CN116472868A - Automatic wheeled capsicum picking robot - Google Patents
Automatic wheeled capsicum picking robot Download PDFInfo
- Publication number
- CN116472868A CN116472868A CN202310282207.1A CN202310282207A CN116472868A CN 116472868 A CN116472868 A CN 116472868A CN 202310282207 A CN202310282207 A CN 202310282207A CN 116472868 A CN116472868 A CN 116472868A
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- joint module
- wheel
- connecting piece
- clamping jaw
- steering
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- 235000002566 Capsicum Nutrition 0.000 title claims abstract description 45
- 240000008574 Capsicum frutescens Species 0.000 title claims abstract description 16
- 239000001390 capsicum minimum Substances 0.000 title abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 23
- 210000000707 wrist Anatomy 0.000 claims description 23
- 239000006002 Pepper Substances 0.000 claims description 16
- 241000722363 Piper Species 0.000 claims description 16
- 235000016761 Piper aduncum Nutrition 0.000 claims description 16
- 235000017804 Piper guineense Nutrition 0.000 claims description 16
- 235000008184 Piper nigrum Nutrition 0.000 claims description 16
- 210000003857 wrist joint Anatomy 0.000 claims description 12
- 235000002568 Capsicum frutescens Nutrition 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims 1
- 241000758706 Piperaceae Species 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheeled automatic capsicum picking robot, and belongs to the technical field of picking robots. Including parts such as mobile chassis, automobile body, the automobile body is fixed at mobile chassis top surface, grabbing device, collection box are installed at the automobile body top, laser radar, display fixed mounting are at the automobile body front end, and the depth camera is installed on grabbing device, and mobile chassis lower extreme is fixed with turns to wheel and driving wheel, turns to the wheel and is connected with the turning device, and driving wheel is connected with drive arrangement, grabbing device, display, laser radar, depth camera, turning device, drive arrangement all are connected with control system. The cooperative work of the movable chassis and the grabbing device can be realized through the control system; therefore, the automatic grabbing of the peppers is realized in a complex environment, the peppers are accurately picked and automatically collected, and the quality of the peppers is not affected.
Description
Technical Field
The invention belongs to the technical field of picking robots, and particularly relates to a wheeled automatic capsicum picking robot.
Background
In the pepper planting process, the picking stage is the most time-consuming and labor-consuming stage, and the quality of picking directly influences the yield, storage and processing of peppers. Therefore, it is important to reduce the picking cost, save the manpower resources and improve the picking efficiency.
The existing picking robot cannot accurately identify the positions of the peppers in the picking process and does not accurately identify the maturity of the peppers, so that the picking efficiency is low, a plurality of immature peppers are picked, and the like. And the existing picking robot is not provided with a collecting device, the picked peppers need to be collected manually, and the collecting rate is low and the labor is wasted. The existing picking robot is inconvenient for remote control.
Disclosure of Invention
The invention aims to solve the problems in the prior art by providing a wheeled automatic capsicum picking robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a wheeled automatic robot of picking of hot pepper, including moving the chassis, automobile body 2, grabbing device, collecting box 15, display 5, laser radar 4, depth camera 8, control system, automobile body 2 is fixed at the chassis top surface that moves, grabbing device, collecting box 15 installs at automobile body 2 tops, laser radar 4, display 5 fixed mounting is at automobile body 2 front end, depth camera 8 installs on grabbing device, the chassis lower extreme that moves is fixed with steering wheel and driving wheel, steering wheel is connected with steering device, driving wheel is connected with drive arrangement, grabbing device, display 5, laser radar 4, depth camera 8, steering device, drive arrangement all are connected with control system.
Specifically, control system include arm control ware, embedded system, main control board, grabbing device includes six degree of freedom arms, end clamping jaw, six degree of freedom arms's end is connected with end clamping jaw, six degree of freedom arms are connected with the arm control ware, display 5, laser radar 4, degree of depth camera 8, arm control ware, main control board all are connected with embedded system, steering device, drive arrangement, end clamping jaw all are connected with the main control board.
