CN210298602U

CN210298602U - Picking robot

Info

Publication number: CN210298602U
Application number: CN201920666681.3U
Authority: CN
Inventors: 蓝斌; 缪华超; 牛子杰; 冷俊男; 龚坤; 徐屾明; 闫云才
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2019-05-10
Filing date: 2019-05-10
Publication date: 2020-04-14
Anticipated expiration: 2029-05-10

Abstract

The utility model relates to a picking robot, which is characterized in that the picking robot comprises a chassis, a collecting box and a picking arm which are arranged on the chassis, wherein the lower part of the chassis is provided with a front row, a middle row and a rear row of tracking sensors, the front part of the chassis is provided with a first spherical universal wheel and a second spherical universal wheel, and the rear part of the chassis is provided with two driving wheels; the lowest points of the two driving wheels and the first ball universal wheel are on the same plane, and the lowest point of the second ball universal wheel is higher than the plane of the lowest points of the two driving wheels and the first ball universal wheel. The utility model discloses convenient to use, degree of automation is high, can replace the manual work to carry out long-time picking work, the material resources of using manpower sparingly.

Description

Picking robot

Technical Field

The utility model belongs to the technical field of agricultural machine, concretely relates to picking robot.

Background

At present, the fruit picking in the domestic crop industry generally adopts a manual mode, and meanwhile, in order to ensure the quality of the fruit, the fruit must be picked in time. This requires that a large number of mature fruits be picked in a short period of time, requiring a large investment of labor, material and financial resources, making fruit picking the most time-consuming and labor-intensive link in the whole crop fruit production chain. Therefore, the demand for picking robots and the design and manufacture of picking robots have arisen, and the production cost is reduced by using the picking robots.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a picking robot, aim at save labour, reduction in production cost.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a picking robot comprises a chassis, a collecting box and a picking arm, wherein the collecting box and the picking arm are arranged on the chassis, the lower part of the chassis is provided with a front row, a middle row and a rear row of tracking sensors, the front part of the chassis is provided with a first spherical universal wheel and a second spherical universal wheel, and the rear part of the chassis is provided with two driving wheels; the lowest points of the two driving wheels and the first ball universal wheel are on the same plane, and the lowest point of the second ball universal wheel is higher than the plane of the lowest points of the two driving wheels and the first ball universal wheel.

Furthermore, the front, middle and back three rows of tracking sensors are arranged on the chassis through sensor fixing frames, and each row of tracking sensors comprises a plurality of sensors.

Further, the tracking sensor is a gray sensor.

Further, the first spherical universal wheel and the second spherical universal wheel are respectively fixed on the chassis through corresponding support columns; the support column of the second ball castor is shorter than the support column of the first ball castor.

Furthermore, the two driving wheels are symmetrically arranged at the left side and the right side of the rear part of the chassis and are respectively connected with corresponding wheel driving motors.

Further, the driving wheel is a rubber wheel.

Furthermore, the top of the collecting box is provided with an opening, the bottom of the collecting box is provided with an inclined bottom plate which is inclined from the rear part to the front part, and the front part of the collecting box is provided with a collecting box door; the collecting box door is controlled to open and close by the steering engine I.

Further, the picking arm comprises a bottom fixing frame, a first arm rod, a second arm rod and a mechanical claw, wherein the bottom fixing frame is rotatably arranged on the chassis to realize 360-degree rotation in a horizontal plane; one end of the first arm rod is rotatably connected with the bottom fixing frame, and the other end of the first arm rod is rotatably connected with the second arm rod so as to realize rotation of the picking arm in a vertical plane; the mechanical claw is rotatably arranged at the outer end of the second arm rod, and a camera is further arranged on the portion, close to the mechanical claw, of the second arm rod.

Further, a steering engine II is arranged between the bottom fixing frame and the chassis; one end of the first arm rod is rotatably connected with the bottom fixing frame through a first driving motor, and the other end of the first arm rod is rotatably connected with the second arm rod through a second driving motor; and the mechanical claw is connected with the outer end of the second arm rod through a steering engine III.

Furthermore, the bottom fixing frame is of a cylindrical frame structure, the steering engine II is fixed on the bottom plane of the bottom fixing frame, and the pair of first driving motors is fixed on the top plane of the bottom fixing frame.

The picking robot has the following beneficial effects:

(1) the utility model adopts the gray sensor, which can accurately identify the route; the steering engine is adopted to control the collection box door, and the bottom of the collection box adopts an inclined bottom plate, so that the collected objects are automatically unloaded; adopt camera vision technique, can accurate discernment target department have the object, convenient to use, degree of automation is high, can replace the manual work to pick work for a long time, the material resources of using manpower sparingly.

(2) The utility model discloses simple structure, it is with low costs, the practicality is strong, easily popularizes and applies.

