CN111615931A

CN111615931A - Multifunctional harvesting robot for vertical plant factory

Info

Publication number: CN111615931A
Application number: CN202010514832.0A
Authority: CN
Inventors: 谢淮北; 姜良朋; 王岩
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2020-09-04
Anticipated expiration: 2040-06-08
Also published as: CN111615931B

Abstract

The invention discloses a multifunctional harvesting robot for a vertical plant factory, which comprises a harvesting robot body, a six-degree-of-freedom mechanical arm, a lifting device, a turnover device, an end effector and a two-stage storage device, wherein the turnover device is positioned above the lifting device and comprises a fixed seat, an electric ball screw and a turnover motor, the end effector is connected with the execution tail end of the six-degree-of-freedom mechanical arm through a flange plate, chucks are symmetrically arranged at the end part of the end effector, a nondestructive picking structure is arranged in an arc groove, the two-stage storage device comprises a lower storage box and an upper lifting box, and a linear electric lifting cylinder is arranged between the lower lifting box and the upper lifting box. The invention can adapt to plants with different heights to carry out nondestructive clamping operation on target objects such as plant fruits and the like, expands the operation range of the end effector, carries out conveying and screening operation according to the sizes of the plant fruits and has low damage degree of the target objects such as the plant fruits and the like.

Description

Multifunctional harvesting robot for vertical plant factory

Technical Field

The invention relates to the technical field of intelligent robot design in intelligent agricultural engineering, in particular to a multifunctional harvesting robot for a vertical plant factory.

Background

The plant factory is a high-efficiency agricultural system for realizing annual continuous production of crops by high-precision environmental control in a facility, and is a labor-saving production mode which automatically controls the environmental conditions of temperature, humidity, illumination, CO2 concentration, nutrient solution and the like for plant growth by using an intelligent computer and an electronic sensing system and ensures that the plant growth and development in the facility are not or rarely restricted by natural conditions. The plant factory is a high-level stage of modern facility agriculture development, is a production system with high investment, high technology and fine equipment, integrates biotechnology, engineering technology and system management, and enables agricultural production to be separated from natural ecological constraints. The agricultural robot is a new generation of unmanned automatic operation machine which can be controlled by different program software to adapt to various operations, can sense and adapt to the variety of crops or environmental changes, and has artificial intelligence such as detection (such as vision, etc.) and calculation, etc.

The agricultural robot, particularly the harvesting robot, has an important role in the application of smart plant factories, however, the existing harvesting robot cannot realize the turning function of a six-degree-of-freedom mechanical arm, the operation range of an end effector is small, the robot cannot be suitable for carrying out nondestructive clamping operation on target objects such as plant fruits and the like for plant diseases with different heights, conveying and screening operation cannot be carried out according to the sizes of the plant fruits, and the damage degree of the target objects such as the plant fruits and the like is high; some harvesting robots cannot realize the function of turning the ball screw around the central axis of the turning shaft and cannot position and fix the ball screw according to the turning position of the turning motor; some harvesting robots cannot realize the function that a six-degree-of-freedom mechanical arm synchronously turns over along with a ball screw, and the operation range of an end effector at the execution end of the six-degree-of-freedom mechanical arm is difficult to expand; the function of nondestructive picking or clamping of the target object to be clamped with an irregular shape cannot be realized, the position of the target object to be clamped is difficult to be micro-adjusted to enable the target object to be clamped to be embedded into the limiting groove, the fitting degree of the surface of the target object to be clamped and the soft adhesive layer is reduced, and the clamping effect is poor;

some harvesting robots cannot increase the effect of the fitting degree of the surface of the target object to be clamped and the soft rubber layer, cannot move the target object to be clamped to the outer side of the corresponding soft rubber layer of the hollow area as far as possible, cannot increase the contact area of the surface of the target object to be clamped and the soft rubber, and cannot limit the position of the object to be clamped, which is displaced due to the deformation of the internal structure of the attitude offset structure; some harvesting robots are not beneficial to placing a target object clamped by an end effector at the end part of the six-degree-of-freedom mechanical arm in an upper lifting box or a lower storage box according to requirements by adjusting the position of the upper lifting box according to the operation position of the six-degree-of-freedom mechanical arm, or not beneficial to adjusting the position of the upper lifting box, or not beneficial to vertically separating the target object from two sides of a vertical separation plate along a declination guide plate and a left declination guide plate through a notch I and a notch II under the action of self gravity, some harvesting robots are not beneficial to leading storage areas at two sides of the vertical separation plate to be the same and leading the target object to fall into the upper lifting box in a path increasing way, thus avoiding the target object from being damaged by directly falling into the bottom of the upper lifting box, and not beneficial to sequentially reducing the rolling speed of the target object entering the upper lifting box along a left lower depression plate A, a left lower depression plate B, a right lower depression plate A and a right, the harvesting robot in addition can't guarantee that the target object gets into next position smoothly, is difficult to make the target object fall into the last cage bottom from the bilateral symmetry plane of last cage, and the condition that the target object piles up the bias and causes the low condition of the interior original storage capacity utilization ratio of last cage takes place for unable the avoiding. Therefore, it is necessary to provide a multifunctional harvesting robot for vertical plant factories, which has simple structure, quick and convenient operation, safety and high efficiency.

