CN214323379U - Control system of robot for picking competition for teaching - Google Patents
Control system of robot for picking competition for teaching Download PDFInfo
- Publication number
- CN214323379U CN214323379U CN202023229230.5U CN202023229230U CN214323379U CN 214323379 U CN214323379 U CN 214323379U CN 202023229230 U CN202023229230 U CN 202023229230U CN 214323379 U CN214323379 U CN 214323379U
- Authority
- CN
- China
- Prior art keywords
- picking
- chassis
- fixedly connected
- steering engine
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a teaching is with control system who picks contest robot, including chassis, running gear, rotatory cloud platform, mechanical arm mechanism and picking mechanism, driving motor, photoelectric sensor and the grey level sensor that is used for running gear work are installed to the chassis bottom, the fixed storing basket of having placed in chassis surface rear portion, the rotatory cloud platform of the anterior fixedly connected with in chassis surface, install a plurality of steering wheels in the mechanical arm mechanism, install the discernment camera and the picking manipulator that are used for discerning ripe fruit in the picking mechanism, chassis surface still fixedly connected with controller. The utility model discloses a controller and each drive element and the cooperation of gathering the component for the robot can realize independently navigating, accurate discernment and the stable function of picking, at the whole picking in-process of robot, and the student of being convenient for is familiar with the competition place better and competes the content, and the teacher of being convenient for explains the student.
Description
Technical Field
The utility model belongs to the technical field of the agricultural is picked, concretely relates to teaching is with control system who picks contest robot.
Background
The picking competition robot project is an important part of an agricultural service robot plate, is a sub project of a Chinese robot competition, and needs to finish picking mature fruits in a competition map, wherein the mature fruits are red and the immature fruits are green, and the picked mature fruits are placed in a storage basket and conveyed to the end point of the map. The map of the match is divided into A, B, C areas, wherein the area A is a complete picking area of the infrastructure, 6 red ripe fruits and walking guide lines are arranged in the area, and prompt lines are arranged at picking places A2, A3 and A4; the area B is an area with insufficient infrastructure or failure, 4 red mature fruits and 2 green immature fruits are arranged in the area, the positions of the mature fruits and the green immature fruits are fixed, a walking guide line is arranged, and the picking places B2, B3 and B4 have no prompt lines; the C area is an open orchard area, 3 red mature fruits and 3 green immature fruits are randomly distributed at 6 different positions of the fruit tree without walking guide lines, and the picking places C2, C3, C4 and C6 are provided with prompt lines. In order to help students to be familiar with a competition field better and more easily and know the content of the competition, a picking robot for teaching and a control system for the picking robot are designed.
Disclosure of Invention
The utility model discloses the technical problem that will solve is just not enough to above-mentioned prior art, provides a control system of robot is competed with picking in teaching, and it can help the robot to realize independently navigating, accurate identification and stable picking to effectively accomplish the competition task, thereby help the student to understand the competition map and the competition content.
The utility model adopts the technical proposal that: a control system of a robot for picking competition for teaching comprises a chassis, a walking mechanism, a rotating holder, a mechanical arm mechanism and a picking mechanism, the bottom of the chassis is provided with a driving motor, a photoelectric sensor and a gray sensor which are used for the running mechanism to work, the rear part of the surface of the chassis is fixedly provided with a storage basket, the front part of the surface of the chassis is fixedly connected with a rotating holder, the rotating holder is provided with a rotating motor for driving the rotating holder to rotate, a plurality of steering engines for adjusting the angle of the mechanical arm are arranged on the mechanical arm mechanism, an identification camera and a picking manipulator for identifying mature fruits are arranged on the picking mechanism, the picking manipulator is connected with a double-head motor, the chassis surface is fixedly connected with a controller, and the controller is respectively connected with a driving motor, a light sensor, a gray sensor, a rotating motor, a plurality of steering engines, a recognition camera and a double-head motor.
Preferably, the travelling mechanism comprises four travelling wheels symmetrically arranged on two sides of the chassis, each travelling wheel is connected with one driving motor, photoelectric sensors are symmetrically arranged on two sides of the front part of the bottom surface of the chassis, and a gray sensor is arranged on the front side of the bottom of the chassis.