Specifically, the mobile chassis comprises a chassis frame 20, steering wheels comprise wheels IV 1 and III 26, driving wheels comprise wheels I21 and II 22, a driving device comprises a direct-current gear motor 30 and a motor fixing frame 28, and the steering device comprises a steering engine 24, a steering engine arm 33, a connecting rod I17, a connecting rod II 18, a steering engine fixing plate 23, a bearing 35, a short shaft 36, a wheel connecting piece I25 and a wheel connecting piece II 31;
the motor fixing frame 28 is fixedly connected to the chassis frame 20, the two direct-current gear motors 30 are respectively and fixedly arranged on the motor fixing frame 28, and the wheels I21 and II 22 are connected with the output shafts of the direct-current gear motors 30 through keys; steering wheel 24 is fixed on chassis frame 20 by steering wheel fixed plate 23, steering wheel arm 33 is fixed on steering wheel 24, steering wheel arm 33 is connected in fixed connection to the output shaft of steering wheel 24, steering wheel arm 33 is connected through pivot 32 rotation with connecting rod II 18 one end, connecting rod II 18 other end and connecting rod I17 left end, wheel connecting piece II 31 is connected through pivot bolt I34 rotation, connecting rod I17 right-hand member and wheel connecting piece I25 are connected through pivot bolt II 27 rotation, wheel III 26 is equipped with bearing 35 with wheel IV 1, bearing 35 and wheel III 26 and wheel IV 1 transitional coupling, bearing 35 and wheel connecting piece II 31 are connected through minor axis 36, minor axis 36 and bearing 35 interference fit, wheel connecting piece I25 and wheel connecting piece II 31 are connected through pivot of chassis frame 20, steering wheel 24, direct current gear motor 30 all are connected with the main control board.
Specifically, the middle part of the front end of the vehicle body 2 is provided with a bracket I3, the laser radar 4 is arranged on the bracket I3, the vehicle body 2 is provided with a large groove 204, a small groove 205 and a plurality of wire passing holes, the wire passing holes comprise front end wire passing holes 202 distributed at the front end of the vehicle body 2, top wire passing holes 203 positioned at the top of the vehicle body 2 and bottom wire passing holes 201 positioned at the bottom of the vehicle body 2, the large groove 204 and the small groove 205 are all arranged at the top of the vehicle body 2, and two sides of the vehicle body 2 are provided with vehicle body side cover plates 16.
Specifically, the six-degree-of-freedom mechanical arm comprises a base 14, a first joint module 13, a second joint module 12, a third joint module 6, a fourth joint module 11, a fifth joint module 10 and a sixth joint module 9;
the base 14 is fixedly arranged at the top of the vehicle body 2, the first joint module 13 is rotatably arranged on the base 14 and is rotatably connected with the second joint module 12, the second joint module 12 is rotatably connected with the third joint module 6, the third joint module 6 is rotatably connected with the fourth joint module 11, the fourth joint module 11 is rotatably connected with the fifth joint module 10, the fifth joint module 10 is rotatably connected with the sixth joint module 9, the sixth joint module 9 is fixedly connected with the tail end clamping jaw through a flange, and the first joint module 13, the second joint module 12, the third joint module 6, the fourth joint module 11, the fifth joint module 10 and the sixth joint module 9 are all connected with the mechanical arm controller circuit.
Specifically, the end clamping jaw comprises a clamping jaw cover 51, a screw motor 42, a screw nut 41, a screw nut connecting piece 43, a connecting wrist 45, a clamping jaw base 44, a No. 1 connecting piece 38, a No. 2 connecting piece 46, a claw wrist 39, a wrist joint 37, a picking claw 48, a fixing pin 47, a screw 50, a counter lock nut 40 and a limiting block 49;
the clamping jaw cover 51 is connected with the clamping jaw base 44, the lead screw motor 42 is fixedly arranged inside the clamping jaw cover 51, the lead screw nut 41 is connected with the lead screw nut connecting piece 43 in an interference fit mode, the lead screw nut connecting piece 43 is fixedly connected with the connecting wrist 45 through the butt-lock nut 40, the clamping jaw base 44 and the claw wrist 39 are mutually fixed through the screw 50, the No. 1 connecting piece 38 is respectively connected with the claw wrist 39 and the wrist joint 37 in a rotating mode through the butt-lock nut 40, the No. 2 connecting piece 46 is respectively connected with the connecting wrist 45 and the wrist joint 37 in a rotating mode, the wrist joint 37 is connected with the picking claw 48 through the fixing pin 47, the limiting block 49 is fixedly arranged on the upper end face of a lead screw in the lead screw motor 42, and the lead screw motor 42 is connected with the main control board.
