CN204622060U - fruit and vegetable picking robot mechanical arm and robot - Google Patents
fruit and vegetable picking robot mechanical arm and robot Download PDFInfo
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- CN204622060U CN204622060U CN201520271638.9U CN201520271638U CN204622060U CN 204622060 U CN204622060 U CN 204622060U CN 201520271638 U CN201520271638 U CN 201520271638U CN 204622060 U CN204622060 U CN 204622060U
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Abstract
The utility model provides a kind of fruit and vegetable picking robot mechanical arm and robot, comprise: picking hands grabs the one end being arranged on mechanical arm forearm, cylinder and range cells are arranged on the top of mechanical arm forearm, and cylinder is between mechanical arm forearm and range cells, visual unit to be fixed on cylinder and can to move up and down along with the flexible of the piston of cylinder, visual unit is coaxial and towards the one end of installing picking hands and grabbing with range cells, by visual unit and range cells being arranged on the mechanical arm forearm in fruit and vegetable picking robot mechanical arm execution unit, visual unit and range cells can be regulated by the image information of Real-time Obtaining target fruits and vegetables Mobile state of going forward side by side along with the movement of execution unit, thus the precision of automatically plucking is provided.
Description
Technical field
The utility model relates to robot field, particularly relates to a kind of fruit and vegetable picking robot mechanical arm and robot.
Background technology
At present, artificial harvesting in the process of fruits and vegetables needs carry out judgement to the maturity of fruits and vegetables and gather one by one, and work of plucking is consuming time, effort.And along with the loss of agricultural workforce in recent years, human cost progressively rises, pluck the major part that cost has become the fruits and vegetables productive expenditure.Therefore, exploitation possesses the robot of function of automatically gathering, and can realize alleviating peasant's labour intensity, extenuating the objects such as agriculture production cost rise, be applied in actual production, significant for the sustainable development maintaining fruits and vegetables production.
At present, by the visual unit of picking robot, object recognition and detection is carried out to the fruits and vegetables of maturation, and by the execution unit of picking robot, target is gathered.In this process, execution unit, according to the static state identification positioning result of visual unit, disposablely to be gathered close to target.
But target fruits and vegetables, in the process of execution unit close to it, may receive the collision of execution unit and depart from initial position, making picking robot accurately to obtain the spatial positional information of target fruits and vegetables and to pluck failure.
Utility model content
The utility model provides a kind of fruit and vegetable picking robot mechanical arm and robot, to reach the object improving the precision of automatically plucking, thus makes automatic picked technology can be widely used in fruits and vegetables production.
First aspect, the utility model provides a kind of fruit and vegetable picking robot mechanical arm, comprise: picking hands is grabbed (1), cylinder (2), visual unit (3), range cells (4) and mechanical arm (5), described mechanical arm (5) comprises mechanical arm base (51) and mechanical arm forearm (52), wherein
Described picking hands grabs one end that (1) is arranged on described mechanical arm forearm (52), described cylinder (2) and described range cells (4) are arranged on the top of described mechanical arm forearm (52), and described cylinder (2) is positioned between described mechanical arm forearm (52) and described range cells (4), described visual unit (3) is fixed on described cylinder (2) and goes up and can move up and down along with the flexible of the piston of described cylinder (2), described visual unit (3) is coaxial and towards the one end of installing described picking hands and grab (1) with described range cells (4).
In the first possible implementation in first, described visual unit (3) is specially video camera.
In conjunction with the first possible implementation of first aspect or first aspect, in the implementation that the second in first is possible, described range cells (4) is specially sensor.
Second aspect, the utility model provides a kind of robot, comprises as above first aspect, fruit and vegetable picking robot mechanical arm that the first or the second way of first aspect realize.
The utility model provides a kind of fruit and vegetable picking robot mechanical arm and robot, by visual unit and range cells being arranged on the mechanical arm forearm in fruit and vegetable picking robot mechanical arm execution unit, visual unit and range cells can be regulated by the image information of Real-time Obtaining target fruits and vegetables Mobile state of going forward side by side along with the movement of execution unit, thus improve the precision of automatically plucking, make automatic picked technology can be widely used in fruits and vegetables and produce.
