CN218388780U - Automatic hot pepper picking robot - Google Patents

Abstract

The utility model provides an automatic picking robot of hot pepper belongs to picking robot technical field. Including moving platform, grabbing device, the collecting box, control system, the moving platform top is equipped with big recess, little recess, grabbing device installs in big recess, the collecting box is installed in little recess, control system includes the next machine, the host computer, laser radar, the degree of depth camera, laser radar installs at the moving platform front end, the degree of depth camera is installed on grabbing device, the next machine is the main control board of installing in moving platform, the host computer includes embedded system and notebook computer, embedded system installs in moving platform and respectively with notebook computer, the main control board, laser radar, the degree of depth camera is connected. The utility model discloses can realize independently snatching of hot pepper, accurate harvesting, automatic collection to can not influence the quality of hot pepper.

Description

Automatic hot pepper picking robot

Technical Field

The utility model belongs to the technical field of picking robot, specifically be an automatic picking robot of hot pepper.

Background

China is a world-wide large pepper producing country, and the pepper yield accounts for 46% of the world. In the international market, china is the first major country for pepper export, the export quantity keeps increasing rapidly, peppers are food materials with great demands, particularly in Chongqing areas and Hunan areas, and northwest, southwest and northeast of China are famous pepper planting areas. In the pepper planting process, the picking stage is the most time-consuming and labor-consuming stage, and the quality of the picking quality directly influences the yield, storage and processing of peppers. Therefore, the picking cost is reduced, the manpower resource is saved, and the picking efficiency is improved.

The existing picking robot cannot accurately identify the position of hot pepper and the maturity of the hot pepper, so that the problems of low picking efficiency, picking of a plurality of immature hot peppers and the like are caused. And the existing picking robot has no collecting device, the picked peppers need to be collected manually, the collecting rate is low, and manpower is wasted. The existing picking robot is inconvenient for remote control.

Disclosure of Invention

To the technical problem, an object of the utility model is to provide an automatic picking robot of hot pepper to solve the problem mentioned in the above-mentioned background art.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides an automatic machine people of picking of hot pepper, including moving platform, grabbing device, collecting box 12, control system, the moving platform top is equipped with big recess 203, little recess 204, grabbing device installs in big recess 203, collecting box 12 is installed in little recess 204, control system includes the next machine, the host computer, lidar 4, degree of depth camera 5, lidar 4 installs at the moving platform front end, degree of depth camera 5 installs on grabbing device, the next machine is the main control board of installing in moving platform, the host computer includes embedded system and notebook computer, embedded system installs in moving platform and respectively with the main control board, lidar 4, degree of depth camera 5 circuit connection, notebook computer and embedded system pass through embedded system from the WIFI module remote connection who takes.

Specifically, the mobile platform comprises a frame 2, a direct current motor 32, wheels 1 and a power supply; four motor support 201 are set up to frame 2 bottom, and four direct current motor 32 are fixed respectively on motor support 201 and with the main control board circuit connection, wheel 1 passes through the key-type connection with direct current motor 32 output shaft, and the power is installed inside frame 2.

Specifically, the middle part of the front end of the frame 2 is provided with a support 3, and a laser radar 4 is arranged on the support 3.

Specifically, the gripping device comprises a six-degree-of-freedom mechanical arm and a tail end clamping jaw; the six-degree-of-freedom mechanical arm comprises a chassis rotating turbine box, a driving arm seat 10, a large arm 9, an elbow 8, a small arm 7 and a wrist 6;

rotatory turbine case in chassis includes base 15 and rotatory chassis 11, base 15 fixed mounting is in big recess 203, rotatory chassis 11 rotates and installs on base 15, rotatory chassis 11 rotates with drive arm seat 10 to be connected, drive arm seat 10 rotates with big arm 9 to be connected, big arm 9 rotates with elbow 8 to be connected, little arm 7 rotates with wrist 6 to be connected, wrist 6 passes through flange 16 fixed connection with terminal clamping jaw, rotatory chassis 11, big arm 9, elbow 8, little arm 7, wrist 6 all passes through circuit connection with the main control board.

