CN209732041U

CN209732041U - Fruit picking robot

Info

Publication number: CN209732041U
Application number: CN201821990736.8U
Authority: CN
Inventors: 肖力; 胡宇鹏
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2019-12-06
Anticipated expiration: 2028-11-30

Abstract

The utility model discloses a fruit picking robot, include: a gripping portion, a hand arm portion, a stalk cutting portion, a vision system, a lifting portion, a rotating portion, and a moving base; the gripping portion is connected with an arm portion, the arm portion is connected with a lifting portion, the vision system is positioned above the gripping portion and is connected with the arm portion, the stalk cutting portion is connected with the arm portion, the lifting portion is connected with a rotating portion, and the rotating portion is connected with a mobile base; the utility model has the advantages of exquisite structure, high flexibility, large working space, and the realization of the controller controlling the closed loop of the finger link mechanism I in real time and flexibly grabbing the target object by utilizing the S-shaped pressure sensor, the flat pressure sensor and the tension spring, thereby reducing the mechanical damage caused during picking; the lifting part and the rotating part increase the picking freedom degree, and the cutting part keeps the fruit stems while picking the target, so that the fruit is more favorably stored.

Description

Fruit picking robot

Technical Field

The invention relates to the field of agricultural picking machines, in particular to a fruit picking robot.

Background

With the rapid development of computer and electronic control technology, the robot gradually tends to be automatic and intelligent and is applied to many fields, and the agricultural robot gradually enters the agricultural production field and promotes the modern agriculture to develop towards the direction of equipment mechanization and production intelligence; the picking of fruits and vegetables is an important link with strong seasonality, high labor intensity and high operation requirement in agricultural production, the fruit and vegetable industry in China is developed remarkably, but the agricultural labor is less, the picking of fruits and vegetables still mainly depends on a large amount of manpower, the labor cost is high, and the picking efficiency is low; for some higher fruit trees, manual picking is difficult, and the manual picking also has the risk of falling and falling injuries due to the complicated operation environment; therefore, the research and development of the fruit and vegetable picking mechanical device have important significance for releasing labor force, improving labor production efficiency, reducing labor cost, ensuring the quality of fresh fruits and vegetables, meeting the real-time requirement of crop growth and the like.

adopt machinery to pick to some peel thinner, soft, fresh fruit, have very big limitation, very easily cause mechanical damage among the picking process, seriously influence the quality of fruit, and the picking robot of present design exists the problem: 1. the mechanical arm is easy to cause mechanical damage to the fruits and influence the quality of the fruits; 2. due to obstacles such as branches and leaves of fruit trees, the picking target cannot be accurately and quickly locked; 3. the manipulator usually directly pulls down fruit from the fruit stalk, can not keep the fruit stalk, is unfavorable for fruit fresh-keeping.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a fruit picking robot, a picking target is identified and positioned through a vision system 4, and then the target is picked through a gripping part 1, a hand arm part 2, a fruit stem shearing part 3, a lifting part 5, a rotating part 6 and a moving base 7, so that the problems that the mechanical arm in the prior art is easy to cause mechanical damage to fruits and cannot position the picking target quickly are solved, and meanwhile, the fruit stems are reserved, and the fruit picking robot is more beneficial to the storage of fruits.

A fruit picking robot comprising: a grip part 1, an arm part 2, a stalk cutter 3, a vision system 4, a lift part 5, a rotation part 6 and a moving base 7; the grip portion 1 is fixed to the front end of the arm portion 2; the other end of the arm part 2 is connected with a lifting part 5; the vision system 4 is fixed to the front end of the arm part 2 above the grip part 1; the stalk cutter 3 is fixed above the arm part 2; the lower end of the lifting part 5 is connected with a rotating part 6; the rotating part 6 is connected with a moving base 7.

The grip portion 1 comprises: a finger link mechanism I, a support plate 20, a telescopic motor 71 and a sliding frame 30; finger link mechanism I is fixed in the one end of backup pad 20, flexible motor 71 is fixed through flexible motor fixed plate 72 and flexible motor backup pad 69, flexible motor backup pad 69 and backup pad fixed connection piece 23 fixed connection, backup pad fixed connection piece 23 is connected with backup pad 20.

