CN217336501U

CN217336501U - Automatic picking robot of harmless kiwi fruit of air-suction type

Info

Publication number: CN217336501U
Application number: CN202123259256.9U
Authority: CN
Inventors: 杨钦元; 向呈方; 董霖; 汤文龙; 李翼舟
Original assignee: Xihua University
Current assignee: Hanyin Bochuan Ecological Agriculture Technology Development Co ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-09-02
Anticipated expiration: 2031-12-23

Abstract

The utility model relates to an agricultural machinery specifically discloses an automatic robot of picking of harmless kiwi fruit of air-aspiration type, constitute including end effector, trachea, vacuum pump, moving platform, defeated fruit pipe, fruit case, total rack, arm, end effector installs on the arm including inhaling fruit mouth, defeated fruit mouth, centre gripping terminal surface, vortex chamber, trachea connecting thread hole, mounting screw hole, and end effector's centre gripping terminal surface cooperates with clamping device is concentric, and it is fixed spacing with mounting screw hole and clamping device through two pieces of bolts. Compared with the prior art the utility model provides an air-suction type fruit picking robot can realize the automatic harvesting of fruit, has a pair of end effector simultaneous working, picks efficiently.

Description

Automatic picking robot of harmless kiwi fruit of air-aspiration type

Technical Field

The utility model relates to an agricultural equipment technical field, concretely relates to automatic picking robot of harmless kiwi fruit of air-aspiration type.

Background

In the kiwi fruit production operation process, harvesting and picking are the most intensive and time-consuming link in the whole production, and the labor required to be put into the kiwi fruit picking robot accounts for about 50% of the whole planting process in the harvesting period, so that the research on the kiwi fruit picking robot has important significance, the kiwi fruit has the characteristics of easiness in damage, after-ripening, clustering and the like, when in picking, adjacent fruits are not damaged, and simultaneously fruit handles are removed, the fruit non-damage picking is one of key technologies of the picking robot, and is mainly ensured by the end effector of the picking robot, the conventional kiwi fruit picking end effector is mainly clamped and bent by a manipulator, the method can cause recessive damage to the kiwi fruit, and the air-suction type kiwi fruit picking end effector is designed according to the mode of holding, rotating and pulling the kiwi fruit manually.

SUMMERY OF THE UTILITY MODEL

The invention aims to provide a suction picking robot, which realizes automatic picking of fruits by matching a motion platform, a mechanical arm, a vacuum pump and an end effector.

The utility model adopts the technical scheme that an air-suction type nondestructive automatic picking robot for kiwi fruits comprises an end effector, a fruit conveying pipe, a gas pipe component, a fruit box, a vacuum pump, a general control cabinet, a mobile platform and a mechanical arm, wherein the free motion of a walking chassis is realized through the mobile platform, when the robot moves to a target position, the mechanical arm drives the relative mounting platform of the end effector to move, the end effector is sent to a fruit position, and the end effector realizes the suction picking of fruits by utilizing the negative pressure gas flow provided by the vacuum pump.

Preferably, one end of the fruit conveying pipe is fastened at a fruit conveying opening of the end effector through a flexible clamping band, and the other end of the fruit conveying pipe is connected to the inside of the fruit box.

Preferably, the vacuum pump is fixed on the movable platform through bolt connection.

Preferably, the fruit box is integrated on a mobile platform.

Preferably, the binocular camera is installed on the mounting seat of the mobile platform, and the power line and the signal line of the binocular camera are provided by the mounting seat.

Preferably, the mechanical arm comprises a mechanical arm base, a mechanical arm large arm, a mechanical arm small arm, a mechanical arm wrist and a clamping device, the mechanical arm base is fixedly connected to the mobile platform through four bolts, the mechanical arm large arm, the mechanical arm small arm and the mechanical arm wrist are rotatably connected, and the mechanical arm wrist is fixedly connected with the clamping device through bolts.

Preferably, the master control cabinet is integrated with a mobile power supply and a master control upper computer of the robot, and a vision processing module, a communication module (responsible for communication with a chassis system, a mechanical arm motion control system and a tail end actuator system), a vacuum pump start-stop control module, a mechanical arm servo control module and a comprehensive monitoring module are integrated in the whole control system.

Compared with the prior art, the utility model discloses can reduce manipulator picking mode and cause mechanical damage and stealthy damage to the kiwi fruit, reduce the demand of picking in-process fruit positioning accuracy simultaneously to it is little to pick process time interval.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a sectional view of the end effector of the present invention.

Fig. 3 is a schematic side view of the mechanical arm of the present invention.

In the figure, the fruit tree planting machine comprises an end effector 1, an air pipe 2, a vacuum pump 3, a moving platform 4, a fruit conveying pipe 5, a fruit box 6, a general control cabinet 7, a mechanical arm 8, a binocular camera 9, a fruit sucking port 101, a fruit conveying port 102, a fruit conveying port 103, a clamping end face 105, a vortex cavity 106, an air pipe connecting threaded hole 107, a mounting threaded hole 801, a mechanical arm base 802, a mechanical arm big arm 803, a mechanical arm small arm 804, a clamping device 805 and a mechanical arm wrist.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 2 and 3, the air-suction type nondestructive automatic picking robot for kiwi fruits comprises an end effector 1, an air pipe 2, a vacuum pump 3, a mobile platform 4, a fruit conveying pipe 5, a fruit box 6, a master control cabinet 7, a mechanical arm 8 and a binocular camera 9.

