CN112715158A

CN112715158A - Picking robot

Info

Publication number: CN112715158A
Application number: CN202011600530.1A
Authority: CN
Inventors: 汤哲; 谢作其; 张立; 邹振华
Original assignee: Changsha Xiangfeng Intelligent Equipment Co ltd; Central South University
Current assignee: Changsha Xiangfeng Intelligent Equipment Co ltd; Central South University
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-04-30

Abstract

The invention discloses a picking robot which comprises a crawler traveling mechanism, a parallel robot, a collecting box and a binocular camera, wherein the crawler traveling mechanism comprises a rack and two crawlers arranged on the left side and the right side of the rack, the two crawlers are respectively driven by two first driving devices, each crawler is provided with a transmission gear, a driven gear and a plurality of supporting wheels, the driven gear is arranged at the front end of the inner surface of the crawler, the transmission gear is arranged at the rear end of the inner surface of the crawler, the transmission gear is meshed with the inner surface of the crawler, the first driving devices are connected with the transmission gear, the supporting wheels are arranged between the bottom of the rack and the inner surface of the crawler, the parallel robot and the collecting box are fixed on the crawler traveling mechanism through the rack, and the binocular camera is arranged on the parallel. The automatic vegetable picking machine realizes automatic vegetable picking, and has the advantages of short picking time, large picking completion amount, high working efficiency and cost saving.

Description

Picking robot

Technical Field

The invention mainly relates to the technical field of intelligent robots, in particular to a picking robot.

Background

The robot has multiple degrees of freedom in a three-dimensional space and can realize more anthropomorphic actions and functions. With the rapid development of modern science and technology, the robot technology starts to be integrated with the work and daily life of people; the aging of the population is intensified, the rural labor force is gradually lost, and the continuous mechanized, modernized and intelligent development of agriculture is promoted; this will help agricultural robots to quickly get involved in the field of agricultural production. In the agricultural production process, the picking of agricultural products is a time-consuming link, the picking period is short, the picking amount is large, the working strength is high, and a large amount of labor is needed to complete the work. Therefore, the picking robot becomes a research hotspot for agricultural automation and intellectualization. Compared with a series robot, the parallel robot with a closed chain structure has the advantages of high rigidity, strong bearing capacity, small error, high speed, high precision and the like.

Disclosure of Invention

In view of this, the invention aims to provide a picking robot, which can overcome the defects of short picking period, large picking amount, high working strength and large amount of labor required for completing work in the prior art.

The picking robot comprises a crawler walking mechanism, a parallel robot, a collecting box and a binocular camera, wherein the crawler walking mechanism comprises a rack and two crawlers arranged on the left side and the right side of the rack, the two crawlers are respectively driven by two first driving devices, each crawler is provided with a transmission gear, a driven wheel and a plurality of supporting wheels, the driven wheel is arranged at the front end of the inner surface of the crawler, the transmission gear is arranged at the rear end of the inner surface of the crawler, the transmission gear is meshed with the inner surface of the crawler, the first driving devices are connected with the transmission gear, the supporting wheels are arranged between the bottom of the rack and the inner surface of the crawler, the parallel robot and the collecting box are fixed on the crawler walking mechanism through the rack, and the binocular camera is arranged on the parallel robot.

Furthermore, the frame includes two frame diaphragm and two frame longitudinal plates, parallel arrangement about two frame diaphragm, and two frame longitudinal plates set up both ends around two frame diaphragm perpendicularly and fixedly, and two frame diaphragms correspond two tracks respectively, and the both ends of every frame diaphragm are connected with the follow driving wheel and the drive gear that correspond the track respectively, and two first drive arrangement and/or collecting box fixed mounting are on the frame longitudinal plate that the front end set up.

Furthermore, the picking robot further comprises a support frame arranged between the two vertical plates of the rack, and the parallel robot is fixed on the rack through the support frame.

Furthermore, the support frame includes the chassis and sets up the bracing piece on the chassis, the both ends of chassis respectively with two frame vertical plates fixed connection, bracing piece top and parallel robot fixed connection, its bottom mounting is on the chassis.

Furthermore, the number of the supporting rods is a plurality, and the supporting rods are arranged on the bottom frame in parallel and at equal intervals.