Grasping portion 1 includes two sets of finger link mechanism I, finger link mechanism I symmetry is fixed in the both sides of backup pad 20, finger link mechanism includes: the device comprises a tension spring 8, a remote rod 9, a torsion spring 10, a torsion spring fixing piece 11, a middle connecting rod 12, a driving rocker 13, a driving connecting rod 14, a connecting rod fixing piece 15, a far knuckle 16, a flat pressure sensor 17, a near knuckle 18, a silica gel pad 19 and an S-shaped pressure sensor 22, wherein two ends of the S-shaped pressure sensor 22 are respectively connected with a fixed slide rail 24 and the connecting rod fixing piece 15, the connecting rod fixing piece 15 is hinged with one end of the driving connecting rod 14, the driving rocker 13 is provided with 3 hinge holes which are respectively positioned in the middle and two ends of the driving rocker 13, the other end of the driving connecting rod 14 is hinged with the driving rocker 13 through the middle hinge hole of the driving rocker 13, two ends of the driving rocker 13 are respectively hinged with the fixing pieces of the middle connecting rod 12 and the near knuckle 18, the other end of the middle connecting rod 12 is hinged with the far knuckle 16, one end of the near knuckle, the fixing frame hinged with the proximal knuckle 18 is fixedly connected with a supporting plate 20; the sensor connecting holes on the near knuckle 18 and the far knuckle 16 are both provided with a flat pressure sensor 17, and the surface of the flat pressure sensor is adhered with a silica gel pad 19; a tension spring 8 is arranged between the middle connecting rod 12 and the far knuckle 16.

Arm portion 2 is including fixed slide rail 24, the flexible lead screw 25 of arm, the flexible lead screw lock nut 26 of arm, the flexible lead screw motor 27 of arm, the flexible lead screw motor fixed block 28 of arm, arm lead screw axle fixed block 32 and arm lead screw nut 33, arm flexible lead screw 25 one end is passed through the flexible lead screw lock nut 26 of arm and is connected with the flexible lead screw motor 27 of arm, and the other end is connected with arm lead screw axle fixed block 32, arm lead screw axle fixed block 32 is connected with fixed slide rail 24.

The fruit stalk cutting part 3 comprises: the shearing machine comprises a shearing motor 48, a shearing motor fixing block 49, a shearing motor shaft sleeve 50, a shearing motor shaft locking nut 51, a circular blade 52, a blade locking nut 53, a shearing motor connecting piece 54, a shearing screw nut 55, a shearing telescopic sliding rail 56, a shearing motor screw fixing block 57, a shearing screw 58, a shearing screw supporting block 59, a shearing screw coupling 60, a shearing telescopic motor 61, a shearing telescopic motor bracket 62, a shearing rotating supporting plate 63, a shearing rotating motor supporting plate 64, a shearing rotating motor supporting side plate 65, a shearing rotating motor bearing 66, a shearing rotating motor coupling 67 and a shearing rotating motor 68; the bottom parts of the shearing rotating motor 68 and the shearing rotating motor supporting side plate 65 are fixed on the fixed slide rail 24, the top part of the shearing rotating motor supporting side plate 65 is fixed on the shearing rotating motor supporting plate 64, the output shaft of the shearing rotating motor 68 is connected with the shearing rotating supporting plate 63 through a shearing rotating motor coupler 67 and a shearing rotating motor bearing 66, the shearing rotating supporting plate 63 is connected with the shearing telescoping motor bracket 62, the shearing telescoping motor 61 is fixed on the shearing telescoping motor bracket 62, the output shaft of the shearing telescoping motor 61 is connected with the shearing lead screw 58 through a shearing lead screw coupler 60, the telescoping shearing lead screw supporting block 59 is fixed on the shearing telescoping motor bracket 62, the shearing lead screw 58 is supported by the shearing telescoping lead screw supporting block 59 and the shearing lead screw nut 55, and the shearing lead screw nut 55 is slidably connected with the shearing telescoping slide rail 56, the shearing motor 48 is connected with the shearing motor fixing block 49, the shearing motor fixing block 49 is connected with the shearing motor connecting piece 54, the shearing motor connecting piece 54 is fixed on the shearing screw nut 55, the output shaft of the shearing motor 48 is sequentially connected with the shearing motor shaft sleeve 50 and the shearing motor shaft locking nut 51, and the circular blade 52 is fixed on the output shaft of the shearing motor 48 through the blade locking nut 53.

The vision system 4 comprises: a camera mount 74 and an industrial camera 73; the camera 73 is directly fixed to a camera fixing bracket 74, and the camera fixing bracket 74 is fixed to the front end of the fixed rail 24.

