CN115067077A - Picking robot - Google Patents
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- CN115067077A CN115067077A CN202210767567.6A CN202210767567A CN115067077A CN 115067077 A CN115067077 A CN 115067077A CN 202210767567 A CN202210767567 A CN 202210767567A CN 115067077 A CN115067077 A CN 115067077A
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- 238000005303 weighing Methods 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 35
- 238000012546 transfer Methods 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 18
- 238000004806 packaging method and process Methods 0.000 abstract description 8
- 230000032258 transport Effects 0.000 description 9
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
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- General Physics & Mathematics (AREA)
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a picking robot, which comprises a moving structure, a main frame structure, a clamping plate structure, at least one picking unit, a transferring unit and a weighing structure, wherein the moving structure is arranged on the main frame structure; the body frame structure sets up remove the top of structure, the splint structure with the body frame structure is mutually supported, it includes X motion module, Y motion module and Z motion module to pick the unit, X motion module and Y motion module set up the body frame is structural, the Z motion module is connected X motion module and Y motion module, the operation unit sets up the body frame is structural and set up pick the below of unit, the transportation unit will wait to pick the thing and transport to weighing structurally. When the recorded weight reaches a certain value, the packaging bags are packed, taken off and bagged again; after the picking of the whole terrain is finished, the image acquisition module identifies the stop mark, then the equipment stops and sends a picking completion prompt.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a picking robot.
Background
At present, various picking robots are applied along with the requirements of different business fields, but most of the picking robots are designed for the industrial field, the designed robots are single, the designed clamping jaws are single, and the application of the fields is limited, for example, some industrial robots can only be applied to the industrial field, some industrial robots can only be applied to the agricultural field, and cannot be used in a mixed mode or in a cross mode.
Disclosure of Invention
The invention provides a picking robot aiming at the defects in the prior art.
In order to solve the technical problem, the invention is solved by the following technical scheme:
a picking robot comprises a moving structure, a main frame structure, a clamping plate structure, at least one picking unit, a transferring unit and a weighing structure;
the main frame structure is arranged above the moving structure, the clamping plate structure and the main frame structure are matched with each other, and the moving structure is provided with a navigation module;
the picking unit comprises an X-motion module, a Y-motion module and a Z-motion module, the X-motion module and the Y-motion module are arranged on the main frame structure, the Z-motion module is connected with the X-motion module and the Y-motion module, the operation unit is arranged on the main frame structure and below the picking unit, and the transfer unit conveys the object to be picked to the weighing structure.
As an implementation mode, the main frame structure comprises a plurality of vertical supports and horizontal supports, and the vertical supports and the horizontal supports are connected according to a preset assembly model;
the clamping plate structure comprises a main plate, a linear guide rail bearing and a lifting motor;
the moving structure comprises moving supports, each moving support comprises a transverse frame and a vertical frame, the two ends of each transverse frame are respectively connected with the vertical frames, each vertical frame is provided with a motor unit, an image acquisition module, a rack and a linear guide rail, the two ends of each transverse frame are provided with a driving wheel and a universal wheel, the main frame structure is arranged on at least two groups of moving supports, one side of the main board is connected with the vertical frames, and the other side of the main board is matched with the main frame structure;
the linear guide rail bearing is matched with the linear guide rail, the rack is matched with the gear, and the lifting motor is in control connection with the gear.
As an implementation mode, the X-movement module comprises an X-axis main frame and a first movement motor, the Y-movement module comprises a Y-axis main frame and a second movement motor, the Z-movement module comprises a Z-axis transmission assembly and a collection assembly, a clamping jaw is arranged below the Z-axis transmission assembly, one end of the collection assembly is connected with the X-movement module, and the other end of the collection assembly is connected with the Y-movement module.
As an implementation mode, the Z-axis transmission assembly comprises a Z-axis main frame and a conveying assembly, and the Z-axis main frame and the conveying assembly are matched with each other.
