CN111820006A - Picking robot for spherical fruits - Google Patents
Picking robot for spherical fruits Download PDFInfo
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- CN111820006A CN111820006A CN202010841039.1A CN202010841039A CN111820006A CN 111820006 A CN111820006 A CN 111820006A CN 202010841039 A CN202010841039 A CN 202010841039A CN 111820006 A CN111820006 A CN 111820006A
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- negative pressure
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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
Abstract
The invention discloses a picking robot for spherical fruits, which comprises a moving carrier, parallel mechanical arms, a negative pressure adsorption end effector, a lifting platform, a fixed chassis, a hose, a negative pressure generation system, a fixed column, a fruit collection box, a visual recognition mechanism, a control box and a generator, wherein the lifting platform is arranged on the moving carrier, and the negative pressure generation system, the control box, the fruit collection box, the fixed column and the generator are all fixedly arranged on a lifting platform of the lifting platform; the fixed chassis is fixedly arranged on the fixed column, the fixed end of the parallel mechanical arm is fixed on the fixed chassis, and the negative pressure adsorption end effector is connected with the movable end of the parallel mechanical arm; the invention adopts the mechanical arms with the parallel structure instead of the traditional mechanical arms with the serial structure, which improves the fruit picking efficiency effectively, adopts the negative pressure adsorption end effector to adopt a negative pressure adsorption picking mode, has simple picking action and higher picking efficiency.
Description
Technical Field
The invention relates to the field of intelligent picking robots, in particular to a picking robot for spherical fruits.
Background
At present, most of the fruit picking harvesting process is manually participated, the labor intensity is high, the employment cost is increased year by year, and the fruit harvesting cost is increased. In the process of harvesting spherical fruits, such as fruits, peaches, pears, apricots and other fruits on trees, workers in an orchard usually put a ladder on a fruit tree, carry a fruit basket, climb the ladder, pick up the fruits on the tree, put the fruits into the fruit basket with a certain volume, after the fruit basket is full of the fruits, climb down the ladder to empty the fruit basket, and then repeat the process, however, because the volume of the fruit basket is not very large, the process is repeated for many times. The traditional manual picking process extremely requires manual labor force to participate, and the picking period is usually short, so that the operation cost is high, and the profit of a fruit grower is reduced.
At present, no mature picking robot products exist in the market, and most of the picking robot products are only devices for assisting manual picking. Because the tandem mechanical arm has large working space, easy motion analysis and independent and easy control of each shaft, most picking robots in the patent documents adopt the mode, but the low picking efficiency becomes the biggest factor restricting the practical production of the picking robots. The parallel mechanical arm has the advantages of small dynamic error, small motion inertia and high rigidity, and has the advantages of quick movement and accurate positioning, so that the picking efficiency of the picking robot is greatly improved, and the picking robot can further replace manpower.
Meanwhile, the existing machine picking end effector mainly adopts a human-like finger structure, different picking modes are used for different fruits, or the picking modes are removed by twisting or the fruit stalks are cut off by adopting a blade (part of documents use laser), but the picking can be carried out only after the fruits are accurately grabbed and fixed, and the efficiency is lower. The negative pressure adsorption type end effector can directly adsorb and pick target fruits by strong suction force only by generating negative pressure in the effector and aligning the suction head of the effector to the target fruits, and is convenient, rapid and efficient.
Disclosure of Invention
The invention aims to solve the problems that the existing picking robot is lack, the finger-like structure of a few picking robots is mainly used for picking spherical fruits, the efficiency is low due to the fact that different picking modes are used for different fruits, and meanwhile damage to the fruits is easily caused in the picking process.
