CN108076832A - A kind of citrus picking robot - Google Patents
A kind of citrus picking robot Download PDFInfo
- Publication number
- CN108076832A CN108076832A CN201711487531.8A CN201711487531A CN108076832A CN 108076832 A CN108076832 A CN 108076832A CN 201711487531 A CN201711487531 A CN 201711487531A CN 108076832 A CN108076832 A CN 108076832A
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- China
- Prior art keywords
- citrus
- picking
- elastic piece
- splicing
- clamping
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of citrus picking robot, including mechanical execution system and control system, it is characterised in that：Mechanical execution system includes car body, five degree of freedom picking mechanical arm, end effector；Car body is elongated, and upper surface is equipped with picking position adjustable track along its length；The rotating base of five degree of freedom picking mechanical arm is slidably mounted on picking position adjustable track, end effector includes two pieces of clamping plates being mutually parallel, two clamping plates can move toward one another carry out holding action, the clamping face of clamping plate is equipped with sponge holder layer, the bar shaped elastic piece to arch upward to clamping direction is equipped in sponge holder layer, elastic piece overarches, and in-between boss is located at the centre position of sponge holder layer, and the intermediate projections position of elastic piece curves inwardly to form the recess for clamping citrus.The present invention provides a kind of citrus picking robot, which will not get greatly and in picking process citrus, and the citrus automatic classification by weight of picking can be recycled.
Description
Technical field
The present invention relates to agricultural mechanical fields, and in particular to a kind of citrus picking robot.
Background technology
Fruits and vegetables harvest is a kind of labor-intensive work, in many countries, due to aging of population and agricultural workforce
Increasingly lack, labor cost increases.Fruit and vegetable picking operation be link most time-consuming, most laborious in current fruits and vegetables production chain it
One, the quality for picking operation quality directly influences subsequent processing and storage.Due to picking the complexity of operation, picking is automatic
Change degree is still very low, and country's fruit picking is substantially artificial progress at present.
The content of the invention
The object of the present invention is to provide a kind of citrus picking robot, the picking robot area is big and picking process in not
Citrus can be got, and the citrus automatic classification by weight of picking can be recycled.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of citrus picking robot, including mechanical execution system and control system, it is characterised in that：The mechanical execution system
Including car body, five degree of freedom picking mechanical arm, end effector；
The car body is elongated, and bottom surface is equipped with wheel, and vehicle body is equipped with traveling drive, and upper surface is square along its length
To equipped with picking position adjustable track；
The rotating base of five degree of freedom picking mechanical arm is slidably mounted on picking position adjustable track, and end effector is mounted on
The end of five degree of freedom picking mechanical arm；
The end effector includes two pieces of clamping plates being mutually parallel, and two clamping plates can move toward one another carry out holding action, clamping plate
Clamping face is equipped with sponge holder layer, and one layer of soft wearing layer of sponge holder layer outer cladding, sponge holder layer is interior to be equipped with to folder
The bar shaped elastic piece to arch upward in direction is held, elastic piece overarches, and in-between boss is located at the centre position of sponge holder layer,
Guide part is extended at both ends, and the clamping plate is equipped with the guide groove being slidably matched with guide part, length of the guide groove along elastic piece
Direction is set, and the intermediate projections position of elastic piece curves inwardly to form the recess for clamping citrus.
The present invention is further arranged to, and there are two the elastic piece is set, which is arranged in a mutually vertical manner, two bullets
It offsets at the medial recess of property piece and one of elastic piece is located at the inside of another elastic piece.
The present invention is further arranged to, and the part between the guide part and intermediate recess of the elastic piece is designed to wave
Shape, the elastic piece are sheet metal.
The present invention is further arranged to, and the elastic piece generally net structure, elastic piece is made of plastic material.
The present invention is further arranged to, and the surface of the wearing layer is equipped with tapetum.
