CN113812264A - Parallel robot strawberry picking harvester with reconfigurable characteristic - Google Patents
Parallel robot strawberry picking harvester with reconfigurable characteristic Download PDFInfo
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- CN113812264A CN113812264A CN202111224301.9A CN202111224301A CN113812264A CN 113812264 A CN113812264 A CN 113812264A CN 202111224301 A CN202111224301 A CN 202111224301A CN 113812264 A CN113812264 A CN 113812264A
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- picking
- module
- static platform
- platform
- reconfigurable
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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
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Abstract
A parallel robot strawberry picking harvester with reconfigurable characteristics comprises a parallel mechanism static platform reconfigurable module, three identical UPU branched chains containing a driver, a movable platform, a tail end execution mechanism, a picking vehicle and a harvesting basket. The strawberry picking machine has the advantages of strong bearing capacity, high flexibility, simple structure, high rigidity and high efficiency, and can adapt to the strawberry picking work in a complex environment.
Description
Technical Field
The invention belongs to the field of agricultural picking and automatic picking equipment, and particularly relates to a parallel robot strawberry picking harvester with three degrees of freedom, high precision and high-speed reconfigurable characteristics, which is designed based on a parallel mechanism.
Background
Agriculture is the foundation of national development, and the development of agricultural technology is an important ring for guaranteeing and accelerating the modernization process. With the reduction of labor force available for agricultural production, automatic and intelligent agricultural picking equipment becomes the mainstream of agricultural production. The defects of long time consumption, low efficiency, high cost, untimely picking and the like exist in manual picking, most of automatic agricultural picking equipment adopts an open chain structure, and although the working space is large, the defects of large stroke, more error accumulation, poor recognition precision, low picking efficiency and slow action are determined by the structural characteristics of the automatic agricultural picking equipment during working.
The parallel mechanism robot widely accepted by people at present has the advantages of high rigidity, high precision, large bearing capacity and high dynamic response speed, has specific beneficial application in the aspects of motion simulation platforms, vibration tables, parallel machine tools and industrial robots, has application prospect in the aspect of agricultural picking, and can make up the defects of agricultural picking at the present stage in China.
Disclosure of Invention
The invention aims to provide a parallel robot strawberry picking harvester with reconfigurable characteristics, which can solve the problems in the background, solve the problem that agricultural picking machines are not refined to specific products, and provide technical support for the innovative development of agricultural picking.
The technical scheme provided by the invention is as follows:
a parallel robot strawberry picking harvester with reconfigurable characteristics comprises a picking module, a picking vehicle for loading a picking mechanism and a harvesting basket.
The static platform reconfigurable module characteristics of the parallel mechanism in the picking module are as follows: the upper part of the middle disk is provided with a gear tooth profile, the gear tooth profile and the bevel gears are in gear transmission, three bevel gears are mutually distributed on the gear middle disk at 120 degrees, the lower part of the middle disk adopts a spiral plane thread, the sliding block and the plane thread are limited to rotate together due to the existence of a sliding pair between the sliding blocks and the sliding rails, so that the sliding block and the plane thread have a mutual moving relationship, a second sliding pair P is formed, and the plane thread, the shell sliding rails and the sliding blocks form the following effects: the geometric characteristics of the static platform are in an equilateral triangle shape, the slide blocks are matched with the slide rails on the shell to realize the forward and backward movement towards the center of the disc at the same time, and the reconstruction expansion and the reduction of the equilateral triangle static platform consisting of the three slide blocks are realized.
Characteristics of three bevel gears in the parallel mechanism static platform reconfigurable module: the axes of the three bevel gears form 120-degree included angles in pairs, the intermediate shaft is fixedly connected with the upper end cover, the tooth number moduli of the three bevel gears are the same, and the axes of the three bevel gears are positioned on the same plane and are parallel to the plane at the top of the upper end cover.
Characteristics of a parallel mechanism static platform reconfigurable module intermediate disk: the upper part is provided with a gear tooth profile and is used for transmitting the rotation of a bevel gear forming a gear pair with the intermediate disc to cause the rotation of the intermediate disc, the lower part adopts a plane thread structure, and the rotation of the plane thread is matched with three same sliding blocks fixed by the sliding rail of the shell to form a moving pair.