Furthermore, a plurality of supporting wheels on each crawler belt are arranged between the bottom of the transverse plate of the corresponding rack and the inner surface of the crawler belt.

Further, the parallel robot at least comprises a second driving device, a static platform, a movable platform, a driving arm, an executing arm and an end effector, wherein the second driving device is fixed on the upper surface of the static platform, the binocular camera is fixed on the lower surface of the static platform, the upper end of the driving arm is connected with the second driving device, the lower end of the driving arm is hinged with the upper end of the executing arm, the lower end of the executing arm is arranged on the movable platform, and the end effector is arranged on the movable platform.

Further, the parallel robot is a delta parallel robot, the executing arms are parallelogram mechanisms, the number of the executing arms is multiple, and the executing arms are arranged around the static platform through the driving arms.

Further, the number of the second driving device, the number of the driving arms and the number of the executing arms are all the same.

The picking robot comprises a crawler walking mechanism, a parallel robot, a collecting box and a binocular camera, wherein the crawler walking mechanism comprises a rack and two crawlers arranged on the left side and the right side of the rack, the two crawlers are respectively driven by two first driving devices, each crawler is provided with a transmission gear, a driven wheel and a plurality of supporting wheels, the driven wheel is arranged at the front end of the inner surface of the crawler, the transmission gear is arranged at the rear end of the inner surface of the crawler, the transmission gear is meshed with the inner surface of the crawler, the first driving devices are connected with the transmission gear, the supporting wheels are arranged between the bottom of the rack and the inner surface of the crawler, the parallel robot and the collecting box are fixed on the crawler walking mechanism through the rack, and the binocular camera is arranged on the parallel robot. The invention integrates the parallel robot technology and the binocular vision positioning technology into the design of the vegetable picking machine, realizes the automatic picking of the vegetables, and solves the defects of short picking period, large picking amount, high working strength and large labor force required to finish the work in the prior art.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of a picking robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a rack according to an embodiment of the present invention;

FIG. 3 is a top plan view of the crawler attachment of the present invention;

fig. 4 is a side view of the crawler travel mechanism of the present invention.

Description of reference numerals:

crawler-belt walking mechanism-1 parallel robot-2

Collecting box-3 binocular camera-4

Support-5 machine frame-11

Track-12 first driving device-13

Driving gear-14 driven gear-15

Supporting wheel-16 frame transverse plate-111

Second driving device-21 of rack longitudinal plate-112

Static platform-22 moving platform-23

Driving arm-24 actuator arm-25

End effector-26 chassis-51

Support rod-52

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The orientation used in the present invention is described with reference to the orientation of FIG. 1, with vertical page left as front, vertical page right as back, vertical page inward as right, vertical page outward as left, vertical page upward as up, and vertical page downward as down. Meanwhile, the terms "first" and "second" are mainly used to distinguish different components, but do not specifically limit the components.

Fig. 1 is a schematic structural diagram of a picking robot according to an embodiment of the present invention. As shown in fig. 1, 3 and 4, the picking robot of this embodiment includes a crawler walking mechanism 1, a parallel robot 2, a collecting box 3 and a binocular camera 4, the crawler walking mechanism 1 includes a frame 11 and two crawlers 12 disposed on the left and right sides of the frame 11, the two crawlers 12 are respectively driven by two first driving devices 13, each crawler 12 is provided with a driving gear 14, a driven gear 15 and a plurality of supporting wheels 16, the driven gear 15 is mounted on the front end of the inner surface of the crawler 12, the driving gear 14 is mounted on the rear end of the inner surface of the crawler 12, the driving gear 14 is engaged with the inner surface of the crawler 12, the first driving devices 13 are connected with the driving gear 14, the plurality of supporting wheels 16 are disposed between the bottom of the frame 11 and the inner surface of the crawler 12, the parallel robot 2 and the collecting box 3 are both fixed on the crawler walking mechanism 1, the collecting box 3 is used for containing picked articles, the binocular camera 4 is installed on the parallel robot 2, and the binocular camera 4 is used as the visual part of the parallel robot and is mainly used for space coordinate positioning of picking positions. It should be noted that the preferred dimensions of the collection box 3 according to the invention are: the height is 30cm, and the width is 130 cm; preferred dimensions of the crawler belt: the crawler belt is loaded by 50kg-70kg, has the height of 45cm and the length of 250cm, is 130cm apart from each other, and has the width of 25 cm; preferred dimensions of the parallel robot: the weight was 25kg, the height was 65cm and the width was 80 cm.