Preferably, the rotating chassis 11 rotates in a horizontal range, which is-180 ° -180 °.

Specifically, the tail end clamping jaw comprises a gear 30, a rack 31, a clamping jaw motor 18, a clamping jaw cover 17, a rack connecting piece 19, a connecting wrist 22, a clamping jaw base 20, a clamping jaw wrist 23, a wrist joint 27, a picking clamping jaw 29, a No. 1 connecting piece 25, a No. 2 connecting piece 26, a short shaft pin 24, a positioning pin 21 and a fixing pin 28;

the gripper cover 17 is connected with the gripper base 20, a gear 30 inside the gripper cover 17 is meshed with a rack 31, the gear 30 is connected with an output shaft of a gripper motor 18 through a flat key, the gripper motor 18 is fixed on the gripper cover 17 and is connected with a main control board circuit, the rack 31 is connected with a rack connecting piece 19 through a thread located at the left end of the rack 31, the rack connecting piece 19 is fixedly connected with a connecting wrist 22, the gripper base 20 is connected with the gripper wrist 23 through a positioning pin 21, a No. 1 connecting piece 25 is respectively connected with the gripper wrist 23 and a wrist joint 27 through a short shaft pin 24, a No. 2 connecting piece 26 is respectively connected with the connecting wrist 22 and the wrist joint 27 through a short shaft pin 24, and the wrist joint 27 and a picking claw 29 are connected through a fixing pin 28.

Preferably, three picking jaws 29 are 120 from each other ^° Angle, three connecting wrists 22 are 120 ^° The included angle, picking claw 29 inboard is provided with the recess.

Preferably, the frame 2 is provided with a vehicle body side cover plate 14 at each side and a vehicle body rear cover plate 13 at the rear end.

Preferably, both the embedded system and the notebook computer are installed with the same version of the ROS system.

Preferably, the frame 2 has a plurality of wire holes, including a front wire hole 202 distributed at the front end of the frame 2 and a bottom wire hole 205 located at the bottom of the frame 2.

The beneficial effects of the utility model are that: the utility model provides a pair of automatic picking robot of hot pepper can more accurately find the position of hot pepper through laser radar, through the ripe hot pepper of the accurate discernment of degree of depth camera to the accurate hot pepper that snatchs can be used manpower sparingly in putting into the collecting box the hot pepper of picking simultaneously, and can be through computer remote control robot, convenient and practical.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the frame structure of the present invention;

fig. 3 is a schematic structural view of the mobile platform of the present invention;

fig. 4 is a schematic structural view of a rotating turbine box of a chassis of a six-degree-of-freedom mechanical arm of the present invention;

FIG. 5 is a schematic view of a wrist structure of a six-degree-of-freedom robot arm according to the present invention;

fig. 6 is a schematic view of the explosion structure of the end clamping jaw of the present invention;

fig. 7 is a schematic view of a rack and pinion connection of the end gripper of the present invention;

fig. 8 is a schematic view of the picking claw structure of the middle-end clamping jaw of the present invention.

Reference numerals: 1-wheel, 2-frame, 3-support, 4-lidar, 5-depth camera, 6-wrist, 7-small arm, 8-elbow, 9-large arm, 10-driving arm seat, 11-rotating chassis, 12-collecting box, 13-vehicle body rear cover plate, 14-vehicle body side cover plate, 15-base, 16-flange, 17-clamping jaw cover, 18-clamping jaw motor, 19-rack connecting piece, 20-clamping jaw base, 21-positioning pin, 22-connecting wrist, 23-clamping jaw wrist, 25-1 connecting piece, 26-2 connecting piece, 27-wrist joint, 28-fixing pin, 29-picking jaw, 30-gear, 31-rack, 32-direct current motor, 201-motor support, 202-front end line through hole, 203-large groove, 204-small groove, 205-bottom line through hole.

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. Based on the embodiments of the present invention, various modifications and changes can be made to the present invention by those skilled in the art. Any modification, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "inside", "left end", "upper", "bottom", "back", "front", "inside", "upper surface", and the like are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "secured," "connected," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations for the ordinary technical field in the field.