As an implementation mode, the clamping jaw comprises a main frame, a power device, an acting part and a push plate assembly, wherein the power device at least comprises a first motor and a second motor, the acting part comprises a first acting piece, a second acting piece and a linkage connecting rod, and the push plate assembly comprises a push plate;
the first motor is arranged above the main frame, the push plate assembly is arranged below the main frame and connected with the first motor, the first acting piece and the second acting piece are arranged below the main frame and respectively connected with two ends of the linkage connecting rod in a rotating mode and two ends of the main frame in a rotating mode, the second motor is arranged below the main frame, the second motor is connected with one end of the first acting piece or the second acting piece and one end of the linkage connecting rod in a connecting mode, and the push plate is arranged inside the first acting piece and the second acting piece and moves inside the first acting piece and the second acting piece under the action of the first motor.
As an implementation mode, the weighing structure comprises a power device, a main frame, a transmission device, a collecting and weighing device, a pressing device and a baffle device;
the conveying device is arranged below the main frame, the power device provides power for the conveying device, the collecting and weighing device is arranged in the main frame and at the tail end of the conveying device, the pressing device is arranged above the collecting and weighing device, and the pressing device is fixed in the main frame and arranged above the collecting and weighing device.
As an implementable mode, collect weighing device including collecting the frame, collect the frame and include bottom and lateral part, the both sides that collect the frame relative are equipped with the sack buckle respectively, and one of them sack buckle setting is in retaining device's top, collect the both sides that the frame is relative be equipped with sack buckle complex through-hole, the one end detachable of sack buckle is connected collect the both sides that the frame is relative, the other end of sack buckle passes through locking device locking, during locking, locking device's one end is in on the sack buckle, locking device's the other end is in collect on the frame.
As an implementation mode, the pressing device includes a supporting plate, a pushing rod and a pushing plate, the supporting plate is fixed on the main frame, the pushing rod is connected to the pushing plate, the pushing plate is disposed below the supporting plate, and the pushing rod extends to the upper side of the supporting plate.
As an embodiment, the transfer unit comprises a first transfer structure arranged inside the main frame structure and a second transfer structure arranged outside the main frame structure and connected to each other.
As an embodiment, the first and second transport structures are structurally identical; including transporting the body frame, transporting the transmission band, transporting motor and first baffle, be equipped with the transmission band on the transportation body frame, the motor is fixed in on the transportation body frame, transport the motor with transport the transmission band and mutually support, first baffle sets up the transportation body frame just is incompletely blocked with transporting the body frame.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:
after the device reaches a large area, the device is assembled according to the width required by the site; when the recorded weight reaches a certain value, packaging the packaging bags, removing the bags, and bagging again; when a boundary of a field is met, the image acquisition module identifies a turning boundary of the field, and then turns around to continue picking; after the picking of the whole terrain is finished, the image acquisition module identifies the stop mark, then the equipment stops and sends out the picking completion prompt.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the mainframe structure;
FIG. 3 is a schematic diagram of a moving structure;
FIG. 4 is a schematic view of a splint construction;
fig. 5-7 are schematic structural views of picking units in two embodiments;
FIGS. 8-9 are schematic views of a weighing structure;
figures 10-11 are schematic views of the structure of the jaws.
