CN209930957U - Multi-arm harvesting robot - Google Patents
Multi-arm harvesting robot Download PDFInfo
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- CN209930957U CN209930957U CN201920378607.1U CN201920378607U CN209930957U CN 209930957 U CN209930957 U CN 209930957U CN 201920378607 U CN201920378607 U CN 201920378607U CN 209930957 U CN209930957 U CN 209930957U
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Abstract
The utility model provides a multi-arm type robot of gathering, including system and the chassis system of gathering, the system of gathering is carried on the chassis system, the system of gathering is including picking mechanical arm group, work platform, fruit and is received and deposited the device, picking mechanical arm group is including the upper picking mechanical arm group and the lower floor picking mechanical arm group that are provided with four arms respectively, upper picking mechanical arm group and lower floor picking mechanical arm group install respectively at work platform's top surface and side, each arm independent control, the fruit is received and is deposited the device and install at picking mechanical arm group lower extreme, including the fruit storage device and the fruit collection device that are connected. The utility model discloses in every arm layering arrange, the coordination work, every arm all can independently accomplish the picking of shaddock, remove bag, collection, integration action such as clearance, transport, realize the multistation and pick the task.
Description
Technical Field
The utility model relates to an agricultural field of picking especially relates to a multi-arm type robot of gathering.
Background
The fruit picking operation is the most time-consuming and labor-consuming link in agricultural production, belongs to labor-intensive work, and particularly, the fruit picking operation is almost performed manually, the input labor force accounts for about 50% of the input labor force in the whole fruit and vegetable planting link, ~ 70% of the input labor force is added, people have higher requirements on fruits and vegetables along with the continuous improvement of the quality of life, the fruits and vegetables need to be picked in time after being ripe, the requirements on workers are higher, the labor intensity is increased, and dangers can also appear in manual picking.
As robotics is increasingly applied to the agricultural field, a variety of picking robots also play an indispensable role in agricultural picking sessions. However, most picking robots are designed to operate with a single robotic arm and a single end effector for agricultural operations, which is inefficient in the current development.
SUMMERY OF THE UTILITY MODEL
To foretell problem and not enough, the utility model aims to provide a novel multi-arm type harvesting robot. The mechanism is provided with a plurality of picking mechanical arms on the picking platform, and an independent and cooperative control method is adopted in the picking method, so that the working efficiency of picking operation can be greatly improved.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a multi-arm type harvesting robot, includes harvesting system and chassis system, harvesting system carries on chassis system is last, harvesting system includes picking mechanical arm group, work platform, fruit storage device, picking mechanical arm group is including the upper picking mechanical arm group and the lower floor picking mechanical arm group that are provided with four arms respectively, upper picking mechanical arm group and lower floor picking mechanical arm group are installed respectively in work platform's top surface and side, each arm independent control, fruit storage device installs at picking mechanical arm group lower extreme, including the fruit storage device and the fruit collection device that are connected.
Furthermore, the upper picking mechanical arm group carried on the top surface of the working platform adopts a vertical installation method; the lower picking mechanical arm group arranged on the side surface of the working platform adopts a horizontal installation method.
Furthermore, the working platform is provided with a guide rail sliding block mechanism capable of sliding in two directions, the picking mechanical arms at the top of the working platform are respectively arranged on the guide rail sliding block mechanism, and the distance between each picking mechanical arm and the picked tree can be adjusted.
Furthermore, the frames of the two sides of the working platform facing the picked trees are arranged into a concave structure, so that the distance between the picked trees and the working platform can be shortened.
Furthermore, the fruit collecting device and the fruit storing device are arranged on two sides of the lower end of the picking mechanical arm group, the collecting device is arranged in a spiral downward mode, the inclination angle is larger than the degree, the fruits are placed in the grooves of the fruit collecting device after the picking mechanical arm group picks the fruits, and the fruits roll into the fruit storing device due to the gravity factor.
Compared with the prior art, the utility model has the advantages of it is following:
1 the multiple mechanical arms work simultaneously, and can pick two trees simultaneously, can increase substantially work efficiency, has shortened the picking time.
