CN110192472A

CN110192472A - Both arms apple-picking circle is classified collecting robot people

Info

Publication number: CN110192472A
Application number: CN201910226833.2A
Authority: CN
Inventors: 王海燕; 阮久宏; 杨福广
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2019-03-25
Filing date: 2019-03-25
Publication date: 2019-09-03
Anticipated expiration: 2039-03-25
Also published as: CN110192472B

Abstract

The invention discloses a kind of both arms apple-picking circles to be classified collecting robot people, including autonomous mobile platform, autonomous mobile platform central upper portion position is equipped with robot body, binocular vision sensor mechanism is installed at the top of robot body, the fruit transmission classification collection system being matched therewith is provided with before robot body；Battery group is additionally provided on autonomous mobile platform, battery group top is equipped with central controller, and battery group provides power for all motors, sensor and the central controller on robot body and autonomous mobile platform；Central controller is the control centre of entire robot, controls all electric elements work.The robot is adaptable, and movement is flexibly, safe and reliable, compact-sized, has apple-picking and is classified capacity gauge.

Description

Both arms apple-picking circle is classified collecting robot people

Technical field

The present invention relates to a kind of robot technology, especially a kind of both arms apple-picking circle is classified collecting robot people.

Background technique

Fruit picking is time-consuming, and effort needs to pick in due course to guarantee fruit quality.Currently, China's fruit picking is main By having been manually done, to pick all fruit in a short time must put into a large amount of manpowers, material resources, and pick large labor intensity. With the progress of robot technology and the continuous development of modern agriculture with high efficiency, robot replaces traditional agricultural machinery to be general trend of events institute Become.Fruit picking robot is one of the main means of Development of Morden agricultural production, and fruit picking robot should not only have Accurately identify the function of ripening fruits and accurate positionin, moreover it is possible to quickly cook up suitable picking path, realization is quickly independently adopted It plucks.

Chinese patent literature 201410159419.1 discloses a kind of both arms fruit picking robot and fruit picking method. Both arms fruit picking robot includes fruit picking mechanical device and control system.Fruit picking mechanical device includes left machinery Arm, right mechanical arm, left-end point actuator, right end effector, mobile platform, fruit basket.Left mechanical arm and right mechanical arm structure phase Together, it is respectively arranged in the left and right side of mobile platform.Left mechanical arm and right mechanical arm be respectively completed left-end point actuator and Right end effector is sent to specified picking point work.Left-end point actuator is identical with right end effector structures, is respectively arranged in Left mechanical arm and right mechanical arm front end.Left-end point actuator and right end effector be respectively completed on the left of robot direction of travel and Right side fruit tree fruit obtains, recovery operation.Control system completes robot navigation, the control task of walking and picking.The present invention A kind of fruit picking method of both arms fruit picking robot is also disclosed, mechanical arm divides picking point to be picked, a picking Point can be achieved multiple fruits and continuously pick respectively.The patent application technology both arms separate operaton can not achieve automatic point of fruit Grade is collected.

Chinese patent application 201810949753.5 discloses a kind of intelligent picking robot, comprising: elevating lever, the liter Drop bar includes main body bar and sliding rail, and the sliding rail is set to the main body bar；Take fruit clamp component, it is described take fruit pincers component include caliper And driving device, the caliper are slidably connected with the sliding rail, the driving device is for driving the caliper along the sliding rail Extending direction movement；Fruit bucket, the fruit bucket include staving, movable plate, elastic component and key block, the staving and the sliding rail It is slidably connected, and the opening of the staving, towards the caliper, the movable plate is set in the staving, the elastic component elasticity The movable plate and the staving are connected, the key block is fixedly arranged on the movable plate, and the movable plate covers the elasticity Part and the key block；Automatic locking part, the automatic locking part include rotating member, shaft, supporting element, slideway structure, fixture block, Spring and latch, the rotating member are rotatablely connected by the shaft and the main body bar, one end of the rotating member and institute Staving abutting is stated, the supporting element is located in the main body bar, and connect with the main body bar, the slideway structure and the branch Support member connects, and locking channel is formed on the rotating member, and the locking channel is inserted into one end of the fixture block, the fixture block The other end slides into the slideway structure, and abuts with the slideway structure, and the spring connects the other end of the fixture block With the supporting element, the latch runs through the staving, and protrudes into the locking channel, and the latch is towards the key Spoon block setting；Wherein, the length of the latch be equal to the locking channel length, the length of the key block be greater than or Equal to the length of the fixture block.The patent application technology does not have vision positioning function, and can not achieve the automatic classification of fruit It collects.

Chinese patent application 201710857174.3 discloses a kind of intelligent fruit picking robot based on machine vision, Including control system and the walking mechanism being separately connected with it, picking mechanical arm, vision system, power-supply system, control system, electricity Source system is fixedly connected with walking mechanism, and picking mechanical arm is four-degree-of-freedom articulated robot and passes through pedestal and walking mechanism It is fixedly connected, the visual sensor of vision system is fixedly installed on above the wrist of picking mechanical arm, the vision control of vision system Molding block is connect with control system integration and with visual sensor signal, and visual spatial attention module is used for the full volume based on image segmentation Product network image processing technique carries out target fixation and recognition to the image of visual sensor, and visual spatial attention module, which positions target, to be believed Breath is transmitted to control system, and control system control walking mechanism is mobile and/or manipulator wins fruit.The patent application technology vision The visual sensor of system is fixedly installed on above the wrist of picking mechanical arm, due to blocking for limb leaf, is picked up to domain It is limited；And the patent application technology does not have fruit Transmission system, is completed from picking to collecting by single manipulator, picking effect Rate is lower.

Chinese patent application 201611222939.8 discloses a kind of fruit picking robot based on machine vision, it is wrapped Vehicle frame is included, wide angle camera, gripper, the bottom of frame is equipped with battery, the near front wheel is equipped at left and right sides of the vehicle frame, left back Wheel, off hind wheel and off-front wheel, the vehicle frame are equipped with wide angle camera, and the wide angle camera is arranged right below image processing apparatus, The automatic identification that fruit is realized by machine vision cooperates to realize fruit by wide angle camera and front camera Accurate picking, solves the precision of binocular camera three-dimensionalreconstruction and the deficiency of efficiency, realizes real-time processing information, can be to fruit Product carry out rapid picking.The patent application technology solves the precision of binocular camera three-dimensionalreconstruction and the deficiency of efficiency, realizes Real time information processing, but blocking due to limb leaf, pick and are limited up to domain, and do not have fruit collection device, cannot be only It is vertical to complete picking operation.

Chinese patent application 201811099973.X discloses a kind of fruit picking classification vanning robot, including rack, The two sides of the rack are equipped with crawler belt travel wheel, and the driving dress for driving crawler belt travel wheel to rotate is equipped in the rack It sets；The left and right sides of the rack is equipped with left plate and right side plate along the vertical direction respectively, the left plate and right side plate it Between horizontal cross plate is installed, which is characterized in that left cleaning mechanism is being installed at the front end and the right side is clear on the horizontal cross plate Mechanism is managed, in the exit of the left cleaning mechanism and right cleaning mechanism along the length side perpendicular to rack on the horizontal cross plate To the left conveyer belt and right conveyer belt being separately installed with for conveying and packaging box body, it is respectively equipped on the left plate and right side plate The dispensing port of Packaging box body is placed on conveyer belt to the left and right conveyer belt；It is set up between the left plate and right side plate useful In by fruit, from the outlet of left cleaning mechanism, crawl is in place in the Packaging box body on left conveyer belt, and by fruit from the right side The outlet crawl of cleaning mechanism is in place in the intracorporal grasping mechanism of packing box on right conveyer belt；On the horizontal cross plate Length direction at its rear end along rack is equipped with the left back conveyer belt with the cooperation of left conveyer belt, with the cooperation of right conveyer belt Conveyer belt behind the right side；It is equipped between left cleaning mechanism and left conveyer belt for by the packaging on left conveyer belt on the horizontal cross plate Box body pushes to the left delivery device on left back conveyer belt, is equipped between right cleaning mechanism and right conveyer belt for by right transmission The Packaging box body taken pushes to the right delivery device behind the right side on conveyer belt；It is provided with and is used between the left plate and right side plate The package mechanism of Packaging box body capping to the Packaging box body being located on left back conveyer belt, and on conveyer belt behind the right side；Institute It states and is equipped on left plate for fruit-picking and fruit is placed by left cleaning mechanism and right descaling machine according to fruit size Picking mechanism in structure is equipped with the intelligent video camera head for controlling picking mechanism and driving device on the picking mechanism.It should Patent application technical intelligence camera is mounted on picking mechanism, due to blocking for limb leaf, is picked limited up to domain；And And the patent application technology does not have fruit Transmission system, from picking to collecting by single manipulator complete, picking efficiency compared with It is low.

Above-mentioned picking robot is used equally for apple-picking, due to using single armed separate operaton, does not fully consider limb Leaf blocks, and picks limited up to domain.It is simple to develop a kind of structure, adaptable, safe and reliable apple-picking machine People has theoretical and practical significance.

Summary of the invention

The purpose of the present invention is provide a kind of adaptability to overcome the shortcomings of above-mentioned existing apple picking robot technology By force, flexibly, safe and reliable both arms apple-picking circle is classified collecting robot people, and the robot architecture is compact for movement, movement spirit It is living, there is apple-picking and be classified capacity gauge.

