CN214015083U - Sufficient low-order picking robot - Google Patents
Sufficient low-order picking robot Download PDFInfo
- Publication number
- CN214015083U CN214015083U CN202023086229.1U CN202023086229U CN214015083U CN 214015083 U CN214015083 U CN 214015083U CN 202023086229 U CN202023086229 U CN 202023086229U CN 214015083 U CN214015083 U CN 214015083U
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- Prior art keywords
- motor
- rotating shaft
- arm
- end effector
- shell
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- 239000012636 effector Substances 0.000 claims abstract description 35
- 210000002414 leg Anatomy 0.000 claims description 24
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 238000003466 welding Methods 0.000 claims description 6
- 238000012876 topography Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 description 3
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 240000009088 Fragaria x ananassa Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 208000037919 acquired disease Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000021110 pickles Nutrition 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 235000021012 strawberries Nutrition 0.000 description 1
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Abstract
The utility model discloses a sufficient low-order picking robot belongs to agricultural machine picking machine field. The six mechanical legs are symmetrically distributed on two sides of the shell, image feedback is carried out through the camera on the shell, and then the motor and the rotating shaft on the mechanical legs are controlled, at the moment, the mechanical legs have multiple degrees of freedom, and therefore walking movement is achieved. The rotary support of the mechanical arm is connected with the upper shell and is positioned at the center of the upper shell, and the camera on the small arm of the mechanical arm is used for image feedback, so that the motor and the cylinder on the mechanical arm are controlled to realize the positioning of the optimal picking position of the target picking object. Meanwhile, the end effector on the mechanical arm is controlled to move to the position of the stem of the target picking object, and the sliding block is pushed through the movement of the air cylinder, so that the blades on the clamp are closed to meet the picking operation requirement. The utility model discloses a long-time unmanned picking work and the work demand that adapts to different complicated topography structures effectively saves artifical picking cost.
Description
Technical Field
The utility model relates to a sufficient robot especially relates to a sufficient low-order picking robot of formula, belongs to agricultural machine picking machine field.
Background
The traditional manual low-position picking has many problems, such as large labor force and low efficiency; picking postures of bending down, squatting or half squatting are carried out for a long time, so that acquired diseases such as lumbar muscle strain and the like are caused, and the picking cost is increased; low level pickles such as strawberries generally have a large fruit mass and need to be picked in a short time. Currently, picking robots are mainly divided into two categories: tracked picking robots and wheeled picking robots. There are problems with both adapting to complex terrain structures. In recent years, biomimetic robots gradually move into the field of vision of humans. One of the foot-type bionic robots based on insects has been widely studied because of its multi-degree-of-freedom leg movement mechanism.
Disclosure of Invention
An object of the utility model is to overcome above-mentioned prior art not enough, provide a sufficient formula low level picking robot, this sufficient formula low level picking robot can carry out long-time picking work and adapt to the work demand of different complicated topography structures, effectual artifical picking cost of saving.
In order to solve the technical problem, the utility model discloses a following technical scheme realizes:
the foot type low-position picking robot comprises mechanical legs, a shell, mechanical arms, a first camera 1 and a second camera 2, wherein six mechanical legs are symmetrically distributed on two sides of the shell; the shell comprises an upper shell 201, a shell connecting column 202 and a lower shell 203, wherein the upper shell 201 is connected with the lower shell 203 through the shell connecting column 202; the first camera 1 and the upper shell 201 are fixed in a welding mode.
The mechanical leg comprises a shank supporting plate 101, a first motor 102, a first rotating shaft 103, a thigh connecting plate 104, a second motor 105, a second rotating shaft 106, a mechanical leg tail end connecting piece 107, a third motor 108 and a third rotating shaft 109, wherein the shank supporting plate 101 is connected with the thigh connecting plate 104 through the first motor 102 and the first rotating shaft 103; the thigh connecting plate 104 is connected with a mechanical leg end connecting piece 107 through a second motor 105 and a second rotating shaft 106; the mechanical leg end connection 107 is connected to the upper housing 201 and the lower housing 203 by a third motor 108 and a third rotation shaft 109.