Drawings

FIG. 1: in the embodiment of the utility model, the bottom view of the chassis of the picking robot is provided;

FIG. 2: the utility model discloses in the embodiment mode the front view of the chassis of the picking robot;

FIG. 3: the structure schematic diagram of the collecting box of the picking robot in the embodiment of the utility model;

FIG. 4: the utility model discloses in the embodiment mode picking robot picking arm front view;

FIG. 5: the utility model discloses picking robot's picking arm's left side view among the embodiment.

Description of reference numerals:

1-a chassis; 11-sensor mount; 12-front row sensors; 13-middle row sensor; 14 — rear row sensor; 15-a first ball castor; 16-a second ball castor; 17-a support column; 18-a drive wheel; 19-wheel drive motor; 2, a collecting box; 21-collecting box door; 22-a steering engine I; 23-an inclined floor; 3, picking arms; 31-bottom mount; 32-steering engine II; 33 — a first arm; 34 — a first drive motor; 35-a second drive motor; 36-a second arm; 37-camera; 38-steering engine III; 39-mechanical claw.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

fig. 1 to 5 show a picking robot according to a specific embodiment of the present invention. Fig. 1 and 2 are schematic structural views of a chassis in the present embodiment; FIG. 3 is a schematic view of the structure of the collection tank in the present embodiment; fig. 4 and 5 are schematic structural views of the picking arm in the present embodiment.

As shown in fig. 1 to 5, the picking robot in the present embodiment includes a chassis 1, and a collecting box 2 and a picking arm 3 which are arranged on the chassis 1, the lower part of the chassis 1 is provided with three front, middle and rear rows of tracking sensors, i.e. a front row sensor 12, a middle row sensor 13 and a rear row sensor 14 in the present embodiment, the front part of the chassis 1 is provided with a first spherical universal wheel 15 and a second spherical universal wheel 16, and the rear part of the chassis 1 is provided with two driving wheels 18; the two driving wheels 18 and the lowest point of the first ball-and-socket wheel 15 are in the same plane, and the lowest point of the second ball-and-socket wheel 16 is higher than the plane of the two driving wheels 18 and the lowest point of the first ball-and-socket wheel 15. The second spherical universal wheel 16 has the auxiliary supporting function, so that the problems of vibration, slipping and stability of the trolley during running can be effectively prevented.

Preferably, the front, middle and rear three rows of tracking sensors, i.e. the front row of sensors 12, the middle row of sensors 13 and the rear row of sensors 14 in this embodiment, are arranged on the chassis 1 through the sensor fixing frame 11, and each row of tracking sensors includes a plurality of sensors, as shown in fig. 1 and 2.

In this embodiment, the tracking sensor is a gray scale sensor. Seven grayscale sensors are fixed to each row.

Preferably, the first ball castor 15 and the second ball castor 16 are fixed on the chassis 1 by respective support columns 17; the support column 17 of the second ball castor 16 is shorter than the support column 17 of the first ball castor 15, as shown in fig. 1 and 2.

Preferably, two driving wheels 18 are symmetrically arranged at the left and right sides of the rear portion of the chassis 1, and are respectively connected with corresponding wheel driving motors 19, as shown in fig. 1 and 2. In this embodiment, the driving wheel 18 is a rubber wheel; the wheel driving motor 19 is respectively fixed on the sensor fixing frame 11 and the chassis 1 through corresponding motor fixing frames.

Preferably, the collecting box 2 is open at the top, and the bottom is provided with an inclined bottom plate 23 inclined from the rear to the front, and the front is provided with a collecting box door 21; the opening and closing of the collection box door 21 are controlled by a steering engine I22, as shown in figure 3.

Preferably, picking arm 3 comprises bottom fixing frame 31, first arm rod 33, second arm rod 36 and mechanical claw 39, and bottom fixing frame 31 is rotatably arranged on chassis 1 to realize 360-degree rotation in the horizontal plane; one end of a first arm rod 33 is rotatably connected with the bottom fixing frame 31, and the other end of the first arm rod is rotatably connected with a second arm rod 36 so as to realize the rotation of the picking arm in a vertical plane; the gripper 39 is rotatably disposed at the outer end of the second arm 36, and a camera 37 is disposed on the second arm 36 near the gripper 39, as shown in fig. 4 and 5.

Preferably, a steering engine II 32 is arranged between the bottom fixing frame 31 and the chassis 1; one end of the first arm rod 33 is rotationally connected with the bottom fixing frame 31 through a first driving motor 34, and the other end of the first arm rod is rotationally connected with a second arm rod 36 through a second driving motor 35; the mechanical claw 39 is connected with the outer end of the second arm rod 36 through a steering engine III 38, as shown in figures 4 and 5.

