CN211745409U

CN211745409U - Picking mechanical arm with video detection function

Info

Publication number: CN211745409U
Application number: CN201922266368.3U
Authority: CN
Inventors: 熊茂华; 陈广辉; 揭紫聪; 康霞; 郑钦涛
Original assignee: South China Business Trade College
Current assignee: South China Business Trade College
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-10-27
Anticipated expiration: 2029-12-17

Abstract

The utility model discloses a pick arm with video detection function, including the arm body, the camera, pick executor and controller, the camera sets up in the tip top of arm body, it sets up in the terminal position of arm body to pick the executor, camera and picking executor all with controller electric connection, the camera is used for acquireing real-time fruit image information and sends real-time fruit image information to the controller and discerns, the controller has preset ripe fruit image information, discernment real-time fruit image information and compare with ripe fruit image information to pick the executor with control, it is used for picking the fruit to pick the executor to pick; this plucking arm with video detection function has the video detection function, and is more intelligent.

Description

Picking mechanical arm with video detection function

Technical Field

The utility model relates to an agricultural robot field, concretely relates to harvesting arm with video detection function.

Background

The agricultural robot is a flexible automatic or semi-automatic device which takes agricultural products as a working object, has the capabilities of human part information perception and limb movement and can be programmed repeatedly.

The fruit and vegetable consumption and production are both major countries in China. The planting area of the fruits and vegetables in China exceeds 2000 kilohm²By 2016, the total yield exceeds 7.74 million tons, which is the first in the world. However, with the development of urbanization, the loss amount of rural labor is more and more, and at the same time, in the beginning of the 21 st century, China is aging. The rural labor force in China is seriously insufficient. Therefore, in order to solve the problem of labor shortage and meet the requirements of agricultural development and people on agricultural products, the intellectualization and agricultural modernization of agricultural mechanized equipment are necessary.

In the whole production flow of fruits and vegetables, picking work is a link with large labor amount, at present, mechanical operation is realized on a few fruits and vegetables with low quality requirements, and most of the other fruits and vegetables are manually operated. Particularly, the picking of the prior fruits and vegetables, such as apples, oranges, cucumbers and the like, basically depends on manual operation. The area of cucumber planted nationwide in 2016 reaches 1934 ten thousand mu, the yield reaches 6041 ten thousand tons, and the mature period of fruits and vegetables is approximately the same, so that the huge workload is realized, the time is short, and a large amount of labor force is required. Therefore, diversified, large-scale, intelligent and precise agricultural production is a trend in development at present.

With the development of high technology, industrial robots are increasingly used in production, and in the 70 s of the 20 th century, developed countries have become aware of the use of mechanical automation devices in agricultural production and have invested large amounts of capital to begin research and development of agricultural robots. The agricultural robot with automation and intellectualization solves the problems of labor shortage, poor labor environment and the like to a certain extent, improves fruit and vegetable picking efficiency, and accordingly improves economic benefits of fruit growers.

In recent years, picking robots have been developed rapidly, the technology has been advanced continuously, and some products in the aspect are also appeared. But at present, the arm exists and does not possess the video detection function, and is intelligent lower.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defect among the prior art, provide a pick arm with video detection function, can effectively make rivers cover whole energy storage tank cross section, slow down the velocity of water, improve the energy storage tank hold and release efficiency.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

a picking mechanical arm with a video detection function comprises a mechanical arm body, a camera, a picking actuator and a controller;

the camera is arranged above the end part of the mechanical arm body, the picking actuator is arranged at the tail end of the mechanical arm body, and the camera and the picking actuator are both electrically connected with the controller;

the camera is used for acquiring real-time fruit image information and sending the real-time fruit image information to the controller for identification;

the controller is preset with mature fruit image information, identifies real-time fruit image information and compares the real-time fruit image information with the mature fruit image information to control the picking actuator.

The picking actuator is used for picking fruits.

In order to further realize the utility model discloses, when discerning real-time fruit image information and matching with ripe fruit image information, the executor work is picked to the fruit to controller control picking.