The mechanical arm comprises a fourth motor 301, a fourth rotating shaft 302, a rotary support 303, a fifth motor 304, a fifth rotating shaft 305, a mechanical arm big arm 306, a first air cylinder 307, a sixth motor 308, a sixth rotating shaft 309, a mechanical arm small arm 310, a second air cylinder 311, a third air cylinder 312, an end effector main body connecting part 313, a sliding block 314, an end effector main body 315, a clamp 316 and a blade 317; the rotary support 303 is connected with the upper shell 201 through a fourth motor 301 and a fourth rotating shaft 302; the manipulator big arm 306 is connected with the rotary support 303 through a fifth motor 304 and a fifth rotating shaft 305; the manipulator big arm 306 is connected with a manipulator small arm 310 through a sixth motor 308 and a sixth rotating shaft 309; the large manipulator arm 306 and the small manipulator arm 310 are both provided with a chute track and an expansion rod and are of an expandable structure; the chute track and the telescopic rod of the large arm 306 of the manipulator are respectively fixedly connected with two ends of the first cylinder 307 through bolts; the chute track and the telescopic rod of the small arm 310 of the manipulator are respectively fixedly connected with two ends of the second cylinder 311 through bolts; the second camera 2 is fixed on the small arm 310 of the manipulator; the third cylinder 312 is provided with a fixed module and a cylinder moving module; the fixing module of the third cylinder 312 is fixed with the telescopic rod of the manipulator small arm 310 by welding; the cylinder moving module of the third cylinder 312 is connected with the sliding block 314 through a bolt; wedge-shaped structures are processed on two sides of the sliding block 314; a through hole is processed on the end effector main body connecting piece 313; the fixed module of the third cylinder 312 is welded and fixed with the end effector body connecting piece 313, and the cylinder moving module of the third cylinder 312 passes through a through hole on the end effector body connecting piece 313; the end effector body 315 is connected to the end effector body connection 313 by bolts; a through hole is processed on the end effector main body 315; the cylinder movement module of the third cylinder 312 passes through the through hole of the end effector body 315; the clamp 316 and the end effector body 315 are connected by a chute structure; a wedge-shaped sliding groove is processed on the side surface of the clamp 316 and is matched and connected with the wedge-shaped structure of the sliding block 314; the blade 317 is fixed to the clamp 316.
The utility model has the advantages that: the bionic foot type fruit and vegetable picking machine is based on bionic foot type structure motion work, the work requirements on some complex ground surfaces are met, the motion path and the manipulator motion path planning are controlled through camera image processing, low-position fruit and vegetable picking is carried out through an end effector, long-time low-position picking work can be carried out, and the problem of high labor intensity of manual picking is solved.
Drawings
Fig. 1 is a schematic structural view of the foot-type low-position picking robot of the present invention.
Fig. 2 is a schematic view of a mechanical leg structure.
Fig. 3 is a top view of the robot leg.
Fig. 4 is a schematic view of the housing structure.
Fig. 5 is a schematic view of the robot arm structure.
Fig. 6 is a top view of the robot arm.
In the drawings:
1-camera one 2-camera two
101, shank support plate 102, first motor 103, first rotating shaft 104, thigh connecting plate 105, and second motor
106-second shaft 107-mechanical leg end connection 108-third motor 109-third shaft
201-upper shell 202-shell connecting column 203-lower shell
301-fourth motor 302-fourth rotating shaft 303-rotary support 304-fifth motor 305-fifth rotating shaft
306-robot big arm 307-first cylinder 308-sixth motor 309-sixth rotating shaft 310-robot small arm
311-second cylinder 312-third cylinder 313-end effector body link 314-slider 315-end effector body
316-clamp 317-blade
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments, which are not intended to limit the invention:
as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, a foot type low picking robot comprises mechanical legs, a shell, mechanical arms, a first camera 1 and a second camera 2, wherein six mechanical legs are symmetrically distributed on two sides of the shell; the shell comprises an upper shell 201, a shell connecting column 202 and a lower shell 203, wherein the upper shell 201 is connected with the lower shell 203 through the shell connecting column 202; the first camera 1 and the upper shell 201 are fixed in a welding mode.
The mechanical leg comprises a shank supporting plate 101, a first motor 102, a first rotating shaft 103, a thigh connecting plate 104, a second motor 105, a second rotating shaft 106, a mechanical leg tail end connecting piece 107, a third motor 108 and a third rotating shaft 109, wherein the shank supporting plate 101 is connected with the thigh connecting plate 104 through the first motor 102 and the first rotating shaft 103; the thigh connecting plate 104 is connected with a mechanical leg end connecting piece 107 through a second motor 105 and a second rotating shaft 106; the mechanical leg end connection 107 is connected to the upper housing 201 and the lower housing 203 by a third motor 108 and a third rotation shaft 109.