2, the multiple mechanical arms can realize wrapping collection of trees, the picking benefit is high, and fruit leakage is prevented.
3 each mechanical arm is independently and cooperatively controlled and does not interfere with each other.
4 the fruits are collected immediately after picking, the center of gravity is concentrated, and the transportation is convenient.
Drawings
Fig. 1 is a schematic view of a multi-arm picking robot of the present invention.
Fig. 2 is a front view of the multi-arm picking robot of the present invention.
Fig. 3 is a top view of the concave portion of the middle working platform of the present invention.
Fig. 4 is a schematic view of the tree in the present invention.
Shown in the figure are: 1-upper picking mechanical arm group; 101-a first picking arm; 102-a second picking arm; 103-a third picking arm; 104-a fourth picking arm; 2-picking mechanical arm group at the lower layer; 201-a fifth picking arm; 202-a sixth picking arm; 203-seventh picking arm; 204-an eighth picking arm; 3-a guide rail slider mechanism; 4-a fruit collection device; 5-fruit storage means; 6-a working platform; 7-chassis system.
Detailed Description
The purpose of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments. The materials and processing methods employed in the present invention are conventional in the art, unless otherwise specified.
Examples
As shown in fig. 1 to 2, a multi-arm harvesting robot includes a picking arm system and a chassis system 7, the picking arm system includes a picking arm group, a working platform 6, and a fruit collecting and storing device, the picking arm group includes an upper picking arm group 1 and a lower picking arm group 2 each provided with four arms, a guide rail slider mechanism 3 is mounted on the working platform 6 to carry the upper picking arm group 1, and the fruit collecting and storing device is mounted at the lower end of the picking arm group and includes a fruit storage device 5 and a fruit collecting device 4 connected to each other. The upper-layer picking mechanical arm group 1 adopts a vertical installation method; the lower picking mechanical arm group 1 is arranged on the side surface of the working platform 6 and adopts a horizontal installation method.
Specifically, each mechanical arm in the upper picking mechanical arm group 1 is arranged at a certain distance from the mounting position of the working platform 6, and each mechanical arm of the upper picking mechanical arm group 1 and each mechanical arm of the lower picking mechanical arm group 2 work independently and simultaneously during picking work without mutual interference.
The upper picking mechanical arm group 1 comprises two groups of picking mechanical arms which are symmetrically arranged at the top of the working platform 6 at intervals, and the total number of the four picking mechanical arms is as follows: a first picking mechanical arm 101, a second picking mechanical arm 102, a third picking mechanical arm 103, and a fourth picking mechanical arm 104; the lower picking mechanical arm group 2 comprises two groups of picking mechanical arms symmetrically arranged on the side surface of the working platform 6, and the four picking mechanical arms in total are respectively: the fifth picking mechanical arm 201, the sixth picking mechanical arm 202, the seventh picking mechanical arm 203 and the eighth picking mechanical arm 204 can enable the picking mechanical arms at the lower layer to be closer to the fruit at the side of the tree.
Specifically, the working platform 6 is provided with a sliding mechanism to change the length of the working platform, the top of the working platform 6 is provided with a guide rail sliding block mechanism 3 capable of sliding in two directions, and the picking mechanical arms at the top of the working platform 6 are respectively arranged on the guide rail sliding block mechanism 3 and used for adjusting the distance between each picking mechanical arm and a picked tree, so that the inclusion of the picking mechanical arms on the picked trees can be increased.
Wherein, two groups of guide rail sliding block mechanisms 3 capable of sliding in two directions are arranged at the top of the working platform 6, the first picking mechanical arm 101, the second picking mechanical arm 102, the third picking mechanical arm 103 and the fourth picking mechanical arm 104 are respectively and symmetrically arranged on the guide rail sliding block mechanisms 3 in a vertical installation mode, wherein the second picking mechanical arm 102 and the third picking mechanical arm 103 can reciprocate along the same guide rail straight line, the first picking mechanical arm 101 and the fourth picking mechanical arm 104 can reciprocate along the same guide rail straight line, the distance between each picking mechanical arm and a picked tree can be adjusted by moving the guide rail sliding block mechanisms 3, the four picking mechanical arms on the upper layer can move in the far and near directions relative to the picked tree, the distance between the four picking mechanical arms and the picked tree can be changed, and the surrounding position of the mechanical arms of the target tree can be changed during picking, the picking wrapping performance of the tree picking machine on the target trees is enhanced.