Picking the characteristics of the UPU branched chain containing the drive in the module: the sliding block is connected with a sleeve containing a drive through a Hooke joint U, a piston rod at the lower end is connected with a movable platform through the Hooke joint U, the axes of two revolute pairs R of the two Hooke joints U are perpendicular to each other, the axis of a first revolute pair with the upper end in contact with the static platform is parallel to the static platform, the first axis of the Hooke joint at the lower end is parallel to the movable platform, a driving branched chain forms a moving pair P with the piston rod through the sleeve containing the drive, the axis directions of the two revolute pairs of the Hooke joints at the upper end and the lower end are perpendicular to the moving direction of a moving pair formed between the drive sleeve and the piston rod, and the extension lines of the moving directions of the three branched chain moving pairs containing the drive always intersect with one point in space.
Picking terminal actuating mechanism's in the module characteristic: drive initiative slider and manipulator shell through driving motor and form the vice P that moves, initiative slider and driven slider form a vice P that moves with the mode cooperation of embedding, and slide rail and driven slider cooperation in the manipulator shell form a vice P that moves, can drive the picking sword and remove or make the cutter separately to both sides to the centre, there is cutting blade picking sword one side to rubber gasket is equipped with in the centre.
The characteristics of the picking module are introduced by combining the characteristic description of the parallel mechanism static platform reconfigurable module, three identical driving branched chains and the tail end actuating mechanism: the 3UPU parallel mechanism and the static platform reconfigurable module which are formed by the three same driving branched chains and the upper and lower static and dynamic platforms form a 3P-UPU picking module, under special conditions, a moving pair P of the static platform reconfigurable module works to enable the static platform to be reconfigured, and the UPU parallel mechanism below the static platform moves and works at a position with 3 degrees of freedom of the dynamic platform.
The picking vehicle is characterized in that: the top platform is welded with a shell of the reconfigurable module of the static platform of the parallel mechanism, a neutral position is reserved in the middle of the picking vehicle, the picking vehicle can pass through the strawberry picking operation environment without obstacles, the driving motors are arranged on the rear wheels on the two sides of the picking vehicle, when the driving motors work simultaneously, the picking vehicle can advance, and when the two driving motors work respectively, the driving motors are matched with the universal wheels on the front side of the picking vehicle to realize steering.
Compared with the prior art, the invention has the following beneficial effects: (1) compared with manual operation, the full-automatic equipment has the advantages of high efficiency, high speed, strong flexibility and high safety factor; (2) compared with a series picking mechanism, the picking mechanism has the advantages of stability, high speed and high rigidity.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a parallel robot strawberry picking harvester with reconfigurable characteristics according to the invention;
FIG. 2 is a schematic structural diagram of picking modules of a parallel robotic strawberry picking harvester with reconfigurable features of the present invention;
FIG. 3 is a detail view of the inner part and Hooke's hinge in the reconfigurable module of the parallel mechanism static platform of the parallel robot strawberry picking harvester with reconfigurable characteristics;
FIG. 4 is a schematic diagram of the internal structure of a parallel mechanism static platform reconfigurable module in the picking mechanism of a parallel robotic strawberry picking harvester with reconfigurable characteristics according to the present invention;
FIG. 5 is a schematic diagram of the configuration of the active branch chain in the picking mechanism of a parallel robotic strawberry picking harvester with reconfigurable characteristics of the present invention;
FIG. 6 is a schematic diagram of an end actuator of a parallel robotic strawberry picker harvester with reconfigurable features of the present invention;
fig. 7 is a schematic structural diagram of a picking vehicle of the parallel robot strawberry picking harvester with reconfigurable characteristics.
