CN210928644U - Tomato picking robot - Google Patents
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- CN210928644U CN210928644U CN201921096224.1U CN201921096224U CN210928644U CN 210928644 U CN210928644 U CN 210928644U CN 201921096224 U CN201921096224 U CN 201921096224U CN 210928644 U CN210928644 U CN 210928644U
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Abstract
The utility model discloses a tomato picking robot, which comprises a chassis, wherein a radar scanning device is arranged at the upper end of the chassis and in front of the chassis, a display device is arranged above the radar scanning device, and an image acquisition structure is arranged above the display device; an industrial personal computer is arranged at the upper end and the rear part of the chassis, and a storage device is arranged above the industrial personal computer; a manipulator structure is arranged at the upper end and the middle part of the chassis; the lower end of the chassis is arranged on the roller structure; the robot further comprises an automatic charging device. The utility model provides a tomato picking robot replaces manual operation, accomplishes the intelligence of tomato and picks the action, and degree of automation is high, and labour saving and time saving uses manpower sparingly the cost.
Description
Technical Field
The utility model belongs to the technical field of mechanical design, concretely relates to tomato picking robot.
Background
Tomatoes are one of the most popular vegetables, and the worldwide annual production can reach sixty million tons. The research of the fruit and vegetable picking robot starts in the United states of the 60 th generation in the 20 th century, and the adopted harvesting modes mainly comprise a mechanical shaking type and a pneumatic shaking type, and have the defects of easy damage of fruits and low efficiency. Since then, with the development of electronic technology and scientific technology, particularly, the maturity of industrial robot technology, computer image processing technology, and artificial intelligence technology, the research and development technology of picking robots has been rapidly developed. The picking robots are researched in China with certain achievements, but most of the picking robots stay in the research stage, the picking robots are large in size, high in manufacturing cost and not high in intelligent degree, and the picking robots have certain gap from being completely applied to actual agriculture. At present, domestic tomato picking operation is basically completed manually, physical consumption of workers is increased, working efficiency is affected, good rest conditions cannot be obtained when the workers have a rest, and particularly when the weather is hot, the workers cannot relax fully, and subsequent work is affected. Therefore, there is a great need to develop an automated picking robot.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the utility model provides a tomato picking robot replaces manual operation, accomplishes the intelligent picking action of tomato, and degree of automation is high, labour saving and time saving, the cost of using manpower sparingly.
In order to solve the technical problem, the utility model discloses a technical scheme be:
the utility model provides a tomato picking robot, which comprises a chassis, wherein a radar scanning device is arranged at the upper end of the chassis and in front of the chassis, a display device is arranged above the radar scanning device, and an image acquisition structure is arranged above the display device; an electrical control box is arranged at the upper end and the rear part of the chassis, and a storage device is arranged above the chassis; a manipulator structure is arranged at the upper end and the middle part of the chassis; the lower end of the chassis is arranged on the roller structure;
the image acquisition structure comprises a camera and a frame, and the camera is connected with the shell of the display device through the frame; the camera is connected with the sliding table; the bracket is rotationally connected with the shell of the display device, the bottom of the bracket is provided with a turntable, and the turntable is connected with a rotating motor;
the storage device comprises a transfer basket and a storage basket, the transfer basket is arranged at the upper end of the electric control box and is detachably connected with the electric control box, the storage basket is arranged on the side edge of the electric control box, a mounting frame is arranged at the lower end of the side wall of the electric control box, and the storage basket is placed on the mounting frame; the cross section of the receiving basket is rectangular, guide pillars are arranged at four corners of the receiving basket respectively, a shelf matched with the cross section of the receiving basket is arranged in the receiving basket, round holes are arranged at four corners of the shelf respectively, the shelf is arranged in the receiving basket, the four round holes are sleeved on the guide pillars respectively, the guide pillars are in a cylindrical shape with a thick upper part and a thin lower part, and the diameter of the upper ends of the guide pillars is larger than that of the round holes;