The lifting part 5 comprises a lifting motor 39, a lifting motor supporting bottom plate 41, a lifting motor supporting side plate 40, a lifting lead screw supporting plate 38, a lifting lead screw shaft connecting block 37, a lifting lead screw 36, a lifting lead screw nut 29, a lifting lead screw limiting plate 75, a supporting slide rail 34 and a counterweight sliding block 35, wherein the lifting motor 39 is fixed on the lifting motor supporting bottom plate 41; the bottom of the lifting motor supporting side plate 40 is fixed on the lifting motor supporting bottom plate 41, and the top of the lifting motor supporting side plate is fixed on the lifting screw rod supporting plate 38; an output shaft of the lifting motor 39 is connected with a lifting screw 36 through a lifting screw shaft connecting block 37; the top of the lifting screw 36 is provided with a lifting screw limiting plate 75; one side of the lifting screw limiting plate 75 is connected with the fixed slide rail 24 through a limiting plate fixing block 76, and the other side is connected with the support slide rail 34; one end of the supporting slide rail 34 is connected to the lifting screw limiting plate 75, and the other end is fixed to the lifting screw supporting plate 38; one end of the lifting screw nut 29 is connected with the fixed slide rail 24, and the other end is connected with the counterweight sliding block 35; the counterweight sliding block 35 is matched with the supporting slide rail 34, and the counterweight sliding block 35 moves up and down in the supporting slide rail 34 along with the lifting screw nut 29.

The rotating portion 6 includes: a rotating electrical machine 47, a rotating electrical machine support side plate 46, a rotating electrical machine coupling 44, a rotating electrical machine support plate 45, and a rotating electrical machine bearing 43; the rotating motor 47 is fixed on the bottom supporting plate 77, the bottom of the rotating motor supporting side plate 46 is fixed on the bottom supporting plate 77, the top of the rotating motor supporting side plate 46 is fixed on the rotating motor supporting plate 45, the output shaft of the rotating motor 47 is connected with the rotating shaft 42 sequentially through the rotating motor coupler 44 and the rotating motor bearing 43, and the other end of the rotating shaft 42 is fixedly connected with the lifting motor supporting base plate 41.

The moving base 7 includes: a bottom support plate 77, a crawler 78, a crawler wheel support 79, a tension wheel 80, a crawler wheel 81, a belt 82, a crawler motor 83, a speed reducer 84 and a crawler transmission shaft 85; the crawler motor 83 is fixed on the bottom support plate 77, an output shaft of the crawler motor 83 is connected with a speed reducer 84, an output shaft of the speed reducer 84 is connected with a driving wheel 86, the driving wheel 86 is connected with a tension pulley 80, the tension pulleys 80 are connected through a belt 82, and the driving wheel 86 is connected with the tension pulley 80 through a transmission shaft.

The telescopic motor 71, the arm telescopic lead screw motor 27, the lifting motor 39, the rotating motor 47, the shearing motor 48, the shearing telescopic motor 61, the shearing rotating motor 68, the crawler motor 83, the industrial camera 73, the flat plate pressure sensor 17 and the S-shaped pressure sensor 22 are electrically connected with the control device.

Advantageous effects

The invention has the beneficial effects that:

1. The finger connecting rod mechanism adopted by the gripping part of the invention uses the tension spring as a limiting mechanism, so that the finger connecting rod mechanism has a gripping function; finger link mechanism adopts serial-type link mechanism under the extension spring with link mechanism's cooperation, grasp fruit, finger mechanism can adapt to the shape of various fruits.

2. The middle positions of the near knuckle and the far knuckle of the finger link mechanism are respectively provided with a flat pressure sensor for sensing the contact force of the fruit, so that the fruit damage caused by excessive contact force is avoided; and the silica gel pad is pasted on the surface of the flat pressure sensor, so that the friction force between the fruit and the finger surface is increased, a certain buffering effect is realized on the force applied to the clamped fruit, and the mechanical damage of the force type clamping to the fruit is further reduced.

3. The connecting rod mechanism of the finger mechanism is provided with the S-shaped pressure sensor between the fixed slide rail and the connecting rod fixing piece, so that the controller can control the output thrust of the telescopic motor in real time, and further control the contact force between the near knuckle and the far knuckle and the fruit by the controller.

4. The finger structure is provided with pressure sensors at the drive connecting rod, near knuckle and near knuckle, through pressure sensors, realizes real time monitoring and accurate control of controller to flexible motor.

5. The fruit stem cutting part is designed, so that the gripped fruit can be cut off from the branches quickly, a part of fruit stems can be reserved according to needs, and the fruit stem cutting part is more beneficial to the storage of the fruit.

Drawings

FIG. 1 is a schematic structural view of a fruit picking robot according to the present invention;

FIG. 2 is a sectional view taken along the line A of FIG. 1;

FIG. 3 is a schematic structural diagram of a stem shearing part of a fruit picking robot according to the present invention;

fig. 4 is a schematic structural view of a mobile base of the fruit picking robot according to the present invention.