The present invention is further arranged to, and a perpendicular driving portion, the drive of two clamping plates are also set up on the clamping plate
It is in dynamic portion is generally aligned in the same plane and spaced, rack is equipped on the forward surface of two driving portions, further includes one respectively with two
A intermeshing rotatable gear of driving portion upper rack, the end of five degree of freedom picking mechanical arm is equipped with matches somebody with somebody with driving portion slip
The track structure of conjunction.
The present invention is further arranged to, and is equipped with elongated stuff chest on the car body along its length, stuff chest
Two sides are made of transparent plate, and one end of stuff chest length direction is equipped with feed inlet, and two clamping plates are arranged right below
Material receiving port, material receiving port is circular ring shape and is fixedly connected on the end of five degree of freedom picking mechanical arm, between feed inlet and material receiving port
It is connected by extension type hose, stuff chest is in its length direction into being obliquely installed, and end is higher than the other end where feed inlet.
The present invention is further arranged to, and is equipped with elongated stuff chest on the car body along its length, and stuff chest is long
The one end for spending direction is equipped with feed inlet, and two clamping plates are arranged right below material receiving port, and material receiving port is circular ring shape and is fixedly connected on five
The end of degree of freedom picking mechanical arm, is connected between feed inlet and material receiving port by extension type hose；Mandarin orange is equipped in stuff chest
Tangerine screening plant, the citrus screening plant include the conveyer belt set along stuff chest length direction, stuff chest length direction
Both ends are respectively equipped with the conveying roller of connection conveyer belt, and conveyer belt is separated into equipped with several partition plates along its length on conveyer belt
Equidistant several splicing regions, splicing region are equipped with the slideway vertical with conveyer belt length direction, are slidably connected on slideway
Splicing trolley, splicing trolley are fixedly connected with slideway in vertical direction；Driving motor of the splicing trolley equipped with its movement of driving,
Weighing sensor, control module, position sensor；In splicing region three rank regions, each rank are divided into along slideway direction
Region is respectively equipped with location indentifier corresponding with position sensor；Weighing sensor falls into citrus in splicing trolley for weighing
Weight, and weight information is transferred to control module, presets that there are three corresponding with each rank region respectively in control module
Weight range value, weight range value that control module is fallen into according to the weight information received drive splicing trolley to be moved to
Corresponding rank region, when splicing trolley is empty wagons, control module driving splicing trolley is moved in three rank regions
Between rank region；The rank region of the discharging direction of feed inlet towards the centre in three rank regions is set, and conveys end of tape
Stuff chest on set that there are three splicing bags corresponding with each rank region respectively.
The present invention is further arranged to, and the five degree of freedom picking mechanical arm includes rotating base, large arm, forearm, three
A DC servo steering engine and a rotary direct current electric motor, wherein：The rotating base includes rotary direct current electric motor and whirler
Body, rotating base are slidably mounted on picking position adjustable track.
The present invention is further arranged to, and the control system includes industrial personal computer, motion control card, data collecting card, figure
As capture card, motor servo driver, binocular camera, infrared sensor, pressure sensor, electrical control cabinet and control circuit
Deng；The binocular camera is located on electrical control cabinet on the stent of plane, and motor servo driver and electrical control cabinet are placed
On the car body, industry control machine host is located on the upside of electrical control cabinet, and motion control card, data collecting card, image pick-up card are inserted respectively
In the PCI slots of industrial personal computer.
