CN211531882U - Picking robot for sports - Google Patents
Picking robot for sports Download PDFInfo
- Publication number
- CN211531882U CN211531882U CN201921232666.4U CN201921232666U CN211531882U CN 211531882 U CN211531882 U CN 211531882U CN 201921232666 U CN201921232666 U CN 201921232666U CN 211531882 U CN211531882 U CN 211531882U
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- clamping jaw
- steering engine
- guide
- picking
- lead screw
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Abstract
The utility model discloses a picking robot for sports, which comprises a guiding device, a moving device and a picking device, wherein the guiding device is arranged on one side of the moving device, and the picking device is arranged on one side of the moving device opposite to the guiding device; the moving device comprises a top plate, a bottom plate, a supporting rod, a lead screw and a driving wheel; the guide device comprises a guide steering engine, a guide steering engine bracket and a guide frame, the guide steering engine is fixedly arranged on the bottom plate through the guide steering engine bracket, and the guide frame is connected with the output end of the guide steering engine; the picking device comprises a connecting piece, a left steering engine, a right steering engine, a left clamping jaw and a right clamping jaw, wherein the connecting piece is in threaded connection with a lead screw, the lead screw is driven by a stepping motor to rotate, the left clamping jaw is connected with the left steering engine, and the right clamping jaw is connected with the right steering engine. The picking robot for the sports can conveniently, quickly and effectively pick fruits according to relevant regulations of the game.
Description
Technical Field
The utility model belongs to the technical field of the agricultural is picked, concretely relates to picking robot is used in sports.
Background
The orchard production seasonality is strong, the labor intensity of the traditional harvesting mode for manually grabbing and harvesting fruits is high, the production efficiency is low, and the labor is intensive, so that the traditional harvesting mode is a bottleneck factor for restricting the improvement of the market competitiveness of fruits. Currently, fruit harvesting mechanization is still a weak link of orchard production mechanization, and the demand of vast fruit growers on advanced fruit harvesting mechanical equipment is very urgent.
In order to promote innovation of the fruit harvesting robot, the orchard fruit harvesting robot project is an important project of China agricultural robot competition, the competition aims at achieving efficient, intelligent and independent harvesting, a competition field is set indoors, a simulation fruit tree and simulation fruits are adopted, the simulation fruits are red and green table tennis balls, 6 homochromatic fruits are hung on each fruit tree, and pins are arranged on the fruits and connected with magnets on the fruit trees through the pins.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's is not enough, provides a picking robot is used in sports, and this picking robot is used in sports can be convenient, quick, effectual picking fruit to this relevant regulation of match.
The utility model discloses a realize through following technical scheme: a picking robot for sports comprises a guide device, a moving device and a picking device, wherein the guide device is arranged on one side of the moving device, and the picking device is arranged on one side of the moving device opposite to the guide device;
the moving device comprises a top plate, a bottom plate, a supporting rod, a lead screw and a driving wheel, the top plate is arranged at the upper part of the bottom plate, the top plate is connected with the bottom plate through the supporting rod, the supporting rod is arranged at one side of the bottom plate connected with the guide device, the lead screw is arranged at the other side of the moving device, the top end of the lead screw is connected with the top plate, the bottom end of the lead screw is connected with the bottom plate, the driving wheel is arranged at the bottom of the bottom plate, the driving wheel is connected with a speed reducing motor, the speed reducing motor is fixedly arranged at the bottom of the bottom plate through a motor support, a stepping motor is further arranged at the bottom of the bottom plate, and the stepping motor;
the guide device comprises a guide steering engine, a guide steering engine bracket and a guide frame, the guide steering engine is fixedly arranged on the bottom plate through the guide steering engine bracket, and the guide frame is connected with the output end of the guide steering engine;
the picking device comprises a connecting piece, a left steering wheel, a right steering wheel, a left clamping jaw and a right clamping jaw, wherein the connecting piece is in threaded connection with a lead screw, the lead screw is driven by a stepping motor to rotate and drive the connecting piece to move along the lead screw in the vertical direction, the left clamping jaw is connected with a left steering wheel, the right clamping jaw is connected with the right steering wheel, the left steering wheel drives the left clamping jaw to rotate, the right steering wheel drives the right clamping jaw to rotate, so that the left clamping jaw and the right clamping jaw are opened and closed, the left steering wheel and the right steering wheel are fixedly installed by a steering wheel support and the connecting piece respectively, and the left clamping jaw and the right clamping jaw are moved along the vertical direction.