1. A moving structure; 2. a main frame structure; 3. a splint structure; 4. a picking unit; 5. a transfer unit; 6. a weighing structure; 7. an X motion module; 8. a Y motion module; 9. a Z motion module; 10. a vertical support; 11. a horizontal support; 12. a first motion motor; 13. a second motion motor; 14. a main board; 15. a linear guide bearing; 16. a lifting motor; 17. a motion bracket; 18. a cross frame; 19. erecting; 20. a motor unit; 21. an image acquisition module; 22. a rack; 23. a linear guide rail; 24. a drive wheel; 25. a universal wheel; 26. a first transfer structure; 27. a second transport structure; 28. a GPS unit; 30. a camera; 001. a main frame; 002. a first motor; 003. a second motor; 004. a first acting member; 005. a second acting member; 006. a linkage connecting rod; 007. a first connecting lug; 008. a tooth portion; 009. a first bent portion; 0010. a second bent portion; 0011. a support; 0012. a slider; 0013. a slide bar; 0014. a linkage structure; 0015. pushing the plate; 0016. a second engaging lug; 0017. a transfer unit; 101. a main frame; 201. a motor; 301. a transport frame; 401. a conveyor belt; 501. a baffle plate; 601. a collection frame; 701. buckling the bag; 801. a support plate; 901. a side portion; 1001. a baffle device; 1101. a buffer plate; 1201. a push rod; 1301. and (7) pressing a plate.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
Example 1:
a picking robot, as shown in fig. 1, comprising a moving structure 1, a main frame structure 2, a clamping plate structure 3, at least one picking unit 4, a transfer unit 5 and a weighing structure 6;
the body frame structure 2 sets up remove structure 1's top, splint structure 3 with body frame structure 2 mutually supports, it includes X motion module 7, Y motion module 8 and Z motion module 9 to pick unit 4, X motion module 7 and Y motion module 8 set up on the body frame structure 2, Z motion module 9 is connected X motion module 7 and Y motion module 8, the operation unit sets up just set up on the body frame structure 2 pick unit 4's below, transfer unit 5 will wait to pick the thing and transport to on the structure of weighing 6. The invention can realize the integrated operation of picking, conveying, weighing and bagging by the structure, which is the mechanical structure of the invention, of course, if the automatic control is to be realized, the main frame structure 2 of the invention is necessarily provided with a necessary circuit board or PCB board, and the circuit is provided with a necessary circuit which at least comprises a main control unit, a power supply module and a peripheral circuit for realizing related functions, wherein the main control unit controls each motor 201 structure of the invention, and the circuit also comprises a remote control unit which is mutually matched with a remote controller, so the invention can be started in a remote control mode, in addition, the invention is also provided with a switch button and an emergency stop button, the whole structure is started through the switch button, and then the remote control is carried out through a remote controller to realize the corresponding function, in addition, a camera 30 is mounted on the Z motion module 9 for more clearly capturing the pictures.
In one embodiment, the main frame structure 2 comprises a plurality of vertical supports 10 and horizontal supports 11, and the vertical supports 10 and the horizontal supports 11 are connected according to a preset assembly model; the clamping plate structure 3 comprises a main plate 14, a linear guide rail 23, a bearing 15 and a lifting motor 116; the moving structure 1 comprises moving supports 17, the moving supports 17 comprise transverse frames 18 and vertical frames 19, the two ends of each transverse frame 18 are respectively connected with the corresponding vertical frame 19, each vertical frame 19 is provided with a motor 201 unit 20, an image acquisition module 21, a rack 22 and a linear guide rail 23, the two ends of each transverse frame 18 are provided with a driving wheel 24 and a universal wheel 25, a main frame 001 framework is arranged on at least two groups of moving supports 17, one side of a main board 14 is mutually connected with the corresponding vertical frame 19, and the other side of the main board is matched with the main frame 001 framework; the linear guide rail 23 is matched with the bearing 15 through the linear guide rail 23, the rack 22 is matched with a gear, and the lifting motor 116 is in control connection with the gear. Through the design, after reaching a certain area, the height of the main frame structure 2 can be adjusted to adapt to the height of the object to be picked, and in addition, a navigation module is also arranged on the vertical frame 19, and the navigation module can be a GPS unit and can be used for positioning through the GPS unit.
Specifically, X motion module 7 includes X axle body frame and first motion motor 12, Y motion module 8 includes Y axle body frame and second motion motor 13, Z motion module 9 includes Z axle transmission subassembly and collects the subassembly, Z axle transmission subassembly below is equipped with the clamping jaw, the one end of collecting the subassembly is connected X motion module 7, the other end is connected Y motion module 8, Z axle transmission subassembly includes Z axle body frame and conveying subassembly, Z axle body frame and conveying subassembly are mutually supported.