a plurality of first buffer devices are arranged between the shelf and the bottom wall of the containing basket, each first buffer device comprises a first spring, a second spring and a third spring, the first springs are arranged on the peripheries of the second springs, the second springs are arranged on the peripheries of the third springs, the heights of the first springs are greater than those of the second springs, and the heights of the second springs are greater than those of the third springs;
the manipulator structure comprises a manipulator arm and a picking hand, the lower end of the manipulator arm is connected with the chassis, and the upper end of the manipulator arm is connected with the picking hand through a fixing plate; the picking hand comprises a paw and a receiving hopper, and the receiving hopper is arranged below the paw;
the gripper is fixedly connected with the fixed plate through the mounting seat, a cavity is formed in the mounting seat, a clamping structure is arranged in the cavity and comprises a first clamping block, a second clamping block, a first rack, a second rack and a clamping gear, the rear end of the first clamping block is provided with the first rack, the rear end of the second clamping block is provided with the second rack, the first rack and the second rack are oppositely arranged, the clamping gear is arranged between the first rack and the second rack, the upper end of the clamping gear is meshed with the first rack, the lower end of the clamping gear is meshed with the second rack, a rotating shaft of the clamping gear is connected with an output shaft of a first motor, and the first motor is fixedly connected inside the mounting seat; the gripper comprises a first gripper arm and a second gripper arm, the first gripper arm is connected with the front end of the first clamping block, the second gripper arm is connected with the front end of the second clamping block, and the first motor drives the clamping gear to rotate positively and negatively so as to drive the first clamping block and the second clamping block to approach or separate from each other, thereby realizing the clamping or separation of the first gripper arm and the second gripper arm;
the front end of the first clamping arm is provided with a notch, a blade is arranged in the notch, and the front end of the second clamping arm is provided with a cutter groove corresponding to the blade;
the roller structure comprises a pair of front wheels, a pair of middle wheels, a pair of rear wheels and a roller mounting seat, the front wheels, the middle wheels and the rear wheels are respectively connected with the roller mounting seat, and the front wheels, the middle wheels and the rear wheels are all universal wheels and are respectively connected with a driving motor;
the roller mounting seat comprises a mounting seat body and an auxiliary plate, the auxiliary plate is arranged above the mounting seat body, a cavity is formed in the upper end of the mounting seat body, a second buffer device is arranged in the cavity and comprises a plurality of connecting columns, each connecting column comprises a hollow first section of column body located above and a solid second section of column body located below, the auxiliary plate is fixedly connected to the upper end of the first section of column body, the lower end of the second section of column body is fixedly connected to the bottom wall of the cavity, the inner diameter of the first section of column body is larger than that of the second section of column body, and the upper end of the second section of column body extends into the first section of column body and is connected with the first section of column body through a fourth spring;
the robot further comprises an automatic charging device, the automatic charging device comprises a charging mechanism and a guiding mechanism, the charging mechanism comprises a charging electric brush and a charging plate which are matched with each other, the charging electric brush is arranged at the lower end of the robot chassis, the charging plate is arranged above the charging pile, the upper end of the charging electric brush is connected with a lifting part, and the lifting part is connected to the lower end of the chassis;
the front direction of the robot is defined as the front direction, the guiding mechanism comprises a positioning column and a guiding sheet, the positioning column is arranged at the rear of the charging pile and located on the charging plate, the guiding sheet comprises a guiding opening and a positioning area, the positioning column slides into the guiding sheet, and the front end of the guiding sheet is connected to the lower end of the lifting portion and faces towards the charging pile.
Further, first arm lock and second arm lock include arm lock back end and arm lock anterior segment respectively, arm lock back end and arm lock anterior segment body coupling, the distance between two arm lock back ends is greater than the distance between two arm lock anterior segments.
Furthermore, an ultrasonic anti-collision sensor is arranged outside the scanning device.
Further, the linear module is a screw rod type linear module.
Furthermore, at least 1 first buffer device is arranged and is positioned at the central position.
Further, the guiding opening comprises two oblique edges, and the oblique edges are provided with barrier strips.
Furthermore, the positioning area is provided with a positioning hole.
Further, the leading end of the guide piece is inclined downward.