Beneficial effects of the present invention：Citrus picking robot provided by the present invention, is provided with elongated car body, makes five
Degree of freedom picking mechanical arm can move on elongated car body, and to increase picking scope, while the end provided in the present invention performs
Device can play a good protective effect to citrus when winning citrus, will not scratch the epidermis of citrus, while the in vivo screening of vehicle
Device can carry out automatic classification to citrus by weight, alleviate the screening operation amount after recycling, improve work efficiency.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure diagram of end effector of the present invention;
Fig. 3 is the structure diagram of clamping plate of the present invention and elastic piece;
Fig. 4 is the decomposition diagram of clamping plate of the present invention and elastic piece;
Fig. 5 is the structure diagram of present invention installing sponge holder layer;
Fig. 6 is the structure diagram that present invention installing air bag clamps bag;
Fig. 7 is the structure diagram of present invention installing air bag gripper pad;
Fig. 8 is the structure diagram of present invention installing silica gel holding sheet;
Fig. 9 is the structure diagram of metallic elastic piece of the present invention;
Figure 10 is the structure diagram of elasticity of plastics piece of the present invention;
Figure 11 is the structure diagram that citrus of the present invention recycles embodiment one;
Figure 12 is the structure diagram that citrus of the present invention recycles embodiment two;
Figure 13 recycles the top view of conveyer belt and splicing trolley in embodiment two for citrus of the present invention;
Figure 14 recycles the side view of conveyer belt and splicing trolley in embodiment two for citrus of the present invention;
Figure 15 is that citrus of the present invention recycles one of structure diagram that feeding distribution mechanism is spaced in embodiment two;
Figure 16 is that citrus of the present invention recycles the second structural representation that feeding distribution mechanism is spaced in embodiment two.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
Below with reference to Fig. 1 to Figure 16, the present invention will be described.
A kind of citrus picking robot, including mechanical execution system and control system, the mechanical execution system includes vehicle
Body 1, five degree of freedom picking mechanical arm, end effector；
The car body 1 is elongated, and bottom surface is equipped with wheel 92, and car body 1 is internally provided with traveling drive, and upper surface is grown along it
It spends direction and is equipped with picking position adjustable track 93, the length of car body 1 can be designed to any appropriate length as needed；
The rotating base 94 of five degree of freedom picking mechanical arm is slidably mounted on picking position adjustable track 93, end effector peace
Mounted in the end of five degree of freedom picking mechanical arm, rotating base 94 is driven by driving device；
The end effector a includes two pieces of clamping plates 100 being mutually parallel, and the clamping face of clamping plate 100 is equipped with the arch of strip
Elastic piece 200, elastic piece 200 arch upward setting to clamping direction, and the both ends of elastic piece 200 are respectively equipped with guide part 2001, clamping plate
100 clamping face is equipped with the guide groove 1001 coordinated with guide part 2001, and the position arched upward among elastic piece 200 curves inwardly
Recess 2002 is formed, there are two the elastic piece 200 is set, which is arranged in a mutually vertical manner, two elastic pieces 200
It offsets at medial recess 2002 and one of elastic piece 200 is located at the inside of another elastic piece 200；The folder of elastic piece 200
It holds side and is equipped with soft and flexible contact site 300, contact site 300 is clamped directly at citrus surface；On the clamping plate 100
Also set up a perpendicular driving portion 400, it is in the driving portions 400 of two clamping plates 100 is generally aligned in the same plane and spaced, two
Rack 500 is equipped on the forward surface of a driving portion 400, one is further included and is mutually nibbled with two 400 upper racks 500 of driving portion respectively
The rotatable gear 600 of conjunction, further includes the track structure 700 being slidably matched with driving portion 400, and above-mentioned technical proposal is two clamping plates
100, which carry out clamping, wins the movement structure of citrus, engages to realize to two clamping plates 100 by gear 600 and rack 500
Driving, design is reasonable, stable and reliable in work, controls sensitive precision high.
In above-mentioned technical proposal, engage two driving portions 400 are driven by gear 600, make clamping plate 100 with tooth
600 rotating is taken turns to carry out pick-and-place action, for clamping plate 100 when winning citrus, contact site 300 thereon is clamped directly at citrus
Surface, citrus will not be contacted with other any rigid structures of the end effector, and citrus is protected not scratched as far as possible, and
The elastic piece 200 being arranged between clamping plate 100 and contact site 300 then plays the role of offer elastic force, forms resilient clamp,
Not only recovered convenient for the deformation of contact site 300, but also be avoided that citrus is crushed.Elastic piece 200 is the arch of strip, when clamping,
Citrus is clamped recess 2002 in the middle, and along 1001 direction of guide groove elastic deformation occurs for elastic piece 200, vertically disposed
Two elastic pieces 200 form stable clamping, and can provide stable elastic force.