The design of the clamping jaw can select the conventional design, and then the matching transmission unit transports the picked object, in addition, the invention also specially sets up a section to combine this main frame structure 2 and match the transfer device, the transfer device includes clamping jaw and transfer unit 0017, in addition, the clamping jaw of the invention, including main frame 001, power device, action part and push pedal 0015 assembly, the said power device includes the first electrical machinery 002 and second electrical machinery 003 at least, the said action part includes the first action part 004, second action part 005 and linkage connecting rod 006, the push pedal 0015 assembly includes push pedal 0015; the first motor 002 is disposed above the main frame, the push plate 0015 assembly is disposed below the main frame and connected to the first motor 002, the first acting member 004 and the second acting member 005 are disposed below the main frame and rotatably connected to both ends of the linkage link 006 and both ends of the main frame, respectively, the second motor 003 is disposed below the main frame and the second motor 003 is connected to one end of the first acting member 004 or the second acting member 005 and the linkage link 006, and the push plate 0015 is disposed inside the first acting member 004 and the second acting member 005 and moves inside the first acting member 004 and the second acting member 005 by the first motor 002. The structure of the present invention is not a conventional jaw structure, and the first acting member 004, the second acting member 005 and the linkage link 006 are engaged with each other, so that the stability of the whole jaw can be ensured. The first motor 002 generates power to drive the first acting piece 004 to open or close, the linkage connecting rod 006 can generate linkage to drive the second acting piece 005 to open or close, and after the whole structure moves to the edge of the conveying unit, the other motor 201 provides power for the movement of the push plate 0015, so that the objects in the clamping jaws are pushed to the conveying unit.
In one embodiment, the first and second work pieces are identical in structure; the first end of the main frame is provided with two first connecting lugs 007, the second end of the main frame is provided with teeth 008, one side of the first workpiece is provided with a matching piece matched with the linkage connecting rod 006, and each first connecting lug 007 is connected with the main frame; one end of the linkage connecting rod 006 is rotatably connected to the upper end of any one of the first connecting lugs 007 of the first workpiece, and the other end of the linkage connecting rod 006 is rotatably connected to the lower end of the first connecting lug 007 on the same side as the second workpiece. Linkage connecting rod 006 is equipped with first kink 009, connecting portion and second kink 0010 in proper order, first kink 009 swivelling joint the upper end of an arbitrary first engaging lug 007 of first work piece, second kink 0010 swivelling joint the lower extreme of first engaging lug 007 of second work piece homonymy. Such a design of the first and second working members and the linkage connecting rod 006 makes the work more stable and not shake, and the picked or clamped object should not fall off. In all embodiments, it is not intentionally emphasized whether the first working member and the second working member and the linkage connecting rod 006 are provided with a rotating shaft or a component matching with the rotating shaft, and it is preferable that the first working member and the linkage connecting rod 006 are directly connected or matched with the rotating shaft of the second motor 003, but other manners are also possible, for example, the first working member and the linkage connecting rod 006 are provided with holes matching with the rotating shaft, and further match with the rotating shaft of the second motor 003 or the rotating shaft connected with the second motor 003.
In order to enable the main frame to be matched with two working pieces better, a second connecting lug 0016 matched with the first connecting lug 007 is arranged below the main frame.