To achieve the above object, the present invention adopts the following technical solutions:

A kind of both arms apple-picking circle classification collecting robot people, including autonomous mobile platform, autonomous mobile platform top Center is equipped with robot body, and binocular vision sensor mechanism, robot body are equipped at the top of robot body Front is provided with the fruit transmission classification collection system being matched therewith；It is additionally provided with battery group on autonomous mobile platform, stores Battery pack top is equipped with central controller, and battery group is all motors on robot body and autonomous mobile platform, biography Sensor and central controller provide power；Central controller is the control centre of entire robot, controls all electric elements Work；

The fruit transmission classification collection system includes by upper and lower fruit transmission channel dimerous, upper and lower two parts Between be provided with round fruit automatic classification device corresponding thereto, upper part fruit transmission channel and the transmission of lower part fruit are logical The upper end in road passes through support device and is installed on robot body leading flank, and round fruit automatic classification device is installed on support dress It sets, the centre of lower part fruit transmission channel is installed on three coordinate mobile system assemblies, and the end of fruit transmission channel is prolonged It extends in the collecting fruit case being set on autonomous mobile platform, it is flat that three coordinate mobile system assembly bottoms are installed on autonomous On platform, collecting fruit case is correspondingly arranged in below the portal frame of three coordinate mobile system assemblies；

The circle fruit automatic classification device includes pedestal, and two groups of torus, every group of torus are relatively set on pedestal It is made of two opposite semi-circular rings, and can realize two semi-circular rings by the driving steering engine of installation on the base Folding.

Central controller is industrial personal computer, single-chip microcontroller or PLC.

The binocular vision sensor mechanism includes binocular vision sensor, and binocular vision sensor passes through visual sensor Bracket is fixed on the top of robot body.

The robot body includes the base being mounted on autonomous mobile platform, and longitudinally disposed machine is fixed in base Body driving motor, straight up, and output shaft is fixedly connected the output shaft of fuselage driving motor with the lower end of fuselage, composition rotation Pair drives fuselage Z-direction in three-dimensional cartesian coordinate to rotate；Fuselage roof two sides are separately installed with a picking mechanical arm Mechanism.

Two picking mechanical arm mechanisms include the picking mechanical arm being connected with fuselage, before two picking mechanical arms End is equipped with picking paw mechanism and push and block gripper by six-dimension force sensor respectively.

The picking paw mechanism includes picking paw, by picking there are three finger base is symmetrically installed on picking paw Pick finger；Each picking finger all has two using X axis direction in three-dimensional cartesian coordinate as the active of rotary shaft freedom Degree is picking the first revolute pair of finger and picking the second revolute pair of finger respectively；

Picking finger specific structure includes picking finger base, picks and is fixed with picking finger first connecting rod in finger base Driving motor, the connected picking finger first that constitutes of first connecting rod driving motor output shaft and picking finger first connecting rod lower end rotate Pair, picking finger first connecting rod upper end are fixed with picking finger second connecting rod driving motor, second connecting rod driving motor output shaft It is connected with picking finger second connecting rod lower end and constitutes picking the second revolute pair of finger；Pick finger first connecting rod and picking finger the It is respectively corresponded on the medial surface of two connecting rods and is fixed with picking the first touch sensor of finger and picking the second touch sensor of finger.

The picking mechanical arm includes one using three Cartesian coordinates Z-direction as the picking mechanical arm of rotary shaft One revolute pair, two using three-dimensional cartesian coordinate Y direction as the active freedom degree of rotary shaft, be picking mechanical arm second respectively The 4th revolute pair of revolute pair and picking mechanical arm, one using X-direction in three-dimensional cartesian coordinate as the picking mechanical of rotary shaft Arm third revolute pair.

The specific structure of the picking mechanical arm includes that the picking mechanical arm first for being fixed on fuselage side drives electricity Machine, output shaft and picking mechanical arm the second driving motor pedestal, which are connected, constitutes the first revolute pair of picking mechanical arm；

The second driving motor of picking mechanical arm is fixed on picking mechanical arm the second driving motor pedestal, picking mechanical arm The output shaft and picking mechanical arm first connecting rod connector of two driving motors, which are connected, constitutes the second revolute pair of picking mechanical arm；

The both ends of picking mechanical arm first connecting rod respectively with picking mechanical arm first connecting rod connector and picking mechanical arm third Driving motor pedestal is connected；

Picking mechanical arm third driving motor is fixed on picking mechanical arm third driving motor pedestal, picking mechanical arm The output shaft and picking mechanical arm second connecting rod connector of three driving motors, which are connected, constitutes picking mechanical arm third revolute pair；

The both ends of picking mechanical arm second connecting rod respectively with picking mechanical arm second connecting rod connector and picking mechanical arm the 4th Driving motor pedestal is connected；

The 4th driving motor of picking mechanical arm be fixed on picking mechanical arm the 4th drive motor base on, output shaft with adopt Pluck connected composition the 4th revolute pair of picking mechanical arm of mechanical arm third connecting rod connector；

One end of picking mechanical arm third connecting rod and picking mechanical arm third connecting rod connector are connected, and the other end passes through six-dimensional force Sensor is connected with picking paw or push and block gripper.

The built-in rotary encoder of first, second, third and fourth driving motor of picking mechanical arm.

The picking mechanical arm second, four drives motor base and picking mechanical arm first, third connecting rod connector L-shaped Two components of structure, the connection of L-type structure both ends are connected on the horizontal component and vertical portion of L-type structure.

The picking mechanical arm third driving motor pedestal and picking mechanical arm second connecting rod connector are cylindrical structure.

The support device includes first passage outlet connection support ring, second channel entrance connects support ring, third is led to Road entrance connection support ring, the first support frame, the second support frame and the third support frame being installed on robot body leading flank, And it is installed on fourth lane entrance support ring and Five-channel entrance support ring on three coordinate mobile system assemblies.

The upper part fruit transmission channel is first passage, and first passage is back taper screwed pipe, and arrival end passes through First support frame is fixed on robot body leading flank, and outlet end is fixed in first passage outlet connection support ring, and first Channel outlet connection support ring is fixed on robot body leading flank by the second support frame.

The lower part fruit transmission channel is independent two parts, and a portion is that upper port and first passage export Corresponding third channel is held, third channel lower port is connected by Five-channel entrance support ring with Five-channel upper port Logical, Five-channel lower port stretches in a collecting fruit case；Another part includes be set to third channel side second Channel, second channel lower port are connected by fourth lane entrance support ring with fourth lane upper port, fourth lane lower end Mouth stretches in another collecting fruit case.

The first passage, second channel, third channel, fourth lane and Five-channel are made of bellows.

Second, third described channel upper port, which respectively corresponds, to be fixed in second, third feeder connection connection support ring, the Two, third channel entrance connection support ring is symmetrically arranged on third support frame, before third support frame is fixed on robot body On side.

The length of the third channel is greater than third channel entrance and connects support ring to straight between Five-channel upper port Linear distance；The length of the second channel is greater than second channel entrance and connects support ring to the straight line between fourth lane upper port Distance；By increasing the length in second, third channel, so that second, third channel is in bending state always, realize fruit in channel Real buffering slows down, increases the reachable position in second, third channel.

The base central has a spring supporting device mounting hole, and the surrounding of spring supporting device mounting hole symmetrically has four A driven shaft mounting hole, the outside of driven shaft mounting hole in base length direction center line, there are two with spring supporting device The centrosymmetric driving steering engine mounting hole of mounting hole；

The lower part of pedestal is provided with a spring fixed support device, spring fixed support device include bottom flange dish and The vertical bar being set on ring flange, ring flange are fixed on the crossbeam of third support frame, are successively cased with from the bottom to top on vertical bar light Spring and pedestal gear shaft, vertical bar upper end are locked across spring supporting device mounting hole spring fixed support device locking nut； Light lower spring end is fixed on ring flange upper surface, and upper end is fixedly connected with the lower surface of pedestal gear shaft, by adjusting spring The adjustment for flicking the preload of spring is realized in the position of fixed support device locking nut；It is also set up on the crossbeam of third support frame There is round fruit automatic classification device driving motor, is fixed on the output shaft of round fruit automatic classification device driving motor by jackscrew There is the output gear that can be meshed with the gear on pedestal gear shaft；

Across a driven shaft, the upper end of driven shaft and on pedestal upper surface in each driven shaft mounting hole on pedestal Rotary shaft be fixedly connected, lower part is from top to bottom successively set with sleeve and gear after passing through pedestal thereon, and end is by fruit point Grade device locking nut locking；It is fixedly connected with a semicircular ring in each rotary shaft, it is same to be located at base length direction center line The semicircular ring of side two is opposite to form an approximate annulus, and the gear formed on two driven shafts of approximate annulus is meshed, semicircle The outer surface of ring is elastomeric material, realizes the buffering to the big fruit fallen on semi-ring；

On pedestal lower surface, the ring flange of two driving steering engines respectively corresponds the two driving steering engines peace for being fixed on pedestal It fills in hole, the gear on one of driven shaft of the annulus approximate with composition of the gear on the output gear shaft of steering engine is driven mutually to nibble It closes, realizes the opening and closing for driving approximate annulus.