In the technical scheme, the left clamping jaw and the right clamping jaw are in a semi-cylindrical shape and are matched with each other, the bottom of the left clamping jaw and the bottom of the right clamping jaw are respectively provided with a semicircular containing plate for placing picked fruits, and the relative inner sides of the left clamping jaw and the right clamping jaw are respectively provided with a brush body.
In the technical scheme, the brush body is made of PLA material.
In the technical scheme, two layers of brush bodies are arranged on the left clamping jaw and the right clamping jaw respectively, lower brush bodies are arranged at the middle parts of the left clamping jaw and the right clamping jaw respectively, and upper brush bodies are arranged at the tops of the left clamping jaw and the right clamping jaw respectively.
In the above technical solution, the driving wheels are mecanum wheels.
In the technical scheme, four Mecanum wheels are arranged and are respectively arranged at four corners of the bottom of the lower bottom plate.
In the technical scheme, the guide frame is Y-shaped, and the guide steering engine drives the guide frame to rotate.
In the technical scheme, the cylinder walls of the left clamping jaw and the right clamping jaw are both hollowed out.
In the above technical scheme, the leading truck is extending structure, the leading truck includes mount and carriage, the spout has on the mount, the slider has on the carriage, the slider is followed the spout slides to realize that the carriage slides along the mount.
In the above technical scheme, a pulley is arranged at one end of the guide frame, which is far away from the moving device.
The utility model discloses an advantage and beneficial effect do: the utility model aims at designing a flexible picking machine of parcel formula, it mutually supports to turn to different picking clamping jaws through two sets of, and every clamping jaw design has flexible brush structure, can realize the self-adaptation to the irregular shape of target fruit tree, and maximum parcel fruit tree, the interval and the contained angle of every brush set up according to target fruit tree fruit distribution law simultaneously, realize to the biggest cover of apple and pick, have avoided causing the damage to the branch of fruit tree simultaneously to reach high efficiency and pluck the fruit purpose. Meanwhile, the guide device is arranged on the side opposite to the picking device, so that the stability of the robot in running can be improved. Meanwhile, the picking device is connected with the lead screw, and the height of the picking device can be adjusted according to the difference of the heights of the fruits.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a flow chart of the present invention;
fig. 3 is a circuit diagram of the present invention.
Wherein:
1: bottom plate, 2: motor support, 3: gear motor, 4: drive wheel, 5: infrared pair tube, 6: laser sensor, 7: step motor, 8: a screw rod, 9: connecting piece, 10: steering engine support, 11: guide steering engine, 12: guide steering engine support, 13: top plate, 14: guide frame, 14-1: mount, 14-2: carriage, 14-3: pulley, 15: control system, 16: visual system, 17: power supply voltage stabilization module, 18: power switch, 19: power supply, 20: camera, 21: support bar, 24: storage plate, 25: right jaw, 26: lower brush body, 28: upper brush body, 29: rotation axis, 30: left jaw, 31: guidance system, 32: an ultrasonic sensor.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical field person understand the solution of the present invention better, the technical solution of the present invention is further described below with reference to the specific embodiments.