Preferably, the three picking claws 48 are at an included angle of 120 ° relative to each other, the three connecting wrists 45 are at an included angle of 120 ° relative to each other, and grooves are provided on the inner sides of the picking claws 48.
Preferably, the main control board is arranged on the mobile chassis, and the embedded system and the mechanical arm controller are arranged inside the vehicle body 2.
Preferably, the depth camera 8 is fixedly mounted on a bracket ii 7, and the bracket ii 7 is fixed on the fifth joint module 9.
Preferably, the base 14 is fixedly mounted in a small recess 205, the collection tank 15 is fixedly mounted in a large recess 204, and the large recess 204 is located behind the small recess 205.
The beneficial effects of the invention are as follows: according to the wheeled automatic capsicum picking robot, the environment of a capsicum plantation is scanned through the laser radar, the maturity of capsicum is judged through the depth camera, and the capsicum is positioned, so that capsicum can be accurately picked, meanwhile, picked capsicum can be placed in the collecting box, labor is saved, and the robot can be controlled remotely through a computer, so that the robot is convenient and practical.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a vehicle body structure of the present invention;
FIG. 3 is a top view of the mobile chassis of the present invention;
FIG. 4 is a schematic view of a mobile chassis structure according to the present invention;
FIG. 5 is an exploded view of a wheel IV assembly of the steering mechanism of the present invention;
FIG. 6 is a schematic view of a steering structure of a mobile chassis according to the present invention;
FIG. 7 is a block diagram of the end jaw of the present invention with the jaw cover removed;
FIG. 8 is an overall block diagram of the end jaw of the present invention;
fig. 9 is a top view of the end jaw of the present invention;
fig. 10 is an exploded view of the jaw cover and lead screw motor of the end jaw of the present invention.
Reference numerals: 1-wheel IV, 2-body, 3-bracket I, 4-laser radar, 5-display, 6-third joint module, 7-bracket II, 8-depth camera, 9-sixth joint module, 10-fifth joint module, 11-fourth joint module, 12-second joint module, 13-first joint module, 14-base, 15-collecting box, 16-body side cover plate, 17-connecting rod I, 18-connecting rod II, 19-locating pin, 20-moving chassis frame, 21-wheel I, 22-wheel II, 23-steering engine fixing plate, 24-steering engine, 25-wheel connecting piece I, 26-wheel IV, 27-reaming bolt II, 28-motor fixing frame, 29-bolts, 30-direct current gear motors, 31-wheel connectors II, 32-shaft pins, 33-rudder arms, 34-reaming bolts I, 35-bearings, 36-short shafts, 37-wrist joints, 38-No. 1 connectors, 39-claw wrists, 40-pair lock nuts, 41-screw nuts, 42-screw motors, 43-screw nut connectors, 44-claw bases, 45-connecting wrists, 46-No. 2 connectors, 47-fixed pins, 48-picking claws, 49-limited blocks, 50-screws, 51-claw covers, 201-bottom through holes, 202-front end through holes, 203-top through holes, 204-large grooves and 205-large grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Various modifications and variations of the present invention will be apparent to those skilled in the art based on the embodiments of the present invention. Any modification, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it should be noted that, when the terms "inner side", "left end", "upper", "top", "bottom", "rear", "front end", "inner", "upper surface", etc. are used, the positional relationship is based on the positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, it is not indicated or implied that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "secured," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements or interaction relationship between the two elements. The specific meaning of the above terms in the present invention can be understood as the case may be, for a person of ordinary skill in the art.
Example 1: as shown in fig. 1-10, the automatic wheeled pepper picking robot comprises a mobile chassis, a vehicle body 2, a grabbing device, a collecting box 15, a display 5, a laser radar 4, a depth camera 8 and a control system, wherein the vehicle body 2 is fixed on the top surface of the mobile chassis, the grabbing device and the collecting box 15 are installed on the top of the vehicle body 2, the laser radar 4 and the display 5 are fixedly installed at the front end of the vehicle body 2, the depth camera 8 is installed on the grabbing device, a steering wheel and a driving wheel are fixed at the lower end of the mobile chassis, the steering wheel is connected with a steering device, the driving wheel is connected with a driving device, and the grabbing device, the display 5, the laser radar 4, the depth camera 8, the steering device and the driving device are all connected with the control system.