Wherein:
in fig. 1: 1. picking the module; 2. a frame; 3. harvesting baskets;
in fig. 2: 201. a parallel mechanism static platform reconfigurable module; 202. a drive branch; 203. a movable platform; 204. a drive motor; 205. hooke's joint; 206. a slider; 207. a slide rail; 208. a terminal actuator;
in fig. 3: 301. an upper end cover; 302. a bevel gear; 303. an intermediate tray; 304. hooke's joint;
in fig. 4: 401. a bevel gear; 402. an upper end cover; 403. an intermediate tray; 404. a slider; 405. a planar thread; 406. a fixing pin;
in fig. 5: 501. hooke's joint; 502. a drive motor; 503. a drive sleeve; 504. a piston rod;
in fig. 6: 601. a drive motor; 602. an active slider; 603. a driven slider; 604. a rubber pad; 605. picking a knife; 606. an end effector housing;
in fig. 7: 701. a frame; 702. a drive motor; 703. a rear wheel; 704. a universal wheel.
Detailed Description
In a parallel robot strawberry picking harvester with reconfigurable characteristics shown in fig. 1, a picking module 1, a picking vehicle 2 for loading a picking mechanism and a harvesting basket 3 are included.
According to the feature of the picking module in fig. 2 containing the driven UPU branch chain: the sliding block 206 is connected with a sleeve 202 containing a driving motor 204 by a Hooke joint U205, a piston rod 208 at the lower end is connected with a movable platform 203 by the Hooke joint U, the axes of two revolute pairs R of the two Hooke joints U are mutually vertical, the axis of a first revolute pair with the upper end contacted with a static platform is parallel to the static platform, the first axis of the Hooke joint at the lower end is parallel to the movable platform, a driving branched chain forms a moving pair P by the sleeve containing the driving and the piston rod, the axis directions of the two revolute pairs of the Hooke joint at the upper end and the lower end are both vertical to the moving direction of a moving pair formed between the driving sleeve and the piston rod, and the extension lines of the three moving pairs containing the driving branched chain always intersect with one point in space.
According to the parallel mechanism static platform reconfigurable module shown in fig. 3 and 4, the characteristics of three bevel gears 401 are as follows: the axes of the three bevel gears form 120-degree included angles in pairs, the intermediate shaft is fixedly connected with the upper end cover, the tooth numbers and the modulus of the three bevel gears are the same, and the axes of the three bevel gears are positioned on the same plane and are parallel to the top plane of the upper end cover 402.
The parallel mechanism static platform reconfigurable module according to fig. 4 has the following features: the upper part is provided with a gear tooth profile and is used for transmitting the rotation of a bevel gear 401 which forms a gear pair with the middle disc to cause the rotation of the middle disc 403, the lower part adopts a plane thread structure, and the rotation of the plane thread 405 is matched with three same sliding blocks which are fixed by the sliding rail 207 of the shell to form a moving pair.
According to the characteristics of the picking module in which the parallel mechanism static platform can be reconfigured: the upper part of the middle disk is provided with a gear tooth profile, the gear tooth profile and the bevel gears are in gear transmission, three bevel gears are mutually distributed on the gear middle disk at 120 degrees, the lower part of the middle disk adopts a spiral plane thread, the sliding block and the plane thread are limited to rotate together due to the existence of a sliding pair between the sliding blocks and the sliding rails, so that the sliding block and the plane thread have a mutual moving relationship, a second sliding pair P is formed, and the plane thread, the shell sliding rails and the sliding blocks form the following effects: the geometric characteristics of the static platform are in an equilateral triangle shape, the slide blocks are matched with the slide rails on the shell to realize the forward and backward movement towards the center of the disc at the same time, and the reconstruction expansion and the reduction of the equilateral triangle static platform consisting of the three slide blocks are realized.
The picking module described according to fig. 2 is characterized by the parallel mechanism static platform reconfigurable module 201, three identical drive branched chains 202 and end actuating mechanism 208, which are described in combination with the following features: the 3UPU parallel mechanism and the static platform reconfigurable module 201 which are formed by the three same driving branched chains 202 and the upper and lower static and dynamic platforms form a 3P-UPU picking module, under special conditions, a moving pair P of the static platform reconfigurable module works to enable the static platform to be reconfigured, and the UPU parallel mechanism below the static platform moves and works at a position with 3 degrees of freedom of the dynamic platform.