Disclosure of Invention

The invention aims to solve the technical problem, overcomes the defects of the prior art, and provides a multifunctional harvesting robot for a vertical plant factory, which has the advantages of simple structure, rapidness, convenience, safety and high efficiency in operation.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a multifunctional harvesting robot for a vertical plant factory comprises a harvesting robot body, a six-degree-of-freedom mechanical arm, a lifting device, a turnover device, an end effector and a two-stage storage device, wherein the turnover device is positioned above the lifting device and comprises a fixed seat, an electric ball screw and a turnover motor, the fixed seat is symmetrically distributed at two ends of the turnover device, the lower end of the fixed seat and the lower end of the turnover motor are both arranged at the top of a vertical supporting upright post, positioning blocks are arranged at two ends of the ball screw, positioning blind holes are symmetrically arranged at the upper side of the positioning blocks and the lower side of the positioning blocks, the inner diameter of each positioning blind hole is the same as the top of a positioning linear electric push rod, a turnover shaft is arranged at the outer side of each positioning block and is arranged in the fixed seat through a bearing, and the turnover motor is connected with the output end of the turnover, the electric ball screw is characterized in that the electric ball screw comprises a moving block, the outer side face of the moving block is connected with a base of a six-degree-of-freedom mechanical arm through a bolt, an end effector is connected with the execution tail end of the six-degree-of-freedom mechanical arm through a flange plate, chucks are symmetrically installed at the end part of the end effector, an arc groove is formed in the inner side of each chuck, a nondestructive picking structure is installed in each arc groove, a bonding layer, an attitude deviation structure, a hollowed-out structure and a soft rubber layer are sequentially arranged on each nondestructive picking structure from inside to outside, a left side of each attitude deviation structure is provided with a left partially parallel division bar, a right side of each attitude deviation structure is provided with a right partially parallel division bar, a hollow area is formed between the left edge of each right partially parallel division bar and the right edge of each left partially parallel division bar, a rectangular hole, Honeycomb holes are respectively arranged in the left inclined parallel parting bead and the right inclined parallel parting bead, resistance reducing bulges are arranged on the outer sides of the soft rubber layers, curved surface grooves are arranged on the outer sides of the resistance reducing bulges, arc transition edge bodies are symmetrically arranged on two sides of the curved surface grooves, limiting grooves are arranged between the resistance reducing bulges, the two-stage storage device comprises a lower storage box and an upper lifting box, a linear electric lifting cylinder is arranged between the lower lifting box and the upper lifting box, the linear electric lifting cylinder is vertically arranged, an annular horizontal conveying belt is arranged on the right side of the lower storage box, the annular horizontal conveying belt is arranged on the upper side of the transmission box through a bearing seat body, a right declination guide plate, a left declination guide plate and a vertical partition plate are sequentially arranged in the lower storage box from top to bottom, and the right end of the right declination guide plate is positioned under the left end of the annular, a first notch is formed in the lower portion of the right declination guide plate and the upper portion of the left declination guide plate, a horizontal shifting column is arranged right above the first notch, a shifting plate is arranged at the outer edge of the horizontal shifting column, two ends of the left declination guide plate are respectively provided with a second notch with the left inner wall of the lower storage box and the right inner wall of the lower storage box, the horizontal size of the second notch is larger than that of the first notch, a third notch is formed between the vertical separation plate and the lower side of the left declination guide plate, the lower end of the vertical separation plate is welded at the bottom of the lower storage box, the left and right symmetrical surfaces of the vertical separation plate are superposed with the left and right symmetrical surfaces of the lower storage box, a left lower diving plate A, a left lower diving plate B, a right lower diving plate A and a right lower diving plate B are sequentially arranged in the upper lifting box from top to bottom, the left end of the lower diving plate A and the left end of the lower diving plate B are both welded with the left inner wall of the, board first and board second of bowing down reduce in proper order with the contained angle between the left inner wall of last cage respectively, board first and bow down all are equipped with reservation mouth first between the right inner wall of board second respectively with last cage down, board first right-hand member and the right side of bowing down of board first of bowing down all welds with the right inner wall of last cage down in the right side, board first and the right side of bowing down board second down reduce in proper order with the contained angle between the right inner wall of last cage down respectively, board first and the left inner wall of last cage of bowing down in the right side all is equipped with reservation mouth second, reservation mouth second is the same with reservation mouth first horizontal cross-section size, the boundary line of board second left end and the bilateral symmetry face of last cage of bowing down in the right side coincide.

The harvester robot comprises a harvester body, a rectangular groove is arranged in the harvester robot body, three-level electric lifting cylinders are symmetrically arranged in the rectangular groove and are vertically arranged, a lifting platform is arranged at the upper end of each three-level electric lifting cylinder, each three-level electric lifting cylinder and the lifting platform are beneficial to a six-degree-of-freedom mechanical arm to lift a turnover device and a lifting device to a certain position according to the height position of a target object, a vertical supporting rod is arranged at the right end of the harvester robot body, a display screen is arranged at the upper end of the vertical supporting rod, a main case is arranged at the right end of a transmission case and is beneficial to mounting electronic instrument equipment necessary for the device, the main case is also positioned at the right side of the lifting device, a radar positioner is arranged at the upper end of the main case through a fixed column and is beneficial to realizing the positioning function of the position, the binocular camera can increase the position location and the recognition function that end effector treated the centre gripping target object, the both ends symmetry of harvest robot organism is installed the radar and is kept away barrier module seat and is sought mark module pedestal, and the radar is kept away barrier module seat and is sought mark module pedestal and help installing the radar and keep away the barrier and seek mark instrument accessories, increases harvest robot's walking intelligence and functional abundance.

The lifting device is positioned above the lifting platform and comprises a vertical supporting upright post and a synchronous transmission device, the vertical supporting upright post is helpful for fixing the position of the turnover device, a connecting blind hole is arranged in the vertical supporting upright post, a positioning linear electric push rod is arranged on the inner side of the vertical supporting upright post, the positioning linear electric push rod is vertically arranged and is also positioned at the upper end of the vertical supporting upright post, the positioning linear electric push rod is helpful for realizing the positioning and fixing of the positioning block in the turnover device and timely separates from and is connected with the positioning blind hole of the positioning block according to the position of the six-degree-of-freedom mechanical arm, the synchronous transmission device comprises lifting screws, the lifting screws are symmetrically arranged, the transmission boxes are arranged at the bottoms of the lifting screws through bearing seats, and the transmission boxes are helpful for installing and arranging power transmission, the transmission case is installed on the lifting table and comprises a transmission long shaft, the transmission long shaft is installed in the transmission case through a bearing seat, the transmission long shaft and the transmission motor are beneficial to transmitting power to the lifting screw rod to enable the lifting screw sleeve to support the vertical supporting upright post to ascend or descend, then the position height of the turnover device is adjusted, the output end of the lower end of the lifting screw rod is connected with the transmission long shaft through bevel gear transmission, the transmission motor is installed at the right end of the transmission long shaft through a coupler, the lifting screw sleeve is arranged on the outer side of the lifting screw rod, and the lifting screw sleeve is installed in the connecting blind hole.