The mechanical arm comprises a fourth motor 301, a fourth rotating shaft 302, a rotary support 303, a fifth motor 304, a fifth rotating shaft 305, a mechanical arm big arm 306, a first air cylinder 307, a sixth motor 308, a sixth rotating shaft 309, a mechanical arm small arm 310, a second air cylinder 311, a third air cylinder 312, an end effector main body connecting part 313, a sliding block 314, an end effector main body 315, a clamp 316 and a blade 317; the rotary support 303 is connected with the upper shell 201 through a fourth motor 301 and a fourth rotating shaft 302; the manipulator big arm 306 is connected with the rotary support 303 through a fifth motor 304 and a fifth rotating shaft 305; the manipulator big arm 306 is connected with a manipulator small arm 310 through a sixth motor 308 and a sixth rotating shaft 309; the large manipulator arm 306 and the small manipulator arm 310 are both provided with a chute track and an expansion rod and are of an expandable structure; the chute track and the telescopic rod of the large arm 306 of the manipulator are respectively fixedly connected with two ends of the first cylinder 307 through bolts; the chute track and the telescopic rod of the small arm 310 of the manipulator are respectively fixedly connected with two ends of the second cylinder 311 through bolts; the second camera 2 is fixed on the small arm 310 of the manipulator; the third cylinder 312 is provided with a fixed module and a cylinder moving module; the fixing module of the third cylinder 312 is fixed with the telescopic rod of the manipulator small arm 310 by welding; the cylinder moving module of the third cylinder 312 is connected with the sliding block 314 through a bolt; wedge-shaped structures are processed on two sides of the sliding block 314; a through hole is processed on the end effector main body connecting piece 313; the fixed module of the third cylinder 312 is welded and fixed with the end effector body connecting piece 313, and the cylinder moving module of the third cylinder 312 passes through a through hole on the end effector body connecting piece 313; the end effector body 315 is connected to the end effector body connection 313 by bolts; a through hole is processed on the end effector main body 315; the cylinder movement module of the third cylinder 312 passes through the through hole of the end effector body 315; the clamp 316 and the end effector body 315 are connected by a chute structure; a wedge-shaped sliding groove is processed on the side surface of the clamp 316 and is matched and connected with the wedge-shaped structure of the sliding block 314; the blade 317 is fixed to the clamp 316.
The working process is as follows: the camera I1 observes the road surface condition, carries out image feedback, starts the first motor 102, the second motor 105 and the third motor 108, controls the first rotating shaft 103, the second rotating shaft 106 and the third rotating shaft 109 to carry out rotary motion respectively, thereby drives the shank supporting plate 101, the thigh connecting plate 104 and the mechanical leg tail end connecting piece 107 to carry out small-angle rotary motion, realizes the multi-degree-of-freedom motion of the mechanical leg, and adapts to the working requirements of different complex terrain structures. The second camera 2 observes the position of the picked object and performs image feedback. Starting the fourth motor 301, thereby controlling the fourth rotating shaft 302 to rotate, and driving the rotary support 303 to rotate to the optimal position of the target picking object; starting a fifth motor 304 and a sixth motor 308 to control a fifth rotating shaft 305 and a sixth rotating shaft 309 to rotate, and driving a large manipulator arm 306 and a small manipulator arm 310 to perform small-angle rotation movement; simultaneously starting the first air cylinder 307 and the second air cylinder 311 to control the telescopic rods of the large manipulator arm 306 and the small manipulator arm 310 to perform telescopic motion, so as to control the large manipulator arm 306 and the small manipulator arm 310 to reach the optimal picking position; the third cylinder 312 is started to push the sliding block 314 to horizontally reciprocate, so that the clamp 316 with the wedge-shaped sliding groove is driven to perform closing motion under the restriction of the end effector main body 315, the blade 317 is driven to cut down the stem of the target picking object, and finally picking work is realized.
Claims (3)
1. A foot type low-position picking robot is characterized by comprising mechanical legs, a shell, mechanical arms, a first camera (1) and a second camera (2), wherein six mechanical legs are symmetrically distributed on two sides of the shell; the shell comprises an upper shell (201), a shell connecting column (202) and a lower shell (203), wherein the upper shell (201) is connected with the lower shell (203) through the shell connecting column (202); the first camera (1) and the upper shell (201) are fixed in a welding mode.