Description of reference numerals: 1. a grip portion; 2. a arm portion; 3. a fruit stalk cutting part; 4. a vision system; 5. a lifting part; 6. a rotating portion; 7. moving the base; 8. a tension spring; 9. a rocker; 10. a torsion spring; 11. a torsion spring fixing member; 12. a middle connecting rod; 13. driving a rocker; 14. a drive link; 15. a connecting rod fixing member; 16. a distal knuckle; 17. a flat plate pressure sensor; 18. a proximal knuckle; 19. a silica gel pad; 20. a support plate; 21. a connecting rod fixing member; an S-type pressure sensor; 23. the supporting plate is fixedly connected with the connecting block; 24. fixing the slide rail; 25. an arm extension lead screw; 26. an arm telescopic lead screw locking nut; 27. an arm extension lead screw motor; 28. an arm telescopic lead screw motor fixing block; 29. a lifting lead screw nut; 30. a carriage; 31. a fixing plate; 32. an arm screw shaft fixing block; 33. an arm lead screw nut; 34. supporting the slide rail; 35. a counterweight sliding block; 36. lifting a screw rod; 37. a lifting screw shaft connecting block; 38. a lifting screw support plate; 39. a lifting motor; 40. the lifting motor supports the side plate; 41. the lifting motor supports the bottom plate; 42. a rotating shaft; 43. a rotating electrical machine bearing; 44. rotating the collecting coupler; 45. a rotating motor support plate; 46. the rotating motor supports the side plate; 47. a rotating electric machine; 48. a shear motor; 49. shearing a motor fixing block; 50. shearing a motor shaft sleeve; 51. shearing a motor shaft locking nut; 52. a circular blade; 53. a blade lock nut; 54. a shear motor connector; 55. shearing the screw nut; 56. shearing the telescopic sliding rail; 57. a shear screw fixing slide block; 58. shearing the screw rod; 59. a lead screw supporting block is sheared; 60. shearing the screw shaft coupling; 61. a shearing telescopic motor; 62. shearing a telescopic motor bracket; 63. shearing the rotary support plate; 64. shearing the rotating motor support plate; 65. shearing the rotating motor supporting side plate; 66. shearing the rotating electrical machine bearing; 67. shearing the rotating motor coupler; 68. shearing a rotating motor; 69. a telescopic motor support plate; 70. a telescopic motor coupling; 71. a telescopic motor; 72. a telescopic motor fixing plate; 73. an industrial camera; 74 a camera mounting bracket; 75. a lifting screw limiting plate; 76. a limiting plate fixing block; 77. a bottom support plate; 78. a crawler belt; 79. a crawler wheel support frame; 80. a tension wheel; 81. a crawler wheel; 82. a belt; 83. a track motor; 84. a speed reducer; 85. a track drive shaft; 86. and a driving wheel.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example one

Referring to fig. 1, the object of the present invention is to provide a fruit picking robot comprising: a grip part 1, an arm part 2, a stalk cutter 3, a vision system 4, a lift part 5, a rotation part 6 and a moving base 7; the grip portion 1 is fixed to the front end of the arm portion 2; the other end of the arm part 2 is connected with a lifting part 5; according to fig. 1, the vision system 4 is fixed to the front end of the arm part 2 above the grip part 1; the stalk cutter 3 is fixed above the arm part 2; the lower end of the lifting part 5 is connected with a rotating part 6; the rotating part 6 is connected with a moving base 7.

According to fig. 1, the grip portion 1 comprises: a finger link mechanism I, a support plate 20, a telescopic motor 71 and a sliding frame 30; finger link mechanism I is fixed in the one end of backup pad 20, flexible motor 71 is fixed through flexible motor fixed plate 72 and flexible motor backup pad 69, flexible motor backup pad 69 and backup pad fixed connection piece 23 fixed connection, backup pad fixed connection piece 23 is connected with backup pad 20.