In this embodiment, the bottom fixing frame 31 is generally a cylindrical frame structure, a steering engine ii 32 is fixed on a bottom plane of the bottom fixing frame 31, and a pair of first driving motors 34 is fixed on a top plane of the bottom fixing frame 31, as shown in fig. 4 and 5. In this embodiment, the base fixing frame 31 is located at the middle position between the two wheel driving motors 19.

In operation, when the front sensor 12 or the rear sensor 14 of the robot recognizes the ground mark, the robot sends a signal to enable the wheel driving motor 19 to control the rotating speed, so that the wheel driving motor 19 reduces the rotating speed, and the robot stops on the ground mark until the middle sensor 13 recognizes the ground mark;

the steering engine II 32 of the picking arm 3 controls the bottom fixing frame 31 to rotate for a certain angle according to the received signal, the first driving motor 34 rotates for a certain angle according to the received signal, the first arm rod 33 rotates for a certain angle, the second driving motor 35 controls the second arm rod 36 to rotate for a certain angle according to the received signal, when the mechanical claw 39 moves to the position of a fruit, the camera 37 recognizes whether the fruit exists in the front, if so, a signal is sent to the steering engine III 38, the mechanical claw 39 is controlled to grab the fruit, after the fruit is grabbed, a signal is sent to the steering engine II 32, the first driving motor 34 and the second driving motor 35, and the object is sent to the collecting box 2;

when the robot is not in the uninstallation zone, the I22 of steering wheel can lock the collection box door 21 to make it bear the fruit pressure and tightly close, when reaching the uninstallation zone, the robot sends a signal to the I22 of steering wheel to make it rotate, the collection box door 21 is controlled to be opened, the bottom of the collection box 2 is provided with an inclined bottom plate 23 which inclines from the rear part to the front part, so that the unloaded fruit is in real time, the dead weight of the fruit is utilized, and the fruit naturally slides down.

The utility model adopts the gray sensor, which can accurately identify the route; the steering engine is adopted to control the collection box door, and the bottom of the collection box adopts an inclined bottom plate, so that the collected objects are automatically unloaded; adopt camera vision technique, can accurate discernment target department have the object, convenient to use, degree of automation is high, can replace the manual work to pick work for a long time, the material resources of using manpower sparingly.

The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.

Claims

1. A picking robot is characterized by comprising a chassis, a collecting box and a picking arm, wherein the collecting box and the picking arm are arranged on the chassis, the lower part of the chassis is provided with a front row, a middle row and a rear row of tracking sensors, the front part of the chassis is provided with a first spherical universal wheel and a second spherical universal wheel, and the rear part of the chassis is provided with two driving wheels; the lowest points of the two driving wheels and the first ball universal wheel are on the same plane, and the lowest point of the second ball universal wheel is higher than the plane of the lowest points of the two driving wheels and the first ball universal wheel.

2. The picking robot of claim 1, wherein the front, middle and rear three rows of tracking sensors are disposed on the chassis by sensor mounts, each row of tracking sensors comprising a plurality of sensors.

3. A picking robot as claimed in claim 1 or 2, characterised in that the tracking sensor is a greyscale sensor.

4. The picking robot of claim 1, wherein the first and second ball-shaped universal wheels are each secured to the chassis by a respective support column; the support column of the second ball castor is shorter than the support column of the first ball castor.

5. A picking robot as claimed in claim 1, 2 or 4, characterised in that the two drive wheels are symmetrically disposed on the left and right sides of the rear of the chassis and are connected to respective wheel drive motors.

6. A picking robot as claimed in claim 5, characterised in that the drive wheels are rubber wheels.

7. The picking robot of claim 1, wherein the collection bin is open at a top, the bottom is provided with an inclined floor that is inclined from a rear portion to a front portion, and the front portion is provided with a collection bin door; the collecting box door is controlled to open and close by the steering engine I.

8. A picking robot as claimed in claim 1, in which the picking arm comprises a bottom mount, a first arm lever, a second arm lever and a gripper, the bottom mount being rotatably arranged on the chassis to effect 360 ° rotation in a horizontal plane; one end of the first arm rod is rotatably connected with the bottom fixing frame, and the other end of the first arm rod is rotatably connected with the second arm rod so as to realize rotation of the picking arm in a vertical plane; the mechanical claw is rotatably arranged at the outer end of the second arm rod, and a camera is further arranged on the portion, close to the mechanical claw, of the second arm rod.

9. The picking robot of claim 8, wherein a steering engine ii is disposed between the bottom mount and the chassis; one end of the first arm rod is rotatably connected with the bottom fixing frame through a first driving motor, and the other end of the first arm rod is rotatably connected with the second arm rod through a second driving motor; and the mechanical claw is connected with the outer end of the second arm rod through a steering engine III.

10. The picking robot of claim 9, wherein the bottom mount is generally cylindrical in frame configuration, the steering gear ii is fixed to a bottom surface of the bottom mount, and a pair of the first driving motors is fixed to a top surface of the bottom mount.