CN212123315U

CN212123315U - Kiwi fruit picking robot moving platform

Info

Publication number: CN212123315U
Application number: CN202020593382.4U
Authority: CN
Inventors: 王威; 吴科洪; 李岩; 宋玉玲
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-12-11
Anticipated expiration: 2030-04-20

Abstract

The invention relates to a mobile platform of a kiwi fruit picking robot, which comprises a suspension chassis and a leveling and mounting platform of a picking mechanical arm, wherein the suspension chassis comprises a frame, and a steering module and a driving module which are mounted at the bottom of the frame, and the steering module adopts a gear rack steering gear to realize steering; the driving module adopts centralized driving to drive the driving wheel to realize the driving of the mobile platform; the leveling and mounting platform of the picking mechanical arm is arranged on the suspension chassis and driven by four electric push rods, and the telescopic lengths of the four electric push rods are adjusted on an uneven road surface to keep the four electric push rods in a horizontal state all the time. The fruit picking device is simple in structure, stable in operation and flexible in turning, can keep horizontal adaptation to different road conditions, guarantees flexibility of fruit picking and is good in damping effect.

Description

Kiwi fruit picking robot moving platform

Technical Field

The utility model belongs to the technical field of intelligence agricultural machinery equips, concretely relates to kiwi fruit picking robot moving platform.

Background

With the development of science and technology, the degree of mechanical intelligence is continuously improved, the fruit and vegetable picking robot instead of manpower becomes the trend of modern agriculture development, and the mobile operation platform is the basis of all fine agriculture operations. Kiwi fruit is known as the king of fruit because of its abundant nutritive value, and China is the country with the biggest Kiwi fruit cultivation area in the world, and in the kiwi fruit production and operation, because the kiwi fruit best picking time is all concentrated relatively and shorter, need invest a large amount of manpowers, intensity of labour is big, and work is consuming time long and the cost is higher and higher.

The standardized kiwi fruit orchard bottom space is big, and the fruit tree is planted comparatively regularly, and walking operation platform operating condition is good. Based on the operation requirements of driving and steering, a walking mechanism is developed by combining a steering principle and a centralized driving mechanism; the leveling method of the working platform is researched in combination with the requirement of continuous operation, and automatic walking and real-time leveling of the walking operation platform are achieved. Most leveling mechanisms in the existing mobile platform of the kiwi fruit picking robot are located at the positions of axles, the positions of the frames need to be leveled during leveling, more energy is wasted, most positions for installing mechanical arms can only be provided with one picking mechanical arm, the efficiency is low, the damping effect is poor, and the walking is not flexible.

Disclosure of Invention

In order to solve the problems of leveling, poor vibration reduction effect, inflexible walking and the like of the kiwi fruit picking robot, the utility model discloses a mobile platform of a kiwi fruit picking robot.

In order to solve the technical problem existing in the above, the utility model discloses a following technical scheme:

a mobile platform of a kiwi fruit picking robot comprises a suspension chassis and a leveling and mounting platform of a picking mechanical arm, wherein the suspension chassis comprises a frame, and a steering module and a driving module which are mounted at the bottom of the frame, and the steering module adopts a gear rack steering gear to realize steering; the driving module adopts centralized driving to drive the driving wheel to realize power driving of the mobile platform; the leveling and mounting platform of the picking mechanical arm is arranged on the suspension chassis and is driven by four electric push rods. If the vehicle runs on an uneven road surface, the working platform can be always kept in a horizontal state by adjusting the telescopic lengths of the four electric push rods.

Furthermore, the steering module comprises a steering motor, a steering tie rod and a left steering knuckle and a right steering knuckle, a rack and pinion steering gear is adopted, the steering motor horizontally moves the steering tie rod through the rack and pinion steering gear, and then the left steering knuckle and the right steering knuckle are driven to rotate around the main pin to realize deflection of a steering wheel, so that steering is realized; the steering motor is fixedly connected with the frame through a motor supporting seat, and the steering tie rod is hinged with the steering knuckle;

furthermore, the suspension chassis adopts a double-cross-arm independent suspension, the double-cross-arm independent suspension comprises an upper cross arm, a lower cross arm, a shock absorber and a suspension spring, the upper cross arm and the lower cross arm are respectively hinged with the frame and the steering knuckle, and the shock absorber is hinged with the frame and the lower cross arm.