Preferably, the rotating holder comprises a rotating support frame, the bottom of the rotating support frame is fixedly connected with the surface of the chassis, a rotating disc is arranged at the center of the top of the rotating support frame, a rotating motor is fixedly connected to the bottom of the rotating disc, and the rotating motor is fixed on the rotating support frame.
Preferably, the mechanical arm mechanism comprises a long arm and a short arm, the long arm is connected with the rotating holder through a large steering engine, the large steering engine is fixed at the top of the rotating holder, the long arm is connected with the short arm through a small steering engine, one end, far away from the small steering engine, of the short arm is fixedly connected with a picking steering engine, one side, far away from the short arm, of the picking steering engine is fixedly connected with an adjusting steering engine, and the adjusting steering engine is fixedly connected with the picking mechanism.
Preferably, the picking mechanism comprises a fixing frame and three groups of vertically arranged clamping jaws, one side of the fixing frame is fixedly connected with an adjusting steering engine, the three groups of clamping jaws are respectively positioned at the top, the middle part and the bottom of the fixing frame, the end parts of the two groups of clamping jaws positioned at the top and the bottom of the fixing frame are provided with gears which are meshed with each other, the two groups of gears are respectively and fixedly connected at the top and the bottom of the fixing frame, the fixing frame is fixedly connected with a double-headed motor, two output shafts of the double-headed motor are respectively connected with the two groups of gears, the end part of one clamping jaw positioned at the middle part of the fixing frame is rotatably connected with the fixing frame, a mounting bracket is further installed at the front side of the fixing frame, a recognition camera is connected onto the mounting bracket, and the recognition camera is positioned on the central line of the symmetrical clamping jaws.
Preferably, a gyroscope is further mounted on the chassis and connected with the controller.
The beneficial effects of the utility model reside in that:
(1) the long arm, the short arm, the large steering engine, the small steering engine, the picking steering engine and the adjusting steering engine are matched, the long arm, the short arm, the large steering engine, the small steering engine and the picking steering engine are controlled by the controller to realize multi-angle adjustment and swing of the mechanical arm in the vertical direction, and meanwhile, the controller is used for controlling the adjusting steering engine to realize picking angle adjustment in the horizontal direction, so that the adjustment of the mechanical arm structure is quicker and more accurate;
(2) the controller controls the rotation of the rotary holder, so that the steering of the mechanical arm structure is realized, picking is facilitated, and the mature fruits are placed in the storage basket after picking, so that the picking stability and high efficiency are ensured;
(3) the manipulator adopts three group's jack catchs to realize, has avoided the easy slippage problem of single jack catch after snatching, has strengthened the stability that the fruit snatched.
The utility model discloses a controller and each drive element and the cooperation of gathering the component for the robot can realize independently navigating, accurate discernment and the stable function of picking, at the whole picking in-process of robot, and the student of being convenient for is familiar with the competition place better and competes the content, and the teacher of being convenient for explains the student.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view of the chassis of the present invention;
fig. 4 is a schematic structural view of the rotary head of the present invention;
fig. 5 is a schematic structural view of the robot arm mechanism of the present invention;
fig. 6 is a schematic mechanism diagram of the picking mechanism of the present invention;
FIG. 7 is a map of a competition venue.