Further, control system include arm control ware, embedded system, main control board, grabbing device includes six degrees of freedom arms, end clamping jaw, six degrees of freedom arms's end is connected with end clamping jaw, six degrees of freedom arms are connected with the arm control ware, display 5, laser radar 4, degree of depth camera 8, arm control ware, main control board all are connected with embedded system, steering device, drive arrangement, end clamping jaw all are connected with the main control board.
Further, the movable chassis comprises a chassis frame 20, steering wheels comprise wheels IV 1 and wheels III 26, driving wheels comprise wheels I21 and wheels II 22, a driving device comprises a direct-current gear motor 30 and a motor fixing frame 28, and the steering device comprises a steering engine 24, a steering engine arm 33, a connecting rod I17, a connecting rod II 18, a steering engine fixing plate 23, a bearing 35, a short shaft 36, a wheel connecting piece I25 and a wheel connecting piece II 31;
the motor fixing frame 28 is fixedly connected to the chassis frame 20 through bolts 29, the two direct-current speed reduction motors 30 are respectively and fixedly arranged on the motor fixing frame 28, and the wheels I21 and II 22 are connected with the output shafts of the direct-current speed reduction motors 30 through keys; steering wheel 24 is fixed on chassis frame 20 through locating pin 19 to steering wheel fixed plate 23, steering wheel arm 33 is fixed on steering wheel 24, its output shaft fixed connection steering wheel arm 33, steering wheel arm 33 and connecting rod II 18 one end are passed through pivot 32 and are rotated and are connected, connecting rod II 18 other end and connecting rod I left end 17, wheel connecting piece II 31 pass through reaming bolt I34 and rotate and be connected, connecting rod I17 right-hand member and wheel connecting piece I25 pass through reaming bolt II 27 and rotate and be connected, wheel III 26 is equipped with bearing 35 with wheel IV 1, bearing 35 and wheel III 26 and wheel IV 1 transitional coupling, bearing 35 and wheel connecting piece pass through stud 36 and are connected, stud 36 and bearing 35 interference fit, wheel connecting piece I25 and wheel connecting piece II 31 and chassis frame 20 rotate and are connected, steering wheel 24, direct current gear motor 30 all are connected with the main control board.
Further, a bracket I3 is arranged in the middle of the front end of the vehicle body 2, the laser radar 4 is installed on the bracket I3, a large groove 204, a small groove 205 and a plurality of wire passing holes are formed in the vehicle body 2, the wire passing holes include front end wire passing holes 202 distributed at the front end of the vehicle body 2, top wire passing holes 203 located at the top of the vehicle body 2 and bottom wire passing holes 201 located at the bottom of the vehicle body 2, the large groove 204 and the small groove 205 are formed in the top of the vehicle body 2, and vehicle body side cover plates 16 are arranged on two sides of the vehicle body 2.
Further, the six-degree-of-freedom mechanical arm comprises a base 14, a first joint module 13, a second joint module 12, a third joint module 6, a fourth joint module 11, a fifth joint module 10 and a sixth joint module 9;
the base 14 is fixedly arranged at the top of the vehicle body 2, the first joint module 13 is rotatably arranged on the base 14 and is rotatably connected with the second joint module 12, the second joint module 12 is rotatably connected with the third joint module 6, the third joint module 6 is rotatably connected with the fourth joint module 11, the fourth joint module 11 is rotatably connected with the fifth joint module 10, the fifth joint module 10 is rotatably connected with the sixth joint module 9, the sixth joint module 9 is fixedly connected with the tail end clamping jaw through a flange, and the first joint module 13, the second joint module 12, the third joint module 6, the fourth joint module 11, the fifth joint module 10 and the sixth joint module 9 are all connected with the mechanical arm controller circuit.