The utility model has the advantages that:
the mechanical arm comprises six mechanical arms and a picking hand, the picking hand comprises a claw and a receiving hopper, a first clamping arm and a second clamping arm of a first motor-driven claw are tightened to cut off fruits, the fruits drop in the receiving hopper below the claw, then the first clamping arm and the second clamping arm of the first motor-driven claw are separated, and the next fruit is picked continuously;
preferably, the mechanical arm is a vertical shaft mechanical arm, so that the flexibility is high, and all picking actions within a spherical range taking the total length of the mechanical arm as the diameter can be realized to the maximum extent;
preferably, the first clamping arm and the second clamping arm respectively comprise a rear clamping arm section and a front clamping arm section, the distance between the rear clamping arm sections is greater than the distance between the front clamping arm sections, and the clamping force between the front clamping arm sections is improved and the fruit picking efficiency is improved by increasing the formation between the rear clamping arm sections;
preferably, the middle part of the cutter groove is concave to form an included angle, so that the appearance of the fruit is designed to be more attached to, and the damage rate of the fruit is reduced;
preferably, the depth of the guide groove is greater than the width of the blade, and when the first clamping arm and the second clamping arm are clamped tightly, the notch of the cutter groove is tightly pressed against the bottom wall of the notch, so that the design is reasonable, and the blade is prevented from being damaged;
the utility model discloses a storage device is equipped with transfer basket and storage basket, and manipulator picking puts into transfer basket earlier, then falls to storage basket along the inclined plane, and storage basket is equipped with the shelf, and the shelf overlaps on four guide pillars of storage basket through the round hole at four angles, and is equipped with a plurality of buffer between the bottom wall of shelf and storage frame, and the shelf slowly sinks in the process of extrudeing first, second, third spring in proper order under the weight that increases gradually, and to the bottom, so, avoid directly falling into the bottom of storage basket and cause the damage; the guide post is in a cylindrical shape with a thick upper part and a thin lower part, so that the shelf is smooth in the descending process, and moreover, the danger caused by rapid upward springing under the rebounding of the spring on the shelf after transfer is avoided, and the safety is improved;
preferably, the diameter of the upper end of the guide post is larger than that of the round hole, so that the shelf is prevented from separating from the guide post;
preferably, the transfer basket is detachably connected, so that the transfer basket is convenient to replace and clean;
thirdly, the automatic charging device of the utility model comprises a charging mechanism and a guiding mechanism, wherein the charging mechanism comprises a charging brush and a charging plate which are used in a matching way, the upper end of the charging brush is connected with a lifting part, and the lifting part is connected with the lower end of the chassis; the guiding mechanism comprises a positioning column and a guiding sheet; when the robot receives a charging instruction and moves towards the charging pile, the positioning column of the charging pile slides to the positioning hole of the positioning area along the guiding opening of the guiding piece, and the front end of the guiding piece is provided with a downward inclined angle, so that the positioning column slowly bears downward force in the process of sliding to the front end along the rear end of the guiding piece, when the positioning column slides to the positioning hole, the positioning column enters the positioning hole, at the moment, the robot stops moving, and the charging brush accurately contacts and presses the charging plate to charge the robot;
preferably, the guiding port comprises two inclined edges, so that the guiding effect is good; the guide opening comprises two side flange stop strips to prevent the positioning column from separating from the guide sheet;
fourthly, the image acquisition structure of the utility model comprises a camera and a frame, the frame is provided with a lifting mechanism for driving the camera to move up and down, the bottom of the frame is provided with a turntable, the turntable is connected with a rotating motor, the lifting mechanism realizes the up-down height adjustment of the camera, the turntable realizes the 360-degree rotary shooting of the camera, and the flexibility is high;
fifthly, the utility model discloses a scanning device's periphery is equipped with ultrasonic wave collision avoidance sensor, and ultrasonic wave collision avoidance sensor is equipped with 12 at least, respectively 4 behind the plantago car, controls each 2 on both sides, and all-round anticollision, robot walking are safer, more reliable.
