CN110537419A - Self-propelled self-balancing picking robot - Google Patents
Self-propelled self-balancing picking robot Download PDFInfo
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- CN110537419A CN110537419A CN201910834229.8A CN201910834229A CN110537419A CN 110537419 A CN110537419 A CN 110537419A CN 201910834229 A CN201910834229 A CN 201910834229A CN 110537419 A CN110537419 A CN 110537419A
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- 210000001624 hip Anatomy 0.000 claims abstract description 133
- 210000000629 knee joint Anatomy 0.000 claims abstract description 55
- 210000000078 claw Anatomy 0.000 claims abstract description 36
- 210000004394 hip joint Anatomy 0.000 claims abstract description 36
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 22
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 21
- 210000002414 leg Anatomy 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 63
- 210000001145 finger joint Anatomy 0.000 claims description 35
- 210000003127 knee Anatomy 0.000 claims description 32
- 230000007704 transition Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 8
- 238000004806 packaging method and process Methods 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 abstract description 24
- 238000005452 bending Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-propelled self-balancing picking robot, which comprises a robot main body (8) and is characterized in that: the robot comprises a robot main body (8), a mechanical arm assembly (5) is arranged at the top of the robot main body (8), a mechanical claw assembly (6) is arranged at the executing end of the mechanical arm assembly (5), a hanging basket (7) fixed by bolts is arranged at the front end of the robot main body (8), four groups of walking components with three degrees of freedom are arranged at the lower part of the robot main body (8), each walking component comprises a waist joint (4), a hip joint (3), a knee joint (2) and a foot (1), the waist joint (4) drives the hip joint (3), a hip motor (35) on the hip joint (3) drives an upper limb (30) and the knee joint (2) drives a lower limb (20). The walking part of the invention can change the angle and the elongation of the leg part of the walking part through the change of the rotation angle of the motor, so that the robot can carry out stable fruit picking operation in complex mountainous regions, hills and other regions.
Description
Technical Field
The invention belongs to the technical field of fruit picking, and particularly relates to a self-propelled self-balancing picking robot which advances in a hilly land through a legged robot and controls the movement of a mechanical claw through a mechanical arm to realize a fruit picking function.
Background
At present, the working intensity of agriculture and forestry industries in China is high, a large amount of labor force is needed for traditional manual operation, and compared with the situation that workers in agriculture and forestry are increasingly reduced, the gap of the labor force is increased, and a fruit picking machine with high automation degree is needed to make up the gap at present. However, most of the artificial fruit trees in China are located in hilly terrain, the fruit picking machines suitable for hilly terrain with complex terrain are few at present, and the fruit tree picking equipment suitable for being planted in plain terrain can not work under hilly terrain, so that the development of the fruit tree picking equipment suitable for the fruit trees in the hilly terrain is particularly important.
Disclosure of Invention
The invention aims to solve the problem that the existing automatic fruit picking equipment is not suitable for hilly terrain, and provides a self-propelled self-balancing picking robot which can realize fruit picking function by enabling a legged robot to advance in the hilly terrain and controlling the movement of a mechanical claw through a mechanical arm; the robot has higher automation degree, saves manpower resources and can improve the mechanization degree of agriculture and forestry machinery.
the invention aims to solve the problems by the following technical scheme:
The utility model provides a self-propelled self-balancing picking robot, includes the robot main part, its characterized in that: the robot comprises a robot main body, a robot claw assembly, a hanging basket, four traveling components, a hip joint, a knee joint and feet, wherein the top of the robot main body is provided with the robot arm assembly, the execution end of the robot arm assembly is provided with the mechanical claw assembly, the front end of the robot main body is provided with the hanging basket fixed by bolts, the lower part of the robot main body is provided with the four traveling components with three degrees of freedom, each traveling component comprises the waist joint, the hip joint, the knee joint and the feet, a waist motor of the waist joint arranged in the robot main body drives the hip joint to rotate, a hip motor of the hip joint drives the upper limbs to rotate, a knee motor of the knee joint arranged at the lower end of the upper limbs drives the lower limbs to rotate; the walking part of the robot can change the elongation and the angle of each leg through the rotation of the motor, so that the robot main body can walk on a complex road surface and maintain balance.
The foot comprises a rubber foot pad, a rigid foot and a foot sleeve, wherein the rubber foot pad is made of rubber, the foot pad is wrapped outside the rigid foot, the top of the rigid foot is provided with the foot sleeve, and the rigid foot is fixedly installed at the bottom end of the lower limb through a bolt; the rigidity of the foot part ensures the walking stability of the robot, and the rubber foot pad can slow down the vibration.