In the present invention following several embodiments are provided to contact site 300：
Embodiment one, as shown in figure 5, the contact site 300 is sponge holder layer（It is made of sponge）, elastic piece 200 is threaded through
In sponge holder layer, the soft wearing layer 800 of one layer of sponge holder layer outer cladding, the surface of the wearing layer 800 is equipped with villus
Layer, sponge holder layer are connected on clamping plate 100.Sponge holder layer has good elasticity and deformation recovery capability, will not crush
Citrus, and elastic piece 200 is threaded through the recovery for being conducive to sponge holder layer deformation in sponge holder layer, and form elastic piece 200
It cooperates with sponge holder layer and clamps the state of citrus.The setting of wearing layer 800 is to protect sponge, and sponge is avoided to be ground
Damage, while the setting of tapetum will not cause to damage so that more soft to the clamping face of citrus to the surface of citrus.
Embodiment two, as shown in fig. 6, the contact site 300 clamps bag for the air bag of inner inflatable（The bag body of inflation）, bullet
Property piece 200 be located at air bag clamping bag inside, air bag clamping bag be connected on clamping plate 100, air bag clamp bag by stretchable elasticity
Material is made so that air bag clamping bag has good deformation nature, can meet deformation when winning, stretching, wear condition.Gas
Filled with suitable gas in capsule clamping bag, when clamping citrus, citrus can force air bag clamping bag to deform upon, as air bag presss from both sides
The deformation of bag is held, citrus is contacted with the recess 2002 on elastic piece 200, and elastic piece 200 is gradually forced to deform upon, and makes citrus
It is clamped, citrus is handled by the deformation elastic clip of the gas elastic force of air bag clamping bag and elastic piece 200, while the 2002 pairs of citruses that are recessed
Clamping play positioning action.
Embodiment three, as shown in fig. 7, the contact site 300 is the air bag gripper pad of inner inflatable（With certain thickness
Air cushion）, four angles of air bag gripper pad are connected on two elastic pieces 200 of intersection, and air bag gripper pad is by stretchable
Elastic material is made.Just with the technical solution, when winning citrus, citrus is clamped between two air bag gripper pads, forces gas
Elastic deformation occurs for capsule gripper pad, and is gradually deformed upon into recess 2002, makes what citrus stablized to be clamped in recess 2002
In, since air cushion plays a good protective effect in centre, citrus will not be crushed by elastic piece 200.
Example IV, as shown in figure 8, the contact site 300 is silica gel holding sheet（It is made of silica gel）, silica gel holding sheet
Four angles are connected on two elastic pieces 200 of intersection.Since silica gel has preferable elasticity and tensile resistance, so
When clamping citrus, layer of silica gel can be deformed upon with citrus into recess 2002, and good clamping can be played to citrus and is made
With surface citrus is crushed.
In order to improve the elastic force of elastic piece 200, the following two kinds scheme is also provided to the structure design of elastic piece 200：
Scheme one, as shown in figure 9, the part between the guide part 2001 of the elastic piece 200 and intermediate recess 2002 is designed to
Wavy, the elastic piece is sheet metal, is designed to wavy structure, can improve the elastic force of its deformation generation.
Scheme two, as shown in Figure 10, the elastic piece 200 generally net structure, elastic piece 200 is by plastic material system
Into the elasticity of plastics piece of net structure and the elastic force for enhancing its deformation generation.
Five degree of freedom picking mechanical arm includes 917, three rotating base 94, large arm 916, forearm DC servo steering engines and one
A rotary direct current electric motor, wherein：The rotating base 4 includes rotary direct current electric motor and rotation body, and rotating base 4 slides peace
On picking position adjustable track 3.
To winning the way of recycling of citrus, the present invention provides the following two kinds embodiment：
Embodiment one, in the car body 1 on be equipped with elongated stuff chest 1 along its length, the two sides of stuff chest 1 are adopted
It is made of transparent plate, convenient for observation, one end of 1 length direction of stuff chest is equipped with feed inlet 13, the underface of two clamping plates 100
Equipped with material receiving port 914, material receiving port 914 is the steel ring of circular ring shape and is fixedly connected on the end of five degree of freedom picking mechanical arm, into
Connected between material mouth 13 and material receiving port 914 by extension type hose 915, stuff chest 1 in its length direction into being obliquely installed, and
13 place end of feed inlet is higher than the other end.In said program, the citrus of picking is all recycled in stuff chest 1, is obliquely installed
Stuff chest 1 pile stuff chest 1 convenient for citrus, simple in structure, it is convenient to collect.