Specifically, the frame of the working platform 6 facing one side of the picked trees is concave, the distance between the picked trees and the working platform 6 can be shortened, particularly the distance between the lower picking mechanical arm group 2 and the trees, the eight picking mechanical arms are in a shape of containing the target trees in the picking process, and the picking wrapping performance of the mechanism on the target trees is enhanced.
Specifically, the fruit collecting device 4 and the fruit storage device 5 are mounted at the lower end of the picking mechanical arm system, and after the picking mechanical arm system picks the fruits, the fruits are placed in the grooves of the fruit collecting device 4 and roll into the fruit storage device 5 due to gravity factors, so that the convenience of fruit collection can be improved.
When the chassis system 7 drives the picking structure to reach the middle of two appointed picked trees, the picking mechanism starts to work. Through adjusting the position of the guide rail slider mechanism 3 relative to the robot, four picking mechanical arms on the upper layer move in the far and near directions relative to the picked trees, so that the picking mechanical arms have better flexibility when picking fruits with different crown radiuses, the picking mechanical arms are guaranteed not to interfere with the trees, the picking mechanical arms are also guaranteed to pick fruits, the degree of freedom with the distance between the picking mechanical arms and the trees being variable is provided for the picking mechanical arms, the surrounding position of the picking mechanical arms of the target trees is made to be variable when the picking mechanical arms are picked, the trees are wrapped and contained, the wrapping performance of the picking mechanical arms on the target trees is enhanced, and the fruit range of the whole trees is contained in the capacity range of the picking mechanism.
In the multi-arm harvesting robot, the eight picking mechanical arms are arranged at the upper layer and the lower layer, the four picking mechanical arms are in one group and are divided into two groups, each group picks the fruits of one designated tree, and the two groups of picking mechanical arms work simultaneously at the same time to pick the fruits of two trees simultaneously.
In this embodiment, the fruit storage device 5 and the fruit collection device 4 are installed on the bottom side of the working platform 6, after picking by the picking mechanical arm, the fruit can be timely and smoothly placed into the fruit collection device 4 and rolled into the fruit storage device 5, and then when the picking mechanical arm picks up the fruit to a certain extent, workers can collect the fruit in a centralized manner, so that a plurality of fruits can be collected at one time.
A picking method of a multi-arm picking robot adopts the edge calculation technology to realize the independent control of each mechanical arm and the cooperative work among the mechanical arms without interference, and realizes the layered and block picking through the mechanical arm groups which are arranged in layers; in the picking mechanical arm group, four mechanical arm picking mechanisms are in a group, each group picks the fruit of a specified tree, two groups of picking mechanisms work simultaneously at the same time, the first mechanical arm 101, the second mechanical arm 102, the fifth picking mechanical arm 201 and the sixth picking mechanical arm 202 pick the fruit of the tree on one side, the third picking mechanical arm 103, the fourth picking mechanical arm 104, the seventh picking mechanical arm 203 and the eighth picking mechanical arm 204 pick the fruit of the tree on the other side, and the fruit of two trees can be picked simultaneously; dividing the parts of the trees with the fruits to be picked into four regions A, B, C, D respectively, wherein the four regions are defined according to the placement method of four mechanical arms, and according to the existing placement scheme of a group of four mechanical arm picking mechanisms, the regions of the trees with the fruits are divided according to the upper left region A, the upper right region B, the lower left region C and the lower right region D; each mechanical arm only picks the fruits in the own subarea, namely the second mechanical arm 102 and the fourth picking mechanical arm 104 respectively pick the fruits in the area A of the two fruit trees; the first mechanical arm 101 and the third picking mechanical arm 103 respectively pick fruits in a B area of two fruit trees; the sixth picking mechanical arm 202 and the eighth picking mechanical arm 204 pick fruits of two fruit trees in the C area respectively; the fifth picking mechanical arm 201 and the seventh picking mechanical arm 203 pick the fruits in the two fruit tree D areas respectively, and the picking work in the eight areas is carried out simultaneously.