The three coordinates mobile system assembly includes two groups of portal frames, and each group of portal frame includes that upper, middle and lower is parallel Three crossbeams and two vertical beams being arranged, three crossbeam both ends are respectively arranged on two vertical beams, are arranged jointly on three crossbeams There is transverse movement system, vertically movable system is installed in transverse movement system, the bottom of vertical beam is fixed on vertical moving system On, vertical moving system is fixed on robot autonomous mobile platform；Laterally, longitudinal and it is vertical respectively with three-dimensional cartesian coordinate X-axis, Y-axis and Z axis are corresponding in system.

The transverse movement system includes being mounted on topmost to lead with the X-direction straight line on bottom crossbeam leading flank Rail is mounted on the mobile sliding block of an X-direction in every X-direction linear guide and constitutes line slideway auxiliary；

X-direction driving motor is installed on intermediate transverse girder, X-direction driving motor output shaft passes through shaft coupling and X Axis direction lead screw is connected, and X-direction lead screw both ends pass through support component respectively and are supported on intermediate transverse girder, on X-direction lead screw X-direction nut is installed and constitutes screw pair.

The vertically movable system include an inverted L shape support plate, the support plate side plate back side respectively with two X-axis sides It is fixedly connected to mobile sliding block with X-direction nut；Z-direction driving motor, Z axis side are installed on the top plate of the support plate It passes through top plate to the output shaft of driving motor to be connected by shaft coupling with Z-direction lead screw, the both ends of Z-direction lead screw lead to respectively It crosses Z-direction support component to be fixed on before support plate side plate, Z-direction lead screw two sides, which are symmetrically arranged with, is fixed on the support Z-direction linear guide on plate is mounted on a Z-direction sliding block in every Z-direction linear guide and constitutes straight line and leads Rail pair is equipped on Z-direction lead screw and is fixedly connected with Z-direction nut, Z-direction lead screw and Z with two Z-direction sliding blocks Axis direction nut constitutes screw pair.

The fourth lane entrance support ring and Five-channel entrance support ring correspondence are fixed on Z-direction nut.

The vertical moving system includes the Y direction sliding block being fixedly connected with vertical beam bottom, and Y direction sliding block is installed on Line slideway auxiliary is constituted in Y direction linear guide, and Y-axis side is installed on a wherein vertical beam bottom outside face for portal frame To driving motor, vertical beam bottom outside where Y direction driving motor is equipped with a tooth parallel with Y direction linear guide Item, the gear on the output gear shaft of Y direction driving motor are engaged with the rack gear；Y direction linear guide and rack gear are equal It is fixed on robot autonomous mobile platform.

The robot autonomous mobile platform includes plate-shaped carrier, and plate-shaped carrier lower front part and rear end, which are separately installed with, to be turned To system and drive system；Battery group support platform, battery are installed with plate-shaped carrier top corresponding to steering system Battery group is installed in group support platform, battery group top is provided with thermal insulation board, is fixed with central controller on thermal insulation board； Collecting fruit case postive stop baffle is installed on plate-shaped carrier corresponding with drive system upper surface.

The steering system includes being mounted on the deflecting roller turned on support frame, and steering support frame upper end, which is fixedly installed with, to be turned It is from top to bottom sequentially installed with steering bearing to axis, in steering shaft and turns to driven gear, steering bearing passes through steering bearing seat Ring flange be installed on plate-shaped carrier lower surface, turn to driven gear and the output of steering motor that is installed on plate-shaped carrier Gear engagement on gear shaft；The steering motor is equipped with rotary encoder.

The drive system includes the driving wheel for being mounted on gear shaft both ends, in gear shaft there are two installations Bearing is driven, driving bearing is installed in driving bearing block, driving bearing block and the bearing being fixed on plate-shaped carrier lower surface Seat top cover is fixedly connected；The output gear of gear and the driving motor for being installed on plate-shaped carrier lower surface in the middle part of gear shaft Gear engagement on axis；Velocity sensor is installed on driving wheel.

A kind of both arms picking grading robot picking graded operation mode, comprising the following steps:

1) automatic steady is run；The information of road surface that central controller is fed back according to binocular vision sensor controls robot The movement of autonomous mobile platform adjusts robot autonomous mobile platform according to the feedback information of velocity sensor and rotary encoder The revolving speed of driving motor and steering motor angular displacement control the speed of service and steering angle of robot autonomous mobile platform, realize Robot even running；

2) operation is picked；When reaching specified picking destination, the picking mechanical in both arms picking robot ontology and left side Arm and picking paw and the cooperation of the picking mechanical arm and push and block gripper on right side complete fruit and grab task, and central controller is according to double The location information for visually feeling the ripening fruits of sensor feedback, plans the motion path of two mechanical arms, after reaching target position, According to the first touch sensor of picking finger of three picking paw fingers and picking the second touch sensor of finger and picking hands The feedback information of pawl and the six-dimension force sensor of picking mechanical arm end junction, control picking finger second connecting rod driving motor With the output torque of picking finger first connecting rod driving motor, picking paw is made to generate suitable grasp force；According to push and block gripper With the feedback information of the six-dimension force sensor of picking mechanical arm end junction, the picking mechanical arm being connected with push and block gripper is adjusted The output torque in each joint generates suitable push and block power；To imitate the picking task that fruit is completed in the picking movement of the mankind；

3) fruit classification；Fruit after picking is put into fruit transmission classification and collects system by picking mechanical arm and picking paw System, general fruit via first passage, directly through round fruit automatic classification device via third channel, Five-channel enter with In its corresponding collecting fruit case；When biggish fruit reaches round fruit automatic classification device via first passage, quilt Corresponding approximation annulus blocks below first passage, and under fruit gravity, round fruit automatic classification device flicks spring quilt Compression, fruit measure pedestal decline, and the gear and round fruit automatic classification device on fruit measure pedestal gear shaft drive The output gear of motor engages, the rotation of central controller controls circle fruit automatic classification device driving motor, synchronous drive fruit After clasfficiator rotates 180 degree, central controller controls fruit measure corresponding with second channel drives steering engine output gear The gear rotation of one semicircular ring of the corresponding fruit measure of axis driving, drives the gear for another semicircular ring being meshed Synchronous rotary, so that two semicircular rings of the approximation annulus be made to open, fruit enters second channel, enters via fourth lane another One collecting fruit case；

4) fruit measure resets；After fruit leaves fruit measure, light spring reset；Fruit measure pedestal simultaneously Gear on gear shaft is separated with the output gear of round fruit automatic classification device driving motor；Then, opposite with second channel The fruit measure driving steering engine output gear shaft answered drives corresponding fruit measure gear to reversely rotate, and drives and its phase It engages fruit measure gear to reversely rotate, so that two semicircular rings of the approximation annulus be made to be closed, restore to original state；? Before fruit measure resets, new fruit is not allowed to enter fruit transmission first passage；

5) collecting fruit case is arranged and is replaced；Fed back values of the central controller according to each built-in rotary encoder, control Two Y direction driving motors in three coordinate mobile system assemblies, two X-direction driving motors, two Z-direction driving electricity The rotation of machine pulls third channel and the flexible reciprocating motion of second channel respectively, realizes Five-channel and fourth lane at two Multi-faceted movement in collecting fruit case, so that fruit be put according to commitment positions；As long as any one collecting fruit case is received After being filled with, picking operation stops, and both arms apple-picking is classified collection machine by the robot autonomous mobile platform of central controller controls Device people is transported to collecting fruit case replacement point, and the postive stop baffle of corresponding collecting fruit case is extracted out, after replacing collecting fruit case, The postive stop baffle of collecting fruit case is inserted into again, carries out new picking operation.

The present invention has the following characteristics that compared with prior art

(1) class of both arms coordinating operation manually picks mode, and picking efficiency is high；

(2) push and block mechanical arm operation, it is possible to prevente effectively from limb leaf blocks visual sensor；

(3) fruit automatic classification collection device can be automatically by fruit according to size fractionation, high degree of automation.

Detailed description of the invention

Fig. 1 is a kind of both arms apple-picking classification collecting robot people overall structure diagram of the invention；

Fig. 2 is both arms apple picking robot body construction schematic diagram in the present invention；

Fig. 3 is picking paw structural schematic diagram in the present invention；

Fig. 4 is picking mechanical arm configuration schematic diagram in the present invention；

Fig. 5 is fruit transmission classification collection system structural schematic diagram in the present invention；

Fig. 6 is support hierarchy system assembly structure schematic diagram in the present invention；

Fig. 7 a is round fruit automatic classification device schematic perspective view in the present invention；

Fig. 7 b is round fruit automatic classification device decomposition texture schematic diagram in the present invention；

Fig. 8 is three coordinate mobile system assembly overall structure diagram in the present invention；

Fig. 9 is three coordinate mobile system assembly X in the present invention₀Direction mobile system structural schematic diagram；

Figure 10 is three coordinate mobile system assembly Z in the present invention₀Direction mobile system structural schematic diagram；

Figure 11 a is robot autonomous mobile platform schematic perspective view in the present invention；

Figure 11 b is robot autonomous mobile platform decomposition texture schematic diagram in the present invention；

Wherein, 11. both arms apple picking robot ontology, 12. battery groups, 13. thermal insulation boards, 14. central controllers, 15. visual sensor bracket, 16. binocular vision sensors, 17. fruits transmission classification collection system, 18. robot autonomous movements Platform；

21. picking paw finger, 22. picking paws, 23. two six-dimension force sensors, 24. picking mechanical arms, 25. both arms Apple picking robot fuselage, 26. the first driving motors of picking robot (i.e. fuselage driving motor), 27. both arms apple-pickings Robot base, 28. push and block grippers；

31. finger base is picked, 32. picking finger first connecting rods, 33. picking the first touch sensors of finger, 34. pickings Finger second connecting rod driving motor, 35. picking finger second connecting rods, 36. picking the second touch sensors of finger, 37. picking hands Refer to the second revolute pair, 38. picking the first revolute pairs of finger, 39. picking finger first connecting rod driving motors；

41. the first driving motor of picking mechanical arm, 42. picking mechanical arm the second driving motor pedestals, 43. picking mechanical arms Second driving motor, 44. picking mechanical arm first connecting rod connectors, 45. picking mechanical arm first connecting rods, 46. picking mechanical arms Three driving motor pedestals, 47. picking mechanical arm third driving motors, 48. picking mechanical arm second connecting rod connectors, 49. picking machines Tool arm second connecting rod, 410. picking mechanical arms the 4th driving motor base, the 4th driving motor of 411. picking mechanical arm, 412. Picking mechanical arm third connecting rod connector, 413. picking mechanical arm third connecting rods, the 4th revolute pair of 414. picking mechanical arm, 415. Picking mechanical arm third revolute pair, 416. the second revolute pairs of picking mechanical arm, 417. the first revolute pairs of picking mechanical arm；

51. fruit transmission classification the first support frame of collection system, 52. fruits transmit first passage, the mobile system of 53. 3 coordinates System assembly, 54. support hierarchy system assemblies, 55. fruits transmit second channel, and 56. fruits transmit third channel, and 57. fruits pass Defeated fourth lane, 58. collecting fruit casees, 59. fruits transmit Five-channel；

61. fruit transmits third channel entrance and connects support device (or support ring), 62. round fruit automatic classification devices, 63. fruit transmits first passage outlet connection support device (or support ring), the transmission of 64. fruits is classified collection system second Support, 65. fruits transmission classification collection system third support frame, 66. fruits transmit second channel entrance and connect support device (or support ring), 67. round fruit automatic classification device driving motors；

71. spring fixed support device, 72. flick spring, 73. fruit measure pedestals, 74. round fruit automatic classification devices First rotary shaft, 75. fruits carry the first semi-ring, and 76. fruits carry the second semi-ring, 77. round fruit automatic classification devices second Rotary shaft, 78. spring fixed support device locking nuts, 79. fruit measure third rotary shafts, 710. fruits carry third half Ring, 711. fruits the 4th semi-ring of carrying, the 4th rotary shaft of 712. fruit measure, 713. fruit measure locking nuts, 714. Fruit measure first gear, 715. fruit measures drive steering engine, 716. fruit measure first driven shafts, 717. fruits point Grade the 4th driven shaft of device, 718. fruit measure second driven shafts, 719. fruit measure third driven shafts, 720. fruit classifications The driven shaft mounting hole of device, 721. spring supporting device mounting holes, 722. fruit measures drive steering engine mounting hole, 723. fruits Clasfficiator pedestal gear shaft, 724. fruit measure third gears, 725. fruit measure second gears, 726. fruit measures Sleeve, the 4th gear of 727. fruit measure；

81.Y₀Direction mobile system driving motor, 82.Y₀Direction mobile system driving motor installs base, 83.Z₀Direction Mobile system, 84.X₀Direction mobile system, 85. portal frame first crossbeams, 86. portal frame second cross beams, 87. gate-type frames Frame third crossbeam, 88. the first frames of gate-type, 89. rack gears, 810.Y₀Direction mobile system linear guide, 811.Y₀The mobile system in direction System sliding block, 812. the second frames of gate-type, 813. portal frame pedestals；

91.X₀Direction mobile system linear guide, 92.X₀Direction mobile system sliding block, 93.X₀Direction mobile system lead screw Second support component, 94.X₀Direction mobile system nut, 95.X₀Direction mobile system lead screw, 96.X₀Direction mobile system lead screw First support component, 97.X₀Direction mobile system shaft coupling, 98.X₀Direction mobile system driving motor；

101.Z₀Direction mobile system linear guide, 102.Z₀Direction mobile system sliding block, 103.Z₀Direction mobile system branch Fagging, 104.Z₀Direction mobile system driving motor, 105.Z₀Direction mobile system shaft coupling, 106.Z₀Direction mobile system silk The first support component of thick stick, 107.Z₀Direction mobile system lead screw, 108.Z₀Direction mobile system nut, 109. bellowss connection dress It sets, 1010.Z₀Direction the second support component of mobile system lead screw；

111. robot autonomous mobile platform steering system, 112. battery group support platforms, 113. robot autonomous shiftings Moving platform bracket, 114. collecting fruit case X₀Direction postive stop baffle, 115. collecting fruit case Y₀Direction postive stop baffle, 116. machines People's autonomous mobile platform drive system, 117. robot autonomous mobile platform steering system wheels, 118. deflecting roller axles, 119. deflecting roller hub bearing, 1110. steering system support frames, 1111. steering driven gears, 1112. steering bearing seats, 1113. first bearings, 1114. robot autonomous mobile platform steering system mounting holes, 1115. turn to driving motor mounting hole, 1116. steering shafts, 1117. bearing block top covers, 1118. collecting fruit case Y₀Direction postive stop baffle mounting groove, 1119. driving wheels Hub bearing, 1120. bearing blocks, 1121. second bearings, 1122. robot autonomous mobile platform gear shafts, 1123 speed pass Sensor, 1124. robot autonomous mobile platform drive system wheels, 1125. steering driving motors, 1126. rotary encoders, 1127. robot autonomous mobile platform driving motors.

Specific embodiment

Present invention will be further explained below with reference to the attached drawings and examples.

This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification revealed interior Hold, so that those skilled in the art understands and reads, is not intended to limit the invention enforceable qualifications, therefore does not have skill Essential meaning in art, the modification of any structure, the change of proportionate relationship or the adjustment of size can be produced not influencing the present invention Under raw effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover. Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be merely convenient to Narration is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, without substantive change Under technology contents, when being also considered as the enforceable scope of the present invention.

X in the present invention₀、Y₀、Z₀Refer to X direction in three-dimensional system of coordinate, y direction and plotted.

As shown in Figure 1, a kind of both arms apple-picking circle of the invention is classified collecting robot people, including a both arms apple Picking robot ontology 11, a battery group 12, a thermal insulation board 13, a central controller 14, a visual sensor Bracket 15, a binocular vision sensor 16, a fruit transmission classification collection system 17, a robot autonomous mobile platform 18。

Both arms apple picking robot ontology 11 is set to the center of robot autonomous mobile platform 18；Battery group It is fixed in the battery group support platform 112 of robot autonomous mobile platform 18；Thermal insulation board is fixed on the upper of battery group 12 Side；Central controller 14 is fixed on the top of thermal insulation board；Visual sensor bracket 15 is fixed on both arms apple picking robot sheet 23 top of both arms apple picking robot fuselage of body 11；Binocular vision sensor 16 is mounted on visual sensor bracket 15.

Battery group 12 is that both arms apple-picking is classified all motors of collecting robot people, sensor, and controller provides power； The central controller 14 is the control centre of entire robot.

As shown in Fig. 2, both arms apple picking robot ontology 11 of the invention, including three picking fingers 21, one is adopted Pluck gripper 22, two six-dimension force sensors 23, two picking mechanical arms 24, a both arms apple picking robot fuselage 25, one A the first driving motor of picking robot 26, a both arms apple picking robot base 27, a push and block gripper 28.Described three The picking finger base 31 of a picking finger 21 is symmetrically mounted on picking paw 22, and picking paw 22 and push and block gripper 28 are distinguished It is fixed on the end of two picking mechanical arms 24, junction is respectively mounted six-dimension force sensor 23；Two picking mechanical arms 24 are distinguished It is fixed on the two sides of both arms apple picking robot fuselage 25；The first driving motor of picking robot 26 is mounted on both arms apple and adopts It plucks in robot base 27, the lower end of output shaft and both arms apple picking robot fuselage 25 is connected, and constitutes revolute pair, driving Both arms apple picking robot fuselage 25 is around Z₀The rotation in direction.

Picking the tool of finger 21, there are two with X₀Direction is the active freedom degree of rotary shaft, is that picking finger first rotates respectively Pair 39 and picking the second revolute pair of finger 37.Its structure is as shown in figure 3, include a picking finger base 31, a picking hands Finger first connecting rod 32, first touch sensor of picking finger 33, a picking finger second connecting rod driving motor 34, one Pick finger second connecting rod 35, second touch sensor of picking finger 36, a picking finger first connecting rod driving motor 38.The picking finger first connecting rod driving motor 38 is fixed in picking finger base 31, output shaft and picking finger the One connecting rod 32, which is connected, constitutes picking the first revolute pair of finger 39；The picking finger second connecting rod driving motor 34 is fixed on picking On finger first connecting rod 32, output shaft and picking finger second connecting rod 35 are connected and constitute picking the second revolute pair of finger 37；Institute It states picking the first touch sensor of finger 33 to be fixed on picking finger first connecting rod 32, picks the second touch sensor of finger 36 It is fixed on picking finger second connecting rod 35.

Picking mechanical arm 22 is with one with Z₀Direction is the first revolute pair of picking mechanical arm 417 of rotary shaft, and two with Y₀ Direction is the active freedom degree of rotary shaft, is the 4th revolute pair of the second revolute pair of picking mechanical arm 416 and picking mechanical arm respectively 414, one with X₀Direction is the picking mechanical arm third revolute pair 415 of rotary shaft.Its structure is adopted as shown in figure 4, including one The first driving motor of mechanical arm 41, the second driving motor of picking mechanical arm pedestal 42 are plucked, a picking mechanical arm second drives Dynamic motor 43, a picking mechanical arm first connecting rod connector 44, a picking mechanical arm first connecting rod 45, a picking mechanical arm Third driving motor pedestal 46, a picking mechanical arm third driving motor 47, a picking mechanical arm second connecting rod connector 48, One picking mechanical arm second connecting rod 49, a picking mechanical arm the 4th drive motor base 410, a picking mechanical arm the 4th Driving motor 411, a picking mechanical arm third connecting rod connector 412, a picking mechanical arm third connecting rod 413.The picking The first driving motor of mechanical arm 41, the second driving motor of picking mechanical arm 43, picking mechanical arm third driving motor 47 and picking The built-in rotary encoder of the 4th driving motor 411 of mechanical arm；First driving motor of picking mechanical arm 41 is fixed on both arms The side of apple picking robot fuselage 25, output shaft and the second driving motor of picking mechanical arm pedestal 42, which are connected, constitutes picking The first revolute pair of mechanical arm 417；Second driving motor of picking mechanical arm 43 is fixed on the second driving motor of picking mechanical arm On pedestal 42, output shaft and picking mechanical arm first connecting rod connector 44 are connected and constitute the second revolute pair of picking mechanical arm 416；Institute It is driven respectively with picking mechanical arm first connecting rod connector 44 and picking mechanical arm third at the both ends for stating picking mechanical arm first connecting rod 45 Dynamic motor base 46 is connected；The picking mechanical arm third driving motor 47 is fixed on picking mechanical arm third driving motor pedestal On 46, output shaft and picking mechanical arm second connecting rod connector 48 are connected and constitute picking mechanical arm third revolute pair 415；Picking machine The both ends of tool arm second connecting rod 49 drive motor bottom with picking mechanical arm second connecting rod connector 48 and picking mechanical arm the 4th respectively Seat 410 is connected；The 4th driving motor 411 of picking mechanical arm is fixed on picking mechanical arm the 4th and drives on motor base 410, Its output shaft and picking mechanical arm third connecting rod connector 412, which are connected, constitutes the 4th revolute pair 414 of picking mechanical arm；The picking machine One end of tool arm third connecting rod 413 and picking mechanical arm third connecting rod connector 412 are connected, and the other end passes through six-dimension force sensor 23 It is connected with picking paw 22 or push and block gripper 28.

As shown in figure 5, fruit transmission classification collection system 17 of the invention, including a fruit transmission classification collection system First support frame 51, a fruit transmit first passage 52, a three coordinate mobile system assemblies 53, a support hierarchy system Assembly 54, a fruit transmit second channel 55, and a fruit transmits third channel 56, and a fruit transmits fourth lane 57, Two collecting fruit casees 58, a fruit transmit Five-channel 59.Fruit transmission classification first support frame of collection system 51 It is fixed on the forward plane of both arms apple picking robot fuselage 25；The fruit transmission first passage 52 is back taper screw thread Pipe, fruit arrival end are fixed on fruit transmission classification the first support frame of collection system 51, and fruit outlet end is fixed on fruit It transmits in first passage outlet connection support device 63；The fruit transmits first passage 52, and fruit transmits second channel 55, Fruit transmits third channel 56, and fruit transmission fourth lane 57 and fruit transmission Five-channel 59 are made of bellows.It is described The length that fruit transmits third channel 55 is greater than fruit transmission third channel entrance connection support device 66 and arrives Z₀The mobile system in direction It unites the distance between 83 corrugated tube connecting devices 109；The length of fruit transmission second channel 55 is greater than fruit transmission the Two feeder connections connect support device 61 and arrive Z₀The distance between 83 corrugated tube connecting device 109 of direction mobile system；Pass through The buffering for increasing fruit in the length realization channel of fruit transmission second channel 55 and fruit transmission third channel 56, slows down, increases Add the reachable position of fruit transmission second channel 55 and fruit transmission third channel 56.

Shown in Fig. 6, support hierarchy system assembly 54 of the invention, including a fruit transmission third channel entrance connection branch Support arrangement 61, a round fruit automatic classification device 62, a fruit transmission first passage outlet connection support device 63, one Fruit transmission classification the second support frame of collection system 64, a fruit transmission classification collection system third support frame 65, a fruit Real transmission second channel entrance connects support device 66, a round fruit automatic classification device driving motor 67.

It is logical that one end of fruit transmission third channel 55 and fruit transmission second channel 56 is separately fixed at fruit transmission second Road entrance connects support device 66 and connects in support device 61 with fruit transmission third channel entrance, and the other end is separately fixed at Z₀ In direction mobile system 83 on two corrugated pipe connecting devices 109.

Fruit transmission first passage outlet connection support device 63 is fixed on fruit transmission classification collection system second and supports On the crossbeam of frame 64；The fruit transmission third channel entrance connection support device 61 and fruit transmission second channel entrance connect Support device 66 is connect to be separately fixed inside and outside fruit transmission classification 65 crossbeam of collection system third support frame；The circle Fruit automatic classification device 62 and round fruit automatic classification device driving motor 67 are each attached to fruit transmission classification collection system the On three support frames, 65 crossbeam；Fruit transmission classification the second support frame of collection system 64 and fruit transmission classification collection system the Three support frames 65 are each attached in the forward plane of both arms apple picking robot fuselage 25.

Round fruit automatic classification device 62 of the invention as illustrated in figs. 7 a and 7b, an including spring fixed support device 71, one is flicked spring 72, a fruit measure pedestal 73, first rotary shaft of round fruit automatic classification device 74, and one Fruit the first semi-ring 75 of carrying, fruit second semi-ring 76 of carrying, second rotary shaft of round fruit automatic classification device 77, One spring fixed support device locking nut 78, a fruit measure third rotary shaft 79, a fruit carrying third half Ring 710, a fruit carry the 4th semi-ring 711, the 4th rotary shaft 712 of fruit measure, four fruit measure lockings Nut 713, a fruit measure first gear 714, two fruit measures drive steering engines 715, fruit measure the One driven shaft 716, the 4th driven shaft 717 of fruit measure, a fruit measure second driven shaft 718, a fruit Clasfficiator third driven shaft 719, the driven shaft mounting hole 720 of four fruit measures, a spring supporting device mounting hole 721, Two fruit measures drive steering engine mounting holes 722, a fruit measure pedestal gear shaft 723, fruit measure the Three gears 724, a fruit measure second gear 725, four fruit measure sleeves 726, a fruit measure the 4th Gear 727.

The fruit measure pedestal gear shaft 723 is fixed on the upper of fruit measure pedestal 73；The fixed branch of the spring The ring flange of support arrangement 71 is fixed on the crossbeam of fruit transmission classification collection system third support frame 65, and the upper end passes through fruit Clasfficiator pedestal gear shaft 723 and fruit measure pedestal 73 are connected with spring fixed support device locking nut 78；The circle The first rotary shaft of shape fruit automatic classification device 74, the second rotary shaft of round fruit automatic classification device 77, the rotation of fruit measure third Shaft 79 and the 4th rotary shaft 712 of fruit measure are fixed on the upper surface of fruit measure pedestal 73, carry respectively with fruit First semi-ring 75, fruit carry the second semi-ring 76, and fruit measure third semi-ring 710 and the 4th semi-ring 711 of fruit measure are solid Even；The fruit carries the first semi-ring 75, and fruit carries the second semi-ring 76, fruit measure third semi-ring 710 and fruit classification The outer surface of the 4th semi-ring 711 of device is elastomeric material, is realized to the effective buffering for falling in carrying fruit；It is described to flick spring 72 one end and the upper surface of spring fixed support device 71 are connected, under the other end and fruit measure pedestal gear shaft 723 Surface is connected, and by adjusting the position of spring fixed support device locking nut 78, realizes the adjustment for flicking the preload of spring 72；

Fruit measure first driven shaft 716, fruit measure second driven shaft 718, fruit measure third driven shaft 719 is identical with fruit measure 717 structures of the 4th driven shaft, and upper end is separately fixed at round fruit automatic classification device One rotary shaft 74, the second rotary shaft of round fruit automatic classification device 77, fruit measure third rotary shaft 79 and fruit measure In 4th rotary shaft 712, lower end is each passed through the driven shaft mounting hole 720 of four fruit measures and four fruit measure sleeves 726, then respectively with fruit measure first gear 714, fruit measure second gear 725, fruit measure third gear 724 are connected with the 4th gear 727 of fruit measure, and end is locked by four fruit measure locking nuts 713；The fruit point Grade device first gear 714 and fruit measure second gear 725 engage, fruit measure third gear 724 and fruit measure The engagement of 4th gear 727；Two fruit measure driving 715 ring flanges of steering engine are separately fixed at fruit measure pedestal 73 In two fruit measures driving steering engine mounting holes 722, output gear shaft respectively with fruit measure first gear 714 and Fruit measure third gear 724 engages, and respectively drives fruit and carries the first semi-ring 75 and fruit the second semi-ring 76 of carrying, fruit Clasfficiator third semi-ring 710 and fruit carry the opening and closing of the 4th semi-ring 711.