Example 1: as shown in fig. 1-8, an automatic hot pepper picking robot comprises a mobile platform, a gripping device, a collecting box 12 and a control system, wherein a large groove 203 and a small groove 204 are formed in the top of the mobile platform, the gripping device is installed in the large groove 203, the collecting box 12 is installed in the small groove 204, the small groove 204 is located at the rear end of the large groove 203, the control system comprises a lower computer, an upper computer, a laser radar 4 and a depth camera 5, the laser radar 4 is installed at the front end of the mobile platform, the depth camera 5 is installed on the gripping device, the lower computer is a main control board installed in the mobile platform, the upper computer comprises an embedded system and a notebook computer, the embedded system is installed in the mobile platform and is respectively in circuit connection with the main control board, the laser radar 4 and the depth camera 5, and the notebook computer is in remote connection with a WIFI module of the embedded system.

Further, the mobile platform comprises a frame 2, a direct current motor 32, wheels 1 and a power supply; four motor support 201 are set up to 2 bottoms of frame, and four direct current motor 32 are fixed respectively on motor support 201 and with main control board circuit connection, and wheel 1 passes through the key-type connection with direct current motor 32 output shaft, and the power is installed inside frame 2, provides power for moving platform.

Furthermore, a support 3 is arranged in the middle of the front end of the frame 2, and a laser radar 4 is mounted on the support 3.

Further, the gripping device comprises a six-degree-of-freedom mechanical arm and a tail end clamping jaw; the six-degree-of-freedom mechanical arm comprises a chassis rotating turbine box, a driving arm seat 10, a large arm 9, an elbow 8, a small arm 7 and a wrist 6;

rotatory turbine case in chassis includes base 15 and rotatory chassis 11, base 15 passes through screw connection fixed mounting in big recess 203, rotatory chassis 11 rotates and installs on base 15, rotatory chassis 11 rotates with drive arm seat 10 to be connected, drive arm seat 10 rotates with big arm 9 to be connected, big arm 9 rotates with elbow 8 to be connected, little arm 7 rotates with wrist 6 to be connected, wrist 6 passes through flange 16 fixed connection with terminal clamping jaw, rotatory chassis 11, big arm 9, elbow 8, little arm 7, wrist 6 all passes through circuit connection with the main control board.

Further, the rotating chassis 11 rotates in the horizontal range, and the rotating range is-180 degrees to 180 degrees, so that the pepper can be conveniently clamped by the gripping device and then placed into the collecting box 12 at the back of the frame 2.

Further, the tail end clamping jaw comprises a gear 30, a rack 31, a clamping jaw motor 18, a clamping jaw cover 17, a rack connecting piece 19, a connecting wrist 22, a clamping jaw base 20, a clamping jaw wrist 23, a wrist joint 27, a picking jaw 29, a No. 1 connecting piece 25, a No. 2 connecting piece 26, a short shaft pin 24, a positioning pin 21 and a fixing pin 28;

the gripper cover 17 is in threaded connection with the gripper base 20, a gear 30 inside the gripper cover 17 is meshed with a rack 31, the gear 30 is connected with an output shaft of a gripper motor 18 through a flat key, the gripper motor 18 is fixed on the gripper cover 17 and is in circuit connection with a main control board, the rack 31 is in threaded connection with a rack connecting piece 19 through the left end of the rack 31, the rack connecting piece 19 is fixedly connected with a connecting wrist 22, the gripper base 20 is connected with the gripper wrist 23 through a positioning pin 21, a No. 1 connecting piece 25 is respectively connected with the gripper wrist 23 and a wrist joint 27 through a short shaft pin 24, a No. 2 connecting piece 26 is respectively connected with the connecting wrist 22 and the wrist joint 27 through a short shaft pin 24, and the wrist joint 27 is connected with a picking claw 29 through a fixing pin 28.