The invention realizes the purpose through the following technical scheme: a picking robot for spherical fruits comprises a moving carrier, parallel mechanical arms, a negative pressure adsorption end effector, a lifting platform, a fixed chassis, a hose, a negative pressure generation system, a fixed column, a fruit collection box, a visual recognition mechanism, a control box and a generator, wherein the lifting platform is mounted on the moving carrier, and the negative pressure generation system, the control box, the fruit collection box, the fixed column and the generator are all fixedly mounted on a lifting platform of the lifting platform; the fixed column is vertically arranged on the lifting platform, the fixed chassis is fixedly arranged on the fixed column, the fixed end of the parallel mechanical arm is fixed on the fixed chassis, and the negative pressure adsorption end effector is connected to the movable end of the parallel mechanical arm; the visual identification mechanism comprises two industrial cameras and a follow-up camera, a horizontally arranged camera fixing ruler is fixedly connected to the fixing chassis, the two industrial cameras are respectively installed at two ends of the camera fixing ruler, and the follow-up camera is fixed on the negative pressure adsorption end effector; the negative pressure generating system is connected with a negative pressure adsorption end effector through a hose;
the parallel mechanical arm is a three-axis parallel mechanical arm, the parallel mechanical arm is provided with three mechanical arms which are uniformly distributed along an axis, the axis is coincided with the axis of the negative pressure adsorption end effector, and each mechanical arm shaft comprises a fixed arm, a first connecting rod, a connecting rod driving motor and a second connecting rod; the fixing arm is fixed on the fixing chassis, the connecting rod driving motor is fixed on the fixing arm and connected with one end of the first connecting rod, and the connecting rod driving motor drives the first connecting rod to rotate around the axis of an output shaft of the connecting rod driving motor when moving; one end of the second connecting rod is connected with the other end of the first connecting rod, a connecting rod connecting ring is sleeved on the negative pressure adsorption end effector, and the other end of the second connecting rod of each mechanical arm shaft is connected to the connecting rod connecting ring; the three mechanical arm shafts have the same structure and the connecting rods of the three mechanical arm shafts drive the motors to move independently.
Further, the second connecting rod includes two parallel arrangement's connecting rod and two articulated shafts, and two articulated shafts are first articulated shaft and second articulated shaft respectively, first articulated shaft is connected on first connecting rod and the one end of two connecting rods is connected respectively at the both ends of this articulated shaft, and the other end of two connecting rods is connected respectively at the both ends of second articulated shaft connection on the connecting rod go-between and this articulated shaft.
Furthermore, the hoses are fixed on the two connecting rods of the second connecting rod through hose hoops, and two hose hoops are arranged on each mechanical arm shaft. The hose is fixed on the second connecting rod by the two hose hooping rings, so that the hose moves along with the second connecting rod when the second connecting rod moves, and further the influence caused by winding of the hose when the negative pressure adsorption end effector moves is avoided.
Furthermore, the negative pressure adsorption end effector comprises a head part adsorption and picking structure and a fruit collecting pipe arranged at the tail part of the head part adsorption and picking structure, the fruit collecting pipe is a 90-degree bent pipe, one end of the fruit collecting pipe is connected with a connecting lug of the head part adsorption and picking structure, and the other end of the fruit collecting pipe vertically faces the fruit collecting box; the head suction and picking structure comprises a picking port, an air duct port, a connecting lug, a fruit channel, an outer pipe wall, a negative pressure cavity and a sealing door, wherein the picking port is embedded at the front end of the fruit channel and is made of flexible materials, and the picking port is of a multi-petal fan-shaped structure; the outer pipe wall is sleeved on the fruit channel, the outer pipe wall and the outer wall of the fruit channel are wrapped to form a negative pressure cavity, the fruit channel is provided with ventilation shutters, the ventilation shutters are arranged on the fruit channel section wrapped by the outer pipe wall, the ventilation shutters are uniformly distributed along the circumferential direction, and the ventilation shutters are the only ventilation openings of the negative pressure cavity and the fruit channel; the three air pipe openings are symmetrically arranged in the circumferential direction and are connected with a negative pressure generating system through hoses; the tail part of the fruit channel is provided with a sealing door, and the tail outlet of the fruit channel can be opened and closed by controlling the sealing door; the connecting lugs are provided with three groups and are uniformly distributed on the outer pipe wall along the circumference, all the connecting lugs form a connecting rod connecting ring together, each group of connecting lugs is connected with a second connecting rod of one mechanical arm respectively, and the second connecting rods are hinged with the connecting lugs.
Furthermore, the front end of the negative pressure adsorption end effector is also provided with a hoop, and the follow-up camera is fixed on a fruit channel of the negative pressure adsorption end effector through the hoop. The hoop is fixed at the position of the fruit channel close to the picking opening.