Further, the end clamping jaw comprises a clamping jaw cover 51, a screw motor 42, a screw nut 41, a screw nut connecting piece 43, a connecting wrist 45, a clamping jaw base 44, a No. 1 connecting piece 38, a No. 2 connecting piece 46, a claw wrist 39, a wrist joint 37, a picking claw 48, a fixing pin 47, a screw 50, a counter lock nut 40 and a limiting block 49;
the clamping jaw cover 51 is connected with the clamping jaw base 44, the lead screw motor 42 is fixedly arranged inside the clamping jaw cover 51, the lead screw nut 41 is connected with the lead screw nut connecting piece 43 in an interference fit mode, the lead screw nut connecting piece 43 is fixedly connected with the connecting wrist 45 through the butt-lock nut 40, the clamping jaw base 44 and the claw wrist 39 are mutually fixed through the screw 50, the No. 1 connecting piece 38 is respectively connected with the claw wrist 39 and the wrist joint 37 in a rotating mode through the butt-lock nut 40, the No. 2 connecting piece 46 is respectively connected with the connecting wrist 45 and the wrist joint 37 in a rotating mode, the wrist joint 37 is connected with the picking claw 48 through the fixing pin 47, the limiting block 49 is fixedly arranged on the upper end face of a lead screw in the lead screw motor 42, and the lead screw motor 42 is connected with the main control board.
Further, the three picking claws 48 form an included angle of 120 degrees, the three connecting wrists 45 form an included angle of 120 degrees, and grooves are formed in the inner sides of the picking claws 48, so that the pepper is uniformly stressed during clamping, and the pepper is prevented from being damaged locally.
Further, the main control board is arranged on the mobile chassis, and the embedded system and the mechanical arm controller are arranged inside the vehicle body 2. Of course, the overall device also includes a power source mounted inside the vehicle body 2 for supplying power to the components.
Further, the depth camera 8 is fixedly installed on the support II 7, and the support II 7 is fixed on the fifth joint module 9 through screws, so that the depth camera 8 can conveniently photograph the chilli clamped by the tail end clamping jaws.
Further, the base 14 is fixedly installed in the small groove 205, the collecting box 15 is fixedly installed in the large groove 204, the large groove 204 is located behind the small groove 205, so that the grabbing device can conveniently put the picked peppers into the collecting box 15 at the rear, and the overall structure is more reasonable.
The working principle of the invention is as follows: the embedded system controls the laser radar 4 to scan the terrain of the pepper plantation, the data scanned by the laser radar 4 is transmitted back to the embedded system, the embedded system can obtain a map of the pepper plantation according to the data read by the laser radar 4 and plan a walking path of the robot, then the embedded system sends a moving command to the main control board, the main control board controls the robot to move the two direct-current gear motors 30 and the steering engine 24 on the chassis frame 20, the robot walks and turns according to the planned path, the direct-current gear motors 30 are internally provided with encoders, the rotating speed of the direct-current gear motors 30 can be detected, and the running speed of the robot is obtained. The depth camera 8 acquires image data on a robot route, then the image data is transmitted into the embedded system, the display 5 is connected with an electric signal of the embedded system, the data acquired by the depth camera 8 and the laser radar 4 can be visualized, and a map of a pepper plantation, a running track and running speed of the robot and a process of picking and collecting peppers are displayed in real time.
In the process of ridge inspection, the embedded system is used for controlling the depth camera 8 to work, continuously acquiring image information between ridges and transmitting the image information back to the embedded system, and the embedded system is used for carrying out image processing to obtain the position information of the peppers and judging the maturity of the peppers according to the data read by the depth camera 8.
When judging that the peppers are ripe and can be picked, the embedded system sends an instruction to the mechanical arm controller through the I/O interface, and the mechanical arm controller controls rotation of each joint module of the six-degree-of-freedom mechanical arm, so that the tail end clamping jaw reaches a designated position to pick the peppers. The main control board drives the screw nut 41 to lift by controlling the rotation of the screw motor 42, so that the picking claw 48 is opened and closed, after the picking claw 48 clamps the peppers, the sixth joint module 9 of the six-degree-of-freedom mechanical arm rapidly rotates to drive the tail end clamping jaw, after the peppers with stems are picked from the stems of plants, the grabbing device moves to the position right above the collecting box 15, the picking claw 48 is loosened, and the peppers fall into the collecting box 15 to finish the collecting work of the peppers. The mechanical arm controller can adjust the rotation speed of each joint of the six-degree-of-freedom mechanical arm, the main control board can adjust the clamping force of the tail end clamping jaw, and the chilli grabbing action can be completed within the specified time without affecting the chilli quality.
It should be noted that: in the invention, the embedded system and the main control board can be universal devices, so long as corresponding functions can be realized, for example, the embedded system can be Jeston Xavier NX development suite, and the main control board can be STM32 development board and other common elements in the prior art.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. The utility model provides a wheeled hot pepper automatic picking robot which characterized in that: including removing chassis, automobile body (2), grabbing device, collecting box (15), display (5), laser radar (4), depth camera (8), control system, automobile body (2) are fixed at the removal chassis top surface, grabbing device, collecting box (15) are installed at automobile body (2) top, laser radar (4), display (5) fixed mounting is at automobile body (2) front end, depth camera (8) are installed on grabbing device, remove chassis lower extreme and are fixed with steering wheel and drive wheel, steering wheel is connected with steering device, drive wheel is connected with drive arrangement, grabbing device, display (5), laser radar (4), depth camera (8), steering device, drive arrangement all are connected with control system.
2. A wheeled pepper automatic picking robot as claimed in claim 1, characterized in that: the control system comprises a robot arm controller, an embedded system and a main control board, the grabbing device comprises a six-degree-of-freedom robot arm and an end clamping jaw, the end of the six-degree-of-freedom robot arm is connected with the end clamping jaw, the six-degree-of-freedom robot arm is connected with the robot arm controller, the display (5), the laser radar (4), the depth camera (8), the robot arm controller and the main control board are all connected with the embedded system, and the steering device, the driving device and the end clamping jaw are all connected with the main control board.
3. A wheeled pepper automatic picking robot as claimed in claim 2, characterized in that: the mobile chassis comprises a chassis frame (20), steering wheels comprise wheels IV (1) and wheels III (26), driving wheels comprise wheels I (21) and wheels II (22), a driving device comprises a direct-current gear motor (30) and a motor fixing frame (28), and the steering device comprises a steering engine (24), a steering engine arm (33), a connecting rod I (17), a connecting rod II (18), a steering engine fixing plate (23), a bearing (35), a short shaft (36), a wheel connecting piece I (25) and a wheel connecting piece II (31);
the motor fixing frame (28) is fixedly connected to the chassis frame (20), the two direct-current gear motors (30) are respectively and fixedly arranged on the motor fixing frame (28), and the wheels I (21) and II (22) are connected with the output shafts of the direct-current gear motors (30) through keys; steering wheel fixed plate (23) is fixed steering wheel (24) on chassis frame (20), steering wheel arm (33) are fixed on steering wheel (24), steering wheel arm (33) of output shaft fixed connection of steering wheel (24), steering wheel arm (33) are connected through pivot (32) with connecting rod II (18) one end, connecting rod II (18) other end and connecting rod I (17) left end, wheel connecting piece II (31) are connected through reaming bolt I (34) rotation, connecting rod I (17) right-hand member and wheel connecting piece I (25) are connected through reaming bolt II (27) rotation, wheel III (26) are equipped with bearing (35) with wheel IV (1), bearing (35) are connected through minor axis (36) with bearing (35) transition fit with wheel connecting piece II (31), minor axis (36) are connected through pivot (24) and wheel connecting piece II (31) and chassis frame (20) rotation, steering wheel (24), direct current (30) are all connected with master control board.
4. A wheeled pepper automatic picking robot as claimed in claim 1, characterized in that: the laser radar device is characterized in that a bracket I (3) is arranged in the middle of the front end of the vehicle body (2), the laser radar (4) is arranged on the bracket I (3), a large groove (204), a small groove (205) and a plurality of wire passing holes are formed in the vehicle body (2), the wire passing holes are distributed in the front end of the vehicle body (2) in a wire passing mode, the wire passing holes (202) are formed in the top of the vehicle body (2), the wire passing holes (203) are formed in the bottom of the vehicle body (2), the large groove (204) and the small groove (205) are formed in the top of the vehicle body (2), and the side cover plates (16) of the vehicle body are arranged on two sides of the vehicle body (2).