Further, fruit mouth 101, defeated fruit mouth 102, centre gripping terminal surface 103, vortex chamber 105, trachea connecting thread hole 106, installation screw hole 107 are inhaled in the end effector design, trachea connecting thread hole 107 is used for inserting trachea 2 and 3 kiwi fruit shanks of vacuum pump and has the fragility in the fruit junction, receives the tangential force and easily breaks, so pass through trachea subassembly connecting thread hole 106 is connected to trachea 2 and vacuum pump 3, and the negative pressure air current that produces through vacuum pump 3 produces rotatory negative pressure air current and inhales the cavity with the kiwi fruit when passing through vortex chamber 105, then gets into defeated fruit pipe 5 from defeated fruit mouth 102, and foretell centre gripping terminal surface 103 is installed in above-mentioned clamping device 804, and is spacing through the bolt fastening.

Further, the robot arm 8 includes a robot arm base 801, a robot arm upper arm 802, a robot arm lower arm 803, a robot arm wrist 805, and a clamping device 804, the robot arm upper arm is provided with a first rotating shaft along a vertical direction and is capable of rotating relative to the robot arm base 801, the other end of the robot arm upper arm 802 is provided with the robot arm lower arm 803, one end of the robot arm lower arm 803 is capable of rotating around the robot arm upper arm 802, the other end of the robot arm lower arm 803 is provided with the robot arm wrist 805 along a horizontal direction and is capable of rotating relative to the robot arm lower arm 803, and the clamping device 804 is fixed to the end effector 1 by bolts.

Further, the fruit box 6 is integrated on the mobile platform, and the fruits enter the fruit box 6 through the fruit conveying pipe 5 to complete fruit collection.

Further, a binocular camera 9 is arranged on the chassis main body, the binocular camera 9 is used for detecting ambient light, and visual positioning is carried out on the position of the fruit according to the ambient light.

Further, the master control cabinet 7 is arranged in the center of the mobile platform, and a master controller of an upper computer of the robot is arranged in the master control cabinet. The master controller of the robot upper computer is in key master control and is responsible for controlling the robot mechanical arm 8, the tail end controller 1 and the mobile platform 4 and collecting feedback data of related equipment to carry out unified coordination control processing, the workflow that its kiwi fruit was picked passes through for the industrial computer host computer the data operation visual processing algorithm of binocular camera 9 recognizes and calculates corresponding position, solves the back through the gesture and sends the instruction to arm motion control card, and arm motion control card control arm reachs the target location, process whether two cameras 9 supplementary range finding sensors detect and get into the absorbable scope of picking of kiwi fruit, and the kiwi fruit falls into the industrial computer behind the corresponding position and gives the instruction, and 8 spatial position of adjustment arm open above-mentioned vacuum pump 3 and provide the negative pressure air current, accomplish the negative pressure and pick the process of absorbing.

The above embodiments are only for illustrating the technical conception and the features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, which cannot limit the protection scope of the present invention.

Claims

1. The utility model provides an automatic picking robot of harmless kiwi fruit of air-suction type which characterized in that: comprises an end effector (1), an air pipe (2), a vacuum pump (3), a mobile platform (4), a fruit conveying pipe (5), a fruit box (6), a master control cabinet (7), a mechanical arm (8) and a binocular camera (9); the end effector (1) is arranged on the mechanical arm (8) through the fruit sucking port (101), the fruit conveying port (102), the clamping end face (103), the vortex cavity (105), the air pipe connecting threaded hole (106) and the mounting threaded hole (107), the clamping end face (103) of the end effector (1) is concentrically matched with the clamping device (804), and the mounting threaded hole (107) and the clamping device (804) are fixed and limited through two bolts.

2. The air-aspiration type nondestructive automatic kiwi picking robot is characterized in that one end of the fruit conveying pipe (5) is fastened at a fruit conveying opening (102) of the end effector (1) through a flexible clamp, and the other end of the fruit conveying pipe (5) is connected to the inside of the fruit box (6).

3. The air-suction type nondestructive automatic kiwi picking robot according to claim 1 is characterized in that the vacuum pump (3) is fixed on the moving platform (4) through bolt connection.

4. The air-suction type nondestructive automatic kiwi picking robot according to claim 1 is characterized in that the fruit box (6) is integrated on the moving platform (4) in a set of front and back.

5. The air-aspiration type nondestructive automatic kiwi picking robot according to claim 1, characterized in that: the mechanical arm (8) comprises a mechanical arm base (801), a mechanical arm big arm (802), a mechanical arm small arm (803), a mechanical arm wrist (805) and a clamping device (804), a first rotating shaft is arranged on the large arm (802) of the mechanical arm along the vertical direction and can be opposite to the base (801) of the mechanical arm, the other end of the mechanical arm big arm (802) is provided with a mechanical arm small arm (803), one end of the small arm (803) of the mechanical arm can rotate around the large arm (802) of the mechanical arm, the other end of the small arm (803) of the mechanical arm is provided with a wrist part along the horizontal direction, the wrist part can rotate around the small arm (803) of the mechanical arm relatively, the tail end of the small arm (803) of the mechanical arm is in threaded connection with a clamping device (804), and the clamping device (804) is connected with the end effector (1) through a bolt.

6. The air-aspiration type nondestructive automatic kiwi picking robot according to claim 1, characterized in that the binocular camera (9) is mounted on a moving platform mounting seat.

7. The air-suction type nondestructive automatic kiwi picking robot according to claim 1, characterized in that the master control cabinet (7) integrates a mobile power supply and a master control upper computer of the robot, and a vision processing module and a communication module are integrated in the whole control system and are responsible for communicating with a chassis system, a mechanical arm motion control system and an end effector system, a vacuum pump start-stop control module, a mechanical arm servo control module and a comprehensive monitoring module.