CN217308345U

CN217308345U - Robot with independent suspension mechanism

Info

Publication number: CN217308345U
Application number: CN202220748370.3U
Authority: CN
Inventors: 李长勇; 赵建安; 张扬龙; 孙涛; 李彭涛
Original assignee: Xinjiang University
Current assignee: Xinjiang University
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-08-30
Anticipated expiration: 2032-04-02

Abstract

The utility model relates to a robot with independently hang mechanism. The robot of the utility model is mainly used for picking fruits in an orchard; observing the surrounding environment through a depth camera, positioning fruits and identifying whether the fruits are mature or not; the obstacle avoidance function is realized through an ultrasonic sensor in the sensor box; the path planning and the whole power supply of the robot are carried out through a GPS receiver and a lithium battery in the main control box, and the Bluetooth remote control operation of the robot is carried out through a Bluetooth module in the main control box; the robot is provided with four-wheel independent suspension damping mechanisms, has strong ground adaptability, can effectively damp, enables a vehicle body to keep stable, and is beneficial to camera identification and picking; the robot can be remotely controlled by a mobile network technology; the robot can also realize autonomous alarm through a mobile network technology; the robot can pick fruits around the machine body by controlling the mechanical arm to move; the picking basket is positioned on the frame and used for storing picked fruits.

Description

Robot with independent suspension mechanism

Technical Field

The utility model relates to a robot field especially relates to a robot with independently hang mechanism.

Background

The current orchard mechanization plays a role in lifting the fruit industry, can reduce the labor production intensity of fruit growers, simultaneously improves the production efficiency, greatly saves the labor cost, and creates high economic value and production value; the orchard area and fruit yield position in China are in the top of the world, but fruit picking basically depends on manual work, belongs to a high-labor-consumption task and needs a large amount of labor force to participate, so that the fruit picking efficiency is reduced, and the orchard input cost and the fruit production cost are increased; in order to alleviate the influence of the phenomenon on fruit industry, the development of orchard picking robots is one of the important choices of low cost and high benefit in orchard production.

In addition, due to the fact that the orchard terrain is complex, the fruit picking robot with the rigid mechanism cannot well adapt to the ground conditions of the orchard due to the fact that the orchard terrain is uneven, foreign matter obstacles are more, soil quality is soft, and the like, when the fruit picking robot works, the robot body jolts up and down, vibration and impact are strong, and visual identification and picking work of fruits are seriously affected.

Disclosure of Invention

In order to solve the manual picking labour not enough, with high costs, it is efficient to reach the smooth operation of orchard topography complicated influence robot, lead to fruit discernment and picking inefficiency, the poor problem of accurate degree, the utility model provides a robot with independently hang mechanism for replace artifical completion fruit to pick, realize orchard mechanization, thereby fill in the labour, reduce cost improves efficiency, and transmit the impact force for the automobile body by uneven road surface through the independent buffering of hanging mechanism, reduce the vibrations that arouse from this, thereby improve efficiency and the precision of picking robot operation stationarity and fruit discernment are picked.

In order to solve the technical problem, the utility model discloses a scheme is: a robot with an independent suspension mechanism comprises a robot body, an independent suspension damping mechanism, a moving device, a collecting device, a picking device, a holder device and a master control box. The fuselage is the installation main part of whole robot, and the fuselage comprises upper strata and lower floor, the inside master control case that is provided with of fuselage, be provided with GPS receiver, alarm, bluetooth module, lithium cell and master control board in the master control case, can realize functions such as route planning, location, warning, bluetooth control, power supply.

The robot comprises a body, and is characterized in that a picking device, a collecting device and a pan-tilt device are arranged above the body, moving devices are arranged on two sides of the body, a depth camera and a sensor box are arranged on the pan-tilt device, an ultrasonic sensor is arranged in the sensor box, a pan-tilt rotating device is arranged at the bottom of a pan-tilt connecting rod, a direct current servo motor is arranged in the pan-tilt, the direct current servo motor supplies power to the depth camera and the sensor box, the pan-tilt device is fixed with the body through the pan-tilt connecting rod and the pan-tilt rotating device, and the pan-tilt can be rotated by the rotating device as required, so that the depth camera and the ultrasonic sensor can acquire the information of the robot.

A four-wheel independent suspension damping mechanism and a moving device are arranged below the machine body, and the four-wheel independent suspension damping mechanism is connected with the moving device; four-wheel independent suspension damper comprises triangle link, article style of calligraphy link, bumper shock absorber base, bumper shock absorber spring, two-way spring telescopic link bumper shock absorber, long U type support, U type link fixed axle centering hole, bumper shock absorber connecting axle, axis of rotation. The four-wheel independent suspension damping mechanism is connected with the mobile device through a triangular connecting frame and connected with the machine body through a U-shaped support.