The two shifting plates are welded on the outer edge of the horizontal shifting column in a centrosymmetric mode, and the working efficiency of large-size target objects entering the second notch is improved under the condition that the horizontal shifting column is guaranteed to rotate at the same speed.

When the device is used on site, firstly, an operator sets path information of a harvesting robot body and plant factory operation information through a server, equipment in a host box in the harvesting robot body passes through a signal receiver according to a server setting instruction and displays the information through a display screen, the harvesting robot body moves to a target position from an initial position through an upper instrument of a radar obstacle avoidance module seat and a tracing module seat according to the path information, and a three-level electric lifting cylinder in a rectangular groove enables a lifting platform to ascend to a specified position according to the instruction.

The harvesting robot body adjusts the execution position of the end effector according to the height position of a plant, for the plant with the ordinary height, a radar positioner on the main case can determine the position information of the harvesting robot body, transmits an instruction to a main case device through a transmission line, and transmits the information to the end effector at the tail end of the six-freedom-degree mechanical arm through the main case device, and a binocular camera on the end effector positions and identifies the plant fruit to determine the related information of the plant fruit; for plant fruits with medium height, a transmission motor is started according to an instruction sent by equipment in a host box, the output end of the transmission motor is driven by a bevel gear through a coupler to enable a lifting screw to rotate, a lifting screw sleeve rises under the driving of the lifting screw and pushes a connecting blind hole to enable a vertical supporting upright post to move upwards, after the vertical supporting upright post rises to a specified height, a turnover device at the upper end of the lifting device also reaches the specified height, the transmission motor stops working, the information is transmitted to an end effector at the tail end of a six-degree-of-freedom mechanical arm through the equipment information in the host box, and a binocular camera on the end effector positions and identifies the plant fruits so as to determine the relevant information of the; for plant fruits with higher height, except that the lifting platform and the lifting device reach the highest position, the top of the positioning linear electric push rod is separated from the positioning blind hole in the positioning block according to an instruction sent by equipment in a host box, the overturning motor is started to enable the electric ball screw in the overturning device to rotate clockwise or anticlockwise along the central axis of the output shaft of the overturning motor, the overturning motor is closed and the top of the positioning linear electric push rod is enabled to penetrate into the positioning blind hole of the overturned positioning block, the six-degree-of-freedom mechanical arm installed on the moving block is overturned to the upper side of the overturning device from the lower side of the overturning device, the six-degree-of-freedom mechanical arm can operate plants with higher positions, the information is transmitted to an end effector at the tail end of the six-degree-of-freedom mechanical arm through the equipment information in the host box, and.

Secondly, after the position information of the plant fruit is determined by the harvesting robot body, the position of an end effector is adjusted by a six-degree-of-freedom mechanical arm, the target fruit is clamped by an arc-shaped groove on a chuck, specifically, the surface of the target fruit is contacted with the outer surface of a soft rubber layer, force is applied to the soft rubber layer by the surface of the target fruit according to the position of the surface of the target fruit, the force is transmitted to a posture offset structure through the soft rubber layer through a hollow structure, the target fruit tends to move towards the symmetrical plane of a left-side parallel parting strip and a right-side parallel parting strip under the action of the force applied to the left-side parallel parting strip and the right-side parallel parting strip in the posture offset structure, when the force is large enough, the target fruit can move by a certain value, the surface of the target fruit is contacted with a limit groove, and the surface of the target fruit is subjected to, under the multi-factor effects of deformation of the rectangular hole, stress deformation of the left inclined parallel division bars and the right inclined parallel division bars in the hollow structure, the shape of the arc-shaped groove, materials of the soft adhesive layer and the like, the degree of damage of target fruits is greatly reduced, and picking of the target fruits is completed at the same time.

Thirdly, according to the height of the target fruit and the position of the six-degree-of-freedom mechanical arm, the upper lifting box can adjust the height position of the upper lifting box by starting the linear electric lifting cylinder according to the position of the six-degree-of-freedom mechanical arm so as to adapt to the height of the six-degree-of-freedom mechanical arm, and the six-degree-of-freedom mechanical arm puts the target fruit picked by the end effector on the annular horizontal conveying belt or directly in the upper lifting box, specifically: the target fruits are placed on the annular horizontal conveying belt, the target fruits are conveyed to enter the right declination guide plate through the annular horizontal conveying belt, the target fruits roll to the first notch under the action of the self gravity of the target fruits, if the size of the target fruits is smaller than that of the first notch, the target fruits fall onto the left declination guide plate through the first notch and enter the right side of the vertical partition plate through the first notch, and if the size of the target fruits is larger than that of the first notch, the shifting plate shifts the target fruits to the second notch under the action of rotation of the horizontal shifting column and directly enters the left side of the vertical partition plate through the second notch under the action of the self gravity; if the six-degree-of-freedom mechanical arm directly puts target fruits picked by the end effector into an upper lifting box, then under the action of self gravity, the target fruits sequentially fall onto a left lower pitching plate A through a reserved port A along the left lower pitching plate A, fall onto a left lower pitching plate B through a reserved port B at the left end of the right lower pitching plate A, fall onto a right lower pitching plate B through a reserved port A at the right end of the left lower pitching plate B, and finally fall into the bottom of the upper lifting box.