In one embodiment, the push rod 1201 component includes a sliding block 0012, a sliding rod 0013 and a linkage structure 0014, the sliding rod 0013 is disposed between two second connecting lugs 0016 on the first working piece or/and the second working piece, the sliding block 0012 is slidably connected to the sliding rod 0013, the other end of the sliding block 0012 is connected to one end of the linkage structure 0014, the upper end of the linkage structure 0014 is connected to the first motor 002, the other end of the linkage structure 0014 is connected to the push plate 0015, for the purpose of making the cooperation of the push plate 0015 with the sliding block 0012 and the sliding rod 0013 more stable, the sliding rod 0013 is preferably disposed above the first working piece and the second working piece, the two ends of the linkage structure 0014 are connected to the sliding block 0012 on the sliding rod 0013, the first motor 002 is connected above, and the push plate 0015 is connected to the front end or the rear end, such connection can be implemented when the first motor 002 generates power to push the linkage structure 0014, the sliding block 0012 can move on the sliding rod 0013 to push the pushing plate 0015 to move until the pushing plate is moved to the outermost side, so as to push out the articles of the first and second working pieces. In order to achieve a better pushing effect, the size of the push plate 0015 is not larger than the size of the cavity formed when the first and second working members are closed, that is, the size of the push plate 0015 is preferably not larger than the size of the cavity formed when the first and second working members are closed, which is equivalent to falling into the cavity formed when closed.
In one embodiment, the robot further comprises a bracket 0011, the bracket 0011 is arranged above the main frame and connected with the main frame, the first motor 002 is arranged on the bracket 0011, the bracket 0011 can be a structure that two branches are mutually connected, one structure is used for fixing the first motor 002 and is connected with the bracket 0011, and the other structure is in a vertical state, and the clamping jaw device can be connected with other available connecting structures of the mechanical arm.
The first motor 002 and the second motor 003 are servo motors 201, respectively.
In one embodiment, the weighing structure 6 comprises a power device, a main frame 101, a transmission device, a collecting and weighing device, a pressing device and a baffle 501 device; the conveying device is arranged below the main frame 101, the power device provides power for the conveying device, the collecting and weighing device is arranged inside the main frame 101 and at the tail end of the conveying device, the pressing device is arranged above the collecting and weighing device, and the pressing device is fixed inside the main frame 101 and arranged above the collecting and weighing device.
On placing article transmission device, article move to in collecting weighing device along with transmission device, begin to weigh, when weight reaches preset data, can pack, if it can not cause the influence to article to overstock, then can compress article, the utilization ratio of wrapping bag reach the maximize, for example plush toy etc. can be pressed by press device when packing, for example various flowers, various condensation or scented tea etc. can be made into to the follow-up process processing of some flowers, consequently, can press when packing, not only can realize the utilization ratio of wrapping bag the maximum, but also can not influence the quality of flowers.
Of course, whole device can best communicate with host system, like this, can control whole device through host system, if do not control whole device through host system, then whole structure can set up the switch and connect the power when using alone, start through the switch, if do not set up host system, then can also set up power device's control module, this control module can carry out electric connection with other controlgear, control module control power device's operation, if no article are placed on transmission device, then power device need not work. The specific shape of the main frame 101 is not limited as long as the present invention can be implemented. In the present embodiment, the main frame 101 is assembled by using various main frames. In addition, in order to facilitate installation of the collecting and weighing device, the part of the main frame 101 above the collecting and weighing device can be arranged in several layers, and since the pressing device comprises the supporting plate 801, the supporting plate 801 needs at least two layers, and therefore, the main frame 101 needs to be arranged in several layers.
Specifically, power device includes motor 201, transmission device includes transmission frame 301 and transmission band 401, has transmission band 401 on the transmission frame 301 top, motor 201 install in on the transmission frame 301, motor 201 with transmission band 401 mutually supports and provides power for transmission band 401's conveying, transmission frame 301 connects main frame 101. This connection is conventional in the art and will not be described herein. In order to prevent the articles from falling off the conveyor belt, a baffle 501 may be further provided on the conveying frame 301, and the number of baffles 501 is at least two.
In one embodiment, the collection weighing device comprises a collection frame 601, the collection frame 601 comprises a bottom portion and a side portion 901, two opposite sides of the collection frame 601 are respectively provided with bag buckling plates 701, and one of the bag buckling plates 701 is arranged above the baffle 501 device. The weighing device is arranged below the collecting frame 601 and can be arranged in the collecting frame, so that the weighing device is not shown in the figure, when the object is conveyed to the collecting frame 601, the collecting frame 601 contains, bags and the weighing device simultaneously weigh, and when the weighing data reach the preset data, the conveying device can stop conveying.