Referring to fig. 2, the grip portion 1 includes two sets of finger link mechanisms i symmetrically fixed to both sides of the support plate 20, and the finger link mechanisms include: the device comprises a tension spring 8, a remote rod 9, a torsion spring 10, a torsion spring fixing piece 11, a middle connecting rod 12, a driving rocker 13, a driving connecting rod 14, a connecting rod fixing piece 15, a far knuckle 16, a flat pressure sensor 17, a near knuckle 18, a silica gel pad 19 and an S-shaped pressure sensor 22, wherein as shown in figure 2, two ends of the S-shaped pressure sensor 22 are respectively connected with a fixed slide rail 24 and the connecting rod fixing piece 15, the connecting rod fixing piece 15 is hinged with one end of the driving connecting rod 14, the driving rocker 13 is provided with 3 hinge holes which are respectively positioned at the middle and two ends of the driving rocker 13, the other end of the driving connecting rod 14 is hinged with the driving rocker 13 through the middle hinge hole of the driving rocker 13, two ends of the driving rocker 13 are respectively hinged with the fixing pieces of the middle connecting rod 12 and the near knuckle 18, the other end of the middle connecting rod 12 is hinged with the far, the other end is hinged with the far knuckle 16, and a fixed frame hinged with the near knuckle 18 is fixedly connected with a supporting plate 20; the sensor connecting holes on the near knuckle 18 and the far knuckle 16 are both provided with a flat pressure sensor 17, and the surface of the flat pressure sensor is adhered with a silica gel pad 19; a tension spring 8 is arranged between the middle connecting rod 12 and the far knuckle 16.

Referring to fig. 2, the arm part 2 includes a fixed slide rail 24, an arm telescopic screw 25, an arm telescopic screw lock nut 26, an arm telescopic screw motor 27, an arm telescopic screw motor fixing block 28, an arm screw shaft fixing block 32, and an arm screw nut 33; according to fig. 2, one end of the arm extension screw 25 is connected to an arm extension screw motor 27 through an arm extension screw locking nut 26, the other end is connected to an arm screw shaft fixing block 32, and the arm screw shaft fixing block 32 is connected to the fixed slide rail 24.

Referring to fig. 3, the stem cutting part 3 includes: a shearing motor 48, a shearing motor fixing block 49, a shearing motor shaft sleeve 50, a shearing motor shaft locking nut 51, a circular blade 52, a blade locking nut 53, a shearing motor connecting piece 54, a shearing screw nut 55, a shearing telescopic slide rail 56, a shearing motor screw fixing block 57, a shearing screw 58, a shearing screw supporting block 59, a shearing screw coupling 60, a shearing telescopic motor 61, a shearing telescopic motor bracket 62, a shearing rotating supporting plate 63, a shearing rotating motor supporting plate 64, a shearing rotating motor supporting side plate 65, a shearing rotating motor bearing 66, a shearing rotating motor coupling 67 and a shearing rotating motor 68, wherein the bottom parts of the shearing rotating motor 68 and the shearing rotating motor supporting side plate 65 are fixed on the fixed slide rail 24 according to the figure 3, the top part of the shearing rotating motor supporting side plate 65 is fixed on the shearing rotating motor supporting plate 64, an output shaft of the shearing rotating motor 68 is connected with a shearing rotating support plate 63 through a shearing rotating motor coupler 67 and a shearing rotating motor bearing 66, the shearing rotating support plate 63 is connected with a shearing telescopic motor bracket 62, the shearing telescopic motor 61 is fixed on the shearing telescopic motor bracket 62, an output shaft of the shearing telescopic motor 61 is connected with a shearing screw 58 through a shearing screw coupler 60, a telescopic shearing screw support block 59 is fixed on the shearing telescopic motor bracket 62, the shearing screw 58 is supported by the shearing telescopic screw support block 59 and a shearing screw nut 55, the shearing screw nut 55 is slidably connected with a shearing telescopic slide rail 56, the shearing motor 48 is connected with a shearing motor fixing block 49, the shearing motor fixing block 49 is connected with a shearing motor connecting piece 54, and the shearing motor connecting piece 54 is fixed on the shearing screw nut 55, the output shaft of the shearing motor 48 is sequentially connected with a shearing motor shaft sleeve 50 and a shearing motor shaft locking nut 51, and the circular blade 52 is fixed on the output shaft of the shearing motor 48 through a blade locking nut 53.

The vision system 4 comprises: a camera fixing bracket 74 and an industrial camera 73, wherein the camera 73 is directly fixed on the camera fixing bracket 74, and the camera fixing bracket 74 is fixed at the front end of the fixed slide rail 24.

Referring to fig. 1, the lifting part 5 includes a lifting motor 39, a lifting motor support bottom plate 41, a lifting motor support side plate 40, a lifting screw support plate 38, a lifting screw shaft connection block 37, a lifting screw 36, a lifting screw nut 29, a lifting screw limit plate 75, a support slide rail 34 and a counterweight slider 35, and the lifting motor 39 is fixed on the lifting motor support bottom plate 41; according to fig. 1, the lift motor support side plate 40 is fixed at the bottom to the lift motor support base plate 41 and at the top to the lift screw support plate 38; an output shaft of the lifting motor 39 is connected with a lifting screw 36 through a lifting screw shaft connecting block 37; the top of the lifting screw 36 is provided with a lifting screw limiting plate 75; one side of the lifting screw limiting plate 75 is connected with the fixed slide rail 24 through a limiting plate fixing block 76, and the other side is connected with the support slide rail 34; one end of the supporting slide rail 34 is connected to the lifting screw limiting plate 75, and the other end is fixed to the lifting screw supporting plate 38; one end of the lifting screw nut 29 is connected with the fixed slide rail 24, and the other end is connected with the counterweight sliding block 35; the counterweight sliding block 35 is matched with the supporting slide rail 34, and the counterweight sliding block 35 moves up and down in the supporting slide rail 34 along with the lifting screw nut 29.