The knee joint comprises a lower limb, a knee joint inner end cover, a knee harmonic speed reducer, a knee joint ring, a knee joint outer end cover, a knee motor and a knee joint connecting ring, wherein the knee joint connecting ring is fixed at the bottom end of the upper limb, the knee joint ring is fixedly installed on the inner arc of the knee joint connecting ring, the knee joint outer end cover is sealed on the outer end side of the knee joint ring, the knee motor is fastened inside the knee joint ring through screws, the output end of the knee motor is connected with the input end of the knee harmonic speed reducer to transmit power, the fixed end of the knee harmonic speed reducer is fixedly connected with the knee joint ring through screws, and the output end of the knee harmonic speed reducer and the circumferential direction of the lower limb are fixed through the knee; power is generated by the knee motor and transmitted to the knee harmonic reducer, and then the power is transmitted to the lower limbs by the output end of the knee harmonic reducer, so that the rotation of the lower limbs around the knee joint ring is realized, and the relative swing of the lower limbs of the robot relative to the upper limbs is realized.
The hip joint comprises an upper limb, a hip joint connecting ring, a hip joint ring, a hip harmonic reducer, a hip end cover and a hip motor, wherein the hip motor is fixedly installed in a waist body of the waist joint and encapsulated by the hip end cover, the output end of the hip motor is connected with the input end of the hip harmonic reducer, the fixed end of the hip harmonic reducer is also fixed on the outer side of the hip end cover through a screw, the output end of the hip harmonic reducer is fixed on the inner side of the hip joint ring through a screw to transmit power, and the top end of the upper limb is fixed on the circumferential surface of the hip joint ring through the hip joint connecting ring; when the robot is used, the hip motor positioned in the waist main body transmits power to the hip harmonic reducer, and then the power is transmitted to the hip joint ring through the output end of the hip harmonic reducer, so that the upper limbs of the robot can swing relative to the waist main body.
The waist joint comprises a waist main body, a hoop, a transmission shaft, a waist end cover, a waist harmonic reducer, a waist motor support and a waist motor; the waist motor is fastened on the waist motor support through screws, the waist motor support is fixed inside the robot main body, the output end of the waist motor is connected with the input end of the waist harmonic reducer, the fixed end of the waist harmonic reducer is also fixed on the waist motor support, the output end of the waist harmonic reducer is connected with the waist end cover, and a transmission shaft fixed on the waist end cover is fixedly connected with the waist main body through a hoop; during the use, be located the waist motor on the waist motor support and transmit power to waist harmonic reduction gear, the waist end cover that is connected with waist harmonic reduction gear is transmitted with power to rethread waist harmonic reduction gear, transmits power to the transmission shaft through the waist end cover, transmits power to the waist main part again through the transmission shaft, realizes the swing of the relative waist motor support of waist main part.
The robot main part include the truck shell, encapsulate truck shell bottom the truck base, be located truck shell top front end the camera and be located truck base bottom the ultrasonic wave and keep away barrier sensor and laser range sensor, camera, ultrasonic wave keep away barrier sensor and laser range sensor and are connected with central processing unit through corresponding circuit respectively.
The mechanical arm assembly comprises a first mechanical arm, a second mechanical arm, a mechanical arm base, a mechanical arm hydraulic cylinder, a double-lug-ring support and a mechanical arm tail end visual module, wherein the mechanical arm base is installed at the upper part of the robot main body and can rotate relative to the robot main body; the mechanical arm hydraulic cylinder comprises a mechanical arm first hydraulic cylinder, a mechanical arm second hydraulic cylinder and a mechanical arm third hydraulic cylinder, wherein the tail end of the mechanical arm first hydraulic cylinder is hinged to the mechanical arm base, the driving end of the mechanical arm second hydraulic cylinder is hinged to the first mechanical arm, the driving end of the mechanical arm second hydraulic cylinder is hinged to the second mechanical arm, the tail end of the mechanical arm third hydraulic cylinder is hinged to the second mechanical arm, and the driving end of the mechanical arm third hydraulic cylinder is hinged to the double-lug-ring support.
The mechanical arm assembly further comprises a mechanical arm motor, a mechanical arm motor support, a mechanical arm harmonic reducer and a mechanical arm bottom end cover, wherein the mechanical arm motor is connected with the mechanical arm motor support through screws, the mechanical arm motor support is fixedly connected with the robot main body through screws, the fixed end of the mechanical arm harmonic reducer is fastened with the mechanical arm motor support, the output end of the mechanical arm harmonic reducer is fastened with the mechanical arm bottom end cover, the mechanical arm bottom end cover is mutually fixed with the mechanical arm base, and the mechanical arm motor outputs power to the mechanical arm bottom end cover and the mechanical arm base through the mechanical arm harmonic reducer during working so as to drive the mechanical arm base.