Sixth, the utility model discloses a gyro wheel structure includes the gyro wheel mount pad, and the gyro wheel mount pad is equipped with buffer for jolting that the buffering robot produced when the complicated walking of road conditions improves the stability of robot walking.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the picking hand of the present invention;
fig. 3 is a schematic structural view of the paw of the present invention;
fig. 4 is a schematic structural view of the mounting base of the present invention;
FIG. 5 is a schematic view of the structure in the direction B-B in FIG. 4;
fig. 6 is a schematic structural view of the clamping structure of the present invention;
fig. 7 is a schematic structural view of the roller structure of the present invention;
fig. 8 is a schematic structural view of the roller mounting seat of the present invention;
FIG. 9 is an enlarged view of A1 in FIG. 8;
FIG. 10 is a schematic view of the structure in the direction A-A in FIG. 1;
FIG. 11 is an enlarged view of B1 of FIG. 10;
FIG. 12 is an enlarged view of C1 of FIG. 1;
fig. 13 is a schematic structural view of the charging pile of the present invention;
fig. 14 is a schematic structural view of a guide piece of the present invention;
the parts in the figures are numbered as follows:
chassis 1, radar scanning device 2, display device 3, image acquisition structure 4, camera 41, rack 42, limit block 421, linear module 43, turntable 44, roller structure 5, front wheel 51, middle wheel 52, rear wheel 53, roller mounting seat 54, mounting seat body 541, auxiliary plate 542, cavity 543, connection column 544, first section column 5441, second section column 5442, spring 545, receiving device 6, transfer basket 61, receiving basket 62, mounting frame 63, guide column 65, shelf 66, first spring 671, second spring 672, third spring 673, electrical control box 7, manipulator structure 8, manipulator arm 81, picking hand 82, gripper 821, gripper arm rear section 8215, gripper arm front section 8216, receiving bucket 822, mounting seat 825, fixing plate 823, clamping structure 84, first clamping block 841, second clamping block 842, first rack 8411, second rack 8421, clamping gear 845, first motor 846, The charging device comprises a first clamping arm 8211, a second clamping arm 8212, a blade 8213, a knife groove 8214, an automatic charging device 9, a charging brush 92, a charging plate 93, a charging pile 94, a lifting part 98, a positioning column 96, a guide sheet 97, a guide opening 971, a positioning area 972 and a positioning hole 973.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. Modifications and substitutions of the methods, steps or conditions of the present invention are within the scope of the present invention without departing from the spirit and substance of the invention.
Example (b): a tomato picking robot is shown in figures 1-14 and comprises a chassis 1, a radar scanning device 2 is arranged at the upper end of the chassis and in front of the chassis, a display device 3 is arranged above the radar scanning device, and an image acquisition structure 4 is arranged above the display device; an electrical control box 7 is arranged at the upper end and the rear part of the chassis, and a storage device 6 is arranged above the electrical control box; a manipulator structure 8 is arranged at the upper end and the middle part of the chassis; the lower end of the chassis is arranged on the roller structure 5;
the image acquisition structure 4 comprises a camera 41 and a frame 42, wherein the camera is connected with the shell of the display device through the frame; the frame is provided with a lifting mechanism for driving the camera to move up and down, the lifting mechanism comprises a linear module 43 arranged along the length direction of the support, the linear module comprises a sliding table, and the camera is connected to the sliding table; the bracket is rotationally connected with the shell of the display device, the bottom of the bracket is provided with a turntable 44, and the turntable is connected with a rotating motor;
the storage device comprises a transfer basket 61 and a storage basket 62, the transfer basket is arranged at the upper end of the electric control box and is detachably connected with the electric control box, the storage basket is arranged on the side edge of the electric control box, a mounting frame 63 is arranged at the lower end of the side wall of the electric control box, and the storage basket is placed on the mounting frame; the cross section of the receiving basket is rectangular, guide posts 65 are arranged at four corners of the receiving basket respectively, a shelf 66 which is matched with the cross section of the receiving basket is arranged in the receiving basket, round holes (not shown) are arranged at four corners of the shelf respectively, the shelf is arranged in the receiving basket, the four round holes are sleeved on the guide posts respectively, the guide posts are in cylindrical shapes with the upper parts being thick and the lower parts being thin, and the diameters of the upper ends of the guide posts are larger than those of the round holes;
a plurality of first buffer devices are arranged between the shelf and the bottom wall of the containing basket, each first buffer device comprises a first spring 671, a second spring 672 and a third spring 673, each first spring is arranged on the periphery of each second spring, each second spring is arranged on the periphery of each third spring, the height of each first spring is greater than that of each second spring, and the height of each second spring is greater than that of each third spring;