Embodiment two is equipped with elongated stuff chest 1 on the car body 1 along its length, 1 length direction of stuff chest
One end is equipped with feed inlet 13, and two clamping plates 100 are arranged right below material receiving port 914, and material receiving port 914 is circular ring shape steel ring and fixed company
The end of five degree of freedom picking mechanical arm is connected to, is connected between feed inlet 13 and material receiving port 914 by extension type hose 15；
Citrus screening plant is equipped in stuff chest 1, the citrus screening plant includes setting and setting along 1 length direction of stuff chest
In the cycloconveyor belt 2 in stuff chest 1, the both ends of 1 length direction of stuff chest are respectively equipped with the conveying roller 3 of connection conveyer belt 2, also
Including the driving device that driving conveying roller 3 rotates, worked by 3 driving conveying belt 2 of conveying roller.
Conveyer belt 2 is separated into equidistant several splicing regions 5 equipped with several partition plates 4 along its length on conveyer belt 2,
The slideway 6 vertical with 2 length direction of conveyer belt is equipped on each splicing region 5, splicing trolley 7 is slidably connected on slideway 6, connects
Trolley 7 is fixedly connected with slideway 6 in vertical direction, prevents splicing trolley 7 from deviating from conveyer belt 2 when being moved with conveyer belt 2；It connects
Trolley 7 is equipped with the driving motor 8 for driving its movement, weighing sensor 9, control module, position sensor 10；Splicing region
Three rank regions 11 are divided into along 6 direction of slideway in 5, each rank region 11 is respectively equipped with and 10 corresponding position of position sensor
Put identifier 12；Weighing sensor 9 falls into the weight of citrus in splicing trolley 7 for weighing, and weight information is transferred to control
Molding block, presets that there are three with each 11 corresponding weight range value of rank region, control module is according to connecing respectively in control module
The weight range value that the weight information received is fallen into drives the splicing trolley 7 to be moved to corresponding rank region 11, works as splicing
When trolley 7 is empty wagons, control module driving splicing trolley 7 is moved to the rank region 11 of the centre in three rank regions 11；
The initial end of conveyer belt 2 is equipped with feed inlet 13, is equipped in the end of conveyer belt 2 and is connect respectively with each 11 corresponding three, rank region
Material bag 14；The rank region 11 of the discharging direction of feed inlet 13 towards the centre in three rank regions 11 is set.
It is as follows to the sieving and grading process of citrus by using above-mentioned technical proposal：
（1）First, the citrus of picking falls into the splicing trolley 7 being parked on centrally located rank region 11 from feed inlet 13
In；
（2）Weighing sensor 9 on splicing trolley 7 weighs the weight information of citrus, and weight information is sent to control mould
Block；
（3）The weight information received compared with the weight range value being previously set, is determined that it is fallen by control module
Corresponding level region 11, control module driving driving motor 8 work；
（4）Driving motor 8 drives splicing trolley 7 to move to corresponding rank region 11, and position sensor 10 senses respective stages
The stop motion during location indentifier 12 in other region 11；
（5）At this point, splicing trolley 7 is moved with conveyer belt 2, until citrus is poured into corresponding splicing bag during 2 end of conveyer belt
In 14；
（6）Weighing sensor 9, which is sensed in splicing trolley 7, does not have citrus, by control module splicing trolley 7 is driven to be moved to three
The rank region 11 of the centre in a rank region 11 waits splicing, such cycle operation.
Slideway 6 is equipped with rack 15, and the output gear 16 of driving motor 8 is engaged with the rack 15, using the technical side
Case can dock for splicing trolley 7 to be driven to be moved between three rank regions 11 with hour rack 15 with the cooperation of output gear 16
Trolley 7 plays the role of locking, makes resting on corresponding rank region 11 for the stabilization of splicing trolley 7.