As the utility model discloses a further improvement, mobile device is including setting up four motors, four wheels in the fuselage both sides, and the motor passes through the triangular connection frame to be fixed on hanging the mechanism, distributes in the fuselage both sides, and the wheel links to each other with the output shaft of motor.

As a further improvement of the present invention, the mechanical arm includes: the arm base, a steering wheel, the rocking arm, No. two steering wheels, No. two swing arms, No. three steering wheels, No. three swing arms, No. four steering wheels, the mount pad, No. five steering wheels, the centre gripping hand, arm base fixed mounting is on the arm mount pad, No. one steering wheel sets up inside the arm base, the output shaft of No. one steering wheel is connected to the one end of rocking arm, the inside No. two steering wheels that are provided with of the other end of rocking arm, the output shaft of No. two steering wheels is connected to the one end of No. two swing arms, the output shaft of No. three steering wheels is connected to the other end of No. two swing arms, the inside No. three steering wheels that are provided with of No. three swing arm other end, mount pad fixed mounting is on the output shaft of No. four steering wheels, the inside No. five steering wheels that are provided with of mount pad, centre gripping hand fixed mounting is on the output shaft of No. five steering wheels.

According to the technical scheme, the utility model has the advantages that the damping mechanism is independently suspended, the ground adaptability is strong, the damping can be effectively realized, the stability is strong, the identification and picking in the picking process are facilitated, the fruit picking is completed instead of manual work, the intellectualization and automation of the fruit picking are realized, the agricultural labor force is liberated, and the cost is reduced; the picking robot carries out path planning through a GPS; bluetooth remote control can be performed through the Bluetooth module; observing the surrounding environment through a depth camera, positioning fruits and identifying whether the fruits are mature or not; obstacle avoidance is carried out through an ultrasonic sensor; through the movement of the mechanical arm, the robot can pick fruits in a large range, and the picked fruits are put on the picking basket through the mechanical arm; when the picking robot is damaged, an alarm signal can be sent to the control room through the alarm device; the robot with the independent suspension mechanism enables picking to be more stable, intelligent and automatic.

Drawings

Fig. 1 is a front three-axis mapping diagram of the present invention.

Fig. 2 is a right side view of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is an orthographic three-axis view of the independent suspension mechanism of the present invention.

Fig. 5 is a top view of the independent suspension mechanism of the present invention.

Figure 6 is a positive triaxial mapping of the mechanical arm of the present invention.

Fig. 7 is a three-axis orthographic view of the main control box of the present invention.

1. The steering engine comprises wheels, 2 motors, 3 four-wheel independent suspension mechanisms, 4U-shaped supports, 5 mechanical arms, 6 picking baskets, 7 long hole shafts, 8 short hole shafts, 9 mechanical arm installation seats, 10 tripod head connecting rods, 11 tripod head rotating devices, 12 connecting devices, 13 tripod heads, 14 sensor boxes, 15 depth cameras, 16 machine body top layers, 17 main control boxes, 18 machine body bottom layers, 19 bidirectional spring telescopic rod shock absorbers, 20 diagonal rods, 21 triangular connecting frames, 22 delta-shaped connecting frames, 23 shock absorber main bodies, 24U-shaped connecting frames, 25 shock absorber springs, 26 long U-shaped supports, 27U-shaped connecting frame fixing shafts, 28U-shaped connecting frame fixing shaft centering holes, 29 mechanical arm bases, 30 steering engines, 31 rotating arms, 32 steering engines, 33 oscillating arms, 34 steering engines, 35 steering engines, 36. the Bluetooth wireless remote control system comprises a fourth steering engine, 37 a mounting seat, 38 a fifth steering engine, 39 a clamping hand, 40 an alarm, 41 a Bluetooth module, 42 a main control board, 43 a GPS receiver and 44 a lithium battery.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Example (b): as shown in fig. 1, fig. 2 and fig. 3, the fruit picking robot with the independent suspension mechanism has the advantages that the three-axis mapping, the right side view and the front view are realized, the machine body is an installation main body of the whole robot and comprises a machine body top layer 16, a main control box 17 and a machine body bottom layer 18, the machine body top layer 16 is connected with the machine body bottom layer 18 through a connecting device 12, the disassembly and the maintenance are convenient, the main control box 17 is fixed on the machine body bottom layer 18 through welding, and the welding is firm to protect a core control device.

