CN112567976A - Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device - Google Patents
Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device Download PDFInfo
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- CN112567976A CN112567976A CN202011586130.XA CN202011586130A CN112567976A CN 112567976 A CN112567976 A CN 112567976A CN 202011586130 A CN202011586130 A CN 202011586130A CN 112567976 A CN112567976 A CN 112567976A
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- dolly
- gripper
- trolley
- fixed seat
- support
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- 235000012055 fruits and vegetables Nutrition 0.000 title abstract description 40
- 210000000078 claw Anatomy 0.000 claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims description 5
- 235000013399 edible fruits Nutrition 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 235000013311 vegetables Nutrition 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 9
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device, which comprises a motor bracket as a movable joint of the device to carry a motor to form a complete fruit and vegetable picking and collecting device, wherein the movable joint of the device can adjust the height according to the fruit and vegetable picking requirement, different fruits and vegetables can be identified and picked by matching an automatic identification camera device on a trolley with a depth learning algorithm and different tail-end mechanical claws, the fruit and vegetable picking and collecting device is placed in a postposition container after picking is finished, and other groups of mechanical claws do not stop working in the placing process.
Description
Technical Field
The invention relates to the field of agricultural automation, in particular to a rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device.
Background
With the rapid development of social agriculture, the planting scale of the fruit and vegetable greenhouse is larger and larger, the production process of the traditional fruit and vegetable greenhouse is highly dependent on manpower, and particularly, a large amount of manpower is needed in the fruit and vegetable picking process. In the present society, the cost of human labor is increasing and there are fewer and fewer people willing to engage in agricultural operations, so that more agricultural automated machines need to be invested instead of human labor. Especially in the fruit and vegetable greenhouse for large-scale planting, the development of a suitable automatic fruit and vegetable picking device can promote the automatic process of agricultural production.
For traditional fruit vegetables big-arch shelter planting industry, adopt automatic fruit vegetables to pick device and possess following advantage:
1. the fruit and vegetable picking robot is not limited by work and rest time, and can continuously work for 24 hours;
2. the labor cost is saved, and the problem of agricultural labor shortage is solved;
3. is suitable for large-scale production.
Therefore, agricultural automation is a new development direction, and the demand of the automatic fruit and vegetable picking device is extremely large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device to solve the problems.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a collection device is picked to rotatable formula multi freedom fruit vegetables, includes AGV intelligent vehicle and rotatable formula multi freedom manipulator, AGV intelligent vehicle carries on the main part for the device, including AGV intelligent vehicle forerunner's, dolly connecting device, rearmounted packing box, AGV intelligent vehicle forerunner's and rearmounted packing box connect through dolly connecting device, rotatable formula multi freedom manipulator snatchs the work main part for the device, including gripper, the rotatory small motor of gripper, the rotatory small motor support of gripper, second grade rotating electrical machines, one-level rotating electrical machines, second grade rotating electrical machines support, bottom fixing base, fixing base screw hole.
Preferably, the trolley connecting device is made of flexible materials.
Preferably, AGV intelligent vehicle forerunner includes dolly response module, dolly forerunner's wheel, dolly carousel connecting hole, dolly automatic identification camera device, dolly response module is located AGV intelligent vehicle forerunner's front end inclined surface department, dolly forerunner's wheel is total four, and AGV intelligent vehicle forerunner controls respectively two, the dolly carousel is located AGV intelligent vehicle forerunner's upper portion, is provided with dolly carousel connecting hole on the dolly carousel, dolly carousel connecting hole is connected with rotatable formula multi freedom manipulator's fixing base screw hole respectively, dolly automatic identification camera device is located dolly carousel middle part position.
Preferably, the rear container comprises a rear container arrangement groove, two side balance wheels and a middle barrier wheel, the rear container arrangement groove is located inside the rear container, the four side balance wheels are located on the left side and the right side of the rear container respectively, and the middle barrier wheel is located on the left side and the right side of the middle of the rear container respectively.