In the figure: 1. a chassis; 2. a traveling wheel; 3. a drive motor; 4. a photosensor; 5. a grayscale sensor; 6. a storage basket; 7. rotating the holder; 8. a long arm; 9. a short arm; 10. a large steering engine; 11. a small steering engine; 12. picking a steering engine; 13. adjusting a steering engine; 14. a fixed mount; 15. a picking mechanism; 16. a gyroscope; 17. A controller; 151. a claw; 152. a gear; 153. a double-headed motor; 154. a protection plate; 155. anti-slip ribs; 156. mounting a bracket; 157. identifying a camera; 701. rotating the support frame; 702. rotating the disc; 703. rotating the motor; 704. a connecting member.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7, the picking competition robot for teaching provided by the present embodiment includes a picking robot and a control system matched with the picking robot;
the robot for the picking competition for teaching comprises a chassis 1 and a controller 17 fixed on the chassis 1, wherein walking wheels 2 are symmetrically arranged on two sides of the chassis 1, each walking wheel 2 is respectively connected with a driving motor 3, photoelectric sensors 4 are symmetrically arranged on two sides of the front part of the bottom surface of the chassis 1, and a gray sensor 5 is arranged on the front side of the bottom of the chassis 1;
the driving motor 3, the optical sensor and the gray sensor 5 are respectively connected with the controller 17, the gray sensor 5 is used for detecting a ground travelling identification line and sending a detection signal to the controller 17, the controller 17 receives the signal and then controls the driving motor 3 to work, so that the driving motor 3 drives the travelling wheels 2 to travel, in the traveling process, the photoelectric sensor 4 is used for detecting plants to be picked at two sides of a travelling path, when the robot travels, the photoelectric sensor 4 sends the signal to the controller 17 after detecting the plants to be picked, the controller 17 controls the driving motor 3 to stop working, and the robot stops traveling;
the storage basket 6 is fixedly placed at the rear part of the surface of the chassis 1, the rotary holder 7 is fixedly connected to the front part of the surface of the chassis 1, namely, the rotary support frame 701 is fixedly connected to the front part of the surface of the chassis 1, the rotary disc 702 is arranged at the center of the top of the rotary support frame 701, the rotary motor 703 is fixedly connected to the bottom of the rotary disc 702, and the rotary motor 703 is fixed on the rotary support frame 701;
the rotating motor 703 is connected with the controller 17, and when horizontal rotation is needed in the fruit picking process, the controller 17 controls the rotating motor 703 to work, so that the steering of the mechanical arm mechanism and the picking mechanism 15 is realized;
the surface of the rotating disc 702 is fixedly connected with a large steering engine 10 through a connecting piece 704, the large steering engine 10 is connected with a long arm 8, the long arm 8 is connected with a short arm 9 through a small steering engine 11, one end of the short arm 9, far away from the long arm 8, is connected with a picking steering engine 12, and one side of the picking steering engine 12, far away from the short arm 9, is fixedly connected with an adjusting steering engine 13;
the large steering engine 10, the small steering engine 11, the picking steering engine 12 and the adjusting steering engine 13 are respectively connected with the controller 17, and the controller 17 controls the large steering engine 10 and the small steering engine 11 to realize the swinging of the long arm 8 and the short arm 9 in the vertical direction, so that the angle of the long arm 8 and the short arm 9 in the vertical direction is adjusted;
because the adjusting steering engine 13 is connected with the picking mechanism 15, the controller 17 can control the picking steering engine 12 to directly adjust the angle of the picking mechanism 15 in the vertical direction, and meanwhile, the controller 17 can also control the adjusting steering engine to adjust the angle of the picking mechanism 15 in the horizontal direction, so that the picking mechanism 15 can realize adjustment in multiple horizontal and vertical angles, and the fruit grabbing accuracy is improved;
the picking mechanism 15 comprises a fixed frame 14 and three groups of vertically arranged clamping jaws 151, one side of the fixed frame 14 is fixedly connected with the adjusting steering engine 13, the three groups of clamping jaws 151 are respectively positioned at the top, the middle and the bottom of the fixed frame 14, gears 152 which are meshed with each other are arranged at the end parts of the two groups of clamping jaws 151 positioned at the top and the bottom of the fixed frame 14, a double-head motor 153 is arranged on the fixed frame 14, one output shaft of the double-head motor 153 penetrates out of the top of the fixed frame 14 and is fixedly connected with one gear 152 which is meshed with each other at the end part of one group of clamping jaws 151 positioned at the top of the fixed frame 14, the other output shaft penetrates out of the bottom of the fixed frame 14 and is fixedly connected with one gear 152 which is meshed with each other at the end part of one group of clamping jaws 151 positioned at the bottom of the fixed frame 14, so that the two groups of clamping jaws 151 are respectively and fixedly arranged at the top and the bottom of the fixed frame 14 and driven by the double-head motor 153, the two groups of gears 152 are driven to rotate relatively, namely the two groups of claws 151 perform synchronous opening, closing and opening actions, the claws 151 in the middle of the fixed frame 14 are rotatably connected with the fixed frame 14, and meanwhile, the three groups of claws 151 are connected through vertical connecting rods, so that the claws 151 in the middle of the fixed frame 14 are driven by the other two groups of claws 151 to perform synchronous opening, closing and opening actions, and the grabbing, closing or opening and closing action state of the whole picking manipulator is realized; the outer walls of the three groups of clamping jaws 151 are also provided with a protective plate 154, and the inner walls of the three groups of clamping jaws 151 are provided with anti-skidding convex edges 155; the front side of the fixed frame 14 is also provided with a mounting bracket 156, the mounting bracket 156 is connected with a recognition camera 157, and the recognition camera 157 is positioned on the central line of the symmetrical jaws 151;
the double-end motor 153 and the recognition camera 157 are respectively connected with the controller 17, the controller 17 controls the double-end motor 153 to realize grabbing of the picking manipulator, the recognition camera 157 adopts an Openmv camera, signals are sent to the controller 17 after mature fruits are recognized, the controller 17 controls the mechanical arm mechanism to adjust the position, and after the position is adjusted to the grabbing position of the picking manipulator, the picking manipulator is controlled to complete picking.