the mechanical claw assembly comprises a mounting platform, transition finger joints, a flexible hose, hinge joints, rubber fingers and tail end finger joints, wherein the mounting platform is mounted on a mechanical arm tail end vision module at the tail end of the mechanical arm assembly, the three transition finger joints are sequentially connected through the hinge joints, the starting ends of the three transition finger joints are hinged to the mounting platform, the tail end of the three transition finger joints is hinged to the tail end finger joint through the hinge joints, and the transition finger joints and the tail end finger joints are internally embedded with flexible rubber fingers for avoiding crushing the surface of a fruit in the fruit picking process; the three transitional finger joints and one tail end finger joint form a mechanical claw of the mechanical claw assembly, the mechanical claw is connected with a telescopic hose communicated with a hydraulic system, the hydraulic system changes the length of the telescopic hose by changing the volume of liquid in the telescopic hose, and then the angle between all the finger joints in the mechanical claw is changed, so that the mechanical claw is straightened and bent.
The mounting platform on be equipped with three groups of gripper, and the terminal knuckle of three gripper can draw close each other and open.
Compared with the prior art, the invention has the following advantages:
According to the invention, the leg-foot type robot with bionic thighs is used for replacing the traditional rail type and wheel type machinery, a mechanical arm and a mechanical claw are carried, and the ultrasonic obstacle avoidance sensor and the laser ranging sensor are matched for scanning the terrain and analyzing a central processing unit, so that the robot can adapt to the terrain with complicated landform, the relative level of a robot main body is ensured, and the mechanical arm assembly can be ensured to always keep stable operation; can solve the inconvenient, the crawler-type of current hilly area operation in-process large-scale machinery action or wheeled machinery and surmounting the problem that the ability is not enough in the face of complicated topography, can carry out stable fruit picking operation in regions such as complicated mountain region, hilly, and the equipment size of this robot is less, changes in that the operation can replace personnel to pluck the fruit operation in hilly area forest, improves the degree of automation of operation under the hilly topography.
Drawings
FIG. 1 is a schematic perspective view of a self-propelled self-balancing picking robot according to the present invention;
FIG. 2 is a schematic structural view of a walking member of the present invention;
FIG. 3 is a schematic view of the foot structure of the present invention;
FIG. 4 is a schematic structural view of a knee joint of the present invention;
Figure 5 is a schematic view of a hip joint configuration of the present invention;
FIG. 6 is a schematic view of the waist joint structure of the present invention;
FIG. 7 is a schematic structural diagram of a robot body according to the present invention;
FIG. 8 is a schematic view of a robotic arm assembly of the present invention;
FIG. 9 is a structural schematic of the end gripper assembly of the present invention;
FIG. 10 is a schematic view of the amount of extension and retraction and the angle of rotation of the gripper according to the present invention;
Fig. 11 is a control schematic diagram of the self-propelled self-balancing picking robot of the present invention.
Wherein: 1-foot section; 11-rubber foot pad; 12-rigid foot; 13-foot sleeve; 2-knee joint; 20-lower limb; 21-inner end cap of knee joint; 22-knee harmonic reducer; 23-a knee joint ring; 24-outer end cover of knee joint; 25-knee joint motor; 26-knee joint attachment ring; 3-hip joint; 30-upper limb; 31-hip joint connection ring; 32-hip joint ring; 33-hip harmonic reducer; 34-hip joint end cap; 35-hip motor; 4-waist joint; 40-lumbar joint; 41-a hoop sleeve; 42-a transmission shaft; 43-waist end cap; 44-waist harmonic reducer; 45-lumbar joint support; 46-waist motor; 5, a mechanical arm assembly; 501-a first mechanical arm; 502 — a second robotic arm; 51 a robot arm motor; 52-mechanical arm motor support; 53-harmonic reducers; 54-mechanical arm end cap; 55-mechanical arm base; 56-mechanical arm hydraulic cylinder; 561-mechanical arm first hydraulic cylinder; 562 — mechanical arm second hydraulic cylinder; 563-third hydraulic cylinder of mechanical arm; 57-double lug ring support; 58-mechanical arm end vision module; 6-mechanical claw assembly; 60, mounting a platform; 61-transition knuckle; 62, a flexible hose; 63-hinge joint; 64-flexible rubber fingers; 65-terminal phalangeal joint; 7, hanging a basket; 8-robot body; 80-torso shell; 81-camera; 82, ultrasonic obstacle avoidance sensors and laser ranging sensors; 83-torso base.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1-2: a self-propelled self-balancing picking robot comprises a robot main body 8, a mechanical arm assembly 5 is arranged at the top of the robot main body 8, a mechanical claw assembly 6 is arranged at the execution end of the mechanical arm assembly 5, a hanging basket 7 fixed by bolts is arranged at the front end of the robot main body 8, four groups of walking components with three degrees of freedom are arranged at the lower part of the robot main body 8, the walking part comprises a waist joint 4, a hip joint 3, a knee joint 2 and a foot part 1, wherein a waist motor 46 of the waist joint 4 arranged in the robot main body 4 drives the hip joint 3 to rotate, a hip motor 35 of the hip joint 3 drives the upper limb 30 to rotate, a knee motor 25 of the knee joint 2 arranged at the lower end of the upper limb 30 drives the lower limb 20 to rotate, the foot part 1 of the robot is fixed at the bottom end of the lower limb 20 through a bolt, and the upper limb 30 and the lower limb 20 form the leg of the robot; the running part of this robot can change the elongation and the angle of each leg through the rotation of above-mentioned motor for robot main part 8 can walk and maintain balance on complicated road surface, lets the robot can carry out stable fruit picking operation in regions such as complicated mountain region, hills.