2. The foot-type low-position picking robot according to claim 1, characterized in that the mechanical leg comprises a shank support plate (101), a first motor (102), a first rotating shaft (103), a thigh connecting plate (104), a second motor (105), a second rotating shaft (106), a mechanical leg end connecting piece (107), a third motor (108) and a third rotating shaft (109), wherein the shank support plate (101) is connected with the thigh connecting plate (104) through the first motor (102) and the first rotating shaft (103); the thigh connecting plate (104) is connected with a mechanical leg tail end connecting piece (107) through a second motor (105) and a second rotating shaft (106); the mechanical leg end connecting piece (107) is connected with the upper shell (201) and the lower shell (203) through a third motor (108) and a third rotating shaft (109).
3. The foot-type low-position picking robot according to claim 1, characterized in that the mechanical arm comprises a fourth motor (301), a fourth rotating shaft (302), a rotary support (303), a fifth motor (304), a fifth rotating shaft (305), a large mechanical arm (306), a first air cylinder (307), a sixth motor (308), a sixth rotating shaft (309), a small mechanical arm (310), a second air cylinder (311), a third air cylinder (312), an end effector body connecting piece (313), a sliding block (314), an end effector body (315), a clamp (316) and a blade (317); the rotary support (303) is connected with the upper shell (201) through a fourth motor (301) and a fourth rotating shaft (302); the manipulator big arm (306) is connected with the rotary support (303) through a fifth motor (304) and a fifth rotating shaft (305); the large manipulator arm (306) is connected with the small manipulator arm (310) through a sixth motor (308) and a sixth rotating shaft (309); the large manipulator arm (306) and the small manipulator arm (310) are both provided with a chute track and a telescopic rod and are of telescopic structures; the chute track and the telescopic rod of the manipulator big arm (306) are respectively fixedly connected with two ends of the first cylinder (307) through bolts; the chute track and the telescopic rod of the small manipulator arm (310) are respectively fixedly connected with two ends of the second cylinder (311) through bolts; the second camera (2) is fixed on the manipulator small arm (310); the third cylinder (312) is provided with a fixed module and a cylinder moving module; the fixing module of the third air cylinder (312) is fixed with the telescopic rod of the small arm (310) of the manipulator through welding; the air cylinder moving module of the third air cylinder (312) is connected with the sliding block (314) through a bolt; wedge-shaped structures are processed on two sides of the sliding block (314); a through hole is processed on the end effector main body connecting piece (313); the fixing module of the third air cylinder (312) is fixedly welded with the end effector body connecting piece (313), and the air cylinder moving module of the third air cylinder (312) penetrates through a through hole in the end effector body connecting piece (313); the end effector body (315) is connected with the end effector body connecting piece (313) through a bolt; a through hole is processed on the end effector main body (315); the cylinder movement module of the third cylinder (312) passes through the through hole of the end effector body (315); the clamp (316) is connected with the end effector main body (315) by adopting a chute structure; a wedge-shaped sliding groove is processed on the side surface of the clamp (316) and is matched and connected with the wedge-shaped structure of the sliding block (314); the blade (317) is fixed to a holder (316).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023086229.1U CN214015083U (en) | 2020-12-21 | 2020-12-21 | Sufficient low-order picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023086229.1U CN214015083U (en) | 2020-12-21 | 2020-12-21 | Sufficient low-order picking robot |
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| Publication Number | Publication Date |
|---|---|
| CN214015083U true CN214015083U (en) | 2021-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023086229.1U Expired - Fee Related CN214015083U (en) | 2020-12-21 | 2020-12-21 | Sufficient low-order picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214015083U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055227A (en) * | 2021-12-14 | 2022-02-18 | 浙江西子势必锐航空工业有限公司 | A terminal actuating mechanism for drilling automation mechanical arm |
| CN115316131A (en) * | 2022-08-29 | 2022-11-11 | 安徽工业大学 | Multi-degree-of-freedom fruit picking robot and fruit picking method |
-
2020
- 2020-12-21 CN CN202023086229.1U patent/CN214015083U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055227A (en) * | 2021-12-14 | 2022-02-18 | 浙江西子势必锐航空工业有限公司 | A terminal actuating mechanism for drilling automation mechanical arm |
| CN115316131A (en) * | 2022-08-29 | 2022-11-11 | 安徽工业大学 | Multi-degree-of-freedom fruit picking robot and fruit picking method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210824 |
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| CF01 | Termination of patent right due to non-payment of annual fee |