Splicing trolley 7 includes flat body part 71, and body part 71 is slidably connected with slideway 6, body part 71
Upside is equipped with receiving hopper 72, is connected at four angles of 72 bottom of receiving hopper by spring 73 with body part 71, in receiving hopper 72
The bottom surface of chamber is equipped with weighing sensor 9, and weighing sensor 9 is equipped with Support tray 74, and the Support tray 74 is horn-like.By adopting
With the technical solution, citrus drops when on splicing trolley 7, can be subject to the cushioning effect of spring 73, it is small to splicing to slow down citrus
The shock of vehicle 7 ensures the stability of each mechanism work.
The present invention is further arranged to, and the tube body 17 that the feed inlet 13 is vertically arranged by one is formed, and is set on tube body 17
There is interval feeding distribution mechanism, interval feeding distribution mechanism includes upper cut-off plate 18 and lower cut-off plate that two pieces of levels are plugged on tube body 17
19, upper cut-off plate 18 and lower cut-off plate 19 are arranged at intervals, and upper cut-off plate 18 and lower cut-off plate 19 are slidably connected with tube body 17, lead to
The slip of cut-off plate 18 and lower cut-off plate 19 is crossed to open and close feed inlet 13, between upper cut-off plate 18 and lower cut-off plate 19
Equipped with rotatable drive gear 20, it is respectively equipped with what is engaged with the drive gear 20 on upper cut-off plate 18 and lower cut-off plate 19
Drive rack 21.In above-mentioned technical proposal, citrus into between-line spacing sub-material, is above cut by upper cut-off plate 18 and lower cut-off plate 19
Only it is designed to that the spacing distance that can only house a citrus passes through to upper cut-off plate 18 and lower section between plate 18 and lower cut-off plate 19
Only the sub-material one by one to citrus is realized in the staggeredly opening and closing of plate 19.When drive gear 20 rotates forward, drive gear
Cut-off plate 18 gets through tube body 17 in 20 drivings, and lower cut-off plate 19 blocks tube body 17, when drive gear 20 inverts, drive gear 20
End plate 18 in driving and block tube body 17, lower cut-off plate 19 gets through tube body 17.
The present invention is further arranged to, and further includes interior arranged on tube body 17 and both ends open a bag body 22, bag body 22
In upper 18 upside of cut-off plate, the edge of the upper opening of bag body 22 is connected on 17 inner wall of tube body, is connected on the under shed of bag body 22
There is beam mouth rope sling 23, beam mouth rope sling 23 is connected with upper cut-off plate 18, and upper cut-off plate 18 can pass through beam to during 17 outside movement of tube body
Mouth rope sling 23 seals the under shed of bag body 22.Bag body 22 plays the role of protecting citrus, prevents cut-off plate 18 to tube body 17
Citrus is scraped when interior mobile.The distance between under shed of upper cut-off plate 18 and bag body 22 is designed to that a citrus can only be housed,
When so upper cut-off plate 18 is moved into tube body 17, the under shed of bag body 22 can be opened under the gravity of citrus, citrus
It can fall between cut-off plate 18 and the under shed of bag body 22, at this point, upper cut-off plate 18 moves outside tube body 17 again, pull simultaneously
Beam mouth rope sling 23 closes the under shed of bag body 22, and has previously fallen into the citrus between cut-off plate 18 and the under shed of bag body 22
It drops between cut-off plate 18 and lower cut-off plate 19, the completion sub-material so cycled.
The beam mouth rope sling 23 is spring rope, and beam mouth rope sling 23 made of spring rope has preferable restorative, can avoid
Beam mouth rope sling 23 is stuck.
The weight range value includes tri- weight range values of 20-49g, 50-80g, 81-150g, and the citrus of picking is pressed
Classify in above three weight section.