5. A wheeled pepper automatic picking robot as claimed in claim 2, characterized in that: the six-degree-of-freedom mechanical arm comprises a base (14), a first joint module (13), a second joint module (12), a third joint module (6), a fourth joint module (11), a fifth joint module (10) and a sixth joint module (9);
the base (14) is fixedly arranged at the top of the car body (2), the first joint module (13) is rotatably arranged on the base (14) and is rotatably connected with the second joint module (12), the second joint module (12) is rotatably connected with the third joint module (6), the third joint module (6) is rotatably connected with the fourth joint module (11), the fourth joint module (11) is rotatably connected with the fifth joint module (10), the fifth joint module (10) is rotatably connected with the sixth joint module (9), the sixth joint module (9) is fixedly connected with the tail end clamping jaw through a flange, and the first joint module (13), the second joint module (12), the third joint module (6), the fourth joint module (11), the fifth joint module (10) and the sixth joint module (9) are all connected with a mechanical arm controller circuit.
6. A wheeled pepper automatic picking robot as claimed in claim 2, characterized in that: the tail end clamping jaw comprises a clamping jaw cover (51), a screw motor (42), a screw nut (41), a screw nut connecting piece (43), a connecting wrist (45), a clamping jaw base (44), a connecting piece No. 1 (38), a connecting piece No. 2 (46), a jaw wrist (39), a wrist joint (37), a picking jaw (48), a fixing pin (47), a screw (50), a locking nut (40) and a limiting block (49);
clamping jaw lid (51) is connected with clamping jaw base (44), lead screw motor (42) fixed mounting is inside clamping jaw lid (51), lead screw nut (41) are connected with lead screw nut connecting piece (43) interference fit, lead screw nut connecting piece (43) are through locking nut (40) fixed connection with connecting wrist (45), clamping jaw base (44) are fixed each other through screw (50) with claw wrist (39), no. 1 connecting piece (38) are connected with claw wrist (39) and wrist joint (37) through locking nut (40) rotation respectively, no. 2 connecting piece (46) are connected with connecting wrist (45) and wrist joint (37) rotation respectively, wrist joint (37) and picking claw (48) are connected through fixed pin (47), stopper (49) fixed mounting is in the up end of lead screw in lead screw motor (42), lead screw motor (42) are connected with the master control board.
7. A wheeled pepper automatic picking robot as claimed in claim 6, characterized in that: the three picking claws (48) form an included angle of 120 degrees, the three connecting wrists (45) form an included angle of 120 degrees, and grooves are formed in the inner sides of the picking claws (48).
8. A wheeled pepper automatic picking robot as claimed in claim 2, characterized in that: the main control board is arranged on the movable chassis, and the embedded system and the mechanical arm controller are arranged inside the vehicle body (2).
9. A wheeled pepper automatic picking robot as claimed in claim 5, characterized in that: the depth camera (8) is fixedly arranged on the support II (7), and the support II (7) is fixed on the fifth joint module (9).
10. A wheeled pepper automatic picking robot as claimed in claim 4, characterized in that: the base (14) is fixedly arranged in the small groove (205), the collecting box (15) is fixedly arranged in the large groove (204), and the large groove (204) is positioned behind the small groove (205).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310282207.1A CN116472868A (en) | 2023-03-22 | 2023-03-22 | Automatic wheeled capsicum picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310282207.1A CN116472868A (en) | 2023-03-22 | 2023-03-22 | Automatic wheeled capsicum picking robot |
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| Publication Number | Publication Date |
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| CN116472868A true CN116472868A (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310282207.1A Pending CN116472868A (en) | 2023-03-22 | 2023-03-22 | Automatic wheeled capsicum picking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118044402A (en) * | 2024-04-16 | 2024-05-17 | 中国科学院长春光学精密机械与物理研究所 | Crawler-type ridge-crossing walking picking equipment |
-
2023
- 2023-03-22 CN CN202310282207.1A patent/CN116472868A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118044402A (en) * | 2024-04-16 | 2024-05-17 | 中国科学院长春光学精密机械与物理研究所 | Crawler-type ridge-crossing walking picking equipment |
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