Furthermore, the driving module comprises a driving motor, a coupler, a gearbox, a cross universal joint, a transmission shaft, a differential, a rear axle and a driving wheel, wherein the power transmission route is from the driving motor to the coupler, to the gearbox, to the cross universal joint, to the transmission shaft, to the differential, and finally drives the driving wheel to realize the driving of the whole vehicle; the driving motor is fixedly connected with the frame through a motor supporting seat and is connected with the gearbox through a coupler; the differential is connected with the gearbox through a cross universal joint and a transmission shaft and is arranged in a rear axle, and the driving wheel is connected with the rear axle.

Further, the picking mechanical arm leveling and mounting platform comprises a base, an electric push rod, an operation platform, an actuator base and a vertical shaft; the base is fixedly arranged on the frame and is rectangular; the operation platform is connected with the base through a vertical shaft, the vertical shaft is fixedly and rigidly connected with the base, and the vertical shaft is connected with the operation platform through a universal joint; four electric push rods are arranged at four corners of the operation platform, the electric push rods are connected with the base through two hinged parts to realize omnidirectional rotation, the electric push rods are connected with the operation platform through universal joints, and when climbing or inclining a road surface, the telescopic lengths of the four electric push rods are adjusted to realize that the operation platform is always kept in a horizontal state; the actuator bases are fixedly arranged at four positions on the upper part of the operation platform, and the four actuator bases are provided with four mechanical picking mechanical arms.

Furthermore, the frame is of a frame structure, the front end of the frame is provided with a steering module, and the middle part of the frame to the rear axle is provided with a driving module. The driving module is rigidly connected with the frame, the frame is provided with a mounting platform, and the mounting platform is provided with a circular or strip-shaped through hole for positioning and mounting a corresponding control box, an electronic element and the like.

Further, still be equipped with the sensor trench on the frame to the sensor of installation vision identification module, be used for route planning discernment. All the upright columns and the cross rods of the frame are made of aluminum profiles.

Furthermore, a fruit box and a power battery pack are installed at the front end of the frame, and the power battery pack is formed by connecting 3 lithium batteries.

This kiwi fruit picking robot moving platform has following beneficial effect.

(1) The utility model discloses in, most parts are aluminum plate and aluminium column, and are with low costs, and economic nature is good and light in weight, and controllability is good.

(2) The utility model discloses in, the driven mode adopts concentrated drive and the drive wheel is bigger than the directive wheel for there is differential mechanism to improve the obstacle crossing performance on chassis in the strong and rear axle of topography adaptability on kiwi fruit picking robot chassis, and the front axle is equipped with the vibration that the independent suspension of double wishbone has reduced the chassis.

(3) The utility model discloses in, the mounted position of arm has set up 4 executor bases, can install 4 and pick the robotic arm, has increased the operation scope, has improved the operating efficiency. The leveling and mounting platform of the picking mechanical arm can be kept in a horizontal state all the time, and the identification time and the operation distance of the mechanical arm on the kiwi fruit are reduced.

(4) The utility model discloses simple structure, operate steadily, the turn is nimble, and load capacity is strong, and is with low costs, can change different operation arms and realize same chassis multiple use.

Drawings

FIG. 1: the utility model discloses kiwi fruit picking robot moving platform's schematic structure among the embodiment.

FIG. 2: the utility model discloses picking robotic arm leveling and mounting platform structure sketch map in the embodiment.

FIG. 3: the utility model discloses turn to module and two xarm independent suspension schematics in the embodiment.

FIG. 4: the utility model discloses drive module structure schematic diagram among the embodiment.

FIG. 5: the utility model discloses electric putter and base connection structure schematic diagram among the embodiment.

Description of reference numerals:

1-fruit box; 2-a power battery pack; 3, leveling and mounting a platform of the mechanical arm; 4-control box, 5-drive module; 6-a frame; 7-a steering module; 8-hanging the chassis; 9-sensor slot position; 21-a base; 22-a first hinge; 23-a second hinge; 24-hinge three; 251, a first electric push rod; 252-electric push rod two; 253-electric push rod three; 254-electric push rod four; 26-a universal joint; 27-a work platform; 28-an actuator base; 29-vertical axis; 211-tilt sensor mounting holes; 31-a steering wheel; 32-a knuckle; 33-a lower cross arm; 34-an upper cross arm; 35-shock absorber and suspension spring; 351-spring upper support; 352-spring lower support; 36-a tie rod; 37-a steering motor; 38-a rack and pinion steering gear; 41-driving motor; 42-a coupler; 43-a gearbox; 44-cross universal joint; 45-a drive shaft; 46-a differential; 47-rear axle; 48-a driving wheel; 49-mounting the platform.