Preferably, the rotatable multi-degree-of-freedom manipulator is a device grabbing main body and comprises a gripper, a gripper rotating small motor support, a second-stage rotating motor, a first-stage rotating motor, a second-stage rotating motor support, a bottom fixing seat and a fixing seat screw hole, the gripper is pneumatically clamped, a gripper head is made of rubber, the gripper rotating small motor is connected with the gripper and fixed on the gripper rotating small motor support, the rear end of the gripper rotating small motor support is connected with the second-stage rotating motor support, the second-stage rotating motor is connected with the second-stage rotating motor support, the first-stage rotating motor is connected with the second-stage rotating motor support and the bottom fixing seat support, the bottom fixing seat support is connected with the bottom fixing seat, and the bottom fixing seat is arranged on the upper surface of a turntable of the gripper, the screw holes of the fixed seat are connected with the connecting holes of the rotary table of the trolley in a one-to-one correspondence manner, so that the grabbing position of the mechanical claw is ensured to be forward.
Preferably, the rear container is provided with a groove, and the shape in the groove is wave-shaped.
Compared with the prior art, the device and the method have the advantages that: the rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device is characterized in that a motor support carries a motor as a movable joint of the device to form a complete fruit and vegetable picking and collecting device, the movable joint of the device can be adjusted in height according to fruit and vegetable picking requirements, the structure is simple, the processing is convenient, the installation is simple, the design is compact, the overall size is small, the production cost is greatly reduced, the rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device can be used for identifying and picking different fruits and vegetables through the carried trolley automatic identification camera device matched with a deep learning algorithm and different terminal mechanical claws, the picked fruits and vegetables are placed into a rear container through the rotation of a trolley turntable after the picking is completed, other groups of mechanical claws do not stop working in the placing process, the labor cost is reduced, and the production efficiency is improved for.
Drawings
FIG. 1 is a schematic structural diagram of a rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device according to the present invention;
FIG. 2 is a schematic structural diagram of an AGV according to the present invention;
fig. 3 is a schematic structural diagram of the rotatable multi-degree-of-freedom manipulator of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The invention provides a technical scheme that: a rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device comprises an AGV intelligent trolley 1 and a rotatable multi-degree-of-freedom manipulator 2, wherein the AGV intelligent trolley 1 is a device carrying main body and comprises an AGV intelligent trolley front driving body 11, a trolley connecting device 116 and a rear container 12, the AGV intelligent trolley front driving body 11 and the rear container 12 are connected through the trolley connecting device 116, the trolley connecting device 116 is made of a flexible material, the vibration of the rear container 12 caused by uneven ground can be greatly reduced by adopting the flexible material for the trolley connecting device 116, if the trolley connecting device 116 is not arranged, the vibrated fruits and vegetables cannot achieve the expected effect due to extrusion, the AGV intelligent trolley front driving body 11 comprises a trolley sensing module 111, a trolley front driving wheel 112, a trolley turntable 113, a trolley turntable connecting hole 114 and a trolley automatic identification camera device, the trolley sensing module 111 is located at the inclined surface of the front end of the AGV intelligent trolley front driving body 11, if a barrier is sensed in the front, the barrier can be transmitted to the terminal of the AGV intelligent trolley 1 through a signal, the movement track can be adjusted in time, the total number of the wheels 112 of the front trolley is four, two wheels are respectively arranged on the left and right sides of the front trolley 11 of the AGV intelligent trolley, sufficient power is provided for dragging the rear container 12, the trolley turntable 113 is positioned at the upper part of the front trolley 11 of the AGV intelligent trolley, a trolley turntable connecting hole 114 is formed in the trolley turntable 113, the trolley automatic identification camera device 115 is positioned at the middle position of the trolley turntable 113, the trolley turntable 113 can adjust the rotating position and the rotating angle of the trolley turntable 113 by matching with different tail-end mechanical claws 21 according to a real-time image deep learning algorithm transmitted by the trolley automatic identification camera device 115, different fruits and vegetables can be identified and picked, the tail-end mechanical claws 21 can be replaced by suitable mechanical claws 21 to work if needed, the trolley turntable connecting hole, the rotatable multi-degree-of-freedom manipulator 2 for fixing the upper part can work more stably and effectively, the rear container 12 comprises a rear container arrangement groove 121, two side balance wheels 122 and a middle obstacle wheel 123, the rear container arrangement groove 121 is located inside the rear container 12, the fruits and vegetables in the rear container 12 can be classified neatly by effectively utilizing slight ground bumping due to the wavy shape designed in the groove, the two side balance wheels 122 are located on the left side and the right side of the rear container 12, the front-back balance of the rear container 12 is guaranteed in the driving process, the middle obstacle wheel 123 is located on the left side and the right side of the middle of the rear container 12, the radius of the middle obstacle wheel 123 is large, and the rear container 12 can be easily crossed over obstacles and can be guaranteed that the fruits and vegetables cannot be excessively collided. The rotatable multi-degree-of-freedom manipulator 2 is a device grabbing main body and comprises a mechanical claw 21, a mechanical claw rotating small motor 22, a mechanical claw rotating small motor support 23, a second-stage rotating motor 24, a first-stage rotating motor 25, a first-stage rotating motor support 26, a bottom fixed seat support 27, a bottom fixed seat 28 and a fixed seat screw hole 29, wherein the mechanical claw 21 is pneumatically clamped, a claw head is made of rubber and is only configured according to currently-working fruits and vegetables, if a working picking object is replaced, the mechanical claw rotating small motor 22 is also replaced simultaneously with the mechanical claw 21, the mechanical claw rotating small motor 22 is connected with the mechanical claw 21 and fixed on the mechanical claw rotating small motor support 23, the mechanical claw rotating small motor 22 can rotate the working angle of the mechanical claw 21 according to transmitted signals, the rear end of the mechanical claw rotating small motor support 23 is connected with the first-stage rotating motor support 26, the second-stage rotating motor 24 is connected with the, the first-stage rotating motor 25 is connected with the first-stage rotating motor support 26 and the bottom fixed seat support 27, the bottom fixed seat support 27 is connected with the bottom fixed seat 28, the bottom fixed seat 28 is arranged on the upper surface of the trolley turntable 113, the bottom fixed seat support 27 on the bottom fixed seat 28 plays a role of stabilization and is kept immovable in actual work, the bottom fixed seat support 27 is connected with the first-stage rotating motor support 26, the first-stage rotating motor support 26 is connected with the first-stage rotating motor 25, the first-stage rotating motor 25 can control the swinging angle of the first-stage rotating motor support 26, the second-stage rotating motor 24 can control the swinging angle of the gripper rotating small motor support 23, fruits and vegetables with higher or lower heights can be picked through the matching of the gripper rotating small motor 22, the first-stage rotating motor 25 and the second-stage rotating motor 24, the fixed seat screw holes 29 are connected with, the gripper 21 is ensured to grasp the workpiece forward.
A first working process: the automatic fruit and vegetable recognition camera device 115 recognizes fruits and vegetables which can be picked, the AGV intelligent trolley 1 receives signals and then adjusts the rotating position and angle of the trolley turntable 113, the mechanical claw rotating small motor 22, the first-stage rotating motor 25 and the second-stage rotating motor 24 are matched with each other to pick the fruits and vegetables with higher or lower height, after the fruits and vegetables are picked, the trolley turntable 113 rotates to enable the rotatable multi-degree-of-freedom manipulator 2 to rotate to the rear container 12, the mechanical claw rotating small motor 22, the first-stage rotating motor 25 and the second-stage rotating motor 24 are matched with each other to put down the picked fruits and vegetables, and then the rear container 12 is conveyed to a specified position by the AGV intelligent trolley 1.