Further, three picking claws 29 are 120 relative to each other ^° The three connecting wrists 22 are at an angle of 120 ^° Angle in picking claw 29The side is provided with the recess, and the rack 31 left end has the screw thread, and this screw thread can be connected with rack connecting piece 19 is firm, prevents that the clamping jaw from becoming flexible, makes the hot pepper atress even when being favorable to pressing from both sides to cause hot pepper local damage.

Further, two vehicle body side cover plates 14 are connected to two sides of the vehicle frame 2 through screws, and a vehicle body rear cover plate 13 is connected to the rear side of the vehicle frame 2 through screws, so that parts inside the vehicle frame 2 can be replaced and reasonably arranged.

Furthermore, the embedded system and the notebook computer are both provided with ROS systems with the same version, and the ROS systems have the characteristics of distributed communication, simple structure, high integration level and abundant toolkits.

Further, frame 2 has a plurality of line holes of crossing, including distributing at the front end of frame 2 front end cross line hole 202, be located the bottom of frame 2 bottom and cross line hole 205, cross the setting of line hole and in order to walk the line convenience to each part has sufficient space and next computer and host computer to be connected, with all cable integrations inside frame 2, space utilization is high.

The utility model discloses a theory of operation is:

the notebook computer reads data of the laser radar 4 and the depth camera 5 through the embedded system, the embedded system controls the laser radar 4 to scan and map the terrain of the pepper plantation, and the measured data are uploaded to the notebook computer through the embedded system. The notebook computer can obtain a map of the plantation, see where the plants are, where the furrows are and where the obstacles are, and then conveniently plan the running track of the robot. In the walking process of the robot, the depth camera 5 is responsible for image recognition, judging the maturity of the peppers, positioning the position of the peppers, transmitting data to the notebook computer in real time through the embedded system, sending instructions to the main control board by the notebook computer through the embedded system, and controlling the rotation of each joint of the six-freedom-degree mechanical arm by the main control board to enable the tail end clamping jaw to reach the designated position to pick the peppers. The main control board drives the gear 30 and the rack 31 to move by controlling the rotation of the clamping jaw motor 18, so that the opening and closing of the picking jaw 29 are realized, after the pepper is clamped by the picking jaw 29, the flange 16 of the wrist part of the six-degree-of-freedom mechanical arm rotates rapidly to drive the tail end clamping jaw, after the pepper with stems is picked from the branches of plants, the gripping device moves to the position right above the collecting box 12, the picking jaw 29 is loosened, and the pepper falls into the collecting box 12 to finish the pepper collecting work. The control system can adjust the rotation speed of each joint of the six-freedom-degree mechanical arm and the clamping force of the tail end clamping jaw, so that the pepper can be grabbed in a specified time, and the quality of the pepper is not affected.

It should be noted that: the utility model provides an all control mode all are that prior art can realize, all are general common general knowledge, for example embedded system control laser radar scans hot pepper plantation topography and builds the picture, and the data that record are passed up through embedded system and are given notebook computer, and the degree of depth camera is responsible for judging hot pepper maturity, location hot pepper position, and data are passed to embedded system, and embedded system issues the instruction and gives main control board guide grabbing device then snatch etc. all are prior art. The embedded system and the main control board can both select universal equipment as long as corresponding functions can be realized, for example, the embedded system can select Raspberry Pi 4B and other common original elements in the prior art, and the main control board can select STM32 single chip microcomputer and other common original elements in the prior art.

The present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit and scope of the present invention.

Claims (10)

1. The utility model provides an automatic picking robot of hot pepper which characterized in that: the novel intelligent control system comprises a mobile platform, a grabbing device, a collecting box (12), a control system, the mobile platform top is equipped with big recess (203), little recess (204), grabbing device installs in big recess (203), install in little recess (204) collecting box (12), control system includes the next machine, the host computer, laser radar (4), degree of depth camera (5), install at the mobile platform front end laser radar (4), degree of depth camera (5) are installed on grabbing device, the next machine is the main control board of installing in mobile platform, the host computer includes embedded system and notebook computer, embedded system installs in mobile platform and respectively with the main control board, laser radar (4), degree of depth camera (5) circuit connection, notebook computer and embedded system pass through embedded system's WIFI module remote connection of taking certainly.