The gyroscope 16 is connected with the controller 17 and used for detecting the posture of the robot in the walking process and ensuring that the robot walks more stably.
The working principle is as follows:
the robot starts from a competition map, a ground identification line is identified through a gray sensor 5, the robot walks along the ground identification line, picked plants on two sides of a walking path are detected through a photoelectric sensor 4 in the walking process, when the photoelectric sensor 4 detects a plant to be picked, the robot stops walking, a rotating motor 703 works to drive a mechanical arm structure and a picking structure to rotate, whether fruits to be picked are ripe or not is identified through the identifying motor in the rotating process, if the fruits are ripe, the mechanical arm structure is adjusted according to the positions of the fruits, so that the picking manipulator is continuously close to the fruits and is finally located at a grabbing center of the picking manipulator, a double-end motor 153 is controlled to work to drive the picking manipulator to be closed to grab, after grabbing, a rotating disc 702 is driven to rotate through the rotating motor 703, and the position is adjusted through the mechanical arm structure, the picking manipulator is positioned above the storage basket 6, and then the picking manipulator is loosened, so that the fruits fall into the storage basket 6, and one-time picking is completed; the robot continues to walk, sequentially and repeatedly picks up, and finally walks to the map terminal point to finish the match.
The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and the utility model should be covered in the protection scope of the present invention.
Claims (6)
1. The utility model provides a teaching is with control system who picks contest robot, includes chassis (1), running gear, rotatory cloud platform (7), arm mechanism and picking mechanism (15), its characterized in that: the utility model discloses a fruit picking machine, including chassis (1), chassis, fixed chassis, rotating platform, manipulator, double-end motor (153), chassis (1) bottom is installed and is used for driving motor (3), photoelectric sensor (4) and grey sensor (5) of running gear work, storage basket (6) have been placed to chassis (1) fixed surface rear portion, and chassis (1) surperficial anterior fixedly connected with rotates cloud platform (7), installs its rotatory rotation motor (703) of drive on rotatory cloud platform (7), install a plurality of steering engines that are used for adjusting the arm angle in the manipulator mechanism, install discernment camera (157) and the picking manipulator that are used for discerning ripe fruit on picking mechanism (15), picking the manipulator and being connected with double-end motor (153), chassis (1) surface still fixedly connected with controller (17), controller (17) respectively with driving motor (3), photoelectric sensor, grey sensor (5), rotation motor (703), The steering engines, the recognition cameras (157) and the double-head motor (153) are connected.
2. The control system for the picking competition robot for teaching as claimed in claim 1, wherein: the walking mechanism comprises four walking wheels (2) symmetrically arranged on two sides of a chassis (1), each walking wheel (2) is connected with a driving motor (3), photoelectric sensors (4) are symmetrically arranged on two sides of the front portion of the bottom surface of the chassis (1), and a gray sensor (5) is arranged on the front side of the bottom of the chassis (1).
3. The control system for the picking competition robot for teaching as claimed in claim 1, wherein: the rotating holder (7) comprises a rotating support frame (701), the bottom of the rotating support frame (701) is fixedly connected with the surface of the chassis (1), a rotating disc (702) is arranged at the center of the top of the rotating support frame (701), a rotating motor (703) is fixedly connected to the bottom of the rotating disc (702), and the rotating motor (703) is fixed on the rotating support frame (701).
4. The control system for the picking competition robot for teaching as claimed in claim 1, wherein: the mechanical arm mechanism comprises a long arm (8) and a short arm (9), the long arm (8) is connected with the rotating holder (7) through a large steering engine (10), the large steering engine (10) is fixed to the top of the rotating holder (7), the long arm (8) is connected with the short arm (9) through a small steering engine (11), one end, far away from the small steering engine (11), of the short arm (9) is fixedly connected with a picking steering engine (12), one side, far away from the short arm (9), of the picking steering engine (12) is fixedly connected with an adjusting steering engine (13), and the adjusting steering engine (13) is fixedly connected with a picking mechanism (15).
