cross beam 45 of the portal frame and the third cross beam 47 of the portal frame; the two X' s 0 The direction moving system sliders 52 are respectively installed at two X' s 0 The linear guide 51 of the direction moving system is provided with a linear guide pair.
X 0 Direction movement system drive motor 58, X 0 Direction movement System lead screw first support Assembly 56 and X 0 The second support component 53 of the screw rod of the direction moving system is fixed on the second cross beam 46 of the door frame from left to right in sequence; the X is 0 The output shaft of the direction moving system driving motor 58 passes through X 0 Direction movement system coupling57 and X 0 The direction moving system screw 55 is connected; the X is 0 Two ends of the screw 55 of the direction moving system are respectively formed by X 0 Direction movement System lead screw first support Assembly 56 and X 0 The second support component 53 of the direction moving system lead screw is supported; the X is 0 The direction moving system nut 54 is mounted on the X 0 The direction moving system screw 55 is provided with a screw nut pair.
As shown in FIG. 7, the three-coordinate moving system assembly 13Z of the present invention 0 The directional movement system 44 includes two Z' s 0 Linear guide 61 of direction moving system, two Z 0 Directional movement System slider 62, one Z 0 Direction moving system support plate 63, one Z 0 The directional movement system drives motor 64, a Z 0 Direction movement System coupling 65, one Z 0 First support assembly 66 of directional movement system screw, a Z 0 Direction movement system lead screw 67, one Z 0 Direction movement System nut 68, a bellows connecting means 69, a Z 0 The direction moving system leads to the second support assembly 610.
Z 0 The direction moving system support plate 63 is of an inverted L shape, and the back of the bottom plate is fixed to two X-shaped plates 0 On the direction moving system slider 52, and with X 0 The directional movement system nut 54 is attached; the two Z' s 0 The linear guide 61 of the direction moving system is fixed in parallel to Z 0 A direction moving system support plate 63 on the bottom plate; the two Z' s 0 The direction moving system sliders 62 are respectively installed at two Z' s 0 A linear guide pair is formed on the linear guide 61 of the direction moving system; the Z is 0 The direction moving system driving motor 64 is fixed at the inverted L-shaped Z 0 On the side plate of the direction moving system support plate 63, the output shaft thereof passes through Z 0 Direction movement System coupling 65 and Z 0 The direction moving system screw 67 is connected; z is Z 0 The two ends of the screw rod 67 of the direction moving system are respectively fixed at Z 0 Direction movement System lead screw first support Assembly 66 and Z 0 A direction moving system lead screw second support assembly 610; the Z is 0 The direction movement system nut 68 is fixed to two Z 0 On the direction moving system slider 62, and with Z 0 The direction moving system screw rod 67 is connected to form a screw rod nut pair; the bellows connecting device 69 is fixed at Z 0 And a directional movement system nut 68.
All motors in the invention are controlled by a central controller.
When the robot is applied, the robot is correspondingly installed and matched with the robot autonomous moving platform and the robot body.
In use, fruits are classified, picked fruits are put into a fruit transmission classification collection system, general fruits pass through the fruit transmission first channel 12, directly pass through the round fruit automatic classifier 22, pass through the fruit transmission third channel 16, and enter a fruit collection box 18 corresponding to the fruit transmission fifth channel 19; when larger fruits reach the circular fruit automatic classifier 22 through the fruit conveying first channel 12, the fruits are clamped by a sorting mechanism formed by the fruit bearing first half ring 35 and the fruit bearing second half ring 36 or the fruit bearing third half ring 310 and the fruit bearing fourth half ring 311 (taking the fruit bearing first half ring 35 and the fruit bearing second half ring 36 as an example), under the action of the fruit gravity, the light spring 32 of the circular fruit automatic classifier 22 is compressed, the fruit classifier base 33 descends, the gear on the fruit classifier base gear shaft 323 is meshed with the output gear of the circular fruit automatic classifier driving motor 27, and after the fruit classifier 22 rotates 180 degrees, the fruit classifier driving steering engine 315 drives the fruit classifier first gear 314 to rotate to drive the fruit classifier second gear 325 to rotate, so that the fruit bearing first half ring 35 and the fruit bearing second half ring 36 are opened, the fruits enter the fruit conveying second channel 15, and enter the other fruit collecting box 18 through the fruit conveying fourth channel 17.
The fruit classifier is reset. After the fruit leaves the fruit separating machine 22, the light spring 32 is reset; meanwhile, the gear on the base gear shaft 323 of the fruit classifier is separated from the output gear of the driving motor 27 of the automatic classifier for round fruits; then, the fruit classifier driving steering gear 315 output gear shaft drives the fruit classifier first gear 314 to rotate reversely, and drives the fruit classifier second gear 325 to rotate reversely, so that the fruit bearing first half ring 35 and the fruit bearing second half ring 36 are closed. No new fruit is allowed to enter the fruit transport first channel 12 until the fruit sizer is reset.
And (5) sorting and replacing the fruit collecting box. The central controller controls two Y's in the three-coordinate moving system assembly 13 0 Direction movement System drive Motor 41, two X 0 Direction movement System drive Motor 58, two Z 0 The direction moving system drives the motor 64 to rotate, so that the two bellows connecting devices 69 respectively pull the fruit conveying third channel 15 and the fruit conveying second channel 16 to stretch and reciprocate, and the fruit conveying fifth channel 19 and the fruit conveying fourth channel 17 move in multiple directions in the two fruit collecting boxes 18, so that fruits are placed according to the set positions. As long as any one of the fruit collection boxes 18 is fully rotated, the picking operation is stopped, the fruit collection boxes 18 are transported to the replacement point of the fruit collection boxes 18, and after the fruit collection boxes 18 are replaced, a new picking operation is performed.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (7)
1. The round fruit transmission grading collection system of the double-arm apple picking grading collection robot is characterized by comprising a fruit transmission channel consisting of an upper fruit transmission channel and a lower fruit transmission channel, wherein a round fruit automatic classifier corresponding to the upper fruit transmission channel and the lower fruit transmission channel is arranged between the upper fruit transmission channel and the lower fruit transmission channel, the round fruit automatic classifier is arranged on a supporting device, the middle of the lower fruit transmission channel is arranged on a three-coordinate moving system assembly, the tail end of the fruit transmission channel extends into a fruit collection box, and the fruit collection box is correspondingly arranged below a portal frame of the three-coordinate moving system assembly;
the supporting device comprises a first channel outlet connecting supporting ring, a second channel inlet connecting supporting ring, a third channel inlet connecting supporting ring, a first supporting frame, a second supporting frame and a third supporting frame, which are used for installing upper and lower fruit conveying channels, and a fourth channel inlet supporting ring and a fifth channel inlet supporting ring which are installed on a three-coordinate moving system assembly;
The automatic classifier for the round fruits comprises a base, wherein a spring supporting device mounting hole is formed in the center of the base, four driven shaft mounting holes are symmetrically formed in the periphery of the spring supporting device mounting hole, and two driving steering engine mounting holes which are symmetrically formed in the center of the spring supporting device mounting hole are formed outside the driven shaft mounting hole on the center line of the length direction of the base;
the lower part of the base is provided with a spring fixing and supporting device, the spring fixing and supporting device comprises a bottom flange plate and a vertical rod arranged on the flange plate, the flange plate is fixed on a cross beam of the third support frame, a light spring and a base gear shaft are sleeved on the vertical rod from bottom to top in sequence, and the upper end of the vertical rod penetrates through a spring supporting device mounting hole and is locked by a locking nut of the spring fixing and supporting device; the lower end of the light spring is fixed on the upper surface of the flange plate, the upper end of the light spring is fixedly connected with the lower surface of the base gear shaft, and the pretightening degree of the light spring is adjusted by adjusting the position of a lock nut of a spring fixing and supporting device; the beam of the third support frame is also provided with a round fruit automatic classifier driving motor, and an output gear which can be meshed with a gear on the base gear shaft is fixed on the output shaft of the round fruit automatic classifier driving motor through a jackscrew;
Each driven shaft mounting hole on the base passes through one driven shaft, the upper end of the driven shaft is fixedly connected with a rotating shaft positioned on the upper surface of the base, the lower part of the driven shaft passes through the base and is sequentially sleeved with a sleeve and a gear from top to bottom, and the tail end of the driven shaft is locked by a fruit classifier locking nut; each rotating shaft is fixedly connected with a semicircular ring, two semicircular rings positioned on the same side of the central line in the length direction of the base are opposite to form an approximate circular ring, and gears on two driven shafts forming the approximate circular ring are meshed;
the flange plates of the two driving steering gears are respectively and correspondingly fixed in the two driving steering gear mounting holes of the base, and the gear on the output gear shaft of the driving steering gears is meshed with the gear on one driven shaft forming an approximate circular ring, so that the opening and the closing of the driving approximate circular ring are realized;
the three-coordinate moving system assembly comprises two groups of portal frames, each group of portal frames comprises three beams and two vertical beams which are arranged in parallel up, down and up, two ends of each three beams are respectively arranged on the two vertical beams, the three beams are jointly provided with a transverse moving system, the transverse moving system is provided with a vertical moving system, and the bottoms of the vertical beams are fixed on the longitudinal moving system; the transverse direction, the longitudinal direction and the vertical direction respectively correspond to an X axis, a Y axis and a Z axis in a three-dimensional Cartesian coordinate system.
2. The circular fruit conveying and grading collection system of the double-arm apple picking and grading collection robot according to claim 1, wherein the upper fruit conveying channel is a first channel, the first channel is an inverted cone-shaped threaded pipe, the inlet end of the first channel is fixedly provided with a first support frame, the outlet end of the first channel is fixed on a first channel outlet connecting support ring, and the first channel outlet connecting support ring is fixed on a second support frame;
the fruit conveying channel at the lower part is divided into two independent parts, wherein one part is a third channel with an upper port corresponding to the outlet end of the first channel, the lower port of the third channel is communicated with the upper port of the fifth channel through a fifth channel inlet supporting ring, and the lower port of the fifth channel extends into a fruit collecting box; the other part comprises a second channel arranged at one side of the third channel, the lower port of the second channel is communicated with the upper port of the fourth channel through a fourth channel inlet supporting ring, and the lower port of the fourth channel extends into the other fruit collecting box.
3. The round fruit conveying and grading collection system of the double-arm apple picking and grading collection robot according to claim 2, wherein the first channel, the second channel, the third channel, the fourth channel and the fifth channel are all formed by corrugated pipes;
The upper ports of the second channel and the third channel are respectively fixed on the second channel inlet connection supporting ring and the third channel inlet connection supporting ring correspondingly, and the second channel inlet connection supporting ring and the third channel inlet connection supporting ring are symmetrically arranged on the third supporting frame.
4. The round fruit transportation and stage collection system of the double-arm apple picking stage collection robot according to claim 2, wherein the length of the third channel is longer than the linear distance from the inlet connection support ring of the third channel to the upper port of the fifth channel; the length of the second channel is longer than the linear distance between the inlet of the second channel and the upper port of the fourth channel, and the support ring is connected with the inlet of the second channel; the second channel and the third channel are always in a bending state by increasing the lengths of the second channel and the third channel, so that buffering and decelerating of fruits in the channels are realized.
5. The round fruit conveying, grading and collecting system of the double-arm apple picking, grading and collecting robot according to claim 1, wherein the transverse moving system comprises X-axis direction linear guide rails arranged on the front side surfaces of the uppermost and lowermost cross beams, and each X-axis direction linear guide rail is provided with an X-axis direction moving slide block to form a linear guide rail pair;
an X-axis direction driving motor is installed on the middle cross beam, an output shaft of the X-axis direction driving motor is connected with an X-axis direction screw rod through a coupler, two ends of the X-axis direction screw rod are respectively supported on the middle cross beam through a supporting component, and an X-axis direction nut is installed on the X-axis direction screw rod to form a screw nut pair.
6. The round fruit conveying, grading and collecting system of the double-arm apple picking, grading and collecting robot according to claim 1, wherein the vertical moving system comprises an inverted L-shaped supporting plate, and the back surfaces of the side plates of the supporting plate are fixedly connected with two X-axis direction moving sliding blocks and X-axis direction nuts respectively; the Z-axis direction driving motor is arranged on the top plate of the supporting plate, an output shaft of the Z-axis direction driving motor penetrates through the top plate and is connected with a Z-axis direction screw rod through a coupler, two ends of the Z-axis direction screw rod are respectively fixed in front of the side plate of the supporting plate through a Z-axis direction supporting assembly, two sides of the Z-axis direction screw rod are symmetrically provided with Z-axis direction linear guide rails fixed on the supporting plate, each Z-axis direction linear guide rail is provided with a Z-axis direction slide block to form a linear guide rail pair, each Z-axis direction screw rod is provided with a Z-axis direction nut fixedly connected with the two Z-axis direction slide blocks, and the Z-axis direction screw rod and the Z-axis direction nut form a screw nut pair; the fourth channel inlet support ring and the fifth channel inlet support ring are correspondingly fixed on the nut in the Z-axis direction.
7. The round fruit conveying, grading and collecting system of the double-arm apple picking, grading and collecting robot according to claim 1, wherein the longitudinal moving system comprises a Y-axis direction sliding block fixedly connected with the bottoms of vertical beams, the Y-axis direction sliding block is arranged on a Y-axis direction linear guide rail to form a linear guide rail pair, a Y-axis direction driving motor is arranged on the outer side face of the bottom of one vertical beam of the portal frame, a rack parallel to the Y-axis direction linear guide rail is arranged on the outer side of the bottom of the vertical beam where the Y-axis direction driving motor is located, and a gear on an output gear shaft of the Y-axis direction driving motor is meshed with the rack.
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| CN110861111B (en) * | 2019-12-03 | 2021-02-26 | 哈尔滨工业大学 | Micro-nano robot control platform with magnetic field and electric field coupling effect |
| CN111744802B (en) * | 2020-07-07 | 2022-01-07 | 山东华宝隆轻工机械有限公司 | Fruit collecting and sorting machine |
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