In order to further realize the utility model, the mechanical arm body comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, the front end of the first mechanical arm is rotatably connected with the base through a first joint, and the rotating shaft of the first joint is parallel to the extending direction of the first mechanical arm;

the front end of the second mechanical arm is rotatably connected with the rear end of the first mechanical arm through a second joint, and a rotating shaft of the second joint is vertical to the extending direction of the second mechanical arm;

the front end of the third mechanical arm is rotatably connected with the rear end of the second mechanical arm through a third joint, and a rotating shaft of the third joint is vertical to the extending direction of the third mechanical arm;

the front end of the fourth mechanical arm is rotatably connected with the rear end of the third mechanical arm through a fourth joint, and a rotating shaft of the fourth joint is vertical to the extending direction of the fourth mechanical arm;

the front end of the fifth mechanical arm is rotatably connected with the rear end of the fourth mechanical arm through a fifth joint, and a rotating shaft of the fifth joint is parallel to the extending direction of the fifth mechanical arm;

the front end of the sixth mechanical arm is rotatably connected with the rear end of the fifth mechanical arm through a sixth joint, and a rotating shaft of the sixth joint is perpendicular to the extending direction of the sixth mechanical arm.

In order to further realize the utility model discloses, first joint, fifth joint and sixth joint all include first work motor, first input gear, driving pulley, driven pulleys, belt and first reduction gear, the output shaft and the first input gear of first work motor are connected, driving pulley fixed mounting is in the axle head of first input gear, driven pulleys is fixed to be set up in the input of first reduction gear, the belt is around locating driving pulley and driven pulleys and tensioning.

In order to further realize the utility model discloses, first joint, fifth joint and sixth joint all still include first stand-by motor, second input gear and first driven gear, first stand-by motor's output shaft and second input gear are connected, the second input gear is connected with first input gear transmission through first driven gear, first driven gear meshes with first input gear and second input gear respectively mutually.

In order to further realize the utility model discloses, first reduction gear output and the first arm fixed connection of first joint, the first reduction gear output and the fifth arm fixed connection of fifth joint, the first reduction gear output and the sixth arm fixed connection of sixth joint.

In order to further realize the utility model discloses, second joint, third joint and fourth joint all include second work motor, third input gear, second reduction gear, worm, turbine and third reduction gear, the output shaft and the third input gear of second work motor are connected, the axle head and the input of second reduction gear of third input gear are connected, the output of second reduction gear and the end connection of worm, turbine and worm mesh mutually and are connected, the turbine sets up in the input of third reduction gear.

In order to further realize the utility model discloses, second joint, third joint and fourth joint all still include second stand-by motor, fourth input gear and second driven gear, second stand-by motor's output shaft and fourth input gear are connected, fourth input gear passes through second driven gear and is connected with third input gear transmission, second driven gear meshes with third input gear and fourth input gear respectively mutually.

In order to further realize the utility model discloses, the third reduction gear output and the second arm fixed connection of second joint, the third reduction gear output and the third arm fixed connection of third joint, the third reduction gear and the fourth arm fixed connection of fourth joint.

Advantageous effects

The utility model discloses a be provided with the camera, pick executor and controller, make the controller can judge according to characteristics such as the colour of fruit, shape, and then pick, make the arm have the video detection function, it is more intelligent.

Drawings

Fig. 1 is a schematic structural diagram of a picking mechanical arm with a video detection function according to the present invention;

fig. 2 is a schematic circuit diagram of a picking robot with video detection function according to the present invention;

fig. 3 is a schematic structural view of the robot arm body of the present invention;

fig. 4 is a front view of the first joint mechanism of the present invention;

fig. 5 is a left side view of the first joint mechanism of the present invention;

fig. 6 is a front view of a second joint mechanism of the present invention;

fig. 7 is a front view of the worm gear and worm connection in the first joint mechanism of the present invention;

fig. 8 is a left side view of the worm gear and worm connection in the first joint mechanism of the present invention.

Description of reference numerals:

1. a mechanical arm body; 11. a base; 12. a first robot arm; 13. a second mechanical arm; 14. a third mechanical arm; 15. a fourth mechanical arm; 16. a fifth mechanical arm; 17. a sixth mechanical arm; 18. a first joint; 19. a second joint; 110. a third joint; 111. a fourth joint; 112. a fifth joint; 113. a sixth joint; 114. a first working motor; 115. a first backup motor; 116. a first input gear; 117. a second input gear; 118. a first driven gear; 119. a driving pulley; 120. a driven pulley; 121. a belt; 122. a first decelerator; 123. a second working motor; 124. a second backup motor; 125. a third input gear; 126. a fourth input gear; 127. a second driven gear; 128. a second decelerator; 129. a worm; 130. a turbine; 131. a third speed reducer; 2. a camera; 3. picking an actuator; 4. and a controller.

Detailed Description

The invention will be described in further detail with reference to the accompanying drawings, which are simplified schematic drawings and only schematically illustrate the basic structure of the invention.

