CN205408632U - Novel machine people is plucked to crawler -type apple - Google Patents
Novel machine people is plucked to crawler -type apple Download PDFInfo
- Publication number
- CN205408632U CN205408632U CN201620194948.XU CN201620194948U CN205408632U CN 205408632 U CN205408632 U CN 205408632U CN 201620194948 U CN201620194948 U CN 201620194948U CN 205408632 U CN205408632 U CN 205408632U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- crawler
- arm
- end effector
- apple
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
Abstract
The utility model discloses a novel machine people is plucked to crawler -type apple mainly includes crawler -type moving platform, harvesting system and control system. Characterized by crawler -type moving platform goes up four integrated apples and plucks mechanical arm. Control system adopts the ARM treater, merges to handle and draws corresponding control signal plucking mechanical arm and the end effector various sensor information in going up to servo motor to plucking on mechanical arm and the end effector controls, and mechanical arm is plucked in the drive and end effector carries out automatic harvesting to the apple. It can independently carry out harvesting work simultaneously to pluck mechanical arm for four, has greatly improved the apple and has plucked machine people's work efficiency.
Description
Technical field
This utility model relates to a kind of apple picking robot, particularly to a kind of novel crawler-type apple picking robot.
Background technology
China is apple production big country, and apple cultivation has become Hill Region of Northwest area one big major industry.But, current China fruit picking is essentially all what craft was carried out, and picking efficiency is relatively low.In recent years, along with mechanization of agriculture and the development of automatization, the research of the automatic picking robot of Fructus Mali pumilae increasingly receives publicity.But most researchs concentrate in one-side researchs such as apple-picking mechanical arm, various end effectors, the research for knob apple picking robot total system still lacks；And rare on market the apple picking robot of popularization and application can mostly be single robot work, although manpower self can be replaced to pluck, greatly saved labour force, but this type of apple picking robot, relatively costly, picking efficiency still needs to improve.
Utility model content
For the problems referred to above and deficiency, the purpose of this utility model is to provide a kind of novel crawler-type apple picking robot.This kind of apple picking robot integrated four apple-picking mechanical arms on crawler-type mobile platform, can realize being greatly improved and work in hilly and mountainous land orchard of apple picking robot working performance.
For achieving the above object, this utility model by the following technical solutions: a kind of novel crawler-type apple picking robot, be made up of crawler-type mobile platform, picker system and control system.
Crawler-type mobile platform mainly includes car body frame, experimental facilities fixed frame, two track rail assemblies, crossbeam, support post, hydraulic cylinder, control box and accumulator.Two of which track rail assembly is welded with crawler belt support beam by four crossbeams, and track rail assembly includes change speed gear box, driving wheel, directive wheel, BOGEY WHEEL, regulating wheel, crawler belt and crawler belt support beam.By being welded to connect between car body frame and four root crossbeams, connected by four support posts between experimental facilities fixed frame and crawler-type mobile platform.This crawler-type mobile platform, with diesel engine as engine, is walked by remote pilot, and can drive electrical power generators by diesel engine, charges a battery, then is powered to picker system by accumulator.Hydraulic cylinder is used for adjusting fuselage balance, and crawler-type mobile platform can be made to walk on hilly and mountainous land.
Picker system mainly includes four picking machine mechanical arm and corresponding end effector, Fructus Mali pumilae collection device.Four picking machine mechanical arm are bolted on height adjustable lifting platform, and lifting platform is separately fixed at before and after experimental facilities fixed frame on four positions, left and right by bolt, and is driven by air pump.Fructus Mali pumilae collection device is made up of the flexible pipe being connected on mechanical arm push rod and apple collection bin, and apple collection bin is arranged on the front and back of experimental facilities fixed frame.Picking machine mechanical arm mainly includes push rod, forearm motor, large arm, large arm motor, waist, waist motor, position sensor, limit switches sensor, force sensing resistance crash sensor it is disposed with, to ensure that mechanical arm moves in the working range of safety and avoids mechanical arm to collide with barrier with mechanical arm and mechanical arm in picking machine mechanical arm.Three finger centers of end effector are provided with photographic head, infrared distance sensor, harvesting Fructus Mali pumilae pressure transducer.
Control system has four control boxes to control four mechanical arms and the end effector of correspondence respectively, control box to be bolted on experimental facilities fixed frame, each control box is connected with dsp chip, driven by servomotor, position sensor, harvesting Fructus Mali pumilae pressure transducer, limit switches sensor, force sensing resistance crash sensor built with arm processor, arm processor.Dsp chip is connected with photographic head and infrared distance sensor, dsp chip by camera collection to image information and the information of infrared distance sensor carry out the two-dimensional position information that processes to determine target Fructus Mali pumilae, and this positional information is passed to arm processor, the dsp chip received is transmitted the positional information come and limit switches sensor by arm processor, force sensing resistance crash sensor, position sensor and the information plucking the transmission of Fructus Mali pumilae pressure transducer carry out fusion treatment analysis, draw corresponding control signal, servomotor on picking machine mechanical arm and end effector is controlled accordingly, thus drive picking machine mechanical arm and end effector that Fructus Mali pumilae is plucked.
This utility model has the advantage that
(1) integrated four picking machine mechanical arm on crawler-type mobile platform, it is possible to carry out the harvesting of Fructus Mali pumilae automatization on hilly and mountainous land；Four mechanical arms can carry out picking fruit simultaneously, drastically increases picking efficiency, reduces the cost of apple-picking.
(2) use multisensor to carry out position, distance and target information extraction to determine, ensure the safety of apple picking robot operation.
Accompanying drawing explanation
Fig. 1 is the front view of this utility model a kind of novel crawler-type apple picking robot；
Fig. 2 is the partial enlarged drawing of this utility model a kind of novel crawler-type apple picking robot picker system；
Fig. 3 is that this utility model one novel crawler-type apple picking robot plucks structural representation in control box.
The following is the label of each parts in figure:
1-BOGEY WHEEL, 2-driving wheel, 3-controls box, 4-change speed gear box, 5-experimental facilities fixed frame, 6-apple collection bin, 7-flexible pipe, 8-photographic head, 9-end effector, 10-push rod, 11-forearm motor, 12-large arm, 13-large arm motor, 14-waist, 15-waist motor, 16-plucks and controls box, 17-lifting platform, 18-support post, 19-directive wheel, 20-accumulator, 21-hydraulic cylinder, 22-regulating wheel, 23-crossbeam, 24-frame, 25-crawler belt support beam, 26-crawler belt.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments this utility model is further explained explanation:
Such as Fig. 1, a kind of novel crawler-type apple picking robot of the present embodiment is mainly by BOGEY WHEEL [1], driving wheel [2], control box [3], change speed gear box [4], experimental facilities fixed frame [5], apple collection bin [6], flexible pipe [7], photographic head [8], end effector [9], push rod [10], forearm motor [11], large arm [12], large arm motor [13], waist [14], waist motor [15], pluck and control box [16], lifting platform [17], support post [18], directive wheel [19], accumulator [20], hydraulic cylinder [21], regulating wheel [22], crossbeam [23], car body frame [24], crawler belt support beam [25], crawler belt [26] forms.Picking machine mechanical arm surrounding is disposed with position sensor, limit switches sensor, force sensing resistance crash sensor to ensure that mechanical arm moves in the working range of safety and avoids mechanical arm to collide with barrier with mechanical arm and mechanical arm.Three finger centers of end effector are provided with photographic head, infrared position sensor, harvesting Fructus Mali pumilae pressure transducer.
nullDuring work，Four picking machine mechanical arm work alone，The work process of each picking machine mechanical arm is: first gathered image by photographic head [8]，It is then passed to pluck the dsp chip controlled in box [16]，Dsp chip by camera collection to image information and the information of infrared distance sensor carry out the two-dimensional position information that processes to determine target Fructus Mali pumilae，And this positional information is passed to arm processor，ARM processes the positional information dsp chip transmission received come and limit switches sensor、Force sensing resistance crash sensor、Position sensor and the information plucking the transmission of Fructus Mali pumilae pressure transducer carry out fusion treatment analysis，Draw corresponding control signal，Servomotor on picking machine mechanical arm and end effector is controlled accordingly，Thus drive picking machine mechanical arm and end effector that Fructus Mali pumilae is plucked.
It is explained structure and working principle of the present utility model above with specific embodiment; this utility model is not limited to above example; according to above-mentioned description; all made within spirit of the present utility model and principle any amendment, replace and improvement etc., within should be included in protection domain of the present utility model.
Claims (1)
1. a novel crawler-type apple picking robot, mainly includes crawler-type mobile platform, picker system and control system；It is characterized in that:
Described crawler-type mobile platform mainly includes track rail assembly, car body frame [24], experimental facilities fixed frame [5], crossbeam [23], support post [18], hydraulic cylinder [21], controls box [3] and accumulator [20]；Track rail assembly includes change speed gear box [4], driving wheel [2], directive wheel [19], BOGEY WHEEL [1], regulating wheel [22], crawler belt [26] and crawler belt support beam [25]；By being welded to connect between car body frame [24] and four root crossbeams [23], connected by four support posts [18] between testing equipment fixed frame [5] and crawler-type mobile platform；Crawler-type mobile platform, with diesel engine as engine, is walked by remote pilot, and can drive electrical power generators by diesel engine, charges a battery, then is powered to picker system by accumulator；Hydraulic cylinder [21] is used for adjusting fuselage balance, and crawler-type mobile platform can be made to walk on hilly and mountainous land；
Described picker system mainly includes four picking machine mechanical arm and end effector, Fructus Mali pumilae collection device；Four picking machine mechanical arm are bolted on height adjustable lifting platform [17], and lifting platform [17] is separately fixed at before and after experimental facilities fixed frame [5] on four positions, left and right by bolt；Fructus Mali pumilae collection device is made up of the flexible pipe [7] being connected on mechanical arm push rod [10] and apple collection bin [6], and apple collection bin [6] is arranged on the front and back of experimental facilities fixed frame [5]；Picking machine mechanical arm mainly includes push rod [10], forearm motor [11], large arm [12], large arm motor [13], waist [14], waist motor [15], position sensor, limit switches sensor, force sensing resistance crash sensor it is disposed with, to ensure that mechanical arm moves in the working range of safety and avoids mechanical arm and mechanical arm and mechanical arm and barrier to collide in picking machine mechanical arm；Three finger centers of end effector are provided with photographic head, infrared position sensor, harvesting Fructus Mali pumilae pressure transducer；
Described control system has four to pluck control box [16], control four mechanical arms and the end effector of correspondence respectively, pluck control box [16] to be bolted on experimental facilities fixed frame [5], each control box is connected with dsp chip, driven by servomotor, position sensor, harvesting Fructus Mali pumilae pressure transducer, limit switches sensor, force sensing resistance crash sensor built with arm processor, arm processor；Dsp chip is connected with photographic head and infrared distance sensor, dsp chip by camera collection to image information and the information of infrared distance sensor carry out the two-dimensional position information that processes to determine target Fructus Mali pumilae, and this positional information is passed to arm processor, ARM processes the positional information dsp chip transmission received come and limit switches sensor, force sensing resistance crash sensor, position sensor and the information plucking the transmission of Fructus Mali pumilae pressure transducer carry out convergence analysis process, draw corresponding control signal, servomotor on picking machine mechanical arm and end effector is controlled accordingly, thus drive picking machine mechanical arm and end effector that Fructus Mali pumilae is plucked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620194948.XU CN205408632U (en) | 2016-03-07 | 2016-03-07 | Novel machine people is plucked to crawler -type apple |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620194948.XU CN205408632U (en) | 2016-03-07 | 2016-03-07 | Novel machine people is plucked to crawler -type apple |
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| Publication Number | Publication Date |
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| CN205408632U true CN205408632U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620194948.XU Expired - Fee Related CN205408632U (en) | 2016-03-07 | 2016-03-07 | Novel machine people is plucked to crawler -type apple |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107251767A (en) * | 2017-06-28 | 2017-10-17 | 江苏师范大学 | A kind of Multifunctional trimming robot |
| CN108029340A (en) * | 2017-12-05 | 2018-05-15 | 江苏科技大学 | A kind of picking robot arm and its control method based on adaptive neural network |
| CN108575317A (en) * | 2017-12-27 | 2018-09-28 | 杭州电子科技大学 | A kind of fruit picking equipment |
| CN108718704A (en) * | 2018-04-18 | 2018-11-02 | 常州大学 | A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method |
-
2016
- 2016-03-07 CN CN201620194948.XU patent/CN205408632U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107251767A (en) * | 2017-06-28 | 2017-10-17 | 江苏师范大学 | A kind of Multifunctional trimming robot |
| CN108029340A (en) * | 2017-12-05 | 2018-05-15 | 江苏科技大学 | A kind of picking robot arm and its control method based on adaptive neural network |
| CN108575317A (en) * | 2017-12-27 | 2018-09-28 | 杭州电子科技大学 | A kind of fruit picking equipment |
| CN108718704A (en) * | 2018-04-18 | 2018-11-02 | 常州大学 | A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20170307 |
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| CF01 | Termination of patent right due to non-payment of annual fee |