According to the picking module shown in fig. 2, picking is realized by independent work of the movable pair of the static platform reconfigurable module 201, so that the vertical degree of freedom of the picking module can be realized, the extension of a branched chain is caused by the relative movement between one or two driving branched chain piston rods 504 and a driving sleeve 503 shown in fig. 5, the shortening of the branched chain is caused by the matched movement between the other or two driving branched chain piston rods and the sleeve, the movable platform 203 moves on a certain two-dimensional plane in a matched manner, the asynchronous action of each driving branched chain driving movable pair can cause the inclined movement of the movable platform, and the picking degree of freedom requirements of various positions of strawberries during picking are met.
According to the characteristics of the end effector shown in fig. 6: the driving motor 601 drives the driving sliding block 602 and the tail end executing mechanism shell 606 to form a moving pair P, the driving sliding block 602 and the driven sliding block 603 are matched in an embedded mode to form a moving pair P, a sliding rail in the tail end executing mechanism shell is matched with the driven sliding block to form a moving pair P, the picking knife 605 can be driven to move towards the middle or separate the knife towards two sides, one side of the picking knife is provided with a cutting blade, the middle of the picking knife is provided with a rubber gasket 604, and stems and leaves at the upper end of fruits are clamped or released by rubber.
The picking vehicle shown in fig. 7 is characterized in that: the circular cutting of frame 701 top platform is used for with the shell welding of parallel mechanism quiet platform restructural module, leaves the neutral position in the middle part of the picking car, and the picking car can accessible pass through strawberry picking operation environment, is equipped with driving motor 702 on its both sides rear wheel, and when driving motor worked simultaneously, power transmission realized the advancing of picking car to rear wheel 703, when two driving motor asynchronous work, cooperation picking car front side universal wheel 704 realized turning to.
The embodiments of the parallel robotic strawberry picker with reconfigurable characteristics described in the present patent are not limited to the forms of embodiment described in the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be construed as equivalents and are intended to be included in the scope of the present invention.
Claims (8)
1. A parallel robot strawberry picking harvester with reconfigurable characteristics comprises a picking module, a picking vehicle for loading a picking mechanism and a harvesting basket.
2. The picking module of claim 1 wherein the parallel mechanism static platform reconfigurable module features: the upper part of the middle disk is provided with a gear tooth profile, the gear tooth profile and the bevel gears are in gear transmission, three bevel gears are mutually distributed on the gear middle disk at 120 degrees, the lower part of the middle disk adopts a spiral plane thread, and due to the existence of a moving pair between the sliding block and the sliding rail, the sliding block and the plane thread are limited to rotate together, so that the sliding block and the plane thread have a mutual moving relationship, a second moving pair P is formed, and the plane thread, the shell sliding rail and the sliding block form the following effects: the geometric characteristics of the static platform are in an equilateral triangle shape, the slide blocks are matched with the slide rails on the shell to realize the forward and backward movement towards the center of the disc at the same time, and the reconstruction expansion and the reduction of the equilateral triangle static platform consisting of the three slide blocks are realized.
3. The parallel mechanism static platform reconfigurable module of claim 2, which has the characteristics of three bevel gears: the axes of the three bevel gears form 120-degree included angles in pairs, the intermediate shaft is fixedly connected with the upper end cover, the tooth number moduli of the three bevel gears are the same, and the axes of the three bevel gears are positioned on the same plane and are parallel to the plane at the top of the upper end cover.
4. The parallel mechanism static platform reconfigurable module of claim 2, wherein the characteristics of the discs: the upper part is provided with a gear tooth profile and is used for transmitting the rotation of a bevel gear forming a gear pair with the intermediate disc to cause the rotation of the intermediate disc, the lower part adopts a plane thread structure, and the rotation of the plane thread is matched with three same sliding blocks fixed by the sliding rail of the shell to form a moving pair.