Example one
A picking robot for sports comprises a guide device, a moving device and a picking device, wherein the guide device is arranged on one side of the moving device, and the picking device is arranged on one side of the moving device opposite to the guide device;
the moving device comprises a top plate 13, a bottom plate 1, a support rod 21, a lead screw 8 and a driving wheel 4, wherein the top plate 13 is arranged at the upper part of the bottom plate 1, the top plate 13 is connected with the bottom plate 1 through the support rod 21, the support rod 21 is arranged at one side of the bottom plate 1 connected with the guide device, the lead screw 8 is arranged at the other side of the moving device, the top end of the lead screw 8 is connected with the top plate 13, the bottom end of the lead screw 8 is connected with the bottom plate 1, the driving wheel 4 is arranged at the bottom of the bottom plate 1, the driving wheel 4 is connected with a speed reduction motor 3, and the speed reduction motor 3 is fixedly arranged at the bottom of the bottom plate; the bottom of the bottom plate 1 is also provided with a stepping motor 7, and the stepping motor 7 is connected with the bottom end of the lead screw 8 and drives the lead screw 8;
the guide device comprises a guide steering engine 11, a guide steering engine bracket 12 and a guide frame 14, the guide steering engine 11 is fixedly arranged on the bottom plate 1 through the guide steering engine bracket 12, and the guide frame 14 is connected with the output end of the guide steering engine 11;
picking device includes connecting piece 9, left steering wheel, right steering wheel, left clamping jaw 30 and right clamping jaw 25, connecting piece 9 with 8 threaded connection of lead screw, step motor 7 drive 8 rotations of lead screw drive simultaneously the connecting piece 9 is followed lead screw 8 and is removed along vertical direction, left side clamping jaw 30 with the left steering wheel is connected, right clamping jaw 25 with right steering wheel connection, the drive of left steering wheel left side clamping jaw 30 rotates, right steering wheel drive right clamping jaw 25 rotates, thereby realizes left side clamping jaw 30 with opening and shutting of right clamping jaw 25, left side steering wheel with right steering wheel respectively through steering wheel support 10 with connecting piece 9 adorns admittedly, thereby realizes left side clamping jaw 30 with right clamping jaw 25 removes along vertical direction.
Preferably, the method comprises the following steps: the left clamping jaw 30 with the right clamping jaw 25 is the half cylindric of mutually supporting, the bottom of left clamping jaw 30 with the right clamping jaw 25 has semicircular storage plate 24 respectively for place the fruit of picking, the left clamping jaw 30 with the relative inboard of right clamping jaw 25 all is provided with the brush body.
Preferably, the brush body is made of PLA materials, so that damage to fruits during picking is reduced to a great extent compared with a traditional picking machine.
Preferably, two layers of brush bodies are respectively arranged on the left clamping jaw 30 and the right clamping jaw 25, the middle parts of the left clamping jaw 30 and the right clamping jaw 25 are respectively provided with a lower brush body 26, and the top parts of the left clamping jaw 30 and the right clamping jaw 25 are respectively provided with an upper brush body 28. The density of the brush body can be flexibly adjusted to adapt to fruit trees with different fruit densities; the brush body is provided with two layers, so that the fruits with different heights can be picked simultaneously, and the lower layer brush body is designed with inclination to ensure that the fruits picked by the upper layer brush body can smoothly slide into the bottom bin.
Preferably, the driving wheels 4 are mecanum wheels.
Preferably, there are four mecanum wheels, which are respectively disposed at four corners of the bottom of the lower plate 1.
The working mode is as follows:
four groups of direct current gear motors 3, four Mecanum wheels and four groups of couplers are arranged at the bottom of the bottom plate 1, the four groups of direct current gear motors 3 are connected with the four groups of Mecanum wheels through the couplers, torque output by the motors rotates through the coupler driving wheels 4, the motors control the Mecanum wheels to turn, and the motors are matched with the characteristics of the Mecanum wheels to realize the movement of the vehicle body in various directions. The left steering engine output torque drives the left clamping jaw 30 to rotate, the same right steering engine output torque drives the right clamping jaw 25 to rotate, the left steering engine and the right steering engine are respectively installed on a steering engine frame in a bolt connection mode, the left clamping jaw 30 is connected with a left steering engine through a shaft, the right clamping jaw 25 is connected with a right steering engine through a shaft, a rotating shaft 29 of the left clamping jaw 30 is connected with a bearing on the steering engine frame, the rotating shaft 29 of the right clamping jaw 25 is connected with a bearing on the steering engine frame, and rotary cladding movement is achieved under the action of the steering engine. The steering engine frame provided with the left clamping jaw 25 and the right clamping jaw 25 is installed on the screw rod 8 through a connecting plate, after the left clamping jaw 25 and the right clamping jaw 25 wrap a target, the stepping motor 7 drives the screw rod 8 to rotate, so that the picking device moves up and down to realize picking action, and picked fruits fall into the containing plate 24 at the bottom of the clamping jaws. After picking, the left and right clamping jaws 25 rotate back into the vehicle body, the vehicle body continues to move forward, and the picking action is repeated after the next target is found. In addition, the picking robot can realize the simultaneous picking of a plurality of single targets, and the working efficiency of the picking robot is improved to a great extent.