5. A control system for a picking competition robot for teaching as claimed in claim 1 or 4, wherein: the picking mechanism (15) comprises a fixed frame (14) and three groups of vertically arranged clamping jaws (151), one side of the fixed frame (14) is fixedly connected with an adjusting steering engine (13), the three groups of clamping jaws (151) are respectively positioned at the top, the middle part and the bottom of the fixed frame (14), gears (152) which are mutually meshed are arranged at the end parts of the two groups of clamping jaws (151) positioned at the top and the bottom of the fixed frame (14), the two groups of gears (152) are respectively and fixedly connected at the top and the bottom of the fixed frame (14), a double-head motor (153) is fixedly connected on the fixed frame (14), two output shafts of the double-head motor (153) are respectively connected with the two groups of gears (152), the end part of one clamping jaw (151) positioned at the middle part of the fixed frame (14) is rotatably connected with the fixed frame (14), a mounting bracket (156) is further installed at the front side of the fixed frame (14), and an identification camera (157) is connected on the mounting bracket (156), the recognition camera (157) is located on the midline of the symmetrical jaws (151).
6. The control system for the picking competition robot for teaching as claimed in claim 1, wherein: the chassis (1) is also provided with a gyroscope (16), and the gyroscope (16) is connected with a controller (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023229230.5U CN214323379U (en) | 2020-12-28 | 2020-12-28 | Control system of robot for picking competition for teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023229230.5U CN214323379U (en) | 2020-12-28 | 2020-12-28 | Control system of robot for picking competition for teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214323379U true CN214323379U (en) | 2021-10-01 |
Family
ID=77903571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023229230.5U Active CN214323379U (en) | 2020-12-28 | 2020-12-28 | Control system of robot for picking competition for teaching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214323379U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714322A (en) * | 2022-04-08 | 2022-07-08 | 常熟理工学院 | Picking robot |
-
2020
- 2020-12-28 CN CN202023229230.5U patent/CN214323379U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714322A (en) * | 2022-04-08 | 2022-07-08 | 常熟理工学院 | Picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107667670B (en) | Nondestructive intelligent grading harvester for hedge wall type fresh grapes and control method thereof | |
| CN111602518A (en) | Full-automatic ridge culture type strawberry picking robot and using method | |
| CN210381946U (en) | Intelligent fruit and vegetable picking and sorting robot | |
| CN214323379U (en) | Control system of robot for picking competition for teaching | |
| CN109156161A (en) | A kind of fertile mandarin orange picking robot of intelligence | |
| CN108575318A (en) | A kind of strawberry automatic picking apparatus and method based on flexible manipulator | |
| CN211745437U (en) | Robot is picked to overhead fruit vegetables intelligence | |
| CN112428268A (en) | Vehicle-mounted mechanical arm type fruit picking and boxing system and method based on machine vision | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN113396650B (en) | Intelligent vegetable inter-plant weeding device and control method | |
| CN213999511U (en) | Robot for picking competition for teaching | |
| CN209572524U (en) | A kind of intelligence branch pruning machine people | |
| CN112772145A (en) | Agricultural fruit tree picking and sorting intelligent robot | |
| CN113196946A (en) | Self-propelled intelligent fruit and vegetable picking and collecting robot and implementation method thereof | |
| CN209787899U (en) | Garden type fruit picking robot | |
| CN216392163U (en) | Tea leaf picking device | |
| CN203775716U (en) | Fruit picking manipulator | |
| CN210328616U (en) | Bush pruning robot | |
| CN114303643A (en) | Automatic grabbing system based on machine vision recognition | |
| CN208710955U (en) | Comprehensive intelligent receives ball system | |
| CN214628052U (en) | Control system of plug seedling transplanting robot | |
| CN110431999B (en) | Gantry type automatic fruit harvesting robot | |
| CN214125980U (en) | Plug seedling transplanting robot for competition | |
| CN211745441U (en) | Autonomous-walking cherry picking robot | |
| CN209497929U (en) | A kind of fruit harvest machine people's control system for contest |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |