CN215345942U - Small fruit double-arm working robot and picking device thereof - Google Patents
Small fruit double-arm working robot and picking device thereof Download PDFInfo
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- CN215345942U CN215345942U CN202120838727.2U CN202120838727U CN215345942U CN 215345942 U CN215345942 U CN 215345942U CN 202120838727 U CN202120838727 U CN 202120838727U CN 215345942 U CN215345942 U CN 215345942U
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Abstract
The utility model discloses a picking device which comprises a six-degree-of-freedom mechanical arm, a lower jaw mechanism, a rotating device and an upper jaw flexible plate, wherein the lower jaw mechanism is arranged at one end of the six-degree-of-freedom mechanical arm, the upper jaw flexible plate is rotatably arranged on the lower jaw mechanism through the rotating device, a picking space for picking fruits is enclosed by the lower jaw mechanism and the upper jaw flexible plate, and the picking space can be opened or closed by the upper jaw flexible plate driven by the rotating device. The utility model also discloses a small fruit double-arm operation robot which is provided with the picking device. The automatic picking device can realize full automation of the picking process of the spheroidal fruits, does not influence other parts of crops except the fruits during picking, and has wide application range.
Description
Technical Field
The utility model relates to the technical field of artificial intelligence and robots, in particular to a small berry double-arm working robot and a picking device thereof.
Background
As is well known, the fruit like a spherical shape, such as oil tea fruit or orange, etc., is an important agricultural and forestry economic crop in China.
Taking the oil tea fruit as an example, the oil tea fruit is the most important agricultural and forestry economic crop in China, and after flower buds of the oil tea tree blossom, pollinate and fertilize, young fruits and grown fruits are formed. The tea oil can be used for eating, and the tea oil and the tea cake thereof can also be used as fertilizers in the industrial or chemical field. The oil tea fruit harvesting characteristics are as follows: firstly, the camellia oleifera trees are densely hung with fruits, and the same branch is different in fruit-hanging mature period; secondly, the oil tea fruit has the biological characteristics that flowers and fruits grow synchronously, and the best picking mode is to directly pick the fruits, but not shake flower buds by vibration or shaking, because the vibration affects the yield.
Aiming at the characteristics of oil tea fruit picking, the existing oil tea fruit picking mainly adopts a manual mode to gently pick fruits, and the existing fruit picking device adopts a mechanical vibration mode, namely, a mode of shaking a trunk (such as an olive fruit trunk) to enable the fruits to fall down, and then collects the fruits through a collecting net. The above methods are not suitable for picking the oil tea fruits for the following reasons: firstly, the strength of manual harvesting is high, and the picking efficiency is low; secondly, the traditional mechanical vibration picking mode can cause the flower buds and the fruits of the oil-tea camellia fruits to fall simultaneously, thus causing yield loss.
Therefore, there is a need for a small fruit double-arm working robot and a picking device thereof, which are applicable to picking of oil-tea camellia fruits, to solve the above problems.
Disclosure of Invention
The utility model provides a picking device aiming at the defects of the prior art.
The technical scheme adopted by the utility model for realizing the purpose is as follows:
a picking device comprises a six-degree-of-freedom mechanical arm, a lower jaw mechanism, a rotating device and an upper jaw flexible plate, wherein the lower jaw mechanism is installed at one end of the six-degree-of-freedom mechanical arm, the upper jaw flexible plate is rotatably installed on the lower jaw mechanism through the rotating device, a harvesting space for harvesting fruits is defined by the lower jaw mechanism and the upper jaw flexible plate together, and the harvesting space can be opened or closed by the upper jaw flexible plate under the driving of the rotating device.
The jaw mechanism comprises a first arc-shaped part and a second arc-shaped part, wherein the first end of the first arc-shaped part is connected with the six-degree-of-freedom mechanical arm, the second end of the first arc-shaped part bends and extends towards the right front, the first end of the second arc-shaped part is connected with the six-degree-of-freedom mechanical arm, and the second end of the second arc-shaped part bends and extends towards the left front and then is rotatably connected with the second end of the first arc-shaped part.
In a further improvement, the jaw mechanism further comprises a toothed cutter for assisting in cutting the fruit, the toothed cutter is located in the harvesting space, and the toothed cutter is mounted on the inner side walls of the first arc-shaped part and the second arc-shaped part.