Further, the camera fixing ruler is provided with a plurality of uniformly distributed mounting holes along the horizontal direction, and the two industrial cameras are fixed on the mounting holes of the camera fixing ruler through bolts. The positions of the two industrial cameras are adjusted by adjusting the installation positions thereof.
The invention has the beneficial effects that:
1. the invention adopts the mechanical arms with the parallel structure instead of the traditional mechanical arms with the serial structure, which improves the fruit picking efficiency effectively and improves the picking speed of picking one fruit in about 10s to about 1s in the traditional mode.
2. The negative pressure adsorption end effector adopts a negative pressure adsorption picking mode instead of a common grasping picking mode, and has the advantages of simple picking action and higher picking efficiency.
3. The negative pressure adsorption end effector with an innovative structure is adopted, and the picking opening is filled with flexible materials which can be adaptive to fruits with different sizes.
4. The parallel mechanical arm adopts three symmetrical two-link mechanisms, the tail ends of the three link mechanisms are all connected to the negative pressure adsorption tail end actuator, the negative pressure adsorption tail end actuator can move in three spatial degrees of freedom, and the three-link mechanism is used for quickly positioning target fruits. Because the fruit tree has great vertical height compared with horizontal width, in order to deal with this situation, be equipped with lift platform on removing the carrier, the not enough problem of working space of parallel mechanical arm has been remedied to the lift function in the aspect of its perpendicular.
5. The industrial camera 6 can be adjusted at will on the camera fixing ruler 61 through the installation holes on the camera fixing ruler.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a picking robot for spherical fruits.
Fig. 2 is a left side view of a picking robot for spherical fruits of the present invention.
Fig. 3 is a schematic view of the overall structure of the parallel robot arm and vacuum adsorption end effector portion of the present invention.
Fig. 4 is a schematic view of the overall structure of the head suction structure of the negative pressure suction end effector of the present invention.
Fig. 5 is a sectional view of a head suction-picking structure of a negative pressure suction end effector of the present invention.
In the figure, 1-moving carrier, 11-lifting platform, 12-fixed column, 2-generator, 3-negative pressure adsorption end effector, 31-wind nozzle, 32-fruit collecting tube, 33-picking port, 34-connecting ear, 35-closing door, 36-fruit channel, 37-outer tube wall, 38-negative pressure cavity, 39-ventilating shutter, 4-fruit collecting box, 5-negative pressure generating system, 51-hose, 6-industrial camera, 61-camera fixing ruler, 7-parallel mechanical arm, 71-fixing chassis, 72-fixing arm, 73-first connecting rod, 74-second connecting rod, 75-hose holding ring, 76-connecting rod driving motor, 77-first articulated shaft, 78-second articulated shaft, 8-control box, 9-follow-up camera and 91-hoop.
Detailed Description
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical," and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
The technical solutions in the examples of the present invention will be described clearly and completely with reference to the accompanying drawings in the examples of the present invention, and it is obvious that the described examples are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1 to 5, a picking robot for spherical fruits comprises a mobile carrier 1, a parallel mechanical arm 7, a negative pressure adsorption end effector 3, a lifting platform 11, a fixed chassis 71, a hose 51, a negative pressure generating system 5, a fixed column 12, a fruit collecting box 4, a visual identification mechanism, a control box 8 and a generator 2, wherein the lifting platform 11 is mounted on the mobile carrier 1, and the negative pressure generating system 5, the control box 8, the fruit collecting box 4, the fixed column 12 and the generator 2 are all fixedly mounted on a lifting platform of the lifting platform 11; the fixed column 12 is vertically arranged on the lifting platform, a fixed chassis 71 is fixedly arranged on the fixed column 12, the fixed end of the parallel mechanical arm 7 is fixed on the fixed chassis 71, and the negative pressure adsorption end effector 3 is connected to the movable end of the parallel mechanical arm 7; the visual identification mechanism comprises two industrial cameras 6 and a follow-up camera 9, a horizontally arranged camera fixing ruler 61 is fixedly connected to the fixing chassis 71, the two industrial cameras 6 are respectively installed at two ends of the camera fixing ruler 61, and the follow-up camera 9 is fixed on the negative pressure adsorption end effector 3; the negative pressure generating system 5 is connected with the negative pressure adsorption end effector 3 through a hose 51.