the manipulator structure 8 comprises a mechanical arm 81 and a picking hand 82, the lower end of the mechanical arm is connected with the chassis, and the upper end of the mechanical arm is connected with the picking hand through a fixing plate; the picking hand comprises a paw 821 and a receiving bucket 822, and the receiving bucket is arranged below the paw;
the gripper is fixedly connected with a fixing plate 823 through a mounting seat 825, a cavity is formed in the mounting seat, a clamping structure 84 is arranged in the cavity, the clamping structure comprises a first clamping block 841, a second clamping block 842, a first rack 8411, a second rack 8421 and a clamping gear 845, a first rack is arranged at the rear end of the first clamping block, a second rack is arranged at the rear end of the second clamping block, the first rack and the second rack are oppositely arranged, the clamping gear is arranged between the first rack and the second rack, the upper end of the clamping gear is meshed with the first rack, the lower end of the clamping gear is meshed with the second rack, a rotating shaft of the clamping gear is connected with an output shaft of a first motor 846, and the first motor is fixedly connected inside the mounting seat; the gripper comprises a first clamping arm 8211 and a second clamping arm 8212, the first clamping arm is connected with the front end of the first clamping block, the second clamping arm is connected with the front end of the second clamping block, and the first motor drives the clamping gear to rotate positively and negatively so as to drive the first clamping block and the second clamping block to approach or separate from each other so as to clamp or separate the first clamping arm and the second clamping arm;
the front end of the first clamping arm is provided with a notch, a blade 8213 is arranged in the notch, and the front end of the second clamping arm is provided with a cutter groove 8214 corresponding to the blade;
the roller structure 5 comprises a pair of front wheels 51, a pair of middle wheels 52, a pair of rear wheels 53 and a roller mounting seat 54, the front wheels, the middle wheels and the rear wheels are respectively connected with the roller mounting seat, and the front wheels, the middle wheels and the rear wheels are all universal wheels and are respectively connected with a driving motor (not shown in the figure);
the roller mounting seat comprises a mounting seat body 541 and an auxiliary plate 542, the auxiliary plate is arranged above the mounting seat body, a cavity 543 is formed in the upper end of the mounting seat body, a second buffer device is arranged in the cavity, the second buffer device comprises a plurality of connecting columns 544, each connecting column comprises a hollow first section column 5441 located above and a solid second section column 5442 located below, the auxiliary plate is fixedly connected to the upper end of the first section column, the lower end of the second section column is fixedly connected to the bottom wall of the cavity, the inner diameter of the first section column is larger than that of the second section column, and the upper end of the second section column extends into the first section column and is connected with the first section column through a fourth spring (545);
the robot further comprises an automatic charging device 9, the automatic charging device comprises a charging mechanism and a guiding mechanism, the charging mechanism comprises a charging electric brush 92 and a charging plate 93 which are matched for use, the charging electric brush is arranged at the lower end of the robot chassis, the charging plate is arranged above a charging pile 94, the upper end of the charging electric brush is connected with a lifting part 98, and the lifting part is connected with the lower end of the chassis;
define the direction of advance of robot as the place ahead, guiding mechanism includes reference column 96 and guide piece 97, the reference column is located and is filled electric pile and be located the rear of charging panel, the guide piece is including guiding the guide mouth 971 and the location area 972 that the reference column slided into the guide piece, the front end of guide piece is connected in the lower extreme of lift portion and is guided the mouth orientation and fill electric pile.
First arm lock and second arm lock include arm lock back end 8215 and arm lock anterior segment 8216 respectively, arm lock back end and arm lock anterior segment body coupling, distance between two arm lock back ends is greater than the distance between two arm lock anterior segments, the arm lock back end of first arm lock with distance between the arm lock back end of second arm lock is first clamp distance, the arm lock anterior segment of first arm lock with distance between the arm lock anterior segment of second arm lock presss from both sides the distance for the second, first clamp distance is greater than the second presss from both sides apart from.
The straight line module is a screw rod type straight line module.
The first buffer device is at least provided with 1 buffer device and is positioned at the central position.