In a further improvement, the lower jaw mechanism further comprises an elastic expansion device, the elastic expansion device is mounted on the six-degree-of-freedom mechanical arm, and an output end of the elastic expansion device is respectively connected with the first end of the first arc-shaped part and the first end of the second arc-shaped part, so that the first end of the first arc-shaped part and the first end of the second arc-shaped part are close to or far away from each other.
In a further improvement, the flexible upper jaw plate comprises at least two plate body parts, and the two plate body parts are rotatably connected with each other so that the flexible upper jaw plate can be folded or unfolded.
The utility model also discloses a robot for double-arm operation of small cones, aiming at the technical defects at present.
This a little fruit both arms work robot includes the car body and as above pick the device, it installs in on the car body to pick the device, the walking wheel is installed to the bottom of car body.
In a further improvement, the robot for the double-arm small spherical fruit operation further comprises a fruit box for placing picked fruits, and the fruit box is mounted on the vehicle body.
In a further improvement, the picking devices are at least two groups and are symmetrically arranged at two sides of the fruit box.
The robot for the double-arm operation of the small spherical fruits further comprises an image acquisition device for acquiring images of fruits to be picked so as to accurately position picking positions, and the image acquisition device is mounted on the picking device.
In a further improvement, the image acquisition device is an image acquisition device with a binocular stereo vision system.
The utility model has the beneficial effects that: the utility model discloses a picking device, which comprises a six-degree-of-freedom mechanical arm, a lower jaw mechanism, a rotating device and an upper jaw flexible plate, wherein the lower jaw mechanism is arranged at one end of the six-degree-of-freedom mechanical arm, the upper jaw flexible plate is rotatably arranged on the lower jaw mechanism through the rotating device, a harvesting space for harvesting fruits is enclosed by the lower jaw mechanism and the upper jaw flexible plate together, and the harvesting space can be opened or closed by the upper jaw flexible plate driven by the rotating device. Therefore, in the actual working process, when fruits growing downwards need to be picked, the lower jaw mechanism is arranged below the fruits through the six-degree-of-freedom mechanical arm, and the upper jaw flexible plate drives the lower jaw mechanism to turn over in the direction of the lower jaw mechanism under the driving of the rotating device so as to place the fruits into a picking space; when the fruits growing upwards need to be picked, the lower jaw mechanism is located above the fruits through the six-degree-of-freedom mechanical arm, the upper jaw flexible plate is located below the fruits, and the upper jaw flexible plate is driven by the rotating device to place the fruits into the picking space. The automatic picking device can realize full automation of the picking process of the spheroidal fruits, does not influence other parts of crops except the fruits during picking, and has wide application range.
The utility model is further described with reference to the following detailed description and accompanying drawings.
Drawings
FIG. 1 is a schematic overall structure diagram of a small fruit double-arm working robot of the utility model;
fig. 2 is a schematic view of the entire structure of the chin mechanism of the present invention;
fig. 3 is a schematic view of the overall structure of the flexible maxilla plate of the present invention.
In the figure: 100. a small fruit double-arm operation robot comprises a vehicle body 10, a picking device 20, a walking wheel 11, a fruit box 30, an image acquisition device 40, a six-degree-of-freedom mechanical arm 21, a lower jaw mechanism 22, a rotating device 23, an upper jaw flexible plate 24, a harvesting space 20a, a first arc-shaped part 221, a second arc-shaped part 222, a serrated knife 223, an elastic expansion device 224 and a plate body part 241.
Detailed Description
The following description is only a preferred embodiment of the present invention, and does not limit the scope of the present invention.