Example two
The embodiment is further optimized on the basis of the first embodiment.
The side wall of the bottom plate 1 is provided with infrared geminate transistors 5, the bottom of the bottom plate 1 is provided with a laser sensor 6, the picking robot can identify a driving path under the action of the infrared geminate transistors 5, and linear driving can be achieved by combining the guiding of the laser sensor 6. A control system 15 is arranged on the front wall of the top plate 13, a vision system 16 is arranged on the rear wall of the top plate 13, a power switch 18 is arranged at the right side of the front wall of the top plate 13, a power supply 19 is arranged at the middle part of the front wall of the top plate 13, the power switch 18 is connected with the power supply 19, a power supply voltage stabilizing module 17 is arranged between the power supply 19 and the control system 15, the power supply voltage stabilizing module 17 enables the voltage output by the power supply 19 to be more stable, the rightmost side of the front wall of the top plate 13 is provided with a camera 20, the guide steering engine 11 is also provided with a guide system 31 and an ultrasonic sensor 32, the ultrasonic sensor 32 can enable the picking robot to identify obstacles on a driving path, if the obstacles are met, the picking robot can be stopped in time to avoid causing injury to personnel or substances, under the combined action of the control system 15 and the guide system 31, the picking robot can travel autonomously. Further, referring to fig. 3, the CPU of the vision system 16 adopts an STM32 single chip microcomputer, the main control chip of the control system 15 adopts K60, the STM32 single chip microcomputer is connected with K60 through serial ports, the STM32 single chip microcomputer is connected with the camera 20 (model is OV7670) through data lines, the vision system processes the picked images and analyzes the maturity of the target according to the color, the picking robot can autonomously judge the picking target under the action of the vision system 16, and automatically picks (the main control chip of the control system 15 is connected with the left and right steering engines of the picking device, the stepping motor 7 and the four groups of direct current reducing motors 3 respectively, so as to control the picking clamping action, the up and down movement of the picking device and the movement of the vehicle body).
EXAMPLE III
The embodiment is further optimized on the basis of the first embodiment.
Preferably, the guide frame 14 is Y-shaped, and the guide steering engine 11 drives the guide frame 14 to rotate, so that the stability of the picking robot in moving is ensured.
As an optimal mode, the cylinder walls of the left clamping jaw 30 and the right clamping jaw 25 are hollow, so that the weight of the clamping jaws is reduced, and the picking robot is more stable when moving.
Preferably, the guide frame 14 is a telescopic structure, the guide frame 14 includes a fixed frame 14-1 and a sliding frame 14-2, the fixed frame 14-1 has a sliding slot, and the sliding frame 14-2 has a sliding block, the sliding block slides along the sliding slot, so that the sliding frame 14-2 slides along the fixed frame 14-1. The length of the guide frame 14 can be adjusted according to the moving speed of the picking robot, so that the picking robot can run more stably.
Preferably, the end of the guide frame 14 far away from the moving device is provided with a pulley 14-3, so that the guide frame 14 is prevented from colliding with an obstacle to influence the traveling speed when the picking robot rotates.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.