As shown in figure 8, three coordinate mobile system assembly 53 in the present invention, including two Y₀Direction mobile system driving motor 81, two Y₀Direction mobile system driving motor installs base 82, two Z₀Direction mobile system 83, two X₀The mobile system in direction System 84, two portal frame first crossbeams 85, two portal frame second cross beams 86, two portal frame third crossbeams 87, one A the first frame of gate-type 88, two rack gears 89, four Y₀Direction mobile system linear guide 810, eight Y₀Direction mobile system is sliding Block 811, second frame of gate-type 812, four portal frame pedestals 813.

Four Y₀Direction mobile system linear guide 810 is separately fixed on robot autonomous mobile platform bracket 113 Four collecting fruit case X₀114 outside of direction postive stop baffle；Eight Y₀Direction mobile system sliding block 811 is equally divided into four groups It is mounted on four Y₀In direction mobile system linear guide 810, four line slideway auxiliaries are constituted；88 He of the first frame of gate-type The second frame of gate-type 812 is respectively arranged with a portal frame first crossbeam 85, a portal frame second cross beam 86, a door Formula frame third crossbeam 87 and two portal frame pedestals 813；Four portal frame pedestals 813 are separately fixed at four Y₀Direction 810 corresponding four groups of Y of mobile system linear guide₀On direction mobile system sliding block 811；Described two Y₀Direction mobile system drives Dynamic motor installation base 82 is separately positioned on the portal frame bottom on 812 right side of 88 left side of the first frame of gate-type and the second frame of gate-type On seat 813；Described two rack gears 89 and four Y₀Direction mobile system linear guide 810 is fixed on robot autonomous movement in parallel On platform support 113, it is located at two Y₀The outside of direction mobile system driving motor installation base 82；Described two Y₀Side Two Y are separately mounted to mobile system driving motor 81₀Direction mobile system driving motor is installed on base 82, output Gear on gear shaft is engaged with two rack gears 89 respectively；

Two X₀Mobile system 84 structure in direction is identical to be separately fixed at the second frame of the first frame of gate-type 88 and gate-type On frame 812；

Two Z₀Mobile system 83 structure in direction is identical to be separately fixed at two X₀Two X of direction mobile system 84₀ On direction mobile system sliding block 92.

As shown in figure 9, three coordinate mobile system assembly 53X in the present invention₀Direction mobile system 84, including two X₀Direction Mobile system linear guide 91, two X₀Direction mobile system sliding block 92, an X₀Direction the second support component of mobile system lead screw 93, an X₀Direction mobile system nut 94, an X₀Direction mobile system lead screw 95, an X₀Direction mobile system lead screw One support component 96, an X₀Direction mobile system shaft coupling 97, an X₀Direction mobile system driving motor 98.

Described two X₀Direction mobile system linear guide 91 is installed in parallel in portal frame first crossbeam 85 and door respectively The forward plane of formula frame third crossbeam 87；Described two X₀Direction mobile system sliding block 92 is separately mounted to two X₀Direction is moved In dynamic system linear guide 91, line slideway auxiliary is constituted；

The X₀Direction mobile system driving motor 98, X₀Direction the first support component of mobile system lead screw 96 and X₀Direction The second support component of mobile system lead screw 93 is sequentially fixed at from left to right on portal frame second cross beam 86；The X₀Direction is moved The output shaft of dynamic system drive motor 98 passes through X₀Direction mobile system shaft coupling 97 and X₀Direction mobile system lead screw 95 is connected； The X₀The both ends of direction mobile system lead screw 95 are respectively by X₀Direction the first support component of mobile system lead screw 96 and X₀Direction The second support component of mobile system lead screw 93 supports；The X₀Direction mobile system nut 94 is mounted on X₀Direction mobile system silk Screw pair is constituted on thick stick 95.

As shown in Figure 10, three coordinate mobile system assembly 53Z in the present invention₀Direction mobile system 84, including two Z₀Direction Mobile system linear guide 101, two Z₀Direction mobile system sliding block 102, a Z₀Direction mobile system support plate 103, one Z₀Direction mobile system driving motor 104, a Z₀Direction mobile system shaft coupling 105, a Z₀Direction mobile system lead screw One support component 106, a Z₀Direction mobile system lead screw 107, a Z₀Direction mobile system nut 108, a bellows connect Connection device 109, a Z₀Direction the second support component of mobile system lead screw 1010.

The Z₀Direction mobile system support plate 103 is in inverted L shape, and the bottom plate back side is fixed on two X₀Direction mobile system On sliding block 92, and and X₀Direction mobile system nut 94 is connected；Described two Z₀Direction mobile system linear guide 101 is solid in parallel It is scheduled on Z₀On the bottom plate of direction mobile system support plate 103；Described two Z₀Direction mobile system sliding block 102 is separately mounted to two A Z₀Line slideway auxiliary is constituted in direction mobile system linear guide 101；The Z₀Direction mobile system driving motor 104 is fixed In inverted L shape Z₀On the side plate of direction mobile system support plate 103, output shaft passes through Z₀Direction mobile system shaft coupling 105 and Z₀ Direction mobile system lead screw 107 is connected；Z₀The both ends of direction mobile system lead screw 107 are separately fixed at Z₀Direction mobile system silk The first support component of thick stick 106 and Z₀In direction the second support component of mobile system lead screw 1010；The Z₀Direction mobile system nut 108 are fixed on two Z₀On direction mobile system sliding block 102, and and Z₀Direction mobile system lead screw 107, which is connected, constitutes lead screw spiral shell It is female secondary；The corrugated pipe connecting device 109 is fixed on Z₀On direction mobile system nut 108.

As shown in figures 11a and 11b, robot autonomous mobile platform 18 in the present invention, including a robot autonomous movement Platform steering system 111, a battery group support platform 112, a robot autonomous mobile platform bracket 113, four fruits Paid header X₀Direction postive stop baffle 114, four collecting fruit case Y₀Direction postive stop baffle 115, a robot autonomous movement are flat Platform drive system 116；One robot autonomous mobile platform steering system wheel 117, a deflecting roller axle 118, one turns To wheel hub bearing 119, a steering system support frame 1110, a steering driven gear 1111, a steering bearing seat 1112, a first bearing 1113, a robot autonomous mobile platform steering system mounting hole 1114, a steering driving electricity Machine mounting hole 1115, a steering shaft 1116, two bearing block top covers 1117, four collecting fruit case Y₀Direction postive stop baffle peace Tankage 1118, two driving wheel hub bearings 1119, two bearing blocks 1120, two second bearings 1121, a robot is certainly Main mobile platform gear shaft 1122, a velocity sensor 1123, two robot autonomous mobile platform drive system wheels 1124, a steering driving motor 1125, a rotary encoder 1126, a robot autonomous mobile platform driving motor 1127。

The robot autonomous mobile platform bracket 113 is equipped with a robot autonomous mobile platform steering system mounting hole 1114, a steering driving motor mounting hole 1115 and four collecting fruit case Y₀Direction postive stop baffle mounting groove 1118；It is described Battery group support platform 112, four collecting fruit case X₀Direction postive stop baffle 114 is each attached to robot autonomous mobile platform The upper surface of bracket 113；

The robot autonomous mobile platform steering system 111 and robot autonomous mobile platform drive system 116 difference Pass through the ring flange of steering bearing seat 1112 and two bearing block top covers 1117 and robot autonomous 113 phase of mobile platform bracket Even；Four collecting fruit casees Y₀Direction postive stop baffle 115 is separately mounted to four collecting fruit case Y₀Direction postive stop baffle peace In tankage 1118, can freely it extract out；

There are two face-to-face angular contact ball bearing (i.e. first bearings) 1113 for installation inside steering bearing seat 1112, round Ring flange and robot autonomous mobile platform steering system mounting hole 1114 are concentric, are mounted on robot autonomous mobile platform bracket 113 lower surface；The steering shaft 1116 passes through a first bearing 1113, is fixed on the upper of steering system support frame 1110 Surface；The steering driven gear 1111 is interference fitted with steering shaft 1116, is mounted on steering bearing seat 1112 and steering system Between support frame 1110, and engaged with the output gear shaft for turning to driving motor 1125；The steering driving motor 1125 is equipped with Rotary encoder 1126, circular flange disk and steering driving motor mounting hole 1115 are concentric, are fixed on robot autonomous movement The upper surface of platform support 113；The steering system support frame 1110 is fixed on deflecting roller axle 118；The deflecting roller vehicle Axis 118 passes through deflecting roller hub bearing 119 and is connected with robot autonomous mobile platform steering system wheel 117；

Described two 1117 one end of bearing block top cover are fixed on the lower surface of robot autonomous mobile platform bracket 113, separately One end is connected with two bearing blocks 1120 respectively；Second bearing 1121 there are two being set in described two bearing blocks 1120；The machine 1122 both ends of device people's autonomous mobile platform gear shaft are each passed through two second bearings 1121, with two driving wheel hub bearings 1119 interference fits, are mounted on two robot autonomous mobile platform drive system wheels 1124, and robot autonomous movement is flat Velocity sensor 1123 is installed on platform drive system wheel 1124；The robot autonomous mobile platform driving motor 1127 is solid It is scheduled on the lower surface of robot autonomous mobile platform bracket 113, output gear shaft and robot autonomous mobile platform gear shaft 1122 gear engagement.