Example one

As shown in fig. 1-8, the utility model discloses picking arm with video detection function includes arm body 1, camera 2, picks executor 3 and controller 4, wherein:

the camera 2 is arranged above the end part of the mechanical arm body 1, the picking actuator 3 is arranged at the tail end position of the mechanical arm body 1, and the camera 2 and the picking actuator 3 are both electrically connected with the controller 4.

The camera 2 is used for acquiring real-time fruit image information and sending the real-time fruit image information to the controller 4 for identification;

the controller 4 is preset with mature fruit image information, identifies real-time fruit image information and compares with the mature fruit image information to control the picking actuator 3.

The picking actuator 3 is used for picking the fruit.

When the real-time fruit image information is identified and matched with the mature fruit image information, the controller 4 controls the picking actuator 3 to work to pick fruits; when the real-time fruit image information is identified and does not match the ripe fruit image information, the controller 4 does not issue a control instruction to the picking actuator 3.

The controller 4 is HH-N05S, HH-N20S, HH-N40S, HH-DA10D or MT8516, it should be noted that the controller is not a main inventive point of the present invention, as long as the controller capable of implementing the control function can be used as the controller of the present embodiment, the type of the controller is not limited to the above type, and other types known to those skilled in the art may be used, and the specific type may be determined according to actual situations, and will not be described herein again.

The robot arm body 1 includes a base 11, a first robot arm 12, a second robot arm 13, a third robot arm 14, a fourth robot arm 15, a fifth robot arm 16, and a sixth robot arm 17, wherein:

the front end of the first mechanical arm 12 is rotatably connected with the base 11 through a first joint 18, the rotating shaft of the first joint 18 is parallel to the extending direction of the first mechanical arm 12, the front end of the second mechanical arm 13 is rotatably connected with the rear end of the first mechanical arm 12 through a second joint 19, the rotating shaft of the second joint 19 is vertical to the extending direction of the second mechanical arm 13, the front end of the third mechanical arm 14 is rotatably connected with the rear end of the second mechanical arm 13 through a third joint 110, the rotating shaft of the third joint 110 is vertical to the extending direction of the third mechanical arm 14, the front end of the fourth mechanical arm 15 is rotatably connected with the rear end of the third mechanical arm 14 through a fourth joint 111, the rotating shaft of the fourth joint 111 is vertical to the extending direction of the fourth mechanical arm 15, the front end of the fifth mechanical arm 16 is rotatably connected with the rear end of the fourth mechanical arm 15 through a fifth joint 112, the rotating shaft of the fifth joint 112 is parallel to the extending direction of the fifth mechanical arm 16, the front end of the sixth mechanical arm 17 is rotatably connected with the rear end of the fifth mechanical arm 16 through a sixth joint 113, and the rotating shaft of the sixth joint 113 is perpendicular to the extending direction of the sixth mechanical arm 17.

The first joint 18, the fifth joint 112 and the sixth joint 113 are all first joint mechanisms, each first joint mechanism comprises a first working motor 114, a first standby motor 115, a first input gear 116, a second input gear 117, a first driven gear 118, a driving pulley 119, a driven pulley 120, a belt 121 and a first speed reducer 122, an output shaft of the first working motor 114 is connected with the first input gear 116, an output shaft of the first standby motor 115 is connected with the second input gear 117, the second input gear 117 is in transmission connection with the first input gear 116 through the first driven gear 118, the first driven gear 118 is respectively meshed with the first input gear 116 and the second input gear 117, the driving pulley 119 is fixedly mounted at the shaft end of the first input gear 116, the driven pulley 120 is fixedly mounted at the input end of the first speed reducer 122, the belt 121 is wound around the driving pulley 119 and the driven pulley 120 and tensioned, the output end of the first reducer 122 of the first joint 18 is fixedly connected with the first mechanical arm 12, the output end of the first reducer 122 of the fifth joint 112 is fixedly connected with the fifth mechanical arm 16, and the output end of the first reducer 122 of the sixth joint 113 is fixedly connected with the sixth mechanical arm 17. Through the transmission of belt structure, first reduction gear, can save space to have good output torque. By adopting the standby motor, if the working motor can start the standby motor to work due to faults, the reliability of the joint is improved.