As shown in fig. 1, 2 and 3, the lumbar valve 4 includes a lumbar body 40, a hoop 41, a transmission shaft 42, a lumbar end cover 43, a lumbar harmonic reducer 44, a lumbar motor support 45 and a lumbar motor 46; the waist motor 46 is fastened on the waist motor support 45 through screws, the waist motor support 45 is fixed inside the robot main body 4, the output end of the waist motor 46 is connected with the input end of the waist harmonic reducer 44, the fixed end of the waist harmonic reducer 44 is also fixed on the waist motor support 45, the output end of the waist harmonic reducer 44 is connected with the waist end cover 43, and the transmission shaft 42 fixed on the waist end cover 43 is fixedly connected with the waist main body 40 through the hoop 41; when the waist motor is used, the waist motor 46 positioned on the waist motor support 45 transmits power to the waist harmonic reducer 44, then the waist harmonic reducer 44 transmits the power to the waist end cover 43 connected with the waist harmonic reducer 44, the waist end cover 43 transmits the power to the transmission shaft 42, and the transmission shaft 42 transmits the power to the waist main body 40, so that the waist main body 40 swings relative to the waist motor support 45.
As shown in fig. 1, 2 and 4, the hip joint 3 includes an upper limb 30, a hip joint connection ring 31, a hip joint ring 32, a hip harmonic reducer 33, a hip end cap 34 and a hip motor 35, the hip motor 35 is fixedly installed in a waist body 40 of the waist joint 4 and is encapsulated by the hip end cap 34, an output end of the hip motor 35 is connected with an input end of the hip harmonic reducer 33, a fixed end of the hip harmonic reducer 33 is also fixed on an outer side of the hip end cap 34 by a screw, an output end of the hip harmonic reducer 33 is fixed on an inner side of the hip joint ring 32 by a screw to transmit power, and a top end of the upper limb 30 is fixed on a circumferential surface of the hip joint ring 32 by the hip joint connection; when the robot is used, the hip motor 35 positioned inside the waist body 40 transmits power to the hip harmonic reducer 33, and then transmits the power to the hip joint ring 32 through the output end of the hip harmonic reducer 33, so that the robot upper limbs 30 can swing relative to the waist body 40.
as shown in fig. 1, 2 and 5, the knee joint 2 comprises a lower limb 20, a knee joint inner end cover 21, a knee harmonic speed reducer 22, a knee joint ring 23, a knee joint outer end cover 24, a knee motor 25 and a knee joint connecting ring 26, wherein the knee joint connecting ring 26 is fixed at the bottom end of an upper limb 30, the knee joint ring 23 is fixedly installed at the inner arc of the knee joint connecting ring 26, the knee joint outer end cover 24 is sealed at the outer end side of the knee joint ring 23, the knee motor 25 is fastened inside the knee joint ring 23 through screws, the output end of the knee motor 25 is connected with the input end of the knee harmonic speed reducer 22 to transmit power, the fixed end of the knee harmonic speed reducer 22 is fixedly connected with the knee joint ring 23 through screws, and the knee joint inner end cover 21 fixes the output end of the knee harmonic speed reducer 22 with the circumferential direction; the power is generated by the knee motor 25 and transmitted to the knee harmonic reducer 22, and the power is transmitted to the lower limbs 20 from the output end of the knee harmonic reducer 22, whereby the lower limbs 22 are rotated around the knee joint rings 23, and the lower limbs 20 of the robot are swung relative to the upper limbs 30.
As shown in fig. 1, 2 and 6, the foot part 1 comprises a rubber foot pad 11 made of rubber, a rigid foot 12 and a foot sleeve 13, the foot pad 11 is wrapped outside the rigid foot 12, the top of the rigid foot 12 is provided with the foot sleeve 13, and the rigid foot 12 is fixedly installed at the bottom end of a lower limb 20 through a bolt; the rigid foot 12 of the foot ensures the walking stability of the robot, and the rubber foot pad 11 can slow down the vibration.