Meanwhile, as shown in fig. 2, the frame 11 includes two frame transverse plates 111 and two frame longitudinal plates 112, the two frame transverse plates 111 are arranged in parallel, the two frame longitudinal plates 112 are vertically and fixedly disposed at front and rear ends of the two frame transverse plates 111, the two frame transverse plates 111 respectively correspond to the two crawlers 12, two ends of each frame transverse plate 111 are respectively connected with the driven wheel 15 and the transmission gear 14 of the corresponding crawler 12, and the two first driving devices 13 and/or the collecting box 3 are fixedly mounted on the frame longitudinal plate 112 disposed at the front end. At this time, a plurality of support wheels 16 on each track 12 are disposed between the bottom of the corresponding frame cross plate 111 and the inner surface of the track 12.

As a preferred embodiment of the present invention, the picking robot further includes a support frame 5 for supporting the parallel robot 2, the support frame 5 is disposed between the two vertical frame plates 112, and specifically includes an underframe 51 and a support rod 52 disposed on the underframe 51, two ends of the underframe 51 are respectively fixedly connected to the two vertical frame plates 112, a top end of the support rod 52 is fixedly connected to the parallel robot 2, and a bottom end thereof is fixed to the underframe 51. It should be noted that, in order to ensure that the parallel robot 2 is better fixed, the number of the support rods 52 is several, and the several support rods 52 are arranged on the base frame 51 in parallel and at equal intervals. Preferably, the height of the support frame 5 is 65cm and the width is 130 cm.

In addition, it is worth mentioning that the first driving device and the second driving device may be driving motors, but are not limited thereto, and may also be pneumatic actuators or hydraulic actuators.

In a further technical scheme, the parallel robot 2 at least comprises a second driving device 21, a static platform 22, a movable platform 23, a driving arm 24, an executing arm 25 and an end effector 26, wherein the static platform 22 is used for placing the second driving device 21 to reduce the rotational inertia of the parallel robot 2, the movable platform 23 is mainly used for installing the end effector 26 to realize the selective picking of the picking robot, and the driving arm 24 and the executing arm 25 are mainly combined with the second driving device 21 to perform motion transmission to drive the end effector 26 to move. Specifically, the second driving device 21 is fixed on the upper surface of the static platform 22, the binocular camera 4 is fixed on the lower surface of the static platform 22, the upper end of the driving arm 24 is connected with the second driving device 21, the lower end of the driving arm is hinged to the upper end of the executing arm 25, the lower end of the executing arm 25 is arranged on the dynamic platform 23, and the end effector 26 is mounted on the dynamic platform 23. The parallel robot 2 preferably employs a delta parallel robot having three degrees of freedom in x, y, and z directions, in which the actuator arms 25 are parallelogram mechanisms and are provided in a plurality, and the plurality of actuator arms 25 are arranged around the stationary platform 22 via the drive arms 24. In particular, the number of second drive means 21, drive arms 24 and actuating arms 25 is preferably all the same.

Taking the picking robot of the invention for picking cabbage mustard or cabbage heart as an example, the working principle is as follows: the crawler walking mechanism 1 of the picking robot moves back and forth across two ends of the cabbage mustard, the space width between two crawler belts 12 is larger than the width of a row of cabbage mustard, the width of the crawler belts 12 is smaller than the width of a ditch, and the height is larger than or equal to the height of the cabbage mustard when being picked, specifically, two first driving devices 13 are started simultaneously, at the moment, each first driving device 13 drives a corresponding transmission gear 14 to rotate, the transmission gears 14 are meshed with the inner surfaces of the crawler belts 12 to drive the two crawler belts 12 to rotate, and a plurality of supporting wheels are supported and arranged between the deer 12 and the rack 11, so that the rack 11 drives the crawler walking mechanism 1 to move forwards until the required position is reached; then, according to the cabbage mustard or the cabbage heart to be picked shot by the binocular camera 4, the second driving device 21 is controlled to drive the driving arm 24 to act, so that the execution arm 25 is ensured to drive the end effector 26 to move to the position above the cabbage mustard or the cabbage heart to be picked, and the end effector 26 executes a picking task; after the end effector 26 finishes picking, the second driving device 21 is controlled to drive the driving arm 24 to act, so that the executing arm 25 drives the end effector 26 to place the picked cabbage mustard or cabbage heart into the collecting box 3, and the operation is repeated until all picking tasks are finished.