The parallel mechanical arm 7 is a three-axis parallel mechanical arm 7, the parallel mechanical arm 7 is provided with three mechanical arms which are uniformly distributed along an axis, the axis is coincident with the axis of the negative pressure adsorption end effector 3, and each mechanical arm shaft comprises a fixed arm 72, a first connecting rod 73, a connecting rod driving motor 76 and a second connecting rod 74; the fixed arm 72 is fixed on the fixed chassis 71, the connecting rod driving motor 76 is fixed on the fixed arm 72, the connecting rod driving motor 76 is connected with one end of the first connecting rod 73, and the connecting rod driving motor 76 drives the first connecting rod 73 to rotate around the axis of an output shaft of the connecting rod driving motor 76 when moving; one end of the second connecting rod 74 is connected with the other end of the first connecting rod 73, a connecting rod connecting ring is sleeved on the negative pressure adsorption end effector 3, and the other end of the second connecting rod 74 of each mechanical arm shaft is connected to the connecting rod connecting ring; the three arm shafts have the same structure, and the connecting rod driving motors 76 of the three arm shafts move independently, so that the movement of the end effector 3 in three spatial degrees of freedom can be realized, and the three arm shafts are used for quickly positioning target fruits. Since the fruit tree has a larger vertical height than the horizontal width, in order to deal with the situation, the lifting platform 11 is arranged on the mobile carrier 1, and the lifting function of the vertical aspect makes up for the problem of insufficient working space of the parallel mechanical arm 7.
The negative pressure adsorption end effector 3 comprises a head suction picking structure and a tail fruit collecting pipe 32, the fruit collecting pipe 32 is a 90-degree bent pipe, one end of the fruit collecting pipe 32 is connected with a connecting lug 34 of the head suction picking structure, the other end of the fruit collecting pipe 32 vertically faces the fruit collecting box 4, fruits are sucked by the head suction picking structure, enter the fruit collecting pipe 32 through a fruit channel 36 and naturally roll into the fruit collecting box along a pipeline, and fruit collection is achieved. The head suction and picking structure comprises a picking port 33, an air pipe port 31, a connecting lug 34, a fruit channel 36, a negative pressure cavity 38 and a closing door 35, wherein the picking port 33 is embedded at the front end of the fruit channel 36, and the picking port 33 is made of flexible materials and is designed into a unique multi-petal fan-shaped structure. The outer pipe wall 37 is sleeved on the fruit channel 36, the outer pipe wall 37 and the outer wall of the fruit channel 36 are wrapped to form a negative pressure cavity 38, the fruit channel 36 is provided with ventilation shutters 39, the ventilation shutters 39 are arranged on the fruit channel 36 section wrapped by the outer pipe wall 37, the ventilation shutters 39 are uniformly distributed along the circumferential direction, and the ventilation shutters 39 are the only ventilation openings of the negative pressure cavity 38 and the fruit channel 36; the three air pipe ports are fixed on the outer pipe wall 37 and communicated with the negative pressure cavity 38, and are symmetrically arranged in the circumferential direction and connected with a negative pressure generating system through hoses; the tail part of the fruit channel 36 is provided with a closing door 35, and the tail outlet of the fruit channel 36 can be opened and closed by controlling the closing door 35; the connecting lugs 34 are provided with three groups and are uniformly distributed on the outer pipe wall 37 along the circumference, all the connecting lugs 34 jointly form a connecting rod connecting ring, each group of connecting lugs 34 is respectively connected with a second connecting rod of one mechanical arm, and the second connecting rods are hinged with the connecting lugs 34.