As shown in fig. 1 and 7, the robot main body 8 includes a trunk housing 80, a trunk base 83 enclosing the bottom of the trunk housing 80, a camera 81 located at the front end of the top of the trunk housing 80, and an ultrasonic obstacle avoidance sensor and a laser ranging sensor 82 located at the bottom of the trunk base 83, wherein various power mechanisms and control mechanisms are enclosed in the trunk housing 80, and the camera 81 is used for performing route selection and judgment of a working object; the ultrasonic obstacle avoidance sensor and the laser ranging sensor 82 comprise an ultrasonic obstacle avoidance sensor and a laser ranging sensor, and the ultrasonic obstacle avoidance sensor and the laser ranging sensor are used for scanning and predicting the next landing point of the robot foot 1, judging whether the ground is uneven or not, judging whether the robot is in a relatively horizontal state or not after the foot pad 11 lands in the current state through distance measurement and calculation, and if not, adjusting the rotation angle of each motor; the camera 81, the ultrasonic obstacle avoidance sensor and the laser ranging sensor 82 are respectively connected with the central processing unit through corresponding lines.
As shown in fig. 1 and 8, the robot assembly 5 includes a first robot arm 501, a second robot arm 502, a robot motor 51, a robot motor support 52, and a robot harmonic reducer 53, the robot comprises a robot bottom end cover 54, a robot base 55, a robot hydraulic cylinder 56, a double-lug ring support 57 and a robot end vision module 58, wherein a robot motor 51 is connected with the robot motor support 52 through screws, the robot motor support 52 is fixedly connected with a robot main body 8 through screws, the fixed end of a robot harmonic reducer 53 is fastened with the robot motor support 52, the output end of the robot harmonic reducer is fastened with the robot bottom end cover 54, the robot bottom end cover 54 and the robot base 55 are fixed with each other, and the robot motor 51 outputs power to the robot bottom end cover 54 and the robot base 55 through the robot harmonic reducer 53 when working so as to drive the robot base 55 to rotate; the tail end of the first mechanical arm 501 is connected with the mechanical arm base 55 through a hinge, the other end of the first mechanical arm 501 is connected with the tail end of the second mechanical arm 502 through a hinge, the other end of the second mechanical arm 502 is connected with the mechanical arm end vision module 58 through a hinge, and the mechanical arm end vision module 58 capable of accurately positioning a picking target is connected with the central processing unit through a circuit to provide a positioning result of the picking target; the mechanical arm hydraulic cylinder 56 comprises a mechanical arm first hydraulic cylinder 561, a mechanical arm second hydraulic cylinder 562 and a mechanical arm third hydraulic cylinder 563, wherein the tail end of the mechanical arm first hydraulic cylinder 561 is hinged to the mechanical arm base 55, the driving end of the mechanical arm first hydraulic cylinder is hinged to the first mechanical arm 501, the tail end of the mechanical arm second hydraulic cylinder 562 is hinged to the first mechanical arm 501, the driving end of the mechanical arm second hydraulic cylinder 562 is hinged to the second mechanical arm 502, the tail end of the mechanical arm third hydraulic cylinder 563 is hinged to the second mechanical arm 502, the driving end of the mechanical arm third hydraulic cylinder 563 is hinged to the double-lug ring support 57, and the double-lug;
As shown in fig. 1 and 9, the gripper assembly 6 includes a mounting platform 60, a transition finger joint 61, a flexible hose 62, a hinge joint 63, a rubber finger 64 and a terminal finger joint 65, wherein the mounting platform 60 is mounted on a terminal vision module 58 of the mechanical arm at the terminal of the mechanical arm assembly 5, the three transition finger joints 61 are sequentially connected through the hinge joint 63, the starting ends of the three transition finger joints 61 are hinged on the mounting platform 60, the terminal end is hinged with the terminal finger joint 65 through the hinge joint 63, and the flexible rubber finger 64 is embedded inside the transition finger joints 61 and the terminal finger joint 65 for avoiding crushing the skin of the fruit in the fruit picking process; the three transitional finger joints 61 and a tail end finger joint 65 form a mechanical claw of the mechanical claw assembly 6, the mechanical claw is connected with a flexible hose 62 communicated with a hydraulic system, the hydraulic system changes the length of the flexible hose 62 by changing the volume of liquid in the flexible hose 62, and further changes the angle between the finger joints in the mechanical claw, so that the straightening and bending of the mechanical claw are realized. Three sets of mechanical claws are arranged on the mounting platform 60, and the finger joints 65 at the tail ends of the three mechanical claws can be mutually closed and opened.