The invention integrates the parallel robot technology and the binocular vision positioning technology into the design of vegetable picking machines, develops a picking robot, realizes the automatic picking of vegetables, and has the advantages of short picking time, large picking completion amount, high working efficiency and cost saving.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A picking robot is characterized by comprising a crawler travelling mechanism (1), a parallel robot (2), a collecting box (3) and a binocular camera (4), wherein the crawler travelling mechanism (1) comprises a rack (11) and two crawlers (12) arranged on the left side and the right side of the rack (11), the two crawlers (12) are respectively driven by two first driving devices (13), each crawler (12) is provided with a transmission gear (14), a driven wheel (15) and a plurality of supporting wheels (16), the driven wheel (15) is arranged at the front end of the inner surface of the crawler (12), the transmission gear (14) is arranged at the rear end of the inner surface of the crawler (12), the transmission gear (14) is meshed with the inner surface of the crawler (12), the first driving devices (13) are connected with the transmission gear (14), the plurality of supporting wheels (16) are arranged between the bottom of the rack (11) and the inner surface of the crawler (12), the parallel robot (2) and the collecting box (3) are fixed on the crawler traveling mechanism (1) through the frame (11), and the binocular camera (4) is installed on the parallel robot (2).

2. The picking robot according to claim 1, characterized in that the frame (11) comprises two frame transverse plates (111) and two frame longitudinal plates (112), the two frame transverse plates (111) are arranged in parallel, the two frame longitudinal plates (112) are vertically and fixedly arranged at the front and rear ends of the two frame transverse plates (111), the two frame transverse plates (111) respectively correspond to the two tracks (12), the two ends of each frame transverse plate (111) are respectively connected with the driven wheel (15) and the transmission gear (14) of the corresponding track (12), and the two first driving devices (13) and/or the collecting box (3) are fixedly arranged on the frame longitudinal plates (112) arranged at the front ends.

3. The picking robot according to claim 2, characterized by further comprising a support frame (5) arranged between the two frame longitudinal plates (112), wherein the parallel robot (2) is fixed on the frame (11) through the support frame (5).

4. The picking robot according to claim 3, characterized in that the support frame (5) comprises an underframe (51) and a support rod (52) arranged on the underframe (51), the two ends of the underframe (51) are respectively fixedly connected with the two vertical frame plates (112), the top end of the support rod (52) is fixedly connected with the parallel robot (2), and the bottom end of the support rod is fixed on the underframe (51).

5. Picking robot according to claim 4, characterized in that the number of support bars (52) is several, several support bars (52) being arranged in parallel and equally spaced on the chassis (51).

6. A picking robot as claimed in claim 2, characterised in that a number of the support wheels (16) on each track (12) are disposed between the bottom of the corresponding frame cross plate (111) and the inner surface of the track (12).

7. A picking robot according to any of the claims 1 to 6, characterised in that the parallel robot (2) comprises at least a second driving device (21), a static platform (22), a dynamic platform (23), a driving arm (24), an executing arm (25) and an end effector (26), the second driving device (21) is fixed on the upper surface of the static platform (22), the binocular camera (4) is fixed on the lower surface of the static platform (22), the upper end of the driving arm (24) is connected with the second driving device (21), the lower end thereof is hinged with the upper end of the executing arm (25), the lower end of the executing arm (25) is arranged on the dynamic platform (23), and the end effector (26) is mounted on the dynamic platform (23).

8. A picking robot according to claim 7, characterised in that the parallel robot (2) is a delta parallel robot, the actuator arms (25) are parallelogram mechanisms and are in number, a plurality of actuator arms (25) being arranged around a stationary platform (22) by means of drive arms (24).

9. Picking robot according to claim 8, characterized in that the number of second drive means (21), drive arms (24) and actuator arms (25) is the same.