Referring to fig. 1, the rotating portion 6 includes: a rotating electrical machine 47, a rotating electrical machine support side plate 46, a rotating electrical machine coupling 44, a rotating electrical machine support plate 45, and a rotating electrical machine bearing 43; according to fig. 1, the rotating electrical machine 47 is fixed to a bottom support plate 77, the bottom of the rotating electrical machine support side plate 46 is fixed to the bottom support plate 77, and the top of the rotating electrical machine support side plate 46 is fixed to the rotating electrical machine support plate 45; an output shaft of the rotating motor 47 is connected with the rotating shaft 42 through a rotating motor coupler 44 and a rotating motor bearing 43 in sequence; the other end of the rotating shaft 42 is fixedly connected with the lifting motor support bottom plate 41.

Referring to fig. 4, the moving base 7 includes: a bottom support plate 77, a crawler 78, a crawler wheel support 79, a tension wheel 80, a crawler wheel 81, a belt 82, a crawler motor 83, a speed reducer 84 and a crawler transmission shaft 85; according to fig. 4, the track motor 83 is fixed on the bottom support plate 77, the output shaft of the track motor 83 is connected with the speed reducer 84, the output shaft of the speed reducer 84 is connected with the driving wheel 86, the driving wheel 86 is connected with the tension pulley 80, the tension pulleys 80 are connected through the belt 82, and the driving wheel 86 is connected with the tension pulley 80 through the transmission shaft.

Example two

The working mode which can be realized by the invention is that the industrial camera 73 in the visual system 4 collects the information of the ripeness, the position size, the position and the fruit stalk position of the picked fruit, then the collected information is fed back to the controller, the controller processes and analyzes the collected information and positions the ripened fruit and the fruit stalk thereof, and the controller drives each motor to work independently through a motor driver: the fruit is clamped by a finger link mechanism I of the gripping part controlled by a telescopic motor 71; the fruit picking and clamping part is positioned by driving the arm telescopic lead screw motor 27, the lifting motor 39 and the rotating motor 47; the cutting motor 48 controls the round blade to rotate to realize the cutting of the fruit stalks; the fruit stalk cutting position is positioned by the drive of the cutting telescopic motor 61 and the cutting rotary motor 68.

EXAMPLE III

The finger connecting rod mechanism adopted by the gripping part of the invention uses the tension spring 8 as a limiting mechanism, so that the gripping part has a gripping function; the finger link mechanism I adopts a serial link mechanism, the fruits are gripped under the matching of the tension spring 8 and the finger link mechanism I, and the finger link mechanism I can adapt to the shapes of various fruits; in consideration of the easy damage of fruit picking, the flat pressure sensors 17 are respectively arranged in the middle positions of the near knuckle 18 and the far knuckle 16 of the finger link mechanism I and used for sensing the contact force of fruits so as to avoid fruit damage caused by excessive contact force; moreover, the surface of the flat pressure sensor 17 is pasted with the silica gel pad 19, so that the friction force between the fruits and the finger surface is increased, a certain buffering effect is achieved on the force applied to clamp the fruits, and the mechanical damage of the force type clamping to the fruits is further reduced; in addition, the finger link mechanism I is respectively provided with a potentiometer at the hinged position of the driving connecting rod 14 and the S-shaped pressure sensor 22, the hinged position of the near knuckle 18 and the near knuckle fixing part is provided with the potentiometer, the hinged position of the near knuckle 18 and the far knuckle 16 is provided with the potentiometer for sensing the position change of each connecting rod in the finger link mechanism I, the real-time monitoring and closed-loop feedback control of the position change of each connecting rod in the finger link mechanism I and the contact force change of the pressure sensor and the fruit by the controller can be realized through the installation of the potentiometer and the pressure sensor, namely, the real-time control of the controller on the output thrust of the telescopic motor is realized, and then the control of the contact force of the controller on the near knuckle and the far knuckle and the fruit is realized, so that the flexible and nondestructive picking of a picking end effector on a target fruit is.

the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A fruit picking robot, comprising: a gripping part (1), an arm part (2), a stalk cutting part (3), a vision system (4), a lifting part (5), a rotating part (6) and a moving base (7); the grip portion (1) is fixed to one end of the arm portion (2); the other end of the arm part (2) is connected with a lifting part (5); the vision system (4) is fixed to the front end of the arm portion (2) above the grip portion (1); the stalk cutting part (3) is fixed above the arm part (2); the lower end of the lifting part (5) is connected with the rotating part (6); the rotating part (6) is connected with a movable base (7).