as shown in the schematic diagram of the stretching amount and the rotation angle of the mechanical jaws shown in fig. 10, the bending of each mechanical jaw of the mechanical jaw assembly 6 can be regarded as the change of the angle between two adjacent finger joints, according to the principle, the joint structure shown in fig. 10 can be obtained by simplification, and a in the diagram can be regarded as half of the length of a single mechanical jaw; b can be regarded as the distance from the center of the telescopic hose 63 to the center of the gripper joint; c can be regarded as the distance from the contact point of the flexible rubber finger 64 and the fruit to the center of the mechanical claw joint; x1 can be considered as the length of the bellows 63, and X2 and X3 can be considered as the length of the outer and inner edges of the bellows 63 when it is bent. 2 α can be regarded as the angle between two adjacent knuckles. Wherein the lengths of a, b and c are fixed and known, and the relationship between X and α, a, b and c can be obtained through the geometric relationship as formula (1), and it can be seen that the telescopic amount of the telescopic hose 63 is only related to the rotation angle of the knuckle. Therefore, the switch of the electromagnetic valve of the mechanical claw is controlled by the mode, and the bending angle of each finger joint of the mechanical claw is changed to pick the fruit.
As shown in fig. 11, a central processing unit and a storage battery for supplying power are arranged in the robot main body 8, the central processing unit is connected with an intermediate relay through a circuit to control the intermediate relay and receive information feedback of the intermediate relay, the intermediate relay is respectively connected with and controlled by the corresponding knee motor 25, hip motor 35, waist motor 46 and mechanical arm motor 51 through one terminal strip, and the intermediate relay is respectively connected with and controlled by the corresponding mechanical arm hydraulic cylinder solenoid valve and mechanical claw solenoid valve through another terminal strip; in addition, the central processing unit is respectively connected with the ultrasonic obstacle avoidance sensor, the laser ranging sensor, the camera 81 and the mechanical arm end vision module 58 through lines to receive signals.
The self-propelled self-balancing picking robot provided by the invention is further explained by the specific embodiment.
as shown in fig. 1 to 11, a self-propelled self-balancing picking robot includes four sets of walking members with three degrees of freedom, a robot body 8, a four-degree-of-freedom robot arm assembly 5, and a gripper assembly 6, where each set of walking members includes a foot 1, a knee joint 2, a hip joint 3, and a waist joint 4. The walking part of the robot can change the extension and the angle of each leg through the rotation of the motor, so that the robot can move forwards, backwards and turn, the robot main body 8 can walk on a complex road surface and maintain balance, and the robot can perform stable fruit picking operation in complex mountainous regions, hills and other regions; in order to enable the robot to travel more stably, an ultrasonic obstacle avoidance sensor and a laser ranging sensor 82 can be further arranged, in the moving process of the robot, the ultrasonic obstacle avoidance sensor and the laser ranging sensor 82 which are positioned under the trunk base 83 are used for scanning and predicting the next landing point of the foot 1 of the robot, judging whether the ground is uneven or not, whether the robot is in a relatively horizontal state can be ensured after the foot pad 11 in the current state falls to the ground is judged through measuring and calculating the distance, if not, the relative rotational angles of the knee joint motor 25, the hip 35 and the waist 46 in the traveling unit are adjusted, the extension amount of the legs is changed, the robot main body 8 can keep balance after the robot falls to the feet next time, four legs of the robot move coordinately, and the robot can move forwards, backwards and turn on the road surface under various road conditions. The mechanical arm tail end vision module 58 arranged on the four-degree-of-freedom mechanical arm assembly 5 can accurately position a picking target, and the robot can complete actions similar to human swinging through the change of strokes of the mechanical arm motor 51 and the three mechanical arm hydraulic cylinders 56 which are positioned at the bottom of the mechanical arm assembly 5. When the robot is about to start picking fruits, the mechanical arm assembly 5 aligns the mechanical claw assembly 6 at a proper position according to information conduction of the mechanical arm end vision module 58, the bending of each finger of the mechanical claw is controlled by the mechanical claw electromagnetic valve, the fruit is grabbed, and the mechanical arm assembly 5 pulls the mechanical claw assembly to pick the fruits.
the above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (10)
1. A self-propelled self-balancing picking robot, includes robot main part (8), its characterized in that: a mechanical arm assembly (5) is arranged at the top of a robot main body (8), a mechanical claw assembly (6) is arranged at the execution end of the mechanical arm assembly (5), a hanging basket (7) fixed by bolts is arranged at the front end of the robot main body (8), four groups of walking components with three degrees of freedom are arranged at the lower part of the robot main body (8), each walking component comprises a waist joint (4), a hip joint (3), a knee joint (2) and a foot part (1), a waist motor (46) of the waist joint (4) arranged in the robot main body (4) drives the hip joint (3) to rotate, a hip motor (35) of the hip joint (3) drives an upper limb (30) to rotate, a knee motor (25) of the knee joint (2) arranged at the lower end of the upper limb (30) drives a lower limb (20) to rotate, and the bottom end of the foot part (1) of the robot is fixed by bolts at the bottom end of the hip joint (20), the upper limb (30) and the lower limb (20) form the legs of the robot; the walking part of the robot can change the elongation and the angle of each leg through the rotation of the motor, so that the robot main body (8) can walk on a complex road surface and maintain balance.