2. The automatic picking robot for hot pepper according to claim 1, characterized in that: the mobile platform comprises a frame (2), a direct current motor (32), wheels (1) and a power supply; frame (2) bottom sets up four motor support (201), and four direct current motor (32) are fixed respectively on motor support (201) and with main control board circuit connection, wheel (1) and direct current motor (32) output shaft pass through the key-type connection, and the power is installed inside frame (2).

3. The automatic picking robot for hot pepper according to claim 2, characterized in that: the middle part of the front end of the frame (2) is provided with a support (3), and the laser radar (4) is installed on the support (3).

4. The automatic picking robot for capsicum according to claim 1 or 2, wherein: the gripping device comprises a six-degree-of-freedom mechanical arm and a tail end clamping jaw; the six-degree-of-freedom mechanical arm comprises a chassis rotating turbine box, a driving arm seat (10), a large arm (9), an elbow (8), a small arm (7) and a wrist (6);

rotatory turbine case in chassis includes base (15) and rotation chassis (11), base (15) fixed mounting is in big recess (203), rotation chassis (11) are rotated and are installed on base (15), rotation chassis (11) are rotated with drive arm seat (10) and are connected, drive arm seat (10) are rotated with big arm (9) and are connected, big arm (9) are rotated with elbow (8) and are connected, little arm (7) are rotated with wrist (6) and are connected, wrist (6) pass through flange (16) fixed connection with terminal clamping jaw, rotation chassis (11), big arm (9), elbow (8), little arm (7), wrist (6) all pass through circuit connection with the main control board.

5. The automatic picking robot for hot pepper according to claim 4, characterized in that: the rotating chassis (11) rotates in a horizontal range, and the rotating range is-180 degrees.

6. The automatic picking robot for hot pepper according to claim 4, characterized in that: the tail end clamping jaw comprises a gear (30), a rack (31), a clamping jaw motor (18), a clamping jaw cover (17), a rack connecting piece (19), a connecting wrist (22), a clamping jaw base (20), a clamping jaw wrist (23), a wrist joint (27), a picking jaw (29), a No. 1 connecting piece (25), a No. 2 connecting piece (26), a short shaft pin (24), a positioning pin (21) and a fixing pin (28);

the novel picking machine is characterized in that the clamping jaw cover (17) is connected with the clamping jaw base (20), a gear (30) inside the clamping jaw cover (17) is meshed with a rack (31), the gear (30) is connected with an output shaft of a clamping jaw motor (18) through a flat key, the clamping jaw motor (18) is fixed on the clamping jaw cover (17) and is connected with a main control board circuit, the rack (31) is connected with a rack connecting piece (19) through a thread located at the left end of the rack (31), the rack connecting piece (19) is fixedly connected with a connecting wrist (22), the clamping jaw base (20) is connected with the claw wrist (23) through a positioning pin (21), a No. 1 connecting piece (25) is connected with the claw wrist (23) and a wrist joint (27) through a short shaft pin (24), a No. 2 connecting piece (26) is connected with the connecting wrist (22) and a wrist joint (27) through a short shaft pin (24), and the wrist joint (27) is connected with the picking claw (29) through a fixing pin (28).

7. The automatic picking robot for capsicum according to claim 6, wherein: the three picking claws (29) are 120 degrees between each other ^° The included angle between the three connecting wrists (22) is 120 ^° The inner side of the picking claw (29) is provided with a groove.

8. The automatic picking robot for hot pepper according to claim 2, characterized in that: two sides of the frame (2) are respectively provided with a side cover plate (14) of the vehicle body, and the rear end of the frame is provided with a rear cover plate (13) of the vehicle body.

9. The automatic picking robot for capsicum according to claim 1, wherein: the embedded system and the notebook computer are both provided with ROS systems of the same version.

10. The automatic picking robot for hot pepper according to claim 2, characterized in that: the frame (2) is provided with a plurality of wire through holes, including front end wire through holes (202) distributed at the front end of the frame (2) and bottom wire through holes (205) positioned at the bottom of the frame (2).

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