In one embodiment, through holes matched with the bag buckle plate 701 are formed in two opposite sides of the collecting frame 601, one end of the bag buckle plate 701 is detachably connected to the two opposite sides of the collecting frame 601, the other end of the bag buckle plate 701 is locked through a locking device, one end of the locking device is located on the bag buckle plate 701 when the bag buckle plate 701 is locked, and the other end of the locking device is located on the collecting frame 601. The locking mechanism is not limited to this configuration, as long as it is in operation to close the aperture plate of the bag with the album of the collection frame 601.
In one embodiment, the pressing device includes a supporting plate 801, a pushing rod 1201 and a pressing plate, the supporting plate 801 is fixed on the main frame 101, the pushing rod 1201 is connected to the pressing plate, the pressing plate is disposed below the supporting plate 801, and the pushing rod 1201 extends to above the supporting plate 801. If the bag is difficult to pack due to overlarge volume during weighing and bagging, the pressing device can be used for pressing, so that the articles in the packaging bag are accumulated, and the maximum utilization rate of the packaging bag can be realized.
In order to prevent the packaging bag from being placed everywhere when the packaging bag is weighed, a baffle 501 device is further arranged, the baffle 501 device is similar to a placing device of the packaging bag, one end of the baffle 501 device is connected with the collecting and weighing device, and the other end of the baffle 501 device extends to the lower part of the outer side of the main frame 101. The lower extreme of baffle 501 device is equipped with buffer board 1101, buffer board 1101 orientation the main frame 101 outside sets up, and this baffle 501 device is similar to the shape of slide seen to the side, so both can support the wrapping bag and can prevent that the wrapping bag from dropping when holding the article.
In one embodiment the transfer unit 5 comprises a first transfer structure 26 and a second transfer structure 27 and is interconnected, the first transfer structure 26 being arranged inside the main frame structure 2 and the second transfer structure 27 being arranged outside the main frame structure 2.
As an embodiment, the first transfer structure 26 and the second transfer structure 27 are structurally identical; including transporting the body frame, transporting the transmission band, transporting motor 201 and first baffle 501, be equipped with the transmission band on the transportation body frame, motor 201 is fixed in on the transportation body frame, transport motor 201 with transport the transmission band and mutually support, first baffle 501 sets up the body frame is transported and the body frame is incompletely blocked with transporting.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the shape of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A picking robot is characterized by comprising a moving structure, a main frame structure, a clamping plate structure, at least one picking unit, a transferring unit and a weighing structure;
the main frame structure is arranged above the moving structure, the clamping plate structure and the main frame structure are matched with each other, and the moving structure is provided with a navigation module;
the picking unit comprises an X-motion module, a Y-motion module and a Z-motion module, the X-motion module and the Y-motion module are arranged on the main frame structure, the Z-motion module is connected with the X-motion module and the Y-motion module, the operation unit is arranged on the main frame structure and below the picking unit, and the transfer unit conveys the object to be picked to the weighing structure.
2. A picking robot as claimed in claim 1, characterised in that the main frame structure comprises a plurality of vertical and horizontal supports connected according to a preset assembly pattern;
the clamping plate structure comprises a main plate, a linear guide rail bearing and a lifting motor;
the moving structure comprises moving supports, each moving support comprises a transverse frame and a vertical frame, the two ends of each transverse frame are respectively connected with the vertical frames, each vertical frame is provided with a motor unit, an image acquisition module, a rack and a linear guide rail, the two ends of each transverse frame are provided with a driving wheel and a universal wheel, the main frame structure is arranged on at least two groups of moving supports, one side of the main board is connected with the vertical frames, and the other side of the main board is matched with the main frame structure;
the linear guide rail bearing is matched with the linear guide rail, the rack is matched with the gear, and the lifting motor is in control connection with the gear.