2. The self-propelled self-balancing picking robot of claim 1, wherein: the foot part (1) comprises a rubber foot pad (11), a rigid foot (12) and a foot sleeve (13), wherein the rubber foot pad (11) is made of rubber, the foot pad (11) is wrapped outside the rigid foot (12), the top of the rigid foot (12) is provided with the foot sleeve (13), and the rigid foot (12) is fixedly installed at the bottom end of the lower limb (20) through a bolt.
3. The self-propelled self-balancing picking robot of claim 1, wherein: the knee joint (2) comprises a lower limb (20), a knee joint inner end cover (21), a knee harmonic speed reducer (22), a knee joint ring (23), a knee joint outer end cover (24), a knee motor (25) and a knee joint connecting ring (26), the knee joint connecting ring (26) is fixed at the bottom end of an upper limb (30) and the inner arc of the knee joint connecting ring (26) is fixedly provided with a knee joint ring (23), the outer end side of the knee joint ring (23) is provided with a knee joint outer end cover (24) and a knee motor (25) which are fastened inside the knee joint ring (23) through screws, the output end of the knee motor (25) is connected with the input end of a knee harmonic reducer (22) to transmit power, the fixed end of the knee harmonic reducer (22) is fixedly connected with the knee joint ring (23) through screws, and the output end of the knee harmonic reducer (22) and the circumferential direction of a lower limb (20) are fixed by the inner end cover (21) of the knee joint.
4. The self-propelled self-balancing picking robot of claim 1, wherein: the hip joint (3) comprises an upper limb (30), a hip joint connecting ring (31), a hip joint ring (32), a hip harmonic speed reducer (33), a hip end cover (34) and a hip motor (35), wherein the hip motor (35) is fixedly installed in a waist body (40) of the waist joint (4) and packaged by the hip end cover (34), the output end of the hip motor (35) is connected with the input end of the hip harmonic speed reducer (33), the fixed end of the hip harmonic speed reducer (33) is also fixed on the outer side of the hip end cover (34) through a screw, the output end of the hip harmonic speed reducer (33) is fixed on the inner side of the hip joint ring (32) through a screw to transmit power, and the top end of the upper limb (30) is fixed on the circumferential surface of the hip joint ring (32) through the hip joint connecting ring (.
5. The self-propelled self-balancing picking robot of claim 1, wherein: the waist joint (4) comprises a waist main body (40), a hoop (41), a transmission shaft (42), a waist end cover (43), a waist harmonic reducer (44), a waist motor support (45) and a waist motor (46); waist motor (46) pass through the screw fastening on waist motor support (45) and waist motor support (45) fix in the inside of robot main part (4), the output of waist motor (46) is connected and the stiff end of waist harmonic speed reducer ware (44) also fixes on waist motor support (45) with the input of waist harmonic speed reducer ware (44), the output and waist end cover (43) of waist harmonic speed reducer ware (44) are connected, transmission shaft (42) of fixing on waist end cover (43) are through hoop (41) and waist main part (40) fixed connection.
6. the self-propelled self-balancing picking robot of claim 1, wherein: the robot main body (8) comprises a trunk shell (80), a trunk base (83) for packaging the bottom of the trunk shell (80), a camera (81) positioned at the front end of the top of the trunk shell (80), and an ultrasonic obstacle avoidance sensor and a laser ranging sensor (82) positioned at the bottom of the trunk base (83); the camera (81), the ultrasonic obstacle avoidance sensor and the laser ranging sensor (82) are respectively connected with the central processing unit through corresponding circuits.