The guiding opening comprises two bevel edges, and the bevel edges are provided with barrier strips.
The positioning area is provided with a positioning hole 973.
The front end of the guide piece inclines downwards.
The middle part of the cutter groove is concave inwards to form an included angle.
The depth of the cutter groove is larger than the width of the blade, and when the first clamping arm and the second clamping arm are clamped tightly, the notch of the cutter groove tightly pushes against the bottom wall of the notch.
The mechanical arm is a six-axis mechanical arm.
The storage hopper is fixedly connected to the lower end of the fixing plate.
The mode of realizing the fixed connection of the storage hopper and the fixing plate is welding or screw connection.
The fixing plate is connected with the mechanical arm through screws.
The top end of the support is provided with a limit block 421.
The camera is a 3D somatosensory camera.
And an ultrasonic anti-collision sensor is arranged outside the scanning device.
The ultrasonic anti-collision sensors are at least 12, 4 in the front of the vehicle and 2 on the left side and the right side of the vehicle.
The lifting part is an electric telescopic rod.
The cross section of the concave cavity is rectangular.
The positioning column is a cylinder, and the diameter of the round hole is larger than that of the positioning column.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be exhaustive. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (8)
1. A tomato picking robot is characterized by comprising a chassis (1), wherein a radar scanning device (2) is arranged at the upper end of the chassis and in front of the chassis, a display device (3) is arranged above the radar scanning device, and an image acquisition structure (4) is arranged above the display device; an electrical control box (7) is arranged at the upper end and the rear part of the chassis, and a storage device (6) is arranged above the chassis; a manipulator structure (8) is arranged at the upper end and the middle part of the chassis; the lower end of the chassis is arranged on the roller structure (5);
the image acquisition structure (4) comprises a camera (41) and a frame (42), and the camera is connected with the shell of the display device through the frame; the camera lifting mechanism is arranged on the rack and drives the camera to move up and down, the lifting mechanism comprises a linear module (43) arranged along the length direction of the support, the linear module comprises a sliding table, and the camera is connected to the sliding table; the support is rotationally connected with the shell of the display device, the bottom of the support is provided with a turntable (44), and the turntable is connected with a rotating motor;
the storage device comprises a transfer basket (61) and a storage basket (62), the transfer basket is arranged at the upper end of the electric control box and is detachably connected with the electric control box, the storage basket is arranged on the side edge of the electric control box, a mounting frame (63) is arranged at the lower end of the side wall of the electric control box, and the storage basket is placed on the mounting frame; the cross section of the receiving basket is rectangular, guide pillars (65) are arranged at four corners of the receiving basket respectively, a shelf (66) which is matched with the cross section of the receiving basket is arranged in the receiving basket, round holes are arranged at four corners of the shelf respectively, the shelf is arranged in the receiving basket, the four round holes are sleeved on the guide pillars respectively, the guide pillars are in cylindrical shapes with thick upper parts and thin lower parts, and the diameters of the upper ends of the guide pillars are larger than those of the round holes;
a first buffer device is arranged between the shelf and the bottom wall of the containing basket and comprises a first spring (671), a second spring (672) and a third spring (673), the first spring is arranged on the periphery of the second spring, the second spring is arranged on the periphery of the third spring, the height of the first spring is greater than that of the second spring, and the height of the second spring is greater than that of the third spring;
the manipulator structure (8) comprises a manipulator arm (81) and a picking hand (82), one end of the manipulator arm is connected with the chassis, and the other end of the manipulator arm is connected with the picking hand through a fixing plate; the picking hand comprises a paw (821) and a receiving bucket (822), and the receiving bucket is arranged below the paw;