In the embodiment, a picking method of 'a plurality of cerebellums plus one brain' is adopted, each mechanical arm is provided with a controller to realize independent control, namely independent control of the plurality of cerebellums, the mechanical arm groups are arranged in layers to realize layering, and the mechanical arms are picked in blocks; the master control center of the multi-arm harvesting robot, namely the brain, coordinates all the mechanical arms, and ensures that all the mechanical arms can work in a cooperative manner without interference.
It can be seen that each picking mechanical arm of the present embodiment adopts a six-degree-of-freedom bionic mechanical arm, and the multi-arm type picking robot structure can simultaneously work in two groups of picking mechanical arms at the same time, and the first picking mechanical arm 101, the second picking mechanical arm 102, the fifth picking mechanical arm 201, and the sixth picking mechanical arm 202 pick tree fruits on one side; the third picking mechanical arm 103, the fourth picking mechanical arm 104, the seventh picking mechanical arm 203 and the eighth picking mechanical arm 204 pick the tree fruits on the other side, and pick the fruits of two trees at the same time.
To sum up, in the above embodiments of the present invention, the multi-arm picking robot utilizes the multi-station picking method based on the block layering to improve the picking efficiency, the picking device is composed of the bionic multi-arm robot, imitates the motion of octopus, realizes the multi-station based on the edge calculation technology, picks in the layering and the block, and has high picking efficiency and no interference. And each picking mechanical arm independently finishes the integrated actions of picking, bag removing, collecting, cleaning, conveying and the like of the fruits, is suitable for picking and collecting various fruits, and has high efficiency and quick conveying.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A multi-arm type harvesting robot is characterized in that: including system and chassis system (7) of gathering, the system of gathering carries on chassis system (7), the system of gathering includes picking mechanical arm group, work platform (6), fruit collection and storage device, picking mechanical arm group is including upper picking mechanical arm group (1) and lower floor picking mechanical arm group (2) that are provided with four arms respectively, top surface and the side at work platform are installed respectively in upper picking mechanical arm group (1) and lower floor picking mechanical arm group (2), each arm independent control, fruit collection and storage device installs at picking mechanical arm group lower extreme, including fruit storage device (5) and the fruit collection device (4) that are connected.
2. The multi-arm harvesting robot of claim 1, wherein: the upper picking mechanical arm group (1) carried on the top surface of the working platform adopts a vertical installation method; the lower picking mechanical arm group (2) arranged on the side surface of the working platform adopts a horizontal installation method.
3. The multi-arm harvesting robot of claim 1, wherein: the tree harvesting machine is characterized in that the working platform (6) is provided with a guide rail sliding block mechanism (3) capable of sliding in two directions, the harvesting mechanical arms at the top of the working platform (6) are respectively arranged on the guide rail sliding block mechanism (3), and the distance between each harvesting mechanical arm and the harvested tree can be adjusted.
4. The multi-arm harvesting robot of claim 1, wherein: the frames of the two sides of the working platform (6) facing the picked trees are of concave structures, and the distance between the picked trees and the working platform (6) can be shortened.
5. The multi-arm harvesting robot of claim 1, wherein: the fruit collecting device (4) and the fruit storing device (5) are arranged on two sides of the lower end of the picking mechanical arm group, the collecting device (4) is arranged in a spiral mode downwards, the inclination angle is larger than 20 degrees, the picking mechanical arm group is used for placing fruits in a groove of the fruit collecting device (4) after the fruits are picked, and the fruits roll into the fruit storing device (5) due to the gravity factor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920378607.1U CN209930957U (en) | 2019-03-25 | 2019-03-25 | Multi-arm harvesting robot |
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| CN201920378607.1U CN209930957U (en) | 2019-03-25 | 2019-03-25 | Multi-arm harvesting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109804787A (en) * | 2019-03-25 | 2019-05-28 | 华南理工大学 | A kind of multi-arm type harvesting robot and its picking method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109804787A (en) * | 2019-03-25 | 2019-05-28 | 华南理工大学 | A kind of multi-arm type harvesting robot and its picking method |
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