7. The self-propelled self-balancing picking robot of claim 1, wherein: the mechanical arm assembly (5) comprises a first mechanical arm (501), a second mechanical arm (502), a mechanical arm base (55), a mechanical arm hydraulic cylinder (56), a double-lug ring support (57) and a mechanical arm end vision module (58), wherein the mechanical arm base (55) is installed at the upper part of the robot main body (8) and can rotate relative to the robot main body (8), the tail end of the first mechanical arm (501) is connected with the mechanical arm base (55) through a hinge, the other end of the first mechanical arm is connected with the tail end of the second mechanical arm (502) through a hinge, and the other end of the second mechanical arm (502) is connected with the mechanical arm end vision module (58) through a hinge; the mechanical arm hydraulic cylinder (56) comprises a mechanical arm first hydraulic cylinder (561), a mechanical arm second hydraulic cylinder (562) and a mechanical arm third hydraulic cylinder (563), wherein the tail end of the mechanical arm first hydraulic cylinder (561) is hinged to a mechanical arm base (55), the driving end of the mechanical arm first hydraulic cylinder (561) is hinged to a first mechanical arm (501), the tail end of the mechanical arm second hydraulic cylinder (562) is hinged to the first mechanical arm (501), the driving end of the mechanical arm second hydraulic cylinder is hinged to a second mechanical arm (502), the tail end of the mechanical arm third hydraulic cylinder (563) is hinged to a second mechanical arm (502), and the driving end of the mechanical arm third hydraulic cylinder (563) is hinged to.
8. The self-propelled self-balancing picking robot of claim 1 or 7, wherein: the mechanical arm assembly (5) further comprises a mechanical arm motor (51), a mechanical arm motor support (52), a mechanical arm harmonic reducer (53) and a mechanical arm bottom end cover (54), wherein the mechanical arm motor (51) is connected with the mechanical arm motor support (52) through screws, the mechanical arm motor support (52) is fixedly connected with a robot main body (8) through screws, the fixed end of the mechanical arm harmonic reducer (53) is fastened with the mechanical arm motor support (52), the output end of the mechanical arm harmonic reducer is fastened with the mechanical arm bottom end cover (54), the mechanical arm bottom end cover (54) and a mechanical arm base (55) are fixed with each other, and when the mechanical arm motor (51) works, the mechanical arm harmonic reducer (53) outputs power to the mechanical arm bottom end cover (54) and the mechanical arm base (55) to drive the mechanical arm base (55) to rotate.
9. The self-propelled self-balancing picking robot of claim 1 or 7, wherein: the mechanical claw assembly (6) comprises a mounting platform (60), transition finger joints (61), a flexible hose (62), hinge joints (63), rubber fingers (64) and tail finger joints (65), wherein the mounting platform (60) is mounted on a mechanical arm tail end vision module (58) at the tail end of the mechanical arm assembly (5), the three transition finger joints (61) are sequentially connected through the hinge joints (63), the starting ends of the three transition finger joints (61) are hinged to the mounting platform (60), the tail end of the three transition finger joints (61) is hinged to the tail finger joints (65) through the hinge joints (63), and the flexible rubber fingers (64) are embedded in the transition finger joints (61) and the tail finger joints (65); the three transitional finger joints (61) and one tail end finger joint (65) form a mechanical claw of the mechanical claw assembly (6), and the mechanical claw is connected with a telescopic hose (62) communicated with a hydraulic system.
10. the self-propelled self-balancing picking robot of claim 9, wherein: the mounting platform (60) is provided with three groups of mechanical claws, and the tail end finger joints (65) of the three mechanical claws can be mutually closed and opened.
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| CN201910834229.8A CN110537419A (en) | 2019-09-04 | 2019-09-04 | Self-propelled self-balancing picking robot |
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| CN201910834229.8A CN110537419A (en) | 2019-09-04 | 2019-09-04 | Self-propelled self-balancing picking robot |
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| CN111169559A (en) * | 2020-01-14 | 2020-05-19 | 太原理工大学 | Full topography sufficient formula removes metallurgical stove charging robot |
| CN112173715A (en) * | 2020-10-13 | 2021-01-05 | 盐城骏拔汽车零部件有限公司 | Self-balancing glass conveying device and balancing method thereof |
| CN112273050A (en) * | 2020-11-09 | 2021-01-29 | 王爽 | Rapid picking equipment for persimmon trees and using method thereof |
| CN112623062A (en) * | 2021-01-06 | 2021-04-09 | 中国铁建重工集团股份有限公司 | Walking chassis and engineering machine |
| CN113179760A (en) * | 2021-04-28 | 2021-07-30 | 吉安井冈农业园艺科技有限公司 | Auxiliary grapefruit picking equipment |
| CN114982479A (en) * | 2022-06-29 | 2022-09-02 | 仲恺农业工程学院 | Intelligent all-terrain litchi picking robot and picking method |
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| CN112623062A (en) * | 2021-01-06 | 2021-04-09 | 中国铁建重工集团股份有限公司 | Walking chassis and engineering machine |
| CN113179760A (en) * | 2021-04-28 | 2021-07-30 | 吉安井冈农业园艺科技有限公司 | Auxiliary grapefruit picking equipment |
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