2. A fruit picking robot according to claim 1, characterised in that the gripping part (1) comprises: the finger connecting rod mechanism I, the supporting plate (20), the telescopic motor (71) and the sliding frame (30); finger link mechanism I is fixed in the one end of backup pad (20), flexible motor (71) is fixed through flexible motor fixed plate (72) and flexible motor backup pad (69), flexible motor backup pad (69) is connected with backup pad fixed connection piece (23), backup pad fixed connection piece (23) are connected with backup pad (20).

3. Fruit picking robot according to claim 2, characterized in that the gripping part (1) comprises two sets of finger linkages i symmetrically fixed on both sides of the support plate (20), comprising: the device comprises a tension spring (8), a remote lever (9), a torsion spring (10), a torsion spring fixing piece (11), a middle connecting rod (12), a driving rocker (13), a driving connecting rod (14), a connecting rod fixing piece (15), a far knuckle (16), a flat pressure sensor (17), a near knuckle (18), a silica gel pad (19) and an S-shaped pressure sensor (22); the two ends of the S-shaped pressure sensor (22) are respectively connected with a fixed sliding rail (24) and a connecting rod fixing piece (15), the connecting rod fixing piece (15) is hinged with one end of a driving connecting rod (14), 3 hinge holes are formed in the driving rocking rod (13) and are respectively located in the middle and two ends of the driving rocking rod (13), the other end of the driving connecting rod (14) is hinged with the driving rocking rod (13) through the middle hinge hole of the driving rocking rod (13), two ends of the driving rocking rod (13) are respectively hinged with a middle connecting rod (12) and a fixing piece of a near knuckle (18), the other end of the middle connecting rod (12) is hinged with a far knuckle (16), one end of the near knuckle (18) is hinged with the fixing piece, the other end of the near knuckle (18) is hinged with the far knuckle (16), and a fixing frame hinged with the near knuckle (18) is fixedly connected with a supporting plate; sensor connecting holes on the near knuckle (18) and the far knuckle (16) are respectively provided with a flat pressure sensor (17), and a silica gel pad (19) is adhered to the surface of the flat pressure sensor; and a tension spring (8) is arranged between the middle connecting rod (12) and the far knuckle (16).

4. The fruit picking robot according to claim 1, characterized in that the arm part (2) comprises a fixed slide rail (24), an arm telescopic lead screw (25), an arm telescopic lead screw lock nut (26), an arm telescopic lead screw motor (27), an arm telescopic lead screw motor fixing block (28), an arm lead screw shaft fixing block (32) and an arm lead screw nut (33); arm flexible lead screw (25) one end is passed through arm flexible lead screw lock nut (26) and is connected with arm flexible lead screw motor (27), and the other end is connected with arm lead screw axle fixed block (32), arm lead screw axle fixed block (32) are connected with fixed slide rail (24).

5. A fruit picking robot according to claim 1, characterised in that the stalk cutting section (3) comprises: the shearing mechanism comprises a shearing motor (48), a shearing motor fixing block (49), a shearing motor shaft sleeve (50), a shearing motor shaft locking nut (51), a circular blade (52), a blade locking nut (53), a shearing motor connecting piece (54), a shearing screw nut (55), a shearing telescopic sliding rail (56), a shearing motor screw fixing block (57), a shearing screw (58), a shearing screw supporting block (59), a shearing screw coupling (60), a shearing telescopic motor (61), a shearing telescopic motor support (62), a shearing rotating supporting plate (63), a shearing rotating motor supporting plate (64), a shearing rotating motor supporting side plate (65), a shearing rotating motor bearing (66), a shearing rotating motor coupling (67) and a shearing rotating motor (68); the bottom parts of the shearing rotating motor (68) and the shearing rotating motor supporting side plate (65) are fixed on a fixed sliding rail (24), the top part of the shearing rotating motor supporting side plate (65) is fixed on a shearing rotating motor supporting plate (64), an output shaft of the shearing rotating motor (68) is connected with a shearing rotating supporting plate (63) through a shearing rotating motor coupler (67) and a shearing rotating motor bearing (66), the shearing rotating supporting plate (63) is connected with a shearing telescopic motor bracket (62), the shearing telescopic motor (61) is fixed on the shearing telescopic motor bracket (62), an output shaft of the shearing telescopic motor (61) is connected with a shearing screw (58) through a shearing screw coupler (60), a telescopic shearing screw supporting block (59) is fixed on the shearing telescopic motor bracket (62), and the shearing screw (58) is supported by a shearing telescopic screw supporting block (59) and a shearing screw nut (55), shearing screw nut (55) and shearing telescopic slide rail (56) sliding connection, shearing motor (48) are connected with shearing motor fixed block (49), shearing motor fixed block (49) are connected with shearing motor connecting piece (54), shearing motor connecting piece (54) are fixed in on shearing screw nut (55), shearing motor axle sleeve (50) and shearing motor axle lock nut (51) are connected in proper order to the output shaft of shearing motor (48), circular blade (52) are fixed in on the output shaft of shearing motor (48) through blade lock nut (53).