Detailed Description

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

Fig. 1 to 5 show the mobile platform of the kiwi picking robot of the present invention. Fig. 1 is a schematic structural diagram of a mobile platform of a kiwi picking robot in the embodiment; fig. 2 and 5 are schematic structural diagrams of a leveling and mounting platform of a picking mechanical arm; FIG. 3 is a schematic view of a steering module configuration; fig. 4 is a schematic diagram of a drive module.

As shown in fig. 1, the mobile platform of the kiwi picking robot comprises a suspension chassis 8 and a leveling and mounting platform 3 of a picking mechanical arm, wherein the suspension chassis 8 comprises a frame 6, and a steering module 7 and a driving module 5 which are mounted at the bottom of the frame 6, and the steering module 7 adopts a rack-and-pinion steering gear 38 to realize steering; the driving module 5 drives the driving wheel 48 to realize the driving of the mobile platform in a centralized driving mode; the leveling and mounting platform 3 of the picking mechanical arm is arranged on the suspension chassis 8 and is driven by four electric push rods (an electric push rod I251, an electric push rod II 252, an electric push rod III 253 and an electric push rod IV 254). If the vehicle runs on an uneven road surface, the working platform can be always kept in a horizontal state by adjusting the telescopic lengths of the four electric push rods.

Preferably, the leveling and mounting platform 3 of the picking mechanical arm comprises a base 21, four electric push rods (an electric push rod I251, an electric push rod II 252, an electric push rod III 253 and an electric push rod IV 254), a working platform 27, an actuator base 28 and a vertical shaft 29; the base 21 is fixedly installed on the frame 6, and is rectangular, the middle of the base 21 is provided with a vertical shaft 29, and four electric push rods (an electric push rod one 251, an electric push rod two 252, an electric push rod three 253 and an electric push rod four 254) are arranged at four corners. The vertical shaft 29 is fixedly connected with the base 21 and is connected with the working platform 27 through a universal joint 26; the electric push rod is hinged with the base 21 through a first hinge, a second hinge and a third hinge and is connected with the operation platform 27 through a universal joint 26, four actuator bases 28 are arranged at four positions at the upper part of the operation platform 27 and can be provided with four mechanical arms, and each of the four actuator bases 28 is provided with four holes for mounting the mechanical arms; four tilt sensor mounting holes 211 are provided in the work platform 27 for mounting tilt sensors to determine whether the work platform 28 is horizontal, as shown in fig. 2.

Specifically, the leveling of the picking mechanical arm and the working mode of the mounting platform 3 are as follows: when the electric push rod is not adjusted to stretch, the working platform 27 also has the same included angle with the horizontal plane. If the left electric push rod one 251 and the electric push rod four 254 extend for a certain length and the electric push rod two 252 and the electric push rod three 253 shorten for a certain length, the working platform 27 will not be parallel to the frame 6, but will be parallel to the horizontal plane, so as to achieve the purpose of keeping horizontal.

Preferably, the steering module 7 comprises a steering motor 37, a tie rod 36 and a knuckle 32, and a rack and pinion steering gear 38 is adopted, the steering motor 37 horizontally moves the tie rod 36 through the rack and pinion steering gear 38, so as to drive the left and right knuckles 32 to rotate around a kingpin to realize deflection of the steering wheel 31, thereby realizing steering; the steering motor 37 is fixedly connected with the frame 6 through a motor support seat, and the steering tie rod 36 is hinged with the steering knuckle 32; a double wishbone independent suspension is adopted, which comprises an upper wishbone 34, a lower wishbone 33 and a shock absorber and suspension spring 35, wherein the upper wishbone 34 and the lower wishbone 33 are respectively hinged with the vehicle frame 6 and the steering knuckle 32, and the shock absorber and suspension spring 35 is hinged with the vehicle frame 6 and the lower wishbone 33 through an upper spring support 351 and a lower spring support 352, as shown in fig. 3.

Preferably, the driving module comprises a driving motor 41, a coupler 42, a gearbox 43, a cross universal joint 44, a transmission shaft 45, a differential 46, a rear axle 47 and a driving wheel 48, wherein the power transmission route of the driving module is from the driving motor 41 to the coupler 42 to the gearbox 43 to the cross universal joint 44 to the transmission shaft 45 to the differential 46, and finally the driving wheel 47 is driven to realize the driving of the whole vehicle; the driving motor 41 is fixedly connected with the frame 6 through a motor supporting seat and is connected with the gearbox 43 through a coupler 42; the gearbox 43 is fixedly arranged on the frame 6; the differential 46 is connected with the gearbox 43 through a cross universal joint 44 and a transmission shaft 45 and is arranged in a rear axle 47; the drive wheels 48 are connected to the rear axle 46 as shown in fig. 4.

Preferably, the frame 6 is a frame structure, the front end of the frame 6 is provided with a steering module 7, and the middle part of the frame 6 to the rear axle is provided with a driving module 5. The driving module 5 is rigidly connected with the frame 6, the frame 6 is provided with a mounting platform 49, and the mounting platform 49 is provided with a circular or strip-shaped through hole for positioning and mounting the corresponding control box 4, electronic elements and the like.

Specifically, a sensor slot 9 is further arranged on the frame 6, so that a sensor of the visual recognition module is mounted for route planning recognition. All the upright posts and the cross rods of the frame structure of the frame 6 are made of aluminum profiles.

Specifically, the front end of the frame is provided with a fruit box 1 and a power battery pack 2, and the power battery pack 2 is formed by connecting 3 lithium batteries.

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 mobile platform of a kiwi fruit picking robot is characterized by comprising a suspension chassis and a leveling and mounting platform of a picking mechanical arm, wherein the suspension chassis comprises a frame, and a steering module and a driving module which are mounted at the bottom of the frame, and the steering module adopts a gear rack steering gear to realize steering; the driving module adopts centralized driving to drive the driving wheel to realize the driving of the mobile platform; the leveling and mounting platform of the picking mechanical arm is arranged on the suspension chassis and driven by four electric push rods, and the telescopic lengths of the four electric push rods are adjusted on an uneven road surface to keep the picking mechanical arm in a horizontal state all the time.

2. The mobile platform of a kiwi picking robot of claim 1, wherein the steering module comprises a steering motor, a tie rod, a knuckle and a rack-and-pinion steering gear, the steering motor horizontally moves the tie rod through the rack-and-pinion steering gear to drive the left and right knuckles to rotate around the kingpin, and the deflection of the steering wheel is realized to realize steering; the steering motor is fixedly connected with the frame through a motor supporting seat, and the steering tie rod is hinged with the steering knuckle; the double-cross-arm independent suspension comprises an upper cross arm, a lower cross arm, a shock absorber and a suspension spring, wherein the upper cross arm and the lower cross arm are respectively hinged with a frame and a steering knuckle, and the shock absorber is hinged with the frame and the lower cross arm.

3. The mobile platform of the kiwi picking robot of claim 1, wherein the driving module comprises a driving motor, a coupler, a gearbox, a cross universal joint, a transmission shaft, a differential, a rear axle and a driving wheel, and power of the driving module is output from the driving motor, and finally drives the driving wheel to realize driving of the whole kiwi picking robot through the coupler, the gearbox, the cross universal joint, the transmission shaft and the differential; the driving motor is fixedly connected with the frame through a motor supporting seat and is connected with the gearbox through a coupler; the differential is connected with the gearbox through a cross universal joint and a transmission shaft and is arranged in a rear axle, and the driving wheel is connected with the rear axle.

4. The mobile kiwi picking robot platform of claim 1, wherein the picking robot arm leveling and mounting platform comprises a base, an electric push rod, a work platform, an actuator base and a vertical shaft; the base is fixedly arranged on the frame and is rectangular; the operation platform is connected with the base through a vertical shaft, the vertical shaft is fixedly and rigidly connected with the base, and the vertical shaft is connected with the operation platform through a universal joint; four electric push rods are arranged at four corners of the operation platform, the electric push rods are connected with the base through two hinged parts to realize omnidirectional rotation, the electric push rods are connected with the installation platform through universal joints, and when climbing or inclining a road surface, the telescopic lengths of the four electric push rods are adjusted to realize that the operation platform is always kept in a horizontal state; the actuator bases are fixedly arranged at four corners of the upper part of the operation platform, and four actuator bases are arranged in total and can be provided with four picking mechanical arms.