And finally, after the required work of the intelligent plant factory is finished, resetting three levels of motors, a turnover device and a lifting device in the rectangular groove in sequence, enabling the harvesting robot body to reach a non-operation area through an instruction of equipment in the host box, overhauling and charging the harvesting robot body in the non-operation area for maintenance, and after all overhauling and maintenance work of the harvesting robot body is finished, opening the harvesting robot body again for related operation according to operation requirements.

Compared with the prior art, the invention has the beneficial effects that: the invention can realize the turning function of the six-degree-of-freedom mechanical arm, expand the operation range of the end effector, is suitable for the nondestructive clamping operation of plants with different heights on target objects such as plant fruits and the like, and carries out conveying and screening operation according to the sizes of the plant fruits, and has wide application range, flexible operation and low damage degree of the target objects such as the plant fruits and the like; the end position of the turnover device is fixed with the turnover motor by arranging the fixed seat, the turnover shaft and the turnover motor, and the turnover function of the ball screw around the central axis of the turnover shaft can be realized; the ball screw is favorably positioned and fixed according to the overturning position of the overturning motor by arranging the positioning linear electric push rod and the positioning blind holes on the two sides of the positioning block; the moving block is arranged, so that the function of synchronously overturning the six-degree-of-freedom mechanical arm along with the ball screw can be realized, the function of horizontally reciprocating the six-degree-of-freedom mechanical arm can be realized, and the operation range of the end effector at the execution tail end of the six-degree-of-freedom mechanical arm is expanded; the nondestructive picking structure can be fixed in the arc-shaped groove by arranging the nondestructive picking structure and the arc-shaped groove, the target object to be clamped can be embedded into the limit groove by arranging the bonding layer and realizing micro-adjustment of the position of the target object to be clamped by arranging the left-side parallel parting bead and the right-side parallel parting bead in the attitude offset structure, the fitting degree of the surface of the target object to be clamped and the soft rubber layer is increased, the clamping effect is increased, the hollow structure can be subjected to inward deformation by arranging the rectangular hole, the horizontal parting bead and the honeycomb holes, and the fitting degree effect of the surface of the target object to be clamped and the soft rubber layer is increased; the hollow area is arranged, so that the target object to be clamped can move to the outer side of the soft rubber layer corresponding to the hollow area as far as possible; the anti-drag bulge, the curved surface groove, the arc transition edge body and the limiting groove are arranged, so that the contact area between the surface of the target object to be clamped and the soft rubber can be increased, and the position of the object to be clamped, which is displaced due to the deformation of the internal structure of the attitude deviation structure, can be limited; the lower storage box, the upper lifting box and the linear electric lifting cylinder are arranged, so that the operation position of the six-degree-of-freedom mechanical arm is facilitated, and the position of the upper lifting box is adjusted through the linear electric lifting cylinder, so that a target object clamped by an end effector at the end part of the six-degree-of-freedom mechanical arm is placed in the upper lifting box or the lower storage box as required; the target object clamped by the end effector at the end part of the six-degree-of-freedom mechanical arm can be conveyed into the lower storage box by arranging the annular horizontal conveying belt; the target objects can be vertically divided into two sides along the declination guide plate and the left declination guide plate through a first notch and a second notch under the action of self gravity by arranging the right declination guide plate, the left declination guide plate and the vertical dividing plate, the first notch, the horizontal shifting column, the shifting plate, the second notch and the third notch are arranged, the horizontal size of the second notch is larger than that of the first notch, so that the size of the target objects can be screened through the sizes of the first notch and the second notch, the target objects with larger sizes are shifted into the second notch from the target objects on the first notch through the shifting plate on the horizontal shifting column, the target objects with smaller sizes enter a left side storage area of the vertical dividing plate through the second notch, and the target objects with smaller sizes enter a right side storage area of the vertical dividing plate from the third notch along the left declination guide plate; the left and right symmetrical surfaces of the vertical partition plate are overlapped with the left and right symmetrical surfaces of the lower storage box, so that the storage areas on the two sides of the vertical partition plate are the same; the left lower diving plate A, the left lower diving plate B, the right lower diving plate A and the right lower diving plate B are arranged, so that a target object can fall into an upper lifting box in a path increasing mode, and the target object is prevented from being damaged due to the fact that the target object directly falls into the bottom of the upper lifting box; the angle between the lower depression plate A and the lower depression plate B and the left inner wall of the upper lifting box is respectively reduced in sequence, the angle between the right lower depression plate A and the right lower depression plate B and the right inner wall of the upper lifting box is respectively reduced in sequence, so that the rolling speed of a target object entering the upper lifting box along the left lower depression plate A, the left lower depression plate B, the right lower depression plate A and the right lower depression plate B is reduced, the target object damage caused by the overhigh rolling speed of the target object is reduced, the target object can be ensured to smoothly enter the next position by setting the reserved opening B and the horizontal cross section of the reserved opening A to be the same in size, the target object is ensured to fall into the bottom of the upper lifting box, the target object can be favorably fallen into the bottom of the upper lifting box from the bilateral symmetry plane of the upper lifting box by setting the boundary line at the left end of the right lower depression plate B to be superposed with the bilateral symmetry plane of the upper lifting box, and the situation that the original storage capacity utilization rate in the upper lifting box is low due, and the structure is simple, the operation is convenient, and the device is economical and practical.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic structural view of the nondestructive picking structure of FIG. 2;

FIG. 4 is a schematic view of a partial structure of the hollow structure shown in FIG. 3;

FIG. 5 is a schematic view of the lifting device and the two-stage storage device shown in FIG. 1;

FIG. 6 is a schematic structural view of the turning device in FIG. 1;

FIG. 7 is a schematic view of a portion of the lower storage bin of FIG. 5;

FIG. 8 is a schematic view of the upper lift box of FIG. 5;

fig. 9 is a schematic diagram of the operation position of the six-degree-of-freedom robot arm after the turning action.

In the figure: 1. harvesting the robot body; 11. a rectangular groove; 111. a three-stage electric lifting cylinder; 1111. a lifting platform; 12. a vertical support bar; 121. a display screen; 13. a radar obstacle avoidance module seat; 14. a tracking module base; 2. a six-degree-of-freedom mechanical arm; 3. a lifting device; 31. a vertical support column; 311. connecting the blind holes; 312. positioning a linear electric push rod; 32. a synchronous drive; 321. a lifting screw; 3211. a transmission case; 3212. a transmission long shaft; 3213. a drive motor; 3214. a lifting screw sleeve; 4. a turning device; 41. a fixed seat; 42. an electric ball screw; 421. positioning blocks; 4211. positioning the blind hole; 4212. a turning shaft; 422. a moving block; 43. turning over a motor; 5. an end effector; 51. a chuck; 511. an arc-shaped groove; 52. a binocular camera; 6. a two-stage storage device; 61. a lower storage box; 611. an endless horizontal conveyor belt; 612. a right declination guide plate; 613. a left declination guide plate; 614. a vertical partition plate; 62. an upper lifting box; 621. a left lower bending plate A; 622. a left lower bending plate B; 623. a right lower bending plate A; 624. a right lower bending plate B; 7. the picking structure is not damaged; 71. an adhesive layer; 72. an attitude shifting structure; 721. left-side parallel parting strips; 722. right-side parallel parting strips; 73. a hollow structure; 731. a rectangular hole; 7311. horizontal parting beads; 74. a soft adhesive layer; 741. a drag reduction bump; 7411. a curved surface groove; 7412. an arcuate transition edge body; 7413. a limiting groove; 8. a hollow region; 9. honeycomb holes; 10. a linear electric lift cylinder; 101. a first gap is formed; 1011. horizontally shifting the column; 1012. dialing a plate; 102. a second gap; 103. a third gap; 104. reserving a mouth armor; 105. a reserved port B; 106. a main chassis; 1061. a radar locator.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, the multifunctional harvesting robot for vertical plant factory comprises a harvesting robot body 1, a six-degree-of-freedom mechanical arm 2, a lifting device 3, a turning device 4, an end effector 5 and a two-stage storage device 6, wherein the turning device 4 is located above the lifting device 3, the turning device 4 comprises a fixed seat 41, an electric ball screw 42 and a turning motor 43, the fixed seat 41 is symmetrically distributed at two ends of the turning device 4, the lower ends of the fixed seat 41 and the turning motor 43 are both mounted at the top of the vertical support column 31, positioning blocks 421 are respectively arranged at two ends of the ball screw 42, positioning blind holes 4211 are symmetrically arranged at the upper side of the positioning blocks 421 and the lower side of the positioning blocks 421, the inner diameter of the positioning blind holes 4211 is the same as the top of the positioning linear electric push rod 312, the outer side of the positioning block 421 is provided with a turning shaft 4212, the turning shaft 4212 is installed in a fixed seat 41 through a bearing, the turning motor 43 is connected with the output end of the turning shaft 4212 on the right side of the turning device 4 through a coupler, the electric ball screw 42 comprises a moving block 422, the outer side surface of the moving block 422 is connected with the base of the six-degree-of-freedom mechanical arm 2 through a bolt, the end effector 5 is connected with the execution tail end of the six-degree-of-freedom mechanical arm 2 through a flange, the end part of the end effector 5 is symmetrically provided with a chuck 51, the inner side of the chuck 51 is provided with an arc-shaped groove 511, a nondestructive picking structure 7 is installed in the arc-shaped groove 511, the nondestructive picking structure 7 is sequentially provided with an adhesive layer 71, a posture deviation structure 72, a hollow structure 73 and a soft rubber layer 74 from inside, a right deviation parallel division bar 722 is arranged on the left side of the posture deviation structure 72, a hollow area 8 is arranged between the left edge of the right deviation parallel division bar 722 and the right edge of the left deviation parallel division bar 721, a rectangular hole 731 is arranged in the hollowed structure 73, a horizontal division bar 7311 is arranged in the rectangular hole 731, honeycomb holes 9 are arranged in the horizontal division bar 7311, the left deviation parallel division bar 721 and the right deviation parallel division bar 722, a resistance reducing bulge 741 is arranged on the outer side of the soft rubber layer 74, a curved groove 7411 is arranged on the outer side of the resistance reducing bulge 741, arc transition edge bodies 7412 are symmetrically arranged on two sides of the curved groove 7411, a limit groove 7413 is arranged between the resistance reducing bulges 741, the two-stage storage device 6 comprises a lower storage box 61 and an upper lifting box 62, a linear electric lifting cylinder 10 is arranged between the lower lifting box 61 and the upper lifting box 62, and the linear electric lifting cylinder 10 is vertically arranged, the right side of the lower storage box 61 is provided with an annular horizontal conveying belt 611, the annular horizontal conveying belt 611 is installed on the upper side of the transmission box 3211 through a bearing seat body, the lower storage box 61 is internally provided with a right declination guide plate 612, a left declination guide plate 613 and a vertical partition plate 614 from top to bottom in sequence, the right end of the right declination guide plate 612 is located right below the left end of the annular horizontal conveying belt 611, the lower part of the right declination guide plate 612 and the upper part of the left declination guide plate 613 are provided with a first gap 101, a horizontal shifting column 1011 is arranged right above the first gap 101, the outer edge of the horizontal shifting column 1011 is provided with a shifting plate 1012, two ends of the left declination guide plate 613 are respectively provided with a second gap 102 with the left inner wall of the lower storage box 61 and the right inner wall of the lower storage box 61, the horizontal dimension of the second gap 102 is greater than the horizontal dimension of the first gap 101, a third gap 103 is arranged between the vertical partition plate 614 and the, the lower end of the vertical separation plate 614 is welded at the bottom of the lower storage box 61, the bilateral symmetry plane of the vertical separation plate 614 coincides with the bilateral symmetry plane of the lower storage box 61, a left lower diving plate A621, a left lower diving plate B622, a right lower diving plate A623 and a right lower diving plate B624 are sequentially arranged in the upper lifting box 62 from top to bottom, the left end of the lower diving plate A621 and the left end of the lower diving plate B622 are all welded with the left inner wall of the upper lifting box 62, the included angles between the lower diving plate A621 and the lower diving plate B622 and the left inner wall of the upper lifting box 62 are sequentially reduced, a reserved opening A104 is respectively arranged between the lower diving plate A621 and the lower diving plate B622 and the right inner wall of the upper lifting box 62, the right end of the lower diving plate A623 and the left end of the right diving plate B624 are both welded with the right inner wall of the upper lifting box 62, the included angles between the lower diving plate A623 and the right lower diving plate B624 and the right inner wall of the upper lifting box 62 are sequentially reduced, all be equipped with between the left inner wall of board first 623 of bowing down in the right side and upper lift case 62 and reserve mouthful second 105, reserve mouthful second 105 and reserve mouthful first 104 horizontal cross-sectional dimension the same, the boundary line of board second 624 left end of bowing down in the right side coincides with the bilateral symmetry plane of last lift case 62.

As shown in fig. 1, 2 and 9, a rectangular groove 11 is formed in the harvesting robot body 1, three-stage electric lifting cylinders 111 are symmetrically installed in the rectangular groove 11, the three-stage electric lifting cylinders 111 are vertically arranged, a lifting platform 1111 is installed at the upper end of the three-stage electric lifting cylinders 111, the three-stage electric lifting cylinders 111 and the lifting platform 1111 facilitate a six-degree-of-freedom robot arm 2 to lift a turning device 4 and a lifting device 3 to a certain position according to the height position of a target object, a vertical support rod 12 is arranged at the right end of the harvesting robot body 1, a display screen 121 is installed at the upper end of the vertical support rod 12, a main cabinet 106 is installed at the right end of the transmission cabinet 3211, the main cabinet 106 facilitates installation of necessary electronic equipment of the device, the main cabinet 106 is also located at the right side of the lifting device 3, a radar positioner 1061 is installed at the upper end, radar locator 1061 helps realizing the location function of harvest robot organism 1, binocular camera 52 is installed to end effector 5's upside, and binocular camera 52 can increase end effector 5 and treat the position location and the recognition function of centre gripping target object, the both ends symmetry of harvest robot organism 1 installs the radar and keeps away barrier module seat 13 and trailing module pedestal 14, and the radar is kept away barrier module seat 13 and trailing module pedestal 14 and is helped installing the radar and keep away barrier and trailing instrument accessories, increases harvest robot's walking intelligence and function abundance.

As shown in fig. 1, 5 and 9, the lifting device 3 is located above the lifting platform 1111, the lifting device 3 includes a vertical supporting upright 31 and a synchronous transmission device 32, the vertical supporting upright 31 helps to fix the position of the turnover device 4, a connecting blind hole 311 is provided in the vertical supporting upright 31, a positioning linear electric push rod 312 is installed on the inner side of the vertical supporting upright 31, the positioning linear electric push rod 312 is vertically disposed, the positioning linear electric push rod 312 is also located at the upper end of the vertical supporting upright 31, the positioning linear electric push rod 312 helps to position and fix a positioning block 421 in the turnover device 4, and timely separates and connects with a positioning blind hole 4211 of the positioning block 421 according to the position of the six-degree-of-freedom mechanical arm 2, the synchronous transmission device 32 includes a lifting screw 321, the lifting screw 321 is symmetrically arranged, a transmission box 3211 is installed at the bottom of the lifting screw 321 through a bearing seat, the transmission case 3211 facilitates installation and arrangement of power transmission components, the transmission case 3211 is installed on the lifting platform 1111, the transmission case 3211 includes a transmission long shaft 3212, the transmission long shaft 3212 is installed in the transmission case 3211 through a bearing seat, the transmission long shaft 3212 and the transmission motor 3213 facilitate transmission of power to the lifting screw 321, so that the lifting screw 3214 supports the vertical support column 31 to ascend or descend, and then the position height of the turnover device 4 is adjusted, an output end at the lower end of the lifting screw 321 is connected with the transmission long shaft 3212 through bevel gear transmission, the right end of the transmission long shaft 3212 is installed with the transmission motor 3213 through a coupling, the outer side of the lifting screw 321 is provided with the lifting screw 3214, and the lifting screw 3214 is installed in the connection blind hole 311.

As shown in fig. 7, there are two of the shifting plates 1012, which are welded on the outer edge of the horizontal shifting post 1011 in a centrosymmetric manner, and the working efficiency of the shifting plates 1012 when large-sized target objects enter the second gap 102 is improved under the condition that the same rotating speed of the horizontal shifting post 1011 is ensured.

When the robot is used on site, firstly, an operator sets path information and plant factory operation information of the harvesting robot body 1 through a server, equipment in a main case 106 in the harvesting robot body 1 passes through a signal receiver according to a server setting instruction and displays the information through a display screen 121, the harvesting robot body 1 moves to a target position from an initial position through upper instruments of a radar obstacle avoidance module seat 13 and a tracing module seat 14 according to the path information, and a three-level electric lifting cylinder 111 in a rectangular groove 11 enables a lifting platform 1111 to ascend to a specified position according to the instruction.

The harvesting robot body 1 adjusts the execution position of the end effector 5 according to the height position of a plant, for the plant with the ordinary height, the radar positioner 1061 on the mainframe box 106 determines the position information of the harvesting robot body 1, transmits the instruction to the equipment in the mainframe box 106 through a transmission line, and transmits the information to the end effector 5 at the tail end of the six-degree-of-freedom mechanical arm 2 through the equipment information in the mainframe box 106, and the binocular camera 52 on the end effector 5 positions and identifies the plant fruit to determine the related information of the plant fruit; for medium-height plant fruits, a transmission motor 3213 is started according to an instruction sent by equipment in a mainframe box 106, the output end of the transmission motor 3213 is driven by a bevel gear through a coupler to rotate a lifting screw 321, the lifting screw 3214 is driven by the lifting screw 321 to ascend and push a connecting blind hole 311 to enable a vertical supporting upright post 31 to move upwards, after the vertical supporting upright post 31 ascends to a specified height, a turnover device 4 positioned at the upper end of the lifting device 3 also reaches the specified height, the transmission motor 3213 stops working, and then the equipment information in the mainframe box 106 is transmitted to an end effector 5 at the tail end of a six-degree-of-freedom mechanical arm 2, and a binocular camera 52 on the end effector 5 positions and identifies the plant fruits to determine the relevant information of the plant fruits; for plants and fruits with higher height, except that the lifting platform 1111 and the lifting device 3 reach the highest position, the top of the positioning linear electric push rod 312 is separated from the positioning blind hole 4211 on the positioning block 421 according to an instruction sent by equipment in the mainframe box 106, the overturning motor 43 is started to enable the electric ball screw 42 in the overturning device 4 to rotate 180 degrees clockwise or anticlockwise along the central axis of the output shaft of the overturning motor 43, the overturning motor 43 is closed, the top of the positioning linear electric push rod 312 is inserted into the positioning blind hole 4211 of the overturned positioning block 421, the six-degree-of-freedom mechanical arm 2 arranged on the moving block 422 is overturned from the lower side of the overturning device 4 to the upper side of the overturning device 4, the six-degree-of freedom mechanical arm 2 can operate plants at higher positions, then the information is transmitted to the end effector 5 at the tail end of the six-degree-of freedom mechanical arm 2 through the equipment in the mainframe, to determine the relevant information of the plant fruit.

Secondly, after the harvesting robot body 1 determines the position information of the plant fruits, the six-degree-of-freedom mechanical arm 2 adjusts the position of the end effector 5, the target fruits are clamped through the arc-shaped groove 511 on the chuck 51, specifically, the surface of the target fruits is in contact with the outer surface of the soft rubber layer 74, force is applied to the soft rubber layer 74 by the surface of the target fruits according to the position of the surface of the target fruits, the force is transmitted to the posture offset structure 72 through the hollow structure 73 by the soft rubber layer 74, the left inclined parallel division bar 721 and the right inclined parallel division bar 722 in the posture offset structure 72 are stressed to enable the target fruits to move towards the symmetrical plane of the left inclined parallel division bar 721 and the right inclined parallel division bar 722, when the force is large enough, the target fruits move to a certain value, at the moment, the surface of the target fruits is in contact with the limit groove 7413, and the surface of the target fruits is subjected to the resistance action of, the surface position of the target fruit is fixed, and under the action of multiple factors such as deformation of the rectangular hole 731, stress deformation of the left parallel division bar 721 and the right parallel division bar 722, shape of the arc-shaped groove 511, material of the soft rubber layer 74 and the like in the hollow structure 73, the damage degree of the target fruit is greatly reduced, and the picking of the target fruit is completed.

Thirdly, according to the height of the target fruit and the position of the six-degree-of-freedom mechanical arm 2, the upper lifting box 62 can adjust the height position of the upper lifting box 62 by starting the linear electric lifting cylinder 10 according to the position of the six-degree-of-freedom mechanical arm 2 to adapt to the height of the six-degree-of-freedom mechanical arm 2, and the six-degree-of-freedom mechanical arm 2 puts the target fruit picked by the end effector 5 on the annular horizontal conveying belt 611 or directly into the upper lifting box 62, specifically: target fruits are placed on the annular horizontal conveying belt 611, the target fruits are conveyed to the right declination guide plate 612 through the annular horizontal conveying belt 611, under the action of the self gravity of the target fruits, the target fruits roll to the first notch 101, if the size of the target fruits is smaller than the size of the first notch 101, the target fruits fall onto the left declination guide plate 613 through the first notch 101 and enter the right side of the vertical partition plate 614 through the first notch 101, and if the size of the target fruits is larger than the size of the first notch 101, the shifting plate 1012 shifts the target fruits to the second notch 102 under the action of the rotation of the horizontal shifting column 1011 and directly enters the left side of the vertical partition plate 614 through the second notch 102 under the action of the self gravity; if the six-degree-of-freedom mechanical arm 2 directly puts target fruits picked by the end effector 5 into the upper lifting box 62, under the action of self gravity, the target fruits sequentially fall onto a right lower pitching plate 623 through a reserved port A104 along a left lower pitching plate A621, a reserved port B105 at the left end of the right lower pitching plate A623 falls onto a left lower pitching plate B622, a reserved port A104 at the right end of the left lower pitching plate B622 falls onto a right lower pitching plate B624, and the target fruits finally fall into the bottom of the upper lifting box 62.