6. A fruit picking robot according to claim 1, characterised in that the vision system (4) comprises: a camera fixing bracket (74) and an industrial camera (73); the camera (73) is directly fixed on the camera fixing support (74), and the camera fixing support (74) is fixed at the front end of the fixed slide rail (24).

7. The fruit picking robot according to claim 1, wherein the lifting part (5) comprises a lifting motor (39), a lifting motor supporting bottom plate (41), a lifting motor supporting side plate (40), a lifting screw supporting plate (38), a lifting screw shaft connecting block (37), a lifting screw (36), a lifting screw nut (29), a lifting screw limiting plate (75), a supporting slide rail (34) and a counterweight slider (35); the lifting motor (39) is fixed on the lifting motor supporting bottom plate (41); the bottom of the lifting motor supporting side plate (40) is fixed on the lifting motor supporting bottom plate (41), and the top of the lifting motor supporting side plate is fixed on the lifting screw supporting plate (38); an output shaft of the lifting motor (39) is connected with a lifting screw rod (36) through a lifting screw rod shaft connecting block (37); a lifting screw limiting plate (75) is arranged at the top of the lifting screw (36); one side of the lifting screw limiting plate (75) is connected with the fixed slide rail (24) through a limiting plate fixing block (76), and the other side of the lifting screw limiting plate is connected with the supporting slide rail (34); one end of the supporting slide rail (34) is connected to the lifting screw limiting plate (75), and the other end of the supporting slide rail is fixed to the lifting screw supporting plate (38); one end of the lifting screw nut (29) is connected with the fixed slide rail (24), and the other end of the lifting screw nut is connected with the counterweight sliding block (35); the counterweight sliding block (35) is matched with the supporting sliding rail (34), and the counterweight sliding block (35) moves up and down in the supporting sliding rail (34) along with the lifting lead screw nut (29).

8. a fruit picking robot according to claim 1, characterised in that the rotating part (6) comprises: a rotating motor (47), a rotating motor support side plate (46), a rotating motor coupling (44), a rotating motor support plate (45) and a rotating motor bearing (43); the rotating motor (47) is fixed on the bottom supporting plate (77), the bottom of the rotating motor supporting side plate (46) is fixed on the bottom supporting plate (77), and the top of the rotating motor supporting side plate (46) is fixed on the rotating motor supporting plate (45); an output shaft of the rotating motor (47) is connected with the rotating shaft (42) through a rotating motor coupler (44) and a rotating motor bearing (43) in sequence; the other end of the rotating shaft (42) is fixedly connected with a lifting motor supporting bottom plate (41).

9. Fruit picking robot according to claim 1, characterized in that the mobile base (7) comprises: the device comprises a bottom supporting plate (77), a crawler (78), a crawler wheel supporting frame (79), a tensioning wheel (80), a crawler wheel (81), a belt (82), a crawler motor (83), a speed reducer (84) and a crawler transmission shaft (85); the crawler belt motor (83) is fixed on the bottom supporting plate (77), an output shaft of the crawler belt motor (83) is connected with a speed reducer (84), an output shaft of the speed reducer (84) is connected with a driving wheel (86), the driving wheel (86) is connected with a tensioning wheel (80), the tensioning wheels (80) are connected through a belt (82), and the driving wheel (86) is connected with the tensioning wheel (80) through a transmission shaft.

10. The fruit picking robot according to claim 2, characterized in that the telescopic motor (71), the arm telescopic lead screw motor (27), the lifting motor (39), the rotating motor (47), the shearing motor (48), the shearing telescopic motor (61), the shearing rotating motor (68), the crawler motor (83), the industrial camera (73), the plate pressure sensor (17) and the S-shaped pressure sensor (22) are electrically connected with the control device.