5. The picking module of claim 1, comprising features of a UPU branch chain driven: the sliding block is connected with a sleeve containing a drive through a Hooke joint U, a piston rod at the lower end is connected with a movable platform through the Hooke joint U, the axes of two revolute pairs R of the two Hooke joints U are perpendicular to each other, the axis of a first revolute pair with the upper end in contact with the static platform is parallel to the static platform, the first axis of the Hooke joint at the lower end is parallel to the movable platform, a driving branched chain forms a moving pair P with the piston rod through the sleeve containing the drive, the axis directions of the two revolute pairs of the Hooke joints at the upper end and the lower end are perpendicular to the moving direction of a moving pair formed between the drive sleeve and the piston rod, and the extension lines of the moving directions of the three branched chain moving pairs containing the drive always intersect with one point in space.
6. The picking module of claim 1, wherein the end effector is characterized by: drive initiative slider and manipulator shell through driving motor and form the vice P that moves, initiative slider and driven slider form a vice P that moves with the mode cooperation of embedding, and slide rail and driven slider cooperation in the manipulator shell form a vice P that moves, can drive the picking sword and remove or make the cutter separately to both sides to the centre, there is cutting blade picking sword one side to rubber gasket is equipped with in the centre.
7. The picking module of claim 1, wherein the features of the picking module are introduced by characterizing the parallel mechanism static platform reconfigurable module, the three identical drive branches and the end actuator: the three same driving branched chains and the 3UPU parallel mechanism formed by the upper and lower static and movable platforms form a 3P-UPU picking module with the static platform reconfigurable module, under special conditions, a moving pair P of the static platform reconfigurable module works to enable the static platform to be reconfigured, and the UPU parallel mechanism below the static platform moves at a position with 3 degrees of freedom of the movable platform.
8. The picking vehicle of claim 1, characterized by: the top platform is welded with a shell of the reconfigurable module of the static platform of the parallel mechanism, a neutral position is reserved in the middle of the picking vehicle, driving motors are arranged on rear wheels on two sides of the picking vehicle, when the driving motors work simultaneously, the picking vehicle advances, and when the two driving motors work asynchronously, the driving motors are matched with universal wheels on the front side of the picking vehicle to steer.
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| CN202111224301.9A CN113812264A (en) | 2021-10-20 | 2021-10-20 | Parallel robot strawberry picking harvester with reconfigurable characteristic |
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| CN202111224301.9A CN113812264A (en) | 2021-10-20 | 2021-10-20 | Parallel robot strawberry picking harvester with reconfigurable characteristic |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140492A (en) * | 2023-11-01 | 2023-12-01 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
| CN117378360A (en) * | 2023-11-22 | 2024-01-12 | 云南农业大学 | Tea-leaf picking robot |
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| CN107637280A (en) * | 2017-11-08 | 2018-01-30 | 皖西学院 | A kind of strawberry automatic picking apparatus based on delta parallel institutions |
| AU2021100165A4 (en) * | 2021-01-12 | 2021-04-08 | K., Vengatesan DR | Automatic system for navigation of an agricultural robot using pixhawk |
| CN113443161A (en) * | 2021-06-10 | 2021-09-28 | 西安电子科技大学 | Unmanned aerial vehicle recovery method, system, control terminal and processing terminal |
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2021
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205588293U (en) * | 2016-05-17 | 2016-09-21 | 广西大学 | Symmetrical and asymmetric restructural no. 4 constructs parallelly connected platform of attitude |
| CN107637280A (en) * | 2017-11-08 | 2018-01-30 | 皖西学院 | A kind of strawberry automatic picking apparatus based on delta parallel institutions |
| AU2021100165A4 (en) * | 2021-01-12 | 2021-04-08 | K., Vengatesan DR | Automatic system for navigation of an agricultural robot using pixhawk |
| CN113443161A (en) * | 2021-06-10 | 2021-09-28 | 西安电子科技大学 | Unmanned aerial vehicle recovery method, system, control terminal and processing terminal |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140492A (en) * | 2023-11-01 | 2023-12-01 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
| CN117140492B (en) * | 2023-11-01 | 2024-02-09 | 常熟理工学院 | 6-UPS parallel manipulator with variable diameter |
| CN117378360A (en) * | 2023-11-22 | 2024-01-12 | 云南农业大学 | Tea-leaf picking robot |
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Application publication date: 20211221 |