Claims (10)
1. A picking robot for sports, characterized in that: the picking device comprises a guide device, a moving device and a picking device, wherein the guide device is arranged on one side of the moving device, and the picking device is arranged on one side of the moving device opposite to the guide device;
the moving device comprises a top plate (13), a bottom plate (1), a supporting rod (21), a lead screw (8) and a driving wheel (4), wherein the top plate (13) is arranged on the upper portion of the bottom plate (1), the top plate (13) is connected with the bottom plate (1) through the supporting rod (21), the supporting rod (21) is arranged on one side of the bottom plate (1) connected with the guiding device, the lead screw (8) is arranged on the other side of the moving device, the top end of the lead screw (8) is connected with the top plate (13), the bottom end of the lead screw (8) is connected with the bottom plate (1), the driving wheel (4) is arranged at the bottom of the bottom plate (1), the driving wheel (4) is connected with a speed reducing motor (3), the speed reducing motor (3) is fixedly arranged at the bottom of the bottom plate (1) through a motor support (2), a stepping motor (7) is further arranged at the bottom of, the stepping motor (7) is connected with the bottom end of the lead screw (8) and drives the lead screw (8);
the guide device comprises a guide steering engine (11), a guide steering engine support (12) and a guide frame (14), the guide steering engine (11) is fixedly arranged on the bottom plate (1) through the guide steering engine support (12), and the guide frame (14) is connected with the output end of the guide steering engine (11);
the picking device comprises a connecting piece (9), a left rudder machine, a right steering engine, a left clamping jaw (30) and a right clamping jaw (25), the connecting piece (9) is in threaded connection with the lead screw (8), the stepping motor (7) drives the lead screw (8) to rotate, simultaneously drives the connecting piece (9) to move along the lead screw (8) along the vertical direction, the left clamping jaw (30) is connected with the left steering engine, the right clamping jaw (25) is connected with the right steering engine, the left steering engine drives the left clamping jaw (30) to rotate, the right steering engine drives the right clamping jaw (25) to rotate, thereby realizing the opening and closing of the left clamping jaw (30) and the right clamping jaw (25), the left steering engine and the right steering engine are respectively and fixedly arranged with the connecting piece (9) through a steering engine bracket (10), thereby effecting movement of the left jaw (30) and the right jaw (25) in a vertical direction.
2. A sports picking robot as claimed in claim 1, characterised by: left side clamping jaw (30) with right clamping jaw (25) are half cylindric of mutually supporting, left side clamping jaw (30) with the bottom of right clamping jaw (25) has semicircular storage plate (24) respectively for place the fruit of picking, left side clamping jaw (30) with the relative inboard of right clamping jaw (25) all is provided with the brush body.
3. A sports picking robot as claimed in claim 2, characterised by: the brush body is made of PLA material.
4. A sports picking robot as claimed in claim 3, characterised by: the left clamping jaw (30) with two-layer brush body has respectively on the right clamping jaw (25), left side clamping jaw (30) with the middle part of right clamping jaw (25) has down brush body (26) respectively, left side clamping jaw (30) with the top of right clamping jaw (25) has last brush body (28) respectively.
5. A sports picking robot as claimed in claim 1, characterised by: the driving wheel (4) is a Mecanum wheel.
6. A competitive picking robot as claimed in claim 5, characterised by: the number of the Mecanum wheels is four, and the Mecanum wheels are respectively arranged at four corners of the bottom plate (1).
7. A sports picking robot as claimed in claim 1, characterised by: the guide frame (14) is Y-shaped, and the guide steering engine (11) drives the guide frame (14) to rotate.
8. A sports picking robot as claimed in claim 2, characterised by: the cylinder walls of the left clamping jaw (30) and the right clamping jaw (25) are hollow.
9. A sports picking robot according to claim 7 characterised by: the guide frame (14) is of a telescopic structure, the guide frame (14) comprises a fixed frame (14-1) and a sliding frame (14-2), a sliding groove is formed in the fixed frame (14-1), a sliding block is arranged on the sliding frame (14-2), and the sliding block slides along the sliding groove, so that the sliding frame (14-2) slides along the fixed frame (14-1).
10. A competitive picking robot as claimed in claim 7 or 9, wherein: and a pulley (14-3) is arranged at one end of the guide frame (14) far away from the moving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921232666.4U CN211531882U (en) | 2019-07-31 | 2019-07-31 | Picking robot for sports |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921232666.4U CN211531882U (en) | 2019-07-31 | 2019-07-31 | Picking robot for sports |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211531882U true CN211531882U (en) | 2020-09-22 |
Family
ID=72488072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921232666.4U Expired - Fee Related CN211531882U (en) | 2019-07-31 | 2019-07-31 | Picking robot for sports |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211531882U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113748844A (en) * | 2021-09-17 | 2021-12-07 | 宋鹏 | Agricultural blueberry picking machine |
-
2019
- 2019-07-31 CN CN201921232666.4U patent/CN211531882U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113748844A (en) * | 2021-09-17 | 2021-12-07 | 宋鹏 | Agricultural blueberry picking machine |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200922 Termination date: 20210731 |
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| CF01 | Termination of patent right due to non-payment of annual fee |