Make method industry using the picking classification that both arms pick round grading robot, comprising the following steps:

One, automatic steady is run.The information of road surface that central controller 14 is fed back according to binocular vision sensor 16 controls machine The movement of device people autonomous mobile platform 18 adjusts machine according to the feedback information of velocity sensor 1123 and rotary encoder 1126 The revolving speed of people's autonomous mobile platform driving motor 1127 and steering 1125 angular displacement of driving motor, it is flat to control robot autonomous movement The speed of service and steering angle of platform realize robot even running.

Two, operation is picked.When reaching specified picking destination, the picking machine in both arms picking robot ontology 11 and left side Picking mechanical arm 26 and push and block gripper 27 cooperation on tool arm 26 and picking paw 22 and right side complete fruit and grab task, center control The location information for the ripening fruits that device 14 processed is fed back according to binocular vision sensor 16 plans the movement road of two mechanical arms 26 Diameter, after reaching target position, according to the first touch sensor of picking finger 33 of three picking paw fingers 21 and picking finger The feedback letter of second touch sensor 36 and picking paw 22 and the six-dimension force sensor 23 of 26 end junction of picking mechanical arm Breath, control picking finger second connecting rod driving motor 34 and the output torque for picking finger first connecting rod driving motor 39, make to adopt It plucks hand and grabs the suitable grasp force of 22 generations；According to the six-dimension force sensor 23 of push and block gripper 27 and picking mechanical arm end junction Feedback information, adjust the output torque in each joint of picking mechanical arm 26 being connected with push and block gripper 27, generate suitable push and block power； To imitate the picking task that fruit is completed in the picking movement of the mankind.

Three, fruit classification.Fruit after picking is put into fruit transmission classification and received by picking mechanical arm 26 and picking paw 22 Collecting system 17, general fruit transmits first passage 52 via fruit, directly through round fruit automatic classification device 62 via fruit Third channel 56 is transmitted, fruit transmits in the collecting fruit case 58 that Five-channel 59 enters corresponding thereto；Biggish fruit When reaching round fruit automatic classification device 62 via fruit transmission first passage 52 in fact, the first semi-ring 75 and fruit are carried by fruit It carries the second semi-ring 76 or fruit carrying third semi-ring 710 and fruit carries the mechanism for sorting that the 4th semi-ring 711 forms and blocks (by taking fruit carries the first semi-ring 75 and fruit carries the carrying of the second semi-ring 76 as an example), under fruit gravity, round fruit The spring 72 that flicks of automatic classification device 62 is compressed, and fruit measure pedestal 73 declines, on fruit measure pedestal gear shaft 723 Gear is engaged with the output gear of round fruit automatic classification device driving motor 67, after fruit measure 62 rotates 180 degree, fruit Real clasfficiator driving 715 output gear shaft of steering engine driving fruit measure first gear 714 rotates, and drives fruit measure second The rotation of gear 725, so that fruit be made to carry the first semi-ring 75 and fruit carrying the second semi-ring 76 opening, fruit enters fruit biography Defeated second channel 55 enters another collecting fruit case 58 via fruit transmission fourth lane 57.

Four, fruit measure resets.After fruit leaves fruit extension set device 62, the reset of spring 72 is flicked；Fruit classification simultaneously Gear on device pedestal gear shaft 723 is separated with the output gear of round fruit automatic classification device driving motor 67；Then, fruit Clasfficiator drives 715 output gear shaft of steering engine driving fruit measure first gear 714 to reversely rotate, and drives fruit measure the The reverse rotation of two gears 725, so that fruit be made to carry the first semi-ring 75 and fruit carrying the second semi-ring 76 closure.In fruit point Before grade device resets, new fruit is not allowed to enter fruit transmission first passage 52.

Five, collecting fruit case is arranged and is replaced.Fed back values of the central controller 14 according to each built-in rotary encoder, control Make two Y in three coordinate mobile system assemblies 53₀Direction mobile system driving motor 81, two X₀Direction mobile system driving electricity Machine 98, two Z₀The rotation of direction mobile system driving motor 104 makes two corrugated pipe connecting devices 109 pull fruit respectively The flexible reciprocating motion for transmitting third channel 55 and fruit transmission second channel 56, realizes fruit transmission Five-channel 59 and fruit Multi-faceted movement of the fourth lane 57 in two collecting fruit casees 58 is transmitted, so that fruit be put according to commitment positions.Only Want 58 turns of any one collecting fruit case it is full after, picking operation stops, and robot autonomous mobile platform 18 is by both arms apple-picking Classification collecting robot people is transported to collecting fruit case 58 and replaces point, by corresponding collecting fruit case Y₀Direction postive stop baffle 115 is taken out Out, after replacing collecting fruit case 58, then by collecting fruit case Y₀The insertion of direction postive stop baffle, carries out new picking operation.

Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims

1. a kind of both arms apple-picking circle is classified collecting robot people, characterized in that including autonomous mobile platform, autonomous is flat Platform central upper portion position is equipped with robot body, and binocular vision sensor mechanism, machine are equipped at the top of robot body The fruit transmission classification collection system being matched therewith is provided with before human body；Battery is additionally provided on autonomous mobile platform Group, battery group top are equipped with central controller, and battery group is all electricity on robot body and autonomous mobile platform Machine, sensor and central controller provide power；Central controller is the control centre of entire robot, controls all electric appliances Element manipulation；

Fruit transmission classification collection system includes by upper and lower fruit transmission channel dimerous, between upper and lower two parts It is provided with round fruit automatic classification device corresponding thereto, upper part fruit transmission channel and lower part fruit transmission channel Upper end passes through support device and is installed on robot body leading flank, and round fruit automatic classification device is installed on support device On, the centre of lower part fruit transmission channel is installed on three coordinate mobile system assemblies, and the end of fruit transmission channel extends To the collecting fruit case being set on autonomous mobile platform, three coordinate mobile system assembly bottoms are installed on autonomous mobile platform On, collecting fruit case is correspondingly arranged in below the portal frame of three coordinate mobile system assemblies；

The circle fruit automatic classification device includes pedestal, is relatively set with two groups of torus on pedestal, every group of torus by Opposite two semi-circular rings composition, and opening for two semi-circular rings can be realized by the driving steering engine of installation on the base It closes.

2. both arms apple-picking circle as described in claim 1 is classified collecting robot people, characterized in that the binocular vision passes Sensor mechanism includes binocular vision sensor, and binocular vision sensor is fixed on robot body by visual sensor bracket Top.

3. both arms apple-picking circle as described in claim 1 is classified collecting robot people, characterized in that the robot body Including the base being mounted on autonomous mobile platform, longitudinally disposed fuselage driving motor, fuselage driving electricity are fixed in base Straight up, and output shaft is fixedly connected the output shaft of machine with the lower end of fuselage, forms revolute pair, drives fuselage around three-dimensional flute card Z-direction rotation in your coordinate；Fuselage roof two sides are separately installed with a picking mechanical arm mechanism.

4. both arms apple-picking circle as claimed in claim 3 is classified collecting robot people, characterized in that two picking mechanical arms Mechanism includes the picking mechanical arm being connected with fuselage, and the front end of two picking mechanical arms passes through six-dimension force sensor respectively Picking paw mechanism and push and block gripper are installed；

The picking paw mechanism includes picking paw, is symmetrically installed that there are three pickings by picking finger base on picking paw Finger；Each picking finger all has two using X axis direction in three-dimensional cartesian coordinate as the active freedom degree of rotary shaft, divides It is not picking the first revolute pair of finger and picking the second revolute pair of finger；

Picking finger specific structure includes picking finger base, picks and is fixed with picking finger first connecting rod driving in finger base Motor, first connecting rod driving motor output shaft and picking finger first connecting rod lower end, which are connected, constitutes picking the first revolute pair of finger, Picking finger first connecting rod upper end be fixed with picking finger second connecting rod driving motor, second connecting rod driving motor output shaft with adopt It plucks connected constitute in finger second connecting rod lower end and picks the second revolute pair of finger；It picks finger first connecting rod and picking finger second connects It is respectively corresponded on the medial surface of bar and is fixed with picking the first touch sensor of finger and picking the second touch sensor of finger.

5. both arms apple-picking circle as claimed in claim 4 is classified collecting robot people, characterized in that the picking mechanical arm Including one using three Cartesian coordinates Z-direction as the first revolute pair of picking mechanical arm of rotary shaft, two with three-dimensional flute Karr coordinate Y direction is the active freedom degree of rotary shaft, is the second revolute pair of picking mechanical arm and picking mechanical arm the respectively Four revolute pairs, one using X-direction in three-dimensional cartesian coordinate as the picking mechanical arm third revolute pair of rotary shaft；

The specific structure of the picking mechanical arm includes first driving motor of picking mechanical arm for being fixed on fuselage side, Output shaft and picking mechanical arm the second driving motor pedestal, which are connected, constitutes the first revolute pair of picking mechanical arm；

The second driving motor of picking mechanical arm is fixed on picking mechanical arm the second driving motor pedestal, and picking mechanical arm second drives The output shaft and picking mechanical arm first connecting rod connector of dynamic motor, which are connected, constitutes the second revolute pair of picking mechanical arm；

The both ends of picking mechanical arm first connecting rod drive with picking mechanical arm first connecting rod connector and picking mechanical arm third respectively Motor base is connected；

Picking mechanical arm third driving motor is fixed on picking mechanical arm third driving motor pedestal, and picking mechanical arm third is driven The output shaft and picking mechanical arm second connecting rod connector of dynamic motor, which are connected, constitutes picking mechanical arm third revolute pair；

The both ends of picking mechanical arm second connecting rod drive with picking mechanical arm second connecting rod connector and picking mechanical arm the 4th respectively Motor base is connected；

The 4th driving motor of picking mechanical arm is fixed on picking mechanical arm the 4th and drives on motor base, output shaft and picking machine Tool arm third connecting rod connector, which is connected, constitutes the 4th revolute pair of picking mechanical arm；

One end of picking mechanical arm third connecting rod and picking mechanical arm third connecting rod connector are connected, and the other end is sensed by six-dimensional force Device is connected with picking paw or push and block gripper；

The built-in rotary encoder of first, second, third and fourth driving motor of picking mechanical arm；

The picking mechanical arm second, four drives motor base and the L-shaped knot of picking mechanical arm first, third connecting rod connector Two components of structure, the connection of L-type structure both ends are connected on the horizontal component and vertical portion of L-type structure；

6. both arms apple-picking circle as described in claim 1 is classified collecting robot people, characterized in that the support device packet First passage outlet connection support ring, second channel entrance connection support ring, third channel entrance connection support ring are included, is installed on The first support frame, the second support frame and third support frame on robot body leading flank, and it is installed on the mobile system of three coordinates The fourth lane entrance support ring and Five-channel entrance support ring united on assembly；

The upper part fruit transmission channel is first passage, and first passage is back taper screwed pipe, and arrival end passes through first Support frame is fixed on robot body leading flank, and outlet end is fixed in first passage outlet connection support ring, first passage Outlet connection support ring is fixed on robot body leading flank by the second support frame；

The lower part fruit transmission channel is independent two parts, and a portion is upper port and first passage outlet end phase Corresponding third channel, third channel lower port are connected by Five-channel entrance support ring with Five-channel upper port, the Five-channel lower port stretches in a collecting fruit case；Another part includes the second channel for being set to third channel side, Second channel lower port is connected by fourth lane entrance support ring with fourth lane upper port, and fourth lane lower port protrudes into To another collecting fruit case.

7. both arms apple-picking circle as claimed in claim 6 is classified collecting robot people, characterized in that the first passage, Second channel, third channel, fourth lane and Five-channel are made of bellows；

Second, third described channel upper port, which respectively corresponds, to be fixed in second, third feeder connection connection support ring, second, Third channel entrance connection support ring is symmetrically arranged on third support frame, and third support frame is fixed on robot body leading flank On；

The length of the third channel be greater than third channel entrance connect support ring to the straight line between Five-channel upper port away from From；The length of the second channel be greater than second channel entrance connect support ring to the straight line between fourth lane upper port away from From；By increasing the length in second, third channel, so that second, third channel is in bending state always, realize fruit in channel Buffering, slow down, increase the reachable position in second, third channel.

8. both arms apple-picking circle as claimed in claim 6 is classified collecting robot people, characterized in that the base central has One spring supporting device mounting hole, symmetrically there are four driven shaft mounting holes for the surrounding of spring supporting device mounting hole, in pedestal The outside of driven shaft mounting hole on length direction center line, there are two with the centrosymmetric driving rudder of spring supporting device mounting hole Machine mounting hole；

The lower part of pedestal is provided with a spring fixed support device, and spring fixed support device includes bottom flange dish and setting In the vertical bar on ring flange, ring flange is fixed on the crossbeam of third support frame, is successively cased with from the bottom to top on vertical bar and is flicked spring With pedestal gear shaft, vertical bar upper end is locked across spring supporting device mounting hole spring fixed support device locking nut；It flicks Spring lower end is fixed on ring flange upper surface, and upper end is fixedly connected with the lower surface of pedestal gear shaft, is fixed by adjusting spring The adjustment for flicking the preload of spring is realized in the position of support device locking nut；Circle is additionally provided on the crossbeam of third support frame Shape fruit automatic classification device driving motor is fixed with energy by jackscrew on the output shaft of round fruit automatic classification device driving motor Enough output gears being meshed with the gear on pedestal gear shaft；

A driven shaft, the upper end of driven shaft and the rotation being located on pedestal upper surface are passed through on pedestal in each driven shaft mounting hole Shaft is fixedly connected, and lower part is from top to bottom successively set with sleeve and gear after passing through pedestal thereon, and end is by fruit measure Locking nut locking；It is fixedly connected with a semicircular ring in each rotary shaft, is located at base length direction center line the same side two A semicircular ring is opposite to form an approximate annulus, and the gear formed on two driven shafts of approximate annulus is meshed；

On pedestal lower surface, the ring flange of two driving steering engines respectively corresponds two driving steering engine mounting holes for being fixed on pedestal It is interior, drive the gear on one of driven shaft of the annulus approximate with composition of the gear on the output gear shaft of steering engine to be meshed, Realize the opening and closing for driving approximate annulus.

9. both arms apple-picking circle as claimed in claim 6 is classified collecting robot people, characterized in that three coordinate is mobile System synthesis includes two groups of portal frames, and each group of portal frame includes that upper, middle and lower three crossbeams disposed in parallel and two are perpendicular Beam, three crossbeam both ends are respectively arranged on two vertical beams, are provided with transverse movement system, transverse shifting jointly on three crossbeams Vertically movable system is installed, the bottom of vertical beam is fixed on vertical moving system, and vertical moving system is fixed on machine in system On device people's autonomous mobile platform；Laterally, longitudinal and vertical corresponding with X-axis, Y-axis and Z axis in three Cartesian coordinates respectively；

The transverse movement system includes the X-direction linear guide being mounted on the top and bottom crossbeam leading flank, often It is mounted on the mobile sliding block of an X-direction in root X-direction linear guide and constitutes line slideway auxiliary；

X-direction driving motor is installed on intermediate transverse girder, X-direction driving motor output shaft passes through shaft coupling and X-axis side It is connected to lead screw, X-direction lead screw both ends pass through support component respectively and are supported on intermediate transverse girder, install on X-direction lead screw There is X-direction nut to constitute screw pair；

The vertically movable system includes an inverted L shape support plate, and the support plate side plate back side is moved with two X-directions respectively Movable slider is fixedly connected with X-direction nut；Z-direction driving motor is installed, Z-direction is driven on the top plate of the support plate The output shaft of dynamic motor passes through top plate and is connected by shaft coupling with Z-direction lead screw, and the both ends of Z-direction lead screw pass through Z respectively Axis direction support component is fixed on before support plate side plate, and Z-direction lead screw two sides, which are symmetrically arranged with, is fixed on the support plate On Z-direction linear guide, a Z-direction sliding block is mounted in every Z-direction linear guide and constitutes linear guide Pair is equipped on Z-direction lead screw and is fixedly connected with Z-direction nut, Z-direction lead screw and Z axis with two Z-direction sliding blocks Direction nut constitutes screw pair；

The fourth lane entrance support ring and Five-channel entrance support ring correspondence are fixed on Z-direction nut；

The vertical moving system includes the Y direction sliding block being fixedly connected with vertical beam bottom, and Y direction sliding block is installed on Y-axis Line slideway auxiliary is constituted in the linear guide of direction, and Y direction is installed on a wherein vertical beam bottom outside face for portal frame Driving motor, vertical beam bottom outside where Y direction driving motor are equipped with a tooth parallel with Y direction linear guide Item, the gear on the output gear shaft of Y direction driving motor are engaged with the rack gear；Y direction linear guide and rack gear are equal It is fixed on robot autonomous mobile platform.

10. both arms apple-picking circle as described in claim 1 is classified collecting robot people, characterized in that the robot is certainly Main mobile platform includes plate-shaped carrier, and plate-shaped carrier lower front part and rear end are separately installed with steering system and drive system；With Plate-shaped carrier top corresponding to steering system is equipped with battery group support platform, is equipped with storage in battery group support platform Battery pack, battery group top are provided with thermal insulation board, are fixed with central controller on thermal insulation board；Plate corresponding with drive system Collecting fruit case postive stop baffle is installed on shape rack upper surface；

The steering system includes being mounted on the deflecting roller turned on support frame, turns to support frame upper end and is fixedly installed with steering Axis is from top to bottom sequentially installed with steering bearing in steering shaft and turns to driven gear, and steering bearing passes through steering bearing seat Ring flange is installed on plate-shaped carrier lower surface, turns to the output gear of driven gear with the steering motor being installed on plate-shaped carrier Gear engagement on wheel shaft；The steering motor is equipped with rotary encoder；

The drive system includes the driving wheel for being mounted on gear shaft both ends, and there are two drivings for installation in gear shaft Bearing, driving bearing are installed in driving bearing block, driving bearing block and the bearing block top being fixed on plate-shaped carrier lower surface Lid is fixedly connected；Gear in the middle part of gear shaft on the output gear shaft for the driving motor for being installed on plate-shaped carrier lower surface Gear engagement；Velocity sensor is installed on driving wheel.