the gripper is fixedly connected with a fixing plate (823) through a mounting seat (825), a cavity is formed in the mounting seat, a clamping structure (84) is arranged in the cavity, the clamping structure comprises a first clamping block (841), a second clamping block (842), a first rack (8411), a second rack (8421) and a clamping gear (845), the first rack is arranged at the rear end of the first clamping block, the second rack is arranged at the rear end of the second clamping block, the first rack and the second rack are oppositely arranged, the clamping gear is arranged between the first rack and the second rack, the upper end of the clamping gear is meshed with the first rack, the lower end of the clamping gear is meshed with the second rack, a rotating shaft of the clamping gear is connected with an output shaft of a first motor (846), and the first motor is fixedly connected inside the mounting seat; the gripper comprises a first clamping arm (8211) and a second clamping arm (8212), the first clamping arm is connected with the front end of the first clamping block, the second clamping arm is connected with the front end of the second clamping block, and the first motor drives the clamping gear to rotate positively and negatively so as to drive the first clamping block and the second clamping block to approach or separate from each other so as to clamp or separate the first clamping arm and the second clamping arm;
the front end of the first clamping arm is provided with a notch, a blade (8213) is arranged in the notch, and the front end of the second clamping arm is provided with a cutter groove (8214) corresponding to the blade
The roller structure (5) comprises a pair of front wheels (51), a pair of middle wheels (52), a pair of rear wheels (53) and a roller mounting seat (54), the front wheels, the middle wheels and the rear wheels are respectively connected with the roller mounting seat, and the front wheels, the middle wheels and the rear wheels are all universal wheels and are respectively connected with a driving motor;
the roller mounting seat comprises a mounting seat body (541) and an auxiliary plate (542), the auxiliary plate is arranged above the mounting seat body, a cavity (543) is formed in the upper end of the mounting seat body, a second buffer device is arranged in the cavity, the second buffer device comprises a plurality of connecting columns (544), each connecting column comprises a hollow first section column (5441) located above and a solid second section column (5442) located below, the auxiliary plate is fixedly connected to the upper end of the first section column, the lower end of the second section column is fixedly connected with the bottom wall of the cavity, the inner diameter of the first section column is larger than that of the second section column, and the upper end of the second section column extends into the first section column and is connected with the first section column through a fourth spring (545);
the robot further comprises an automatic charging device (9), the automatic charging device comprises a charging mechanism and a guiding mechanism, the charging mechanism comprises a charging electric brush (92) and a charging plate (93) which are matched for use, the charging electric brush is arranged at the lower end of the robot chassis, the charging plate is arranged above a charging pile (94), the upper end of the charging electric brush is connected with a lifting part (98), and the lifting part is connected to the lower end of the chassis;
define the direction of advance of robot as the place ahead, guiding mechanism includes reference column (96) and guide piece (97), the reference column is located and is filled electric pile and be located the rear of charging panel, the guide piece slides in guide mouth (971) and locating area (972) of guide piece including the guide reference column, the front end of guide piece is connected in the lower extreme of lift portion and is guided the mouth orientation and fill electric pile.
2. Tomato picking robot according to claim 1, characterized in that: first arm lock and second arm lock include arm lock back end (8215) and arm lock anterior segment (8216) respectively, arm lock back end and arm lock anterior segment body coupling, the distance between two arm lock back ends is greater than the distance between two arm lock anterior segments.
3. Tomato picking robot according to claim 1, characterized in that: and an ultrasonic anti-collision sensor is arranged outside the scanning device.
4. Tomato picking robot according to claim 1, characterized in that: the straight line module is a screw rod type straight line module.
5. Tomato picking robot according to claim 1, characterized in that: the first buffer device is at least provided with 1 buffer device and is positioned at the central position of the containing basket.
6. Tomato picking robot according to claim 1, characterized in that: the guiding opening comprises two bevel edges, and the bevel edges are provided with barrier strips.
7. Tomato picking robot according to claim 1, characterized in that: the positioning area is provided with a positioning hole (973).
8. Tomato picking robot according to claim 1, characterized in that: the front end of the guide piece inclines downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921096224.1U CN210928644U (en) | 2019-07-15 | 2019-07-15 | Tomato picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921096224.1U CN210928644U (en) | 2019-07-15 | 2019-07-15 | Tomato picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210928644U true CN210928644U (en) | 2020-07-07 |
Family
ID=71389194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921096224.1U Active CN210928644U (en) | 2019-07-15 | 2019-07-15 | Tomato picking robot |
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| CN (1) | CN210928644U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN110178536B (en) * | 2019-07-15 | 2024-06-18 | 昆山博尔广智能科技有限公司 | Tomato picking robot and control method thereof |
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