Accompanying drawing explanation
The structural representation of the fruit and vegetable picking robot mechanical arm that Fig. 1 provides for the utility model;
Fig. 2 is the utility model framing process schematic;
The distance measuring states schematic diagram of the fruit and vegetable picking robot mechanical arm that Fig. 3 provides for the utility model.
Detailed description of the invention
The structural representation of the fruit and vegetable picking robot mechanical arm that Fig. 1 provides for the utility model.As shown in Figure 1, the fruit and vegetable picking robot mechanical arm 100 that the utility model provides comprises: picking hands grabs 1, cylinder 2, visual unit 3, range cells 4 and mechanical arm 5, described mechanical arm 5 comprises mechanical arm base 51 and mechanical arm forearm 52, wherein, described picking hands grabs one end that 1 is arranged on described mechanical arm forearm 52, described cylinder 2 and described range cells 4 are arranged on the top of described mechanical arm forearm 52, and described cylinder 2 is between described mechanical arm forearm 52 and described range cells 4, described visual unit 3 to be fixed on described cylinder 2 and can to move up and down along with the flexible of the piston of described cylinder 2, described visual unit 3 is coaxial and towards installing one end that described picking hands grabs 1 with described range cells 4.
As shown in Figure 1, in the fruit and vegetable picking robot mechanical arm that the utility model provides, picking paw 1 and mechanical arm 5 are equivalent to execution unit, mechanical arm 5 is for being fixed in robot or working alone, mechanical arm forearm 52 is relative to the adjustable angle of mechanical arm base 52, picking paw 1 is for shearing fruit and being separated, visual unit 3 and range cells 4 are coaxially installed on the top of mechanical arm forearm 52, and visual unit 3 is front, range cells 4 is rear, visual unit is arranged on the piston end of cylinder 2, cylinder 2 is fixed with mechanical arm forearm 52, along with stretching of cylinder piston, visual unit 3 moves up and down.In the utility model embodiment, visual unit 3 can be such as video camera, as visible ray or other EO-1 hyperion video cameras, range cells 4 can be such as sensor, as laser range sensor, sonac, structured light sensor, infrared sensor or other there is the sensor of space measurement function.It should be noted that, above-mentioned picking paw 1 and mechanical arm 5 are not limited to the mechanical arm shown in Fig. 1, in the implementation that other are feasible, also can otherwise realize.
The fruit and vegetable picking robot mechanical arm that the utility model provides, by visual unit and range cells being arranged on the mechanical arm forearm in fruit and vegetable picking robot mechanical arm execution unit, visual unit and range cells can be regulated by the image information of Real-time Obtaining target fruits and vegetables Mobile state of going forward side by side along with the movement of execution unit, thus improve the precision of automatically plucking, make automatic picked technology can be widely used in fruits and vegetables and produce.In addition, visual unit can position multiple target from different vision along with the rotation of mechanical arm, and what more fully can obtain target fruits and vegetables crosses Viewing-angle information.
Below, composition graphs 1, Fig. 2 and Fig. 3 provide the operation principle of fruit and vegetable picking robot mechanical arm to elaborate to the utility model, wherein, Fig. 2 is the utility model framing process schematic, the distance measuring states schematic diagram of the fruit and vegetable picking robot mechanical arm that Fig. 3 provides for the utility model.
Please refer to Fig. 1, after target fruits and vegetables enter the visual field of visual unit 3, cylinder 2 is in the state of stretching out, visual unit 3 passes through image processing algorithm, obtain the side-play amount of target fruits and vegetables center and picture centre in image, mechanical arm is according to the anglec of rotation of side-play amount reconditioner mechanical arm base 51 and mechanical arm forearm 52, and carry out image acquisition and processing in real time, make target fruits and vegetables in the picture progressively close to image center position, until the center of target fruits and vegetables overlaps with image center, wherein, image center is the center of the image that visual unit 3 collects.Specifically please refer to Fig. 2, as shown in Figure 2, dash area enters the image that visual field after-vision unit 3 collects for target fruits and vegetables, and fruits and vegetables shown in dotted line are the most initial positions of target fruits and vegetables, and solid line fruits and vegetables are the final position of target fruits and vegetables.When the center of target fruits and vegetables overlaps constantly with the position of image center, the optical axis of visual unit 3, the ray of range cells 4 and target fruits and vegetables are in same straight line.Then, control cylinder 2 is retracted, and as shown in Figure 3, triggers range cells 4 and carries out the air line distance measuring to obtain target fruits and vegetables and range cells 4, thus obtain the spatial information of target fruits and vegetables, and then, robotic arm manipulation picking paw 1 is close and pluck objective fruit.