Finally, treat the required work of interior wisdom plant factory and accomplish the back, reset tertiary electronic 111 in the rectangular channel 11, turning device 4, elevating gear 3 in proper order, harvest robot organism 1 arrives the non-operation district through the instruction of the interior equipment of mainframe box 106, harvest robot organism 1 overhauls and the maintenance of charging in the non-operation district, after all overhauls and the maintenance work of harvest robot organism 1 accomplished, can be according to the operation demand, open harvest robot organism 1 again and carry out relevant operation.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a be used for multi-functional harvesting robot of perpendicular plant factory, includes the harvesting robot organism, six degree of freedom arms and elevating gear, its characterized in that: the turnover mechanism is characterized by further comprising a turnover device, an end effector and a two-stage storage device, wherein the turnover device is positioned above the lifting device and comprises a fixed seat, an electric ball screw and a turnover motor, the fixed seat is symmetrically distributed at two ends of the turnover device, the lower end of the fixed seat and the lower end of the turnover motor are both arranged at the top of the vertical supporting upright post, two ends of the ball screw are respectively provided with a positioning block, the upper side of the positioning block and the lower side of the positioning block are symmetrically provided with a positioning blind hole, the inner diameter size of the positioning blind hole is the same as the top size of a positioning linear electric push rod, the outer side of the positioning block is provided with a turnover shaft, the turnover shaft is arranged in the fixed seat through a bearing, the turnover motor is connected with the output end of the turnover shaft at the right side of the turnover device through a, the end effector is connected with the executing end of the six-degree-of-freedom mechanical arm through a flange plate, the end of the end effector is symmetrically provided with chucks, the inner sides of the chucks are provided with arc grooves, lossless picking structures are arranged in the arc grooves, the lossless picking structures are sequentially provided with an adhesive layer, a posture offset structure, a hollow structure and a soft rubber layer from inside to outside, the left side of the posture offset structure is provided with a left partially parallel division bar, the left side of the posture offset structure is provided with a right partially parallel division bar, a hollow area is arranged between the left edge of the right partially parallel division bar and the right edge of the left partially parallel division bar, a rectangular hole is arranged in the hollow structure, a horizontal division bar is arranged in the rectangular hole, honeycomb holes are arranged in the horizontal division bar, the left partially parallel division bar and the right partially parallel division bar, the outer side of the soft rubber layer is provided with a resistance reducing bulge, and the outer side of the, arc transition edge bodies are symmetrically arranged on two sides of the curved surface groove, a limiting groove is arranged between the resistance reducing bulges, the two-stage storage device comprises a lower storage box and an upper lifting box, a linear electric lifting cylinder is arranged between the lower lifting box and the upper lifting box, the linear electric lifting cylinder is vertically arranged, an annular horizontal conveying belt is arranged on the right side of the lower storage box, the annular horizontal conveying belt is arranged on the upper side of the transmission box through a bearing seat body, a right declination guide plate, a left declination guide plate and a vertical partition plate are sequentially arranged in the lower storage box from top to bottom, the right end of the right declination guide plate is positioned under the left end of the annular horizontal conveying belt, a first gap is arranged between the lower part of the right declination guide plate and the upper part of the left declination guide plate, a horizontal poking column is arranged right above the first gap, and a poking plate is arranged at the outer edge of, the two ends of the left declination guide plate are respectively provided with a second notch with the left inner wall of the lower storage box and the right inner wall of the lower storage box, the horizontal dimension of the second notch is larger than that of the first notch, a third notch is arranged between the vertical separation plate and the lower side of the left declination guide plate, the lower end of the vertical separation plate is welded at the bottom of the lower storage box, the bilateral symmetry plane of the vertical separation plate is superposed with the bilateral symmetry plane of the lower storage box, the upper lifting box is internally provided with a left lower depression plate A, a left lower depression plate B, a right lower depression plate A and a right lower depression plate B from top to bottom, the left end of the lower depression plate A and the left end of the lower depression plate B are respectively welded with the left inner wall of the upper lifting box, included angles between the lower depression plate A and the lower depression plate B and the left inner wall of the upper lifting box are respectively reduced in sequence, and openings A are respectively arranged between the lower depression plate A and the lower depression plate B and the right inner wall of the upper lifting box, the right-hand member of board first and the right side of bowing down board second all welds with the right inner wall of last cage mutually, board first and the right side of bowing down board second respectively and the contained angle between the right inner wall of last cage reduce in proper order down in the right side, it all is equipped with reservation mouth second to bow down between the left inner wall of board first and last cage under the right side, reservation mouth second is the same with reservation mouth first horizontal cross section size, the boundary line of board second left end and the bilateral symmetry face of last cage coincide mutually bow down on the right side.

2. The multifunctional harvesting robot for vertical plant factory as claimed in claim 1, wherein: the harvesting robot is characterized in that a rectangular groove is formed in the harvesting robot body, three-level electric lifting cylinders are symmetrically installed in the rectangular groove, the three-level electric lifting cylinders are vertically arranged, a lifting platform is installed at the upper ends of the three-level electric lifting cylinders, a vertical supporting rod is arranged at the right end of the harvesting robot body, a display screen is installed at the upper end of the vertical supporting rod, a mainframe box is installed at the right end of a transmission box, the mainframe box is further located on the right side of a lifting device, a radar positioner is installed at the upper end of the mainframe box through a fixed column, a binocular camera is installed at the upper side of an end effector, and a radar obstacle avoidance module seat and a tracing module seat are symmetrically installed at two.

3. The multifunctional harvesting robot for vertical plant factory as claimed in claim 1, wherein: the lifting device is positioned above the lifting platform and comprises a vertical supporting upright post and a synchronous transmission device, a connecting blind hole is arranged in the vertical supporting upright post, a positioning linear electric push rod is arranged on the inner side of the vertical supporting upright post and is vertically arranged, the positioning linear electric push rod is also positioned at the upper end of the vertical supporting upright post, the synchronous transmission device comprises lifting screws, the lifting screws are symmetrically arranged, a transmission box is arranged at the bottom of each lifting screw through a bearing seat and is arranged on the lifting platform, the transmission box comprises a transmission long shaft, the transmission long shaft is arranged in the transmission box through the bearing seat, the output end of the lower end of each lifting screw is connected with the transmission long shaft through bevel gear transmission, a transmission motor is arranged at the right end of the transmission long shaft through a coupler, and a lifting screw sleeve is arranged on the outer side of each lifting screw, the lifting screw sleeve is arranged in the connecting blind hole.

4. The multifunctional harvesting robot for vertical plant factory as claimed in claim 1, wherein: the two shifting plates are welded on the outer edge of the horizontal shifting column in a centrosymmetric manner.