The negative pressure adsorption end effector 3 has good air tightness and has three openings in total: the first is picking mouth 33 with front end for sucking fruit; second, the air duct port 31 connected with the hose 51; and thirdly, the outlet of the fruit. The picking opening 33 is arranged at the inlet as an air inlet, and due to the selection of flexible materials and the unique multi-petal fan-shaped result, the picking opening can generate enough suction force on fruits, can adapt to the sizes of the fruits and can prevent the fruits from being damaged due to friction with the pipe orifice. The next three air duct ports 31 are connected to the hose 51 as air outlets, the hose 51 is connected to the negative pressure generating system 5, and air in the end effector 3 is sucked by the negative pressure generating system 5 to generate negative pressure therein, so that suction force to the fruit is generated at the fruit inlet. The fruit outlet, namely the tail outlet of the fruit channel, is used as the third opening of the end effector 3, and the closing door 35 is controlled to be closed when the negative pressure generating system 5 works, so that the air flow is ensured to enter the fruit channel 36 from the picking port 33, enter the negative pressure cavity through the ventilation shutter 39 and then flow to the negative pressure generating system 5 through the air pipe port 31; after the fruit is successfully sucked, the negative pressure generating system 5 is closed, and the closing door 35 is controlled to open the fruit outlet, so that the fruit falls into the fruit collecting frame 4 along the fruit collecting pipe 32.
The number of the air duct ports 31 of the negative pressure adsorption end effector 3 here may also be set to two, four, or other numbers.
The second connecting rod 74 includes two parallel arrangement's connecting rod and two articulated shafts, and two articulated shafts are first articulated shaft 77 and second articulated shaft 78 respectively, and first articulated shaft 77 is connected on first connecting rod 73 and the one end of two connecting rods is connected respectively at the both ends of this articulated shaft, and the other end of two connecting rods is connected respectively at the both ends of second articulated shaft 78 connection on the connecting rod go-between and this articulated shaft.
The hose 51 is fixed to the two connecting rods of the second connecting rod 74 by means of hose hoops 75, two hose hoops 75 being provided on each arm shaft.
The front end of the negative pressure adsorption end effector 3 is also provided with an anchor ear 91, and the follow-up camera 9 is fixed on the negative pressure adsorption end effector 3 through the anchor ear 91.
The camera fixing ruler 61 is provided with a plurality of mounting holes which are uniformly distributed along the horizontal direction, and the two industrial cameras 6 are fixed on the mounting holes of the camera fixing ruler 61 through bolts, so that the mounting positions of the industrial cameras 6 can be adjusted freely on the mounting holes.
The vision system comprises a combination of a binocular vision system and a slave camera 9 by two industrial cameras 6. The binocular vision system has the functions of fruit identification and three-dimensional space positioning, selects an industrial camera which can adapt to strong light, and designs a special image processing algorithm, so that the binocular vision system can be used for identifying fruits and segmenting stacked spherical fruits in different illumination environments, such as sunny days, cloudy days, dim light, morning, noon and afternoon in different time periods. The follow-up camera 9 is connected to the head of the end effector 3 through the hoop 91, and when the follow-up camera approaches a target position, the follow-up camera captures the position for the second time, and the track is adjusted at any time, so that the end effector is accurately positioned.
The entity structure of the control system is only the control box 8, but the control box is used as a motion control center of the picking robot, the picking flow is planned according to coordinates of a series of apple centroid positions fed back by the vision system, the picking route is designed, the obstacle avoidance scheme is designed, the rotation angle required by each joint is calculated through inverse kinematics of the robot, the parallel mechanical arm 7 is controlled to work through the driving motor 76, and the end effector 3 is delivered to the target position.
Specifically, when the picking robot enters the orchard to start operation, the mobile carrier 1 reaches the front of a certain fruit tree, the visual system shoots the fruit tree through the industrial camera 6 to identify the fruit therein, meanwhile, the binocular vision technology is used for positioning a target fruit, the positioning result is input into the control system, the control system plans the picking flow according to the above, the picking route and the obstacle avoidance scheme are designed, the required rotation angle of the first connecting rod 73 of each parallel mechanical arm 7 is calculated through robot inverse kinematics, and the corresponding motor 76 is driven, so that the parallel mechanical arms 7 are controlled to send the end effector 3 to the target position. When approaching the target position, the follow-up camera 9 arranged on the negative pressure adsorption end effector 3 carries out secondary position capture, and the track is adjusted at any time, so that the end effector is accurately positioned to the position corresponding to the fruit. After the negative pressure adsorption end effector 3 reaches the designated position, the control system controls and starts the negative pressure generating system 5 again, so that the suction port of the negative pressure adsorption end effector 3 generates suction force to absorb target fruits, the target fruits are separated from fruit stalks under the action of the suction force and enter the negative pressure adsorption end effector 3, and the target fruits fall into the fruit collecting frame 4 in a nondestructive mode through sufficient buffering and deceleration. And after the target fruit is picked, repeating the operation until the picking of all the fruits in the picture shot by the vision system is finished. At the moment, the lifting platform 11 is controlled to operate, mechanisms fixed on the lifting platform 11, such as the mechanical arm 7 and the negative pressure adsorption end effector 3, are adjusted to different heights in parallel, and then operations such as photographing identification, positioning fruit picking and the like are carried out, so that fruit picking in different height ranges of the fruit tree is realized. After the picking of the fruit of a single fruit tree is finished, the carrier is moved to the position of the next fruit tree for picking operation. The energy source in the picking process is provided by the generator 2.