The mechanical arm 5 above the machine body is fixed on the mechanical arm mounting seat 9 through the mechanical arm base 29 in a bolt connection mode, and the mechanical arm mounting seat 9 is firmly fixed on the top layer 16 of the machine body through welding to maintain the stability of the mechanical arm in the grabbing process; the picking basket 6 is light and thin and is fixed on the top layer 16 of the machine body through bolts; the whole tripod head device above the machine body is composed of a tripod head 13, a sensor box 14, a depth camera 15, a tripod head connecting rod 10 and a tripod head rotating device 11, wherein the sensor box 14 and the depth camera 15 are fixed in the tripod head 13, the tripod head 13 is not only attached to the sensor box 14 and the depth camera 15, but also can be stably fixed in size, collision of foreign objects and wind, rain and rain can be avoided, effective protection and fixing effects can be achieved, the tripod head 13 is connected with the tripod head rotating device 11 through the tripod head connecting rod 10, the tripod head connecting rod 10 is matched with the tripod head 13 and the tripod head rotating device 11 through threaded hole shafts, the vertical movement and horizontal rotation of the tripod head 13 are limited, the shooting and sensing precision are improved, and the tripod head rotating device 11 is fixed on a top layer 16 of the machine body.

The four-wheel independent suspension mechanism 3 below the fuselage is connected with a U-shaped groove in a fuselage bottom layer 18 through a front U-shaped support 4 and a rear U-shaped support 4, the four-wheel independent suspension mechanism is fixed through the front short-hole shaft 8 and the rear short-hole shaft 8, threaded holes at two ends of the short-hole shaft 8 are connected through bolts, three x, y, z movement freedom degrees of the fuselage bottom layer 18 and the U-shaped supports 4 in relative movement are limited, the rotation in two directions of x z is limited, the last y rotation freedom degree is limited through two long U-shaped supports 26 and the U-shaped supports 4 on the same plane, the two long U-shaped supports 26 and the U-shaped supports 4 are fixed on a U-shaped connecting frame 24 through bolts, the U-shaped connecting frame 24 is firmly limited through a U-shaped connecting frame fixing hole shaft 27, firm fixation between the whole four-wheel suspension mechanism 3 and the fuselage bottom layer 18 is completed, and the whole stability and reliability are established. Wheel 1 in the mobile device of fuselage below, motor 2 set up in the fuselage both sides, and wherein wheel 1 links to each other with the output shaft of motor 2 and transmits the moment of torsion, and motor 2 is fixed with triangle link 21 in the independent suspension mechanism 3 of four-wheel through bolted connection, realizes mobile device and linkage's firm connection.

The four-wheel independent suspension mechanism 3 has the specific structure as shown in fig. 4 and 5, in terms of structure, one end of the diagonal rod 20 is fixedly connected to the triangular connecting frame 21 through two groups of bolts, so that the end of the diagonal rod 20 is firmly fixed and can not rotate, the other end of the diagonal rod 20 is fixedly connected to the U-shaped connecting frame 24 through the short hole shaft 8 to rotate, the triangular connecting frame 21 is connected with the delta-shaped connecting frame 22 through the bolts, the delta-shaped connecting frame 22 is fixedly connected with the shock absorber main body 23 through the short hole shaft 8, the shock absorber spring 25 is fixedly arranged in the shock absorber main body 23, the damper main body 23 is concentrically fixed on a long U-shaped support 26 through a short hole shaft 8, the U-shaped connecting frame 24 is firmly limited through a U-shaped connecting frame fixing hole shaft 27, a U-shaped connecting frame fixing shaft aligning hole 28 plays a role in checking whether the machine body and the suspension deviate, and the bidirectional spring telescopic rod damper 19 is fixed on the inclined rod 20 through the short hole shaft 8. In terms of functions, when the wheel 1 meets the condition of uneven road surfaces or obstacles, loads such as vibration and jolt can be transmitted to the four-wheel independent suspension mechanism 3, the damper spring 25 can generate elastic deformation, one end of the inclined rod 20 fixed on the U-shaped connecting frame 24 through the short hole shaft 8 can rotate, the bidirectional spring telescopic rod damper 19 fixed on the inclined rod 20 through the short hole shaft 8 can generate elastic deformation and further shrink or stretch, the four-wheel independent suspension mechanism 3 can act when the wheel 1 meets the uneven road surfaces or obstacles and is subjected to vibration and jolt, so that the robot can greatly reduce or eliminate the influence of the vibration and jolt on the robot body, and compared with a rigid robot body without an independent suspension system, the four-wheel independent suspension mechanism 3 greatly improves the ground adaptability of the robot, can effectively absorb shock, keep the vehicle body stable and is beneficial to the identification and picking in the picking process.