Referring to fig. 1 to 3, a small fruit double-arm working robot 100 according to the present invention includes a vehicle body 10 and a picking device 20, wherein the picking device 20 is mounted on the vehicle body 10, and a traveling wheel 11 is mounted at the bottom of the vehicle body 10. Specifically, the small fruit double-arm operation robot 100 further comprises a fruit box 30 for placing picked fruits, wherein the fruit box 30 is mounted on the vehicle body 10; more specifically, a small fruit double-arm working robot 100 further includes an image pickup device 40 for image-picking fruits to be picked to accurately position a picking position, the image pickup device 40 being mounted on the picking device 20. Therefore, in actual work, the picking position can be positioned through the image acquisition device 40, then the fruit is picked through the picking device 20, and finally the picked fruit is placed in the fruit box 30. Preferably, there are at least two picking devices 20, and the picking devices 20 are symmetrically arranged on two sides of the fruit box 30, so that the fruits on two sides of the cart body 10 can be picked simultaneously. For example, the image capturing device 40 is an image capturing device 40 with a binocular stereo vision system for target image capturing, relative distance between the robot and the fruit tree, etc. determination and positioning, so that the picking device 20 can pick the fruit more accurately, but is not limited thereto.
With continued reference to fig. 1 to 3, the picking device 20 of the present invention comprises a six-degree-of-freedom robot arm 21, a lower jaw mechanism 22, a rotating device 23, and an upper jaw flexible plate 24, wherein the lower jaw mechanism 22 is mounted at one end of the six-degree-of-freedom robot arm 21, the upper jaw flexible plate 24 is rotatably mounted on the lower jaw mechanism 22 through the rotating device 23, and the lower jaw mechanism 22 and the upper jaw flexible plate 24 together enclose a harvesting space 20a for harvesting fruits, and the upper jaw flexible plate 24 can open or close the harvesting space 20a under the driving of the rotating device 23.
Referring to fig. 2, the chin mechanism 22 includes a first arc-shaped member 221 and a second arc-shaped member 222, a first end of the first arc-shaped member 221 is connected to the six-degree-of-freedom robot arm 21, a second end of the first arc-shaped member 221 bends and extends toward the front right, a first end of the second arc-shaped member 222 is connected to the six-degree-of-freedom robot arm 21, and a second end of the second arc-shaped member 222 bends and extends toward the front left and then is rotatably connected to a second end of the first arc-shaped member 221; the connection between the first arc 221 and the second arc 222 forms a tip for guiding in a branch, for example, but not limited to, the chin mechanism 22 may be shaped as a simulated mouth of a catfish. Specifically, chin mechanism 22 further includes a toothed knife 223 for assisting in cutting fruit, toothed knife 223 is located in harvesting space 20a, and toothed knife 223 is mounted on the inner side walls of first arc-shaped part 221 and second arc-shaped part 222; therefore, when encountering fruits which are difficult to pick, the fruit stalks can be cut by the toothed cutter 223 to pick the fruits. More specifically, the chin mechanism 22 further includes an elastic expansion device 224, the elastic expansion device 224 is mounted on the six-degree-of-freedom robot arm 21, and output ends of the elastic expansion device 224 are respectively connected to a first end of the first arc-shaped member 221 and a first end of the second arc-shaped member 222 so that the first end of the first arc-shaped member 221 and the first end of the second arc-shaped member 222 are close to or far from each other; thus, when it is desired to pick a plurality of fruits in the same row at the same time, the lower jaw mechanism 22 can be opened by the elastic expansion means 224 to expand the volume of the harvesting space 20a.
Referring to fig. 3, the flexible plate 24 includes at least two plate portions 241, the two plate portions 241 are rotatably connected to each other so that the flexible plate 24 can be folded or unfolded, and the rotating device 23 can drive the angle between the flexible plate 24 and the lower jaw mechanism 22 to be greater than 90 degrees, so as to avoid contacting surrounding leaves during picking.
The utility model has the beneficial effects that: the picking device 20 comprises a six-degree-of-freedom mechanical arm 21, a lower jaw mechanism 22, a rotating device 23 and an upper jaw flexible plate 24, wherein the lower jaw mechanism 22 is installed at one end of the six-degree-of-freedom mechanical arm 21, the upper jaw flexible plate 24 is rotatably installed on the lower jaw mechanism 22 through the rotating device 23, the lower jaw mechanism 22 and the upper jaw flexible plate 24 jointly enclose a harvesting space 20a for harvesting fruits, and the upper jaw flexible plate 24 can open or close the harvesting space 20a under the driving of the rotating device 23. Therefore, in the actual working process, when it is needed to pick the fruit growing downwards, the lower jaw mechanism 22 is under the fruit by the six-degree-of-freedom mechanical arm 21, and the upper jaw flexible plate 24 is turned over in the direction of the lower jaw mechanism 22 driven by the rotating device 23 to put the fruit into the harvesting space 20 a; when it is desired to pick an upwardly growing fruit, the lower jaw mechanism 22 is positioned above the fruit and the upper jaw flexible plate 24 is positioned below the fruit by the six-degree-of-freedom robotic arm 21, and the fruit is placed in the picking space 20a by the rotating device 23 actuating the upper jaw flexible plate 24. The automatic picking device can realize full automation of the picking process of the spheroidal fruits, does not influence other parts of crops except the fruits during picking, and has wide application range.