The mobile carrier 1 can be further provided with a plurality of sets of picking executing mechanisms such as the parallel mechanical arm 7 and the negative pressure adsorption end effector 3, so that a plurality of fruit trees and front and back double rows of fruit trees can be picked simultaneously, and the fruit picking efficiency is improved.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (8)
1. A picking robot for spherical fruits, characterized in that: the fruit picking machine comprises a moving carrier (1), parallel mechanical arms (7), a negative pressure adsorption end effector (3), a lifting platform (11), a fixed chassis (71), a hose, a negative pressure generating system (5), a fixed column (12), a fruit collecting box (4), a visual recognition mechanism, a control box (8) and a generator (2), wherein the lifting platform (11) is installed on the moving carrier (1), and the negative pressure generating system (5), the control box (8), the fruit collecting box (4), the fixed column (12) and the generator (2) are all fixedly installed on a lifting platform of the lifting platform (11); the fixed column (12) is vertically arranged on the lifting platform, a fixed chassis (71) is fixedly arranged on the fixed column (12), the fixed end of the parallel mechanical arm (7) is fixed on the fixed chassis (71), and the negative pressure adsorption end effector (3) is connected to the movable end of the parallel mechanical arm (7); the visual identification mechanism comprises two industrial cameras (6) and a follow-up camera (9), a horizontally arranged camera fixing ruler (61) is fixedly connected to the fixing chassis (71), the two industrial cameras (6) are respectively installed at two ends of the camera fixing ruler (61), and the follow-up camera (9) is fixed on the negative pressure adsorption end effector (3); the negative pressure generating system (5) is connected with the negative pressure adsorption end effector (3) through a hose (51);
the parallel mechanical arm (7) is a three-axis parallel mechanical arm (7), the parallel mechanical arm (7) is provided with three mechanical arms which are uniformly distributed along an axis, the axis is coincident with the axis of the negative pressure adsorption end effector (3), and each mechanical arm shaft comprises a fixed arm (72), a first connecting rod (73), a connecting rod driving motor (76) and a second connecting rod (74); the fixing arm (72) is fixed on the fixing chassis (71), the connecting rod driving motor (76) is fixed on the fixing arm (72), the connecting rod driving motor (76) is connected with one end of the first connecting rod (73), and the connecting rod driving motor (76) drives the first connecting rod (73) to rotate around the axis of an output shaft of the connecting rod driving motor (76) when moving; one end of the second connecting rod (74) is connected with the other end of the first connecting rod (73), a connecting rod connecting ring is sleeved on the negative pressure adsorption end effector (3), and the other end of the second connecting rod (74) of each mechanical arm shaft is connected to the connecting rod connecting ring; the three mechanical arm shafts have the same structure, and the connecting rod driving motors (76) of the three mechanical arm shafts move independently.
2. A picking robot for spherical fruits according to claim 1, characterised in that: second connecting rod (74) include two parallel arrangement's connecting rod and two articulated shafts, and two articulated shafts are first articulated shaft (77) and second articulated shaft (78) respectively, first articulated shaft (77) are connected on first connecting rod (73) and the one end of two connecting rods is connected respectively at the both ends of this articulated shaft, and the other end of two connecting rods is connected respectively at the both ends of second articulated shaft (78) connection on the connecting rod go-between and this articulated shaft.
3. A picking robot for spherical fruits according to claim 3, characterised in that: the hose (51) is fixed on the two connecting rods of the second connecting rod (74) through hose hooping rings (75), and two hose hooping rings (75) are arranged on each mechanical arm shaft.