Control system includes industrial personal computer 930, motion control card, data collecting card, image pick-up card, servomotor driving
Device, photoelectric encoder, binocular camera 931, infrared sensor, pressure sensor, electrical control cabinet 932 and control circuit group
Into.Pressure sensor is mounted on clamping plate 100.
The binocular camera 931 is located on electrical control cabinet 932 on the stent of plane, motor servo driver 1 and electricity
Gas switch board 932 is placed on car body 1, and industrial personal computer 930 is located at 932 upside of electrical control cabinet, motion control card, data acquisition
Card, image pick-up card are inserted into respectively in the PCI slots of industrial personal computer 930.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and modification can also be made, above-mentioned hypothesis these
Improvement and modification also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of citrus picking robot, including mechanical execution system and control system, it is characterised in that：The machinery performs system
System includes car body, five degree of freedom picking mechanical arm, end effector；
The car body is elongated, and bottom surface is equipped with wheel, and vehicle body is equipped with traveling drive, and upper surface is square along its length
To equipped with picking position adjustable track；
The rotating base of five degree of freedom picking mechanical arm is slidably mounted on picking position adjustable track, and end effector is mounted on
The end of five degree of freedom picking mechanical arm；
The end effector includes two pieces of clamping plates being mutually parallel, and two clamping plates can move toward one another carry out holding action, clamping plate
Clamping face is equipped with sponge holder layer, and one layer of soft wearing layer of sponge holder layer outer cladding, sponge holder layer is interior to be equipped with to folder
The bar shaped elastic piece to arch upward in direction is held, elastic piece overarches, and in-between boss is located at the centre position of sponge holder layer,
Guide part is extended at both ends, and the clamping plate is equipped with the guide groove being slidably matched with guide part, length of the guide groove along elastic piece
Direction is set, and the intermediate projections position of elastic piece curves inwardly to form the recess for clamping citrus.
2. a kind of citrus picking robot according to claim 1, it is characterised in that：It, should there are two the elastic piece is set
Two elastic pieces are arranged in a mutually vertical manner, and offset at the medial recess of two elastic pieces and one of elastic piece is located at another elasticity
The inside of piece.
3. a kind of citrus picking robot according to claim 2, it is characterised in that：The guide part of the elastic piece is in
Between be recessed between part be designed to it is wavy, the elastic piece be sheet metal.
4. a kind of citrus picking robot according to claim 2, it is characterised in that：The generally netted knot of the elastic piece
Structure, elastic piece are made of plastic material.
5. a kind of citrus picking robot according to claim 2, it is characterised in that：The surface of the wearing layer is equipped with suede
Batt.
6. according to a kind of citrus picking robot of claim 1-5 any one of them, it is characterised in that：It is also set on the clamping plate
A perpendicular driving portion is put, the driving portion of two clamping plates is generally aligned in the same plane interior and spaced, the phase of two driving portions
Rack is equipped on face, further include one respectively with two intermeshing rotatable gears of driving portion upper rack, five degree of freedom
The end of picking mechanical arm is equipped with the track structure being slidably matched with driving portion.
7. a kind of citrus picking robot according to claim 6, it is characterised in that：On the car body along its length
Equipped with elongated stuff chest, the two sides of stuff chest are made of transparent plate, and one end of stuff chest length direction is equipped with
Feed inlet, two clamping plates are arranged right below material receiving port, and material receiving port is circular ring shape and is fixedly connected on five degree of freedom picking mechanical arm
End, connected between feed inlet and material receiving port by extension type hose, stuff chest in its length direction into being obliquely installed, and
End is higher than the other end where feed inlet.