And a second working process: the picking environment applied to the greenhouse in the actual working environment is more, at the moment, the automatic trolley identification camera device 115 identifies the fruits and vegetables which can be picked, the AGV intelligent trolley 1 adjusts the rotating position and the angle of the trolley turntable 113 after receiving signals, the high or low fruits and vegetables can be picked through the mutual matching of the small mechanical claw rotating motor 22, the first-stage rotating motor 25 and the second-stage rotating motor 24, only one side of fruits and vegetables can be picked in the working range of the environment AGV intelligent trolley 1 of the greenhouse, so that only one rotatable multi-degree-of-freedom manipulator 2 is needed in the picking process, the rotatable multi-degree-of-freedom manipulator 2 rotates to the rear container 12 through the rotation of the trolley turntable 113 after the fruits and vegetables are picked, the picked fruits and vegetables are put down through the mutual matching of the small mechanical claw rotating motor 22, the first-stage rotating motor 25 and the second-stage rotating motor 24, and the four, and the rotatable multi-degree-of-freedom manipulator 2 which is close to the picking area after being placed down works, the manipulator is rotated to the rear container 12 after picking is completed and is placed down, the trolley turntables 113 are rotated anticlockwise or clockwise to circulate in sequence, and finally the rear container 12 is conveyed to a specified position by the AGV intelligent trolley 1 after the picking is finished.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a rotatable formula multi freedom fruit vegetables pick collection device which characterized in that: including AGV intelligent vehicle (1) and rotatable multi freedom manipulator (2), AGV intelligent vehicle (1) carries on the main part for the device, including AGV intelligent vehicle forerunner's (11), dolly connecting device (116), rearmounted packing box (12), AGV intelligent vehicle forerunner's (11) and rearmounted packing box (12), connect through dolly connecting device (116), rotatable formula multi freedom manipulator (2) snatch the work main part for the device, including gripper (21), gripper rotating small motor (22), gripper rotating small motor support (23), second grade rotating electrical machines (24), one-level rotating electrical machines (25), one-level rotating electrical machines support (26), bottom fixed seat support (27), bottom fixed seat (28), fixing base screw hole (29).
2. AGV smart cart (1) according to claim 1, characterized in that: comprises a trolley connecting device (116) made of flexible materials.
3. The AGV front drive (11) of claim 1, further comprising: including dolly response module (111), dolly forerunner's wheel (112), dolly carousel (113), dolly carousel connecting hole (114), dolly automatic identification camera device (115), dolly response module (111) is located AGV intelligent vehicle forerunner's (11) front end inclined surface department, dolly forerunner's wheel (112) totally four, and AGV intelligent vehicle forerunner's (11) is controlled respectively two, dolly carousel (113) are located the upper portion of AGV intelligent vehicle forerunner (11), are provided with dolly carousel connecting hole (114) on dolly carousel (113), dolly carousel connecting hole (114) are connected with fixing base screw hole (29) of rotatable formula multi freedom manipulator (2) respectively, dolly automatic identification camera device (115) are located dolly carousel (113) middle part position.
4. The afterbox (12) of claim 1, wherein: the rear container arrangement groove (121) is located inside a rear container (12), the two side balance wheels (122) are located on the left side and the right side of the rear container (12), and the middle barrier wheels (123) are located on the left side and the right side of the middle of the rear container (12) respectively.
5. The rotatable multi-degree-of-freedom manipulator (2) of claim 1, wherein: comprises a gripper (21), a gripper rotating small motor (22), a gripper rotating small motor support (23), a second-stage rotating motor (24), a first-stage rotating motor (25), a first-stage rotating motor support (26), a bottom fixed seat support (27), a bottom fixed seat (28) and a fixed seat screw hole (29), wherein the gripper (21) is pneumatically clamped, the head of the gripper is made of rubber, the gripper rotating small motor (22) is connected with the gripper (21) and fixed on the gripper rotating small motor support (23), the rear end of the gripper rotating small motor support (23) is connected with the first-stage rotating motor support (26), the second-stage rotating motor (24) is connected with the first-stage rotating motor support (26), the first-stage rotating motor (25) is connected with the first-stage rotating motor support (26) and the bottom fixed seat support (27), and the bottom fixed seat support (27) is connected with the bottom fixed seat (28), the bottom fixing seat (28) is arranged on the upper surface of the trolley turntable (113), and the fixing seat screw holes (29) are connected with trolley turntable connecting holes (114) in a one-to-one correspondence mode, so that the grabbing position of the mechanical claw (21) is enabled to be forward.
6. The rearmost cargo box alignment slot (121) of claim 4 wherein: the shape of the groove is wavy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011586130.XA CN112567976A (en) | 2020-12-29 | 2020-12-29 | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011586130.XA CN112567976A (en) | 2020-12-29 | 2020-12-29 | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device |
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| CN112567976A true CN112567976A (en) | 2021-03-30 |
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| CN202011586130.XA Pending CN112567976A (en) | 2020-12-29 | 2020-12-29 | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114145466A (en) * | 2021-10-27 | 2022-03-08 | 华北理工大学 | Automatic chestnut cutting equipment |
| CN114424706A (en) * | 2021-12-27 | 2022-05-03 | 杭州市农业科学研究院 | Multifunctional eggplant picking device convenient to move and working mode thereof |
| CN114731847A (en) * | 2022-04-30 | 2022-07-12 | 浙江工业大学 | Turnover type automatic picking mechanism suitable for melon crops |
| CN114872010A (en) * | 2022-06-21 | 2022-08-09 | 安徽信息工程学院 | Intelligent unmanned carrying device based on neural network algorithm |
| CN114874852A (en) * | 2022-05-16 | 2022-08-09 | 嘉兴源升堂健康科技有限公司 | Hangzhou white chrysanthemum essence processing and extracting device and extracting method thereof |
| WO2022243711A1 (en) * | 2021-05-17 | 2022-11-24 | Aygeros Dimitrios | Multi-purpose self-propelled olive harvester |
| CN116897771A (en) * | 2022-11-08 | 2023-10-20 | 江苏恒健设备技术服务有限公司 | End effector of agaricus bisporus picking robot for nondestructive picking |
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| CN108142102A (en) * | 2017-12-21 | 2018-06-12 | 西北农林科技大学 | A kind of four arm picking robot of Kiwi berry and four Regional Synergetics operational method counterclockwise |
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| CN215836016U (en) * | 2020-12-29 | 2022-02-18 | 镇江市高等专科学校 | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022243711A1 (en) * | 2021-05-17 | 2022-11-24 | Aygeros Dimitrios | Multi-purpose self-propelled olive harvester |
| CN114145466A (en) * | 2021-10-27 | 2022-03-08 | 华北理工大学 | Automatic chestnut cutting equipment |
| CN114145466B (en) * | 2021-10-27 | 2023-09-26 | 华北理工大学 | Automatic Chinese chestnut cutting equipment |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114424706A (en) * | 2021-12-27 | 2022-05-03 | 杭州市农业科学研究院 | Multifunctional eggplant picking device convenient to move and working mode thereof |
| CN114731847A (en) * | 2022-04-30 | 2022-07-12 | 浙江工业大学 | Turnover type automatic picking mechanism suitable for melon crops |
| CN114874852A (en) * | 2022-05-16 | 2022-08-09 | 嘉兴源升堂健康科技有限公司 | Hangzhou white chrysanthemum essence processing and extracting device and extracting method thereof |
| CN114872010A (en) * | 2022-06-21 | 2022-08-09 | 安徽信息工程学院 | Intelligent unmanned carrying device based on neural network algorithm |
| CN116897771A (en) * | 2022-11-08 | 2023-10-20 | 江苏恒健设备技术服务有限公司 | End effector of agaricus bisporus picking robot for nondestructive picking |
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