4. A picking robot for spherical fruits according to claim 1, characterised in that: the front end of the negative pressure adsorption end effector (3) is further provided with a hoop (91), and the follow-up camera (9) is fixed on the negative pressure adsorption end effector (3) through the hoop (91).
5. A picking robot for spherical fruits according to claim 1, characterised in that: the camera fixing ruler (61) is provided with a plurality of uniformly distributed mounting holes along the horizontal direction, and the two industrial cameras (6) are fixed on the mounting holes of the camera fixing ruler (61) through bolts.
6. A picking robot for spherical fruits according to claim 1, characterised in that: the negative pressure adsorption end effector (3) comprises a head sucking and picking structure and a fruit collecting pipe (32) arranged at the tail of the head sucking and picking structure, the fruit collecting pipe (32) is a 90-degree bent pipe, one end of the fruit collecting pipe (32) is connected with a connecting lug (34) of the head sucking and picking structure, and the other end of the fruit collecting pipe (32) vertically faces the fruit collecting box (4); the head suction and picking structure comprises a picking port (33), a wind pipe opening, a connecting lug (34), a fruit channel (36), an outer pipe wall (37), a negative pressure cavity (38) and a sealing door (35), wherein the picking port (33) is embedded at the front end of the fruit channel (36), the picking port (33) is made of flexible materials, and the picking port (33) is of a multi-petal fan-shaped structure; the outer pipe wall (37) is sleeved on the fruit channel (36), the outer pipe wall (37) and the outer wall of the fruit channel (36) are wrapped to form a negative pressure cavity (38), the fruit channel (36) is provided with ventilation shutters (39), the ventilation shutters (39) are arranged on the fruit channel (36) section wrapped by the outer pipe wall (37), the ventilation shutters (39) are uniformly distributed along the circumferential direction, and the ventilation shutters (39) are the only ventilation ports of the negative pressure cavity (38) and the fruit channel (36); the three air pipe openings are symmetrically arranged in the circumferential direction and are connected with a negative pressure generating system through hoses; the tail part of the fruit channel (36) is provided with a closing door (35), and the tail outlet of the fruit channel (36) can be opened and closed by controlling the closing door (35); the connecting lugs (34) are provided with three groups and are evenly distributed on the outer pipe wall (37) along the circumference, all the connecting lugs (34) jointly form a connecting rod connecting ring, each group of connecting lugs (34) is connected with a second connecting rod of one mechanical arm respectively, and the second connecting rods are hinged with the connecting lugs (34).
7. A picking robot for spherical fruits according to claim 6, characterised in that: the front end of the negative pressure adsorption end effector (3) is further provided with a hoop (91), and the follow-up camera (9) is fixed on the fruit channel (36) of the negative pressure adsorption end effector through the hoop (91).
8. A picking robot for spherical fruits according to claim 1, characterised in that: the camera fixing ruler is provided with a plurality of uniformly distributed mounting holes along the horizontal direction, and the two industrial cameras are fixed on the mounting holes of the camera fixing ruler through bolts.
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| CN202010841039.1A CN111820006A (en) | 2020-08-20 | 2020-08-20 | Picking robot for spherical fruits |
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| CN202010841039.1A CN111820006A (en) | 2020-08-20 | 2020-08-20 | Picking robot for spherical fruits |
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| CN112703889A (en) * | 2020-12-02 | 2021-04-27 | 浙江工业大学 | Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries |
| CN113330912A (en) * | 2021-07-01 | 2021-09-03 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
| CN116406568A (en) * | 2023-04-25 | 2023-07-11 | 塔里木大学 | Pipeline adsorption type fruit and vegetable picking robot |
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2020
- 2020-08-20 CN CN202010841039.1A patent/CN111820006A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112703889A (en) * | 2020-12-02 | 2021-04-27 | 浙江工业大学 | Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries |
| CN113330912A (en) * | 2021-07-01 | 2021-09-03 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
| CN116406568A (en) * | 2023-04-25 | 2023-07-11 | 塔里木大学 | Pipeline adsorption type fruit and vegetable picking robot |
| CN116406568B (en) * | 2023-04-25 | 2023-11-10 | 塔里木大学 | Pipeline adsorption type fruit and vegetable picking robot |
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