3. The picking robot of claim 1, wherein the X-motion module comprises an X-axis main frame and a first motion motor, the Y-motion module comprises a Y-axis main frame and a second motion motor, the Z-motion module comprises a Z-axis transmission assembly and a collection assembly, a clamping jaw is arranged below the Z-axis transmission assembly, one end of the collection assembly is connected with the X-motion module, and the other end of the collection assembly is connected with the Y-motion module.
4. A picking robot as claimed in claim 1, in which the Z-axis transport assembly comprises a Z-axis main frame and a transport assembly which cooperate with one another.
5. The picking robot of claim 4, wherein the gripping jaw includes a main frame, a power device, an action portion and a push plate assembly, the power device includes at least a first motor and a second motor, the action portion includes a first action member, a second action member and a linkage link, the push plate assembly includes a push plate;
the first motor is arranged above the main frame, the push plate assembly is arranged below the main frame and is connected with the first motor, the first action piece and the second action piece are arranged below the main frame and are respectively and rotatably connected with two ends of the linkage connecting rod and two ends of the main frame, the second motor is arranged below the main frame, the second motor is connected with the first action piece or the second action piece and one end of the linkage connecting rod, and the push plate is arranged in the first action piece and the second action piece and moves in the first action piece and the second action piece under the action of the first motor.
6. A picking robot as claimed in claim 1, characterised in that the weighing structure comprises a power means, a main frame, a transfer means, a collection weighing means, a pressing means and a baffle means;
the transmission device is arranged below the main frame, the power device provides power for the transmission device, the collection weighing device is arranged inside the main frame and at the tail end of the transmission device, the pressing device is arranged above the collection weighing device, and the pressing device is fixed inside the main frame and arranged above the collection weighing device.
7. The picking robot of claim 6, wherein the collection weighing device comprises a collection frame, the collection frame comprises a bottom portion and a side portion, two opposite sides of the collection frame are respectively provided with bag buckling plates, one bag buckling plate is arranged above the baffle device, two opposite sides of the collection frame are provided with through holes matched with the bag buckling plates, one ends of the bag buckling plates are detachably connected to the two opposite sides of the collection frame, the other ends of the bag buckling plates are locked through locking devices, when the bag buckling plates are locked, one ends of the locking devices are located on the bag buckling plates, and the other ends of the locking devices are located on the collection frame.
8. The picking robot of claim 7, wherein the pressing device includes a support plate, a push rod and a push plate, the support plate is fixed on the main frame, the push rod is connected with the push plate, the push plate is disposed below the support plate, and the push rod extends to above the support plate.
9. A picking robot as claimed in claim 1, characterised in that the transfer units comprise and are interconnected with a first transfer structure provided inside the main frame structure and a second transfer structure provided outside the main frame structure.
10. The picking robot of claim 9, wherein the first and second transfer structures are identical in structure;
including transporting the body frame, transporting the transmission band, transporting motor and first baffle, be equipped with the transmission band on the transportation body frame, the motor is fixed in on the transportation body frame, transport the motor with transport the transmission band and mutually support, first baffle sets up the transportation body frame just is incompletely blocked with transporting the body frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210767567.6A CN115067077A (en) | 2022-07-01 | 2022-07-01 | Picking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210767567.6A CN115067077A (en) | 2022-07-01 | 2022-07-01 | Picking robot |
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| CN115067077A true CN115067077A (en) | 2022-09-20 |
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| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| US20220174877A1 (en) * | 2019-04-04 | 2022-06-09 | Fieldwork Robotics Limited | Robotic Handling of Picked Fruit or Vegetables |
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2022
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| US20220174877A1 (en) * | 2019-04-04 | 2022-06-09 | Fieldwork Robotics Limited | Robotic Handling of Picked Fruit or Vegetables |
| CN111802066A (en) * | 2020-07-21 | 2020-10-23 | 华南农业大学 | Pineapple picking machine and picking method based on machine vision |
| CN213718787U (en) * | 2020-10-12 | 2021-07-20 | 河南工业大学 | Chrysanthemum flower picking vehicle |
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