In addition, on the basis of above-mentioned fruit and vegetable picking robot mechanical arm, the utility model also provides a kind of robot, it comprise as above fruit and vegetable picking robot mechanical arm, specific implementation process repeats no more herein.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.
Claims (4)
1. a fruit and vegetable picking robot mechanical arm, it is characterized in that, comprise: picking hands is grabbed (1), cylinder (2), visual unit (3), range cells (4) and mechanical arm (5), described mechanical arm (5) comprises mechanical arm base (51) and mechanical arm forearm (52), wherein
Described picking hands grabs one end that (1) is arranged on described mechanical arm forearm (52), described cylinder (2) and described range cells (4) are arranged on the top of described mechanical arm forearm (52), and described cylinder (2) is positioned between described mechanical arm forearm (52) and described range cells (4), described visual unit (3) is fixed on described cylinder (2) and goes up and can move up and down along with the flexible of the piston of described cylinder (2), described visual unit (3) is coaxial and towards the one end of installing described picking hands and grab (1) with described range cells (4).
2. fruit and vegetable picking robot mechanical arm according to claim 1, is characterized in that, described visual unit (3) is specially video camera.
3. fruit and vegetable picking robot mechanical arm according to claim 1 and 2, is characterized in that, described range cells (4) is specially sensor.
4. a robot, is characterized in that, comprises the fruit and vegetable picking robot mechanical arm as above described in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520271638.9U CN204622060U (en) | 2015-04-29 | 2015-04-29 | fruit and vegetable picking robot mechanical arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520271638.9U CN204622060U (en) | 2015-04-29 | 2015-04-29 | fruit and vegetable picking robot mechanical arm and robot |
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| CN204622060U true CN204622060U (en) | 2015-09-09 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363653A (en) * | 2016-10-20 | 2017-02-01 | 中国农业大学 | End effector of cucumber picking robot |
| CN107333526A (en) * | 2017-09-07 | 2017-11-10 | 中国热带农业科学院农业机械研究所 | A kind of banana plucks auxiliary machinery |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
| CN111993447A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot manipulator structure with high flexibility and use method thereof |
-
2015
- 2015-04-29 CN CN201520271638.9U patent/CN204622060U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363653A (en) * | 2016-10-20 | 2017-02-01 | 中国农业大学 | End effector of cucumber picking robot |
| CN106363653B (en) * | 2016-10-20 | 2018-12-28 | 中国农业大学 | A kind of end effector of cucumber picking robot |
| CN107333526A (en) * | 2017-09-07 | 2017-11-10 | 中国热带农业科学院农业机械研究所 | A kind of banana plucks auxiliary machinery |
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
| CN109315144B (en) * | 2018-07-27 | 2021-10-08 | 湖南人文科技学院 | Intelligent fruit picking device and picking method thereof |
| CN110065074A (en) * | 2019-05-29 | 2019-07-30 | 北京禾泽方圆智能科技有限公司 | A kind of the visual servo laser orientation system and method for picking robot |
| CN110065074B (en) * | 2019-05-29 | 2021-02-12 | 北京禾泽方圆智能科技有限公司 | Visual servo laser positioning system and method for picking robot |
| CN111993447A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot manipulator structure with high flexibility and use method thereof |
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Address after: A318, agricultural science building, No. 11, Shuguang garden middle road, Banjing, Haidian District, Beijing 100097 Patentee after: Intelligent equipment technology research center of Beijing Academy of agricultural and Forestry Sciences Address before: A318, agricultural science building, No. 11, Shuguang garden middle road, Banjing, Haidian District, Beijing 100097 Patentee before: BEIJING RESEARCH CENTER OF INTELLIGENT EQUIPMENT FOR AGRICULTURE |