8. a kind of citrus picking robot according to claim 6, it is characterised in that：On the car body along its length
Equipped with elongated stuff chest, one end of stuff chest length direction is equipped with feed inlet, and two clamping plates are arranged right below material receiving port, splicing
Mouth is circular ring shape and is fixedly connected on the end of five degree of freedom picking mechanical arm, passes through extension type between feed inlet and material receiving port
Hose connects；Citrus screening plant is equipped in stuff chest, the citrus screening plant includes what is set along stuff chest length direction
Conveyer belt, the both ends of stuff chest length direction are respectively equipped with the conveying roller of connection conveyer belt, are set along its length on conveyer belt
There are several partition plates conveyer belt to be separated into equidistant several splicing regions, splicing region is equipped with vertical with conveyer belt length direction
Slideway, slidably connect splicing trolley on slideway, splicing trolley is fixedly connected with slideway in vertical direction；It is set on splicing trolley
There are driving motor, weighing sensor, control module, the position sensor of its movement of driving；Along slideway direction etc. in splicing region
It is divided into three rank regions, each rank region is respectively equipped with location indentifier corresponding with position sensor；Weighing sensor is used
The weight of citrus in splicing trolley is fallen into weighing, and weight information is transferred to control module, three are preset in control module
A weight range value corresponding with each rank region respectively, the weight model that control module is fallen into according to the weight information received
Value is enclosed splicing trolley to be driven to be moved to corresponding rank region, and when splicing trolley is empty wagons, control module driving splicing is small
Vehicle is moved to the rank region of the centre in three rank regions；The centre in three rank regions of discharging direction direction of feed inlet
Rank region is set, and is conveyed and is set that there are three splicing bags corresponding with each rank region respectively on the stuff chest of end of tape.
9. a kind of citrus picking robot according to claim 8, it is characterised in that：The five degree of freedom picking mechanical arm
Including rotating base, large arm, forearm, three DC servo steering engines and a rotary direct current electric motor, wherein：The rotating base
Including rotary direct current electric motor and rotation body, rotating base is slidably mounted on picking position adjustable track.
10. a kind of citrus picking robot according to claim 8, it is characterised in that：The control system includes industry control
Machine, motion control card, data collecting card, image pick-up card, motor servo driver, binocular camera, infrared sensor, pressure
Sensor, electrical control cabinet and control circuit etc.；The binocular camera is located on electrical control cabinet on the stent of plane, servo
Motor driver and electrical control cabinet are placed on the car body, and industry control machine host is located on the upside of electrical control cabinet, motion control card, number
It is inserted into respectively in the PCI slots of industrial personal computer according to capture card, image pick-up card.
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| CN109592415A (en) * | 2018-10-23 | 2019-04-09 | 王跃前 | A kind of fruit picking conveying device |
| CN110174065A (en) * | 2019-06-17 | 2019-08-27 | 湖南农业大学 | Fruit size lossless detection method based on orthogonal binocular machine vision |
| CN111742710A (en) * | 2020-07-29 | 2020-10-09 | 山东交通学院 | Semi-automatic strawberry picking device and picking method |
| CN111744802A (en) * | 2020-07-07 | 2020-10-09 | 周佳艳 | Fruit collecting and sorting machine |
| CN113575131A (en) * | 2021-08-23 | 2021-11-02 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
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| CN115500150A (en) * | 2022-10-28 | 2022-12-23 | 黑龙江省农业科学院乡村振兴科技研究所 | Convenient blueberry harvester of adjusting |
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| CN111744802A (en) * | 2020-07-07 | 2020-10-09 | 周佳艳 | Fruit collecting and sorting machine |
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| CN111742710A (en) * | 2020-07-29 | 2020-10-09 | 山东交通学院 | Semi-automatic strawberry picking device and picking method |
| CN113575131A (en) * | 2021-08-23 | 2021-11-02 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
| CN113575131B (en) * | 2021-08-23 | 2022-07-19 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
| CN114347004A (en) * | 2022-02-21 | 2022-04-15 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm matched positioning control system |
| CN114347004B (en) * | 2022-02-21 | 2024-04-12 | 国能联合动力技术(连云港)有限公司 | Yaw robot supporting seat and rotating arm cooperation positioning control system |
| CN115500150A (en) * | 2022-10-28 | 2022-12-23 | 黑龙江省农业科学院乡村振兴科技研究所 | Convenient blueberry harvester of adjusting |
| CN115500150B (en) * | 2022-10-28 | 2024-04-02 | 中国科学院东北地理与农业生态研究所农业技术中心 | Blueberry harvester convenient to adjust |
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