The present invention is not limited to the above embodiments, and other robots for a small fruit double arm operation and picking devices thereof, which are constructed by the same or similar structure or device as the above embodiments of the present invention, are within the scope of the present invention.
Claims (10)
1. A picking device, its characterized in that: the fruit harvesting machine comprises a six-degree-of-freedom mechanical arm, a lower jaw mechanism, a rotating device and an upper jaw flexible plate, wherein the lower jaw mechanism is installed at one end of the six-degree-of-freedom mechanical arm, the upper jaw flexible plate is rotatably installed on the lower jaw mechanism through the rotating device, a harvesting space for harvesting fruits is enclosed by the lower jaw mechanism and the upper jaw flexible plate together, and the harvesting space can be opened or closed by the upper jaw flexible plate under the driving of the rotating device.
2. The harvesting device of claim 1, wherein: the jaw mechanism comprises a first arc-shaped part and a second arc-shaped part, the first end of the first arc-shaped part is connected with the six-degree-of-freedom mechanical arm, the second end of the first arc-shaped part bends and extends towards the right front, the first end of the second arc-shaped part is connected with the six-degree-of-freedom mechanical arm, and the second end of the second arc-shaped part bends and extends towards the left front and then is rotatably connected with the second end of the first arc-shaped part.
3. A harvesting device according to claim 2, wherein: the jaw mechanism further comprises a toothed cutter for assisting cutting of fruits, the toothed cutter is located in the harvesting space, and the toothed cutter is mounted on the inner side walls of the first arc-shaped part and the second arc-shaped part.
4. A harvesting device according to claim 2, wherein: the lower jaw mechanism further comprises an elastic expansion device, the elastic expansion device is mounted on the six-degree-of-freedom mechanical arm, and the output end of the elastic expansion device is respectively connected with the first end of the first arc-shaped part and the first end of the second arc-shaped part so that the first end of the first arc-shaped part and the first end of the second arc-shaped part are close to or far away from each other.
5. The harvesting device of claim 1, wherein: the flexible plate comprises at least two plate body parts, and the two plate body parts are rotatably connected with each other so that the flexible plate can be folded or unfolded.
6. A little fruit both arms work robot which characterized in that: comprising a vehicle body and a picking device as claimed in any one of claims 1 to 5 mounted thereon, the bottom of which is mounted with road wheels.
7. The small fruit double-arm working robot according to claim 6, wherein: the fruit box is used for placing picked fruits and is mounted on the vehicle body.
8. The small fruit double-arm working robot according to claim 7, wherein: the picking devices are at least two groups and are symmetrically arranged on two sides of the fruit box.
9. The small fruit double-arm working robot according to claim 6, wherein: the picking device is characterized by further comprising an image acquisition device for acquiring images of fruits to be picked so as to accurately position picking positions, wherein the image acquisition device is arranged on the picking device.
10. The small fruit double-arm working robot of claim 9, wherein: the image acquisition device is an image acquisition device with a binocular stereo vision system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120838727.2U CN215345942U (en) | 2021-04-23 | 2021-04-23 | Small fruit double-arm working robot and picking device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120838727.2U CN215345942U (en) | 2021-04-23 | 2021-04-23 | Small fruit double-arm working robot and picking device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215345942U true CN215345942U (en) | 2021-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120838727.2U Active CN215345942U (en) | 2021-04-23 | 2021-04-23 | Small fruit double-arm working robot and picking device thereof |
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| Country | Link |
|---|---|
| CN (1) | CN215345942U (en) |
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2021
- 2021-04-23 CN CN202120838727.2U patent/CN215345942U/en active Active
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