CN213991736U

CN213991736U - Picking robot

Info

Publication number: CN213991736U
Application number: CN202023266305.7U
Authority: CN
Inventors: 汤哲; 谢作其; 张立; 邹振华
Original assignee: Changsha Xiangfeng Intelligent Equipment Co ltd; Central South University
Current assignee: Changsha Xiangfeng Intelligent Equipment Co ltd; Central South University
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-08-20
Anticipated expiration: 2030-12-29

Abstract

The utility model discloses a picking robot includes crawler travel mechanism, parallel robot, collecting box and two mesh cameras, crawler travel mechanism includes the frame and sets up in two tracks of the frame left and right sides, and two tracks are driven respectively by two first drive arrangement, all are provided with drive gear, from driving wheel and a plurality of supporting wheel on every track, install the front end in the track internal surface from the driving wheel, drive gear installs the rear end in the track internal surface, drive gear and track internal surface mesh, first drive arrangement is connected with drive gear, and is a plurality of the supporting wheel all sets up between frame bottom and track internal surface, parallel robot and collecting box are all fixed in on the crawler travel mechanism through the frame, two mesh cameras are installed on parallel robot. Namely the utility model discloses realize that the automation of vegetables is picked, it is short to have the picking time, and it is big to pick the completion volume, and work efficiency is high, saves the advantage of cost.

Description

Picking robot

Technical Field

The utility model mainly relates to an intelligent robot technical field, specifically speaking relates to a picking robot.

Background

The robot has multiple degrees of freedom in a three-dimensional space and can realize more anthropomorphic actions and functions. With the rapid development of modern science and technology, the robot technology starts to be integrated with the work and daily life of people; the aging of the population is intensified, the rural labor force is gradually lost, and the continuous mechanized, modernized and intelligent development of agriculture is promoted; this will help agricultural robots to quickly get involved in the field of agricultural production. In the agricultural production process, the picking of agricultural products is a time-consuming link, the picking period is short, the picking amount is large, the working strength is high, and a large amount of labor is needed to complete the work. Therefore, the picking robot becomes a research hotspot for agricultural automation and intellectualization. Compared with a series robot, the parallel robot with a closed chain structure has the advantages of high rigidity, strong bearing capacity, small error, high speed, high precision and the like.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a picking robot can solve among the prior art short picking period, and the picking volume is big, and working strength is high, needs a large amount of labours to accomplish the defect of work.

The utility model discloses a picking robot includes crawler travel mechanism, parallel robot, collecting box and two mesh cameras, crawler travel mechanism includes the frame and sets up in two tracks of the frame left and right sides, and two tracks are driven respectively by two first drive arrangement, all are provided with drive gear, from driving wheel and a plurality of supporting wheel on every track, install the front end in the track internal surface from the driving wheel, drive gear installs in the rear end of track internal surface, drive gear and track internal surface mesh, first drive arrangement is connected with drive gear, and is a plurality of the supporting wheel all sets up between frame bottom and track internal surface, parallel robot and collecting box are all fixed in on the crawler travel mechanism through the frame, two mesh cameras are installed on parallel robot.

Furthermore, the frame includes two frame diaphragm and two frame longitudinal plates, parallel arrangement about two frame diaphragm, and two frame longitudinal plates set up both ends around two frame diaphragm perpendicularly and fixedly, and two frame diaphragms correspond two tracks respectively, and the both ends of every frame diaphragm are connected with the follow driving wheel and the drive gear that correspond the track respectively, and two first drive arrangement and/or collecting box fixed mounting are on the frame longitudinal plate that the front end set up.

Furthermore, the picking robot further comprises a support frame arranged between the two vertical plates of the rack, and the parallel robot is fixed on the rack through the support frame.

Furthermore, the support frame includes the chassis and sets up the bracing piece on the chassis, the both ends of chassis respectively with two frame vertical plates fixed connection, bracing piece top and parallel robot fixed connection, its bottom mounting is on the chassis.

Furthermore, the number of the supporting rods is a plurality, and the supporting rods are arranged on the bottom frame in parallel and at equal intervals.

Furthermore, a plurality of supporting wheels on each crawler belt are arranged between the bottom of the transverse plate of the corresponding rack and the inner surface of the crawler belt.

Further, the parallel robot at least comprises a second driving device, a static platform, a movable platform, a driving arm, an executing arm and an end effector, wherein the second driving device is fixed on the upper surface of the static platform, the binocular camera is fixed on the lower surface of the static platform, the upper end of the driving arm is connected with the second driving device, the lower end of the driving arm is hinged with the upper end of the executing arm, the lower end of the executing arm is arranged on the movable platform, and the end effector is arranged on the movable platform.

Further, the parallel robot is a delta parallel robot, the executing arms are parallelogram mechanisms, the number of the executing arms is multiple, and the executing arms are arranged around the static platform through the driving arms.

Further, the number of the second driving device, the number of the driving arms and the number of the executing arms are all the same.

The utility model discloses a picking robot includes crawler travel mechanism, parallel robot, collecting box and two mesh cameras, crawler travel mechanism includes the frame and sets up in two tracks of the frame left and right sides, and two tracks are driven respectively by two first drive arrangement, all are provided with drive gear, from driving wheel and a plurality of supporting wheel on every track, install the front end in the track internal surface from the driving wheel, drive gear installs in the rear end of track internal surface, drive gear and track internal surface mesh, first drive arrangement is connected with drive gear, and is a plurality of the supporting wheel all sets up between frame bottom and track internal surface, parallel robot and collecting box are all fixed in on the crawler travel mechanism through the frame, two mesh cameras are installed on parallel robot. Namely the utility model discloses combine robot technique and two mesh visual positioning techniques to merge into picking machine designs such as vegetables, realize the automation of vegetables and pick, solved among the prior art picking period weak point, the picking volume is big, and working strength is high, needs the defect that work was accomplished to a large amount of labours.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a schematic structural view of a picking robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a rack according to an embodiment of the present invention;

FIG. 3 is a top view of the middle track unit of the present invention;

fig. 4 is a side view of the middle crawler belt unit according to the present invention.

Description of reference numerals:

crawler-belt walking mechanism-1 parallel robot-2

Collecting box-3 binocular camera-4

Support-5 machine frame-11

Track-12 first driving device-13

Driving gear-14 driven gear-15

Supporting wheel-16 frame transverse plate-111

Second driving device-21 of rack longitudinal plate-112

Static platform-22 moving platform-23

Driving arm-24 actuator arm-25

End effector-26 chassis-51

Support rod-52

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the utility model, the position of use is described as follows with the reference of fig. 1, the vertical paper surface is preceding to the left, the vertical paper surface is the back to the right, the vertical paper surface is the right inwards, the vertical paper surface is left outwards, the vertical paper surface is upwards to the upper, the vertical paper surface is downwards to the lower. Meanwhile, the terms "first" and "second" are mainly used to distinguish different components, but do not specifically limit the components.

Fig. 1 is a schematic structural view of a picking robot according to an embodiment of the present invention. As shown in fig. 1, 3 and 4, the picking robot of this embodiment includes a crawler walking mechanism 1, a parallel robot 2, a collecting box 3 and a binocular camera 4, the crawler walking mechanism 1 includes a frame 11 and two crawlers 12 disposed on the left and right sides of the frame 11, the two crawlers 12 are respectively driven by two first driving devices 13, each crawler 12 is provided with a driving gear 14, a driven gear 15 and a plurality of supporting wheels 16, the driven gear 15 is mounted on the front end of the inner surface of the crawler 12, the driving gear 14 is mounted on the rear end of the inner surface of the crawler 12, the driving gear 14 is engaged with the inner surface of the crawler 12, the first driving devices 13 are connected with the driving gear 14, the plurality of supporting wheels 16 are disposed between the bottom of the frame 11 and the inner surface of the crawler 12, the parallel robot 2 and the collecting box 3 are both fixed on the crawler walking mechanism 1 through the frame 11, the collecting box 3 is used for containing picked articles, the binocular camera 4 is installed on the parallel robot 2, and the binocular camera 4 is used as the visual part of the parallel robot and is mainly used for space coordinate positioning of picking positions. It should be noted that, the preferred size of the collection box 3 of the present invention is: the height is 30cm, and the width is 130 cm; preferred dimensions of the crawler belt: the crawler belt is loaded by 50kg-70kg, has the height of 45cm and the length of 250cm, is 130cm apart from each other, and has the width of 25 cm; preferred dimensions of the parallel robot: the weight was 25kg, the height was 65cm and the width was 80 cm.

Meanwhile, as shown in fig. 2, the frame 11 includes two frame transverse plates 111 and two frame longitudinal plates 112, the two frame transverse plates 111 are arranged in parallel, the two frame longitudinal plates 112 are vertically and fixedly disposed at front and rear ends of the two frame transverse plates 111, the two frame transverse plates 111 respectively correspond to the two crawlers 12, two ends of each frame transverse plate 111 are respectively connected with the driven wheel 15 and the transmission gear 14 of the corresponding crawler 12, and the two first driving devices 13 and/or the collecting box 3 are fixedly mounted on the frame longitudinal plate 112 disposed at the front end. At this time, a plurality of support wheels 16 on each track 12 are disposed between the bottom of the corresponding frame cross plate 111 and the inner surface of the track 12.

As the utility model discloses preferred embodiment, above-mentioned picking robot still includes the support frame 5 that is used for supporting parallel robot 2, and support frame 5 sets up between two frame vertical plates 112, specifically includes chassis 51 and sets up bracing piece 52 on chassis 51, and chassis 51's both ends respectively with two frame vertical plates 112 fixed connection, bracing piece 52 top and parallel robot 2 fixed connection, its bottom mounting is on chassis 51. It should be noted that, in order to ensure that the parallel robot 2 is better fixed, the number of the support rods 52 is several, and the several support rods 52 are arranged on the base frame 51 in parallel and at equal intervals. Preferably, the height of the middle support frame 5 of the present invention is 65cm, and the width is 130 cm.

In addition, it is worth mentioning that the first driving device and the second driving device may be driving motors, but are not limited thereto, and may also be pneumatic actuators or hydraulic actuators.

In a further technical scheme, the parallel robot 2 at least comprises a second driving device 21, a static platform 22, a movable platform 23, a driving arm 24, an executing arm 25 and an end effector 26, wherein the static platform 22 is used for placing the second driving device 21 to reduce the rotational inertia of the parallel robot 2, the movable platform 23 is mainly used for installing the end effector 26 to realize the selective picking of the picking robot, and the driving arm 24 and the executing arm 25 are mainly combined with the second driving device 21 to perform motion transmission to drive the end effector 26 to move. Specifically, the second driving device 21 is fixed on the upper surface of the static platform 22, the binocular camera 4 is fixed on the lower surface of the static platform 22, the upper end of the driving arm 24 is connected with the second driving device 21, the lower end of the driving arm is hinged to the upper end of the executing arm 25, the lower end of the executing arm 25 is arranged on the dynamic platform 23, and the end effector 26 is mounted on the dynamic platform 23. The parallel robot 2 preferably employs a delta parallel robot having three degrees of freedom in x, y, and z directions, in which the actuator arms 25 are parallelogram mechanisms and are provided in a plurality, and the plurality of actuator arms 25 are arranged around the stationary platform 22 via the drive arms 24. In particular, the number of second drive means 21, drive arms 24 and actuating arms 25 is preferably all the same.

Use the utility model discloses picking robot picks kale or flowering cabbage as the example, and its theory of operation is as follows: the crawler walking mechanism 1 of the picking robot moves back and forth across two ends of the cabbage mustard, the space width between two crawler belts 12 is larger than the width of a row of cabbage mustard, the width of the crawler belts 12 is smaller than the width of a ditch, and the height is larger than or equal to the height of the cabbage mustard when being picked, specifically, two first driving devices 13 are started simultaneously, at the moment, each first driving device 13 drives a corresponding transmission gear 14 to rotate, the transmission gears 14 are meshed with the inner surfaces of the crawler belts 12 to drive the two crawler belts 12 to rotate, and a plurality of supporting wheels are supported and arranged between the deer 12 and the rack 11, so that the rack 11 drives the crawler walking mechanism 1 to move forwards until the required position is reached; then, according to the cabbage mustard or the cabbage heart to be picked shot by the binocular camera 4, the second driving device 21 is controlled to drive the driving arm 24 to act, so that the execution arm 25 is ensured to drive the end effector 26 to move to the position above the cabbage mustard or the cabbage heart to be picked, and the end effector 26 executes a picking task; after the end effector 26 finishes picking, the second driving device 21 is controlled to drive the driving arm 24 to act, so that the executing arm 25 drives the end effector 26 to place the picked cabbage mustard or cabbage heart into the collecting box 3, and the operation is repeated until all picking tasks are finished.

The utility model discloses in merging into picking machine designs such as vegetables with parallel robot technique and two mesh visual positioning techniques, developing a picking robot, realize that the automation of vegetables is picked, it is short to have the picking time, and it is big to pick the completion volume, and work efficiency is high, saves cost's advantage.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A picking robot is characterized by comprising a crawler travelling mechanism (1), a parallel robot (2), a collecting box (3) and a binocular camera (4), wherein the crawler travelling mechanism (1) comprises a rack (11) and two crawlers (12) arranged on the left side and the right side of the rack (11), the two crawlers (12) are respectively driven by two first driving devices (13), each crawler (12) is provided with a transmission gear (14), a driven wheel (15) and a plurality of supporting wheels (16), the driven wheel (15) is arranged at the front end of the inner surface of the crawler (12), the transmission gear (14) is arranged at the rear end of the inner surface of the crawler (12), the transmission gear (14) is meshed with the inner surface of the crawler (12), the first driving devices (13) are connected with the transmission gear (14), the plurality of supporting wheels (16) are arranged between the bottom of the rack (11) and the inner surface of the crawler (12), the parallel robot (2) and the collecting box (3) are fixed on the crawler traveling mechanism (1) through the frame (11), and the binocular camera (4) is installed on the parallel robot (2).

2. The picking robot according to claim 1, characterized in that the frame (11) comprises two frame transverse plates (111) and two frame longitudinal plates (112), the two frame transverse plates (111) are arranged in parallel, the two frame longitudinal plates (112) are vertically and fixedly arranged at the front and rear ends of the two frame transverse plates (111), the two frame transverse plates (111) respectively correspond to the two tracks (12), the two ends of each frame transverse plate (111) are respectively connected with the driven wheel (15) and the transmission gear (14) of the corresponding track (12), and the two first driving devices (13) and/or the collecting box (3) are fixedly arranged on the frame longitudinal plates (112) arranged at the front ends.

3. The picking robot according to claim 2, characterized by further comprising a support frame (5) arranged between the two frame longitudinal plates (112), wherein the parallel robot (2) is fixed on the frame (11) through the support frame (5).

4. The picking robot according to claim 3, characterized in that the support frame (5) comprises an underframe (51) and a support rod (52) arranged on the underframe (51), the two ends of the underframe (51) are respectively fixedly connected with the two vertical frame plates (112), the top end of the support rod (52) is fixedly connected with the parallel robot (2), and the bottom end of the support rod is fixed on the underframe (51).

5. Picking robot according to claim 4, characterized in that the number of support bars (52) is several, several support bars (52) being arranged in parallel and equally spaced on the chassis (51).

6. A picking robot as claimed in claim 2, characterised in that a number of the support wheels (16) on each track (12) are disposed between the bottom of the corresponding frame cross plate (111) and the inner surface of the track (12).

7. A picking robot according to any of the claims 1 to 6, characterised in that the parallel robot (2) comprises at least a second driving device (21), a static platform (22), a dynamic platform (23), a driving arm (24), an executing arm (25) and an end effector (26), the second driving device (21) is fixed on the upper surface of the static platform (22), the binocular camera (4) is fixed on the lower surface of the static platform (22), the upper end of the driving arm (24) is connected with the second driving device (21), the lower end thereof is hinged with the upper end of the executing arm (25), the lower end of the executing arm (25) is arranged on the dynamic platform (23), and the end effector (26) is mounted on the dynamic platform (23).

8. A picking robot according to claim 7, characterised in that the parallel robot (2) is a delta parallel robot, the actuator arms (25) are parallelogram mechanisms and are in number, a plurality of actuator arms (25) being arranged around a stationary platform (22) by means of drive arms (24).

9. Picking robot according to claim 8, characterized in that the number of second drive means (21), drive arms (24) and actuator arms (25) is the same.