The second joint 19, the third joint 110 and the fourth joint 111 all adopt a second joint mechanism, the second joint mechanism comprises a second working motor 123, a second standby motor 124, a third input gear 125, a fourth input gear 126, a second driven gear 127, a second speed reducer 128, a worm 129, a worm wheel 130 and a third speed reducer 131, an output shaft of the second working motor 123 is connected with the third input gear 125, an output shaft of the second standby motor 124 is connected with the fourth input gear 126, the fourth input gear 126 is in transmission connection with the third input gear 125 through the second driven gear 127, the second driven gear 127 is respectively meshed with the third input gear 125 and the fourth input gear 126, a shaft end of the third input gear 125 is connected with an input end of the second speed reducer 128 through a coupling, an output end of the second speed reducer 128 is connected with an end of the worm 129 through a coupling, the worm wheel 130 is meshed with the worm 129, the turbine 130 is disposed at an input end of the third reducer 131, an output end of the third reducer 131 of the second joint 19 is fixedly connected to the second robot arm 13, an output end of the third reducer 131 of the third joint 110 is fixedly connected to the third robot arm 14, and the third reducer 131 of the fourth joint 111 is fixedly connected to the fourth robot arm 15. Through the transmission of second reduction gear, turbine worm, third reduction gear, can improve output torque greatly, improve joint load capacity. By adopting the standby motor, if the working motor can start the standby motor to work due to faults, the reliability of the positioning joint is improved.

Specifically, the first speed reducer and the third speed reducer are both harmonic speed reducers.

The utility model discloses a six degree of freedom designs, increases the workspace of arm, and first joint and fifth joint are for carrying out the joint of rotation, and second joint, third joint, fourth joint and sixth joint are for going on the joint of pitching, and load-carrying capacity is stronger, and the flexibility ratio is higher.

The above is only the preferred embodiment of the present invention, the present invention is not limited to the above embodiment, there may be local minor structural modification in the implementation process, if it is right that various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, and belong to the claims and the equivalent technical scope of the present invention, then the present invention is also intended to include these modifications and variations.

Claims

1. A picking mechanical arm with a video detection function is characterized by comprising a mechanical arm body, a camera, a picking actuator and a controller;

the controller is preset with mature fruit image information, identifies real-time fruit image information and compares the real-time fruit image information with the mature fruit image information to control a picking actuator;

the picking actuator is used for picking fruits.

2. The picking mechanical arm with the video detection function according to claim 1, wherein the mechanical arm body comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, the front end of the first mechanical arm is rotatably connected with the base through a first joint, and the rotating shaft of the first joint is parallel to the extending direction of the first mechanical arm;

3. The picking mechanical arm with the video detection function according to claim 2, wherein the first joint, the fifth joint and the sixth joint each comprise a first working motor, a first input gear, a driving pulley, a driven pulley, a belt and a first speed reducer, an output shaft of the first working motor is connected with the first input gear, the driving pulley is fixedly mounted at a shaft end of the first input gear, the driven pulley is fixedly arranged at an input end of the first speed reducer, and the belt is wound around the driving pulley and the driven pulley and tensioned.

4. The picking robot arm with video detection function as claimed in claim 3, wherein the first joint, the fifth joint and the sixth joint each further comprise a first standby motor, a second input gear and a first driven gear, an output shaft of the first standby motor is connected with the second input gear, the second input gear is in transmission connection with the first input gear through the first driven gear, and the first driven gear is meshed with the first input gear and the second input gear respectively.

5. The picking mechanical arm with the video detection function according to claim 3, wherein the first reducer output end of the first joint is fixedly connected with the first mechanical arm, the first reducer output end of the fifth joint is fixedly connected with the fifth mechanical arm, and the first reducer output end of the sixth joint is fixedly connected with the sixth mechanical arm.

6. The picking mechanical arm with the video detection function according to claim 2, wherein the second joint, the third joint and the fourth joint comprise a second working motor, a third input gear, a second speed reducer, a worm wheel and a third speed reducer, an output shaft of the second working motor is connected with the third input gear, a shaft end of the third input gear is connected with an input end of the second speed reducer, an output end of the second speed reducer is connected with an end of the worm, the worm wheel and the worm are meshed and connected, and the worm wheel is arranged at an input end of the third speed reducer.

7. The picking robot arm with video detection function as claimed in claim 6, wherein the second joint, the third joint and the fourth joint each further comprise a second standby motor, a fourth input gear and a second driven gear, an output shaft of the second standby motor is connected with the fourth input gear, the fourth input gear is in transmission connection with the third input gear through the second driven gear, and the second driven gear is meshed with the third input gear and the fourth input gear respectively.

8. The picking mechanical arm with the video detection function according to claim 6, wherein the output end of the third speed reducer of the second joint is fixedly connected with the second mechanical arm, the output end of the third speed reducer of the third joint is fixedly connected with the third mechanical arm, and the third speed reducer of the fourth joint is fixedly connected with the fourth mechanical arm.