The mechanical arm 5 is specifically structured as shown in fig. 6, and the mechanical arm of the picking device comprises: a mechanical arm base 29, a first steering engine 30, a rotating arm 31, a second steering engine 32, a second swing arm 33, a third steering engine 34, a third swing arm 35, a fourth steering engine 36, a mounting seat 37, a fifth steering engine 38 and a clamping hand 39, the mechanical arm base 29 is fixedly installed on the mechanical arm installing seat 9, the first steering engine 30 is arranged inside the mechanical arm base 29, one end of the rotating arm 31 is connected with an output shaft of the first steering engine 30, the second steering engine 32 is arranged inside the other end of the rotating arm 31, one end of the second swing arm 33 is connected with an output shaft of the second steering engine 32, the other end of the second swing arm 33 is connected with an output shaft of the third steering engine 34, the third steering engine 34 is arranged inside one end of the third swing arm 35, the fourth steering engine 36 is arranged inside the other end of the third swing arm 35, the installing seat 37 is fixedly installed on an output shaft of the fourth steering engine 36, the fifth steering engine 38 is arranged inside the installing seat 37, and the clamping hand 39 is fixedly installed on an output shaft of the fifth steering engine 38. The picking robot moves to a proper position through the moving device, the rotating arm 31 can drive the whole mechanical arm 5 to rotate integrally, the mechanical arm base 29 can drive the clamping hand 39 to rotate, the fifth steering engine 38 can drive the clamping hand 39 to open and close, and the second swing arm 33 and the third swing arm 35 are matched to rotate, so that picking actions are completed to place fruits in the picking basket 6.

The specific structure of the main control box 17 is shown in fig. 7, the control box 17 is fixedly installed on the bottom layer 18 of the machine body; the alarm 40 is fixedly arranged in the main control box 17, and can send signals to the control room when the robot is in low power or has a fault; the Bluetooth module 41 is connected to the main control board 42 and can perform Bluetooth remote control; the main control panel 42 is fixed on the control box 17 to perform the overall control of the vehicle body; the GPS receiver 43 is fixed in the center of the main control box 17, provides accurate positioning information for the robot, and can plan the picking track of the robot before use, so that the robot picks fruits according to the accurate track; lithium cell 44 is fixed mounting on lower box 12, and lithium cell 44 provides the energy for the picking robot.

The above embodiments are merely for explaining the technical idea of the present invention, and the protection scope of the present patent cannot be defined thereby, and any modification made on the basis of the technical solution according to the technical idea proposed by the present patent all falls within the protection scope of the present patent.

Claims

1. The utility model provides a robot with independently hang mechanism, includes fuselage, independently hangs damper, mobile device, collection device, picks device, cloud platform device, master control case, its characterized in that: a four-wheel independent suspension damping mechanism and a moving device are arranged below the machine body, and the four-wheel independent suspension damping mechanism is connected with the moving device; a main control box is arranged in the middle of the machine body; a picking device, a collecting device and a holder are arranged above the machine body.

2. A robot having an independent suspension mechanism according to claim 1, wherein: the four-wheel independent suspension damping mechanism is composed of a triangular connecting frame, a shock absorber base, a shock absorber spring, a bidirectional spring telescopic rod shock absorber, a long U-shaped support, a U-shaped connecting frame fixing shaft aligning hole, a shock absorber connecting shaft and a rotating shaft, and the four-wheel independent suspension damping mechanism is connected with a moving device through the triangular connecting frame and is connected with a machine body through the U-shaped support.

3. A robot having an independent suspension mechanism according to claim 1, wherein: the robot comprises a body, and is characterized in that a holder device is arranged above the body, a holder is fixed with the body through a holder connecting rod and a holder rotating device, a depth camera and a sensor box are arranged in the holder, an ultrasonic sensor is arranged in the sensor box, the holder rotating device is arranged at the bottom of the holder connecting rod, and the holder can be rotated by the rotating device as required, so that the depth camera and the ultrasonic sensor can acquire the information of the circumference of the robot, a direct-current servo motor is arranged inside the holder, and the direct-current servo motor supplies power to the depth camera and the sensor box.

4. A robot having an independent suspension mechanism according to claim 1, wherein: and a GPS receiver, an alarm, a Bluetooth module, a lithium battery and a main control board are arranged in the main control box.

5. A robot having an independent suspension mechanism according to claim 1, wherein: the picking device arm includes: the arm base, a steering wheel, the rocking arm, No. two steering wheels, No. two swing arms, No. three steering wheels, No. three swing arms, No. four steering wheels, the mount pad, No. five steering wheels, the centre gripping hand, arm base fixed mounting is on the arm mount pad, No. one steering wheel sets up inside the arm base, the output shaft of No. one steering wheel is connected to the one end of rocking arm, the inside No. two steering wheels that are provided with of the other end of rocking arm, the output shaft of No. two steering wheels is connected to the one end of No. two swing arms, the output shaft of No. three steering wheels is connected to the other end of No. two swing arms, the inside No. three steering wheels that are provided with of No. three swing arm other end, mount pad fixed mounting is on the output shaft of No. four steering wheels, the inside No. five steering wheels that are provided with of mount pad, centre gripping hand fixed mounting is on the output shaft of No. five steering wheels.