CN211415245U

CN211415245U - Picking robot

Info

Publication number: CN211415245U
Application number: CN201922389012.9U
Authority: CN
Inventors: 尹本强; 王欣可; 李同祥; 房克; 贾修峰
Original assignee: Qingdao Wuniu Intelligent Technology Co ltd
Current assignee: Qingdao Wuniu Intelligent Technology Co ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-09-04
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a picking robot, including unmanned platform truck, one side at unmanned platform truck top is provided with the bottom plate, the intermediate position department of bottom plate top both sides is provided with second ball screw subassembly, the intermediate position department of bottom plate one side is provided with second servo drive motor, second servo drive motor's output is linked together with second ball screw subassembly, the both ends at bottom plate top are provided with second linear guide rail module. The utility model discloses the device passes through the setting of two sets of degree of depth camera subassemblies in stand top, can make the judgement whether ripe to the fruit, and ripe fruit is picked to the accuracy, improves work efficiency, mutually supports through the structure of servo drive motor, linear guide rail module, ball screw subassembly, pneumatic swinging boom etc. can let the manipulator realize diversified removal, picks the ripe fruit in different positions, further promotes this picking robot's practicality.

Description

Picking robot

Technical Field

The utility model relates to a pick technical field, specifically be a picking robot.

Background

The society is advancing all the time, science and technology are developing all the time, artificial intelligence is developing all the time, the robot is a machine device which automatically executes work, can accept human command, can run programs which are arranged in advance, and can also perform outline actions according to principles formulated by artificial intelligence technology; the task is to assist or replace human work, such as production, construction, or dangerous work;

fruit picking before is mostly picked through the manpower, and efficiency is very low, still wastes time and energy, so need a kind of picking robot to assist mankind's work, and current picking robot is comparatively laggard to the discernment whether the fruit is ripe, and the fruit of picking that can not be accurate in many times causes unnecessary loss, and the growth height of fruit is different simultaneously, and current picking robot picks the scope comparatively limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a picking robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a picking robot comprises an unmanned platform vehicle, a bottom plate is arranged on one side of the top of the unmanned platform vehicle, a second ball screw assembly is arranged at the middle position of two sides of the top of the bottom plate, a second servo driving motor is arranged at the middle position of one side of the bottom plate, the output end of the second servo driving motor is communicated with the second ball screw assembly, second linear guide rail modules are arranged at two ends of the top of the bottom plate, two groups of first sliding blocks are arranged inside the second linear guide rail modules, a mechanical arm fixing plate is arranged at the top of each first sliding block, a lifting table assembly is arranged at the top of each mechanical arm fixing plate, stand columns are arranged at four corners of the top of each lifting table assembly, first linear guide rail modules are arranged at two ends of one side of each stand column, and first ball screw assemblies are arranged at the middle positions inside the stand columns, the stand is provided with four groups, and two sets of tops that are close to second servo drive motor one side stand are provided with first servo drive motor, and the output of first servo drive motor extends to the inside and the first ball screw subassembly of stand and is linked together, the outside cover of first ball screw subassembly is equipped with the second slider, the one end that the stand was kept away from to the second slider is provided with flexible arm subassembly, the one end that the second slider was kept away from to flexible arm subassembly is provided with pneumatic swinging boom, the one end that flexible arm subassembly was kept away from to pneumatic swinging boom is provided with manipulator assembly, the both ends that bottom plate one side was kept away from at unmanned platform roof portion are provided with main control unit.

Preferably, a depth camera assembly is arranged at the middle position of the upright column close to the top of one side of the manipulator assembly.

Preferably, four groups of mechanical fingers are arranged on the manipulator assembly, and the mechanical fingers are made of a semi-arc structure.

Preferably, the four corners department of unmanned platform car bottom all is provided with the wheel, and the outside of wheel is provided with anti-skidding line.

Preferably, a motor bin is arranged on the outer side of the first servo driving motor, and damping and silencing cotton is arranged on the inner side of the motor bin.

Preferably, two groups of receiving antennas are arranged at the middle position of one side, far away from the bottom plate, of the top of the unmanned platform vehicle.

Compared with the prior art, the beneficial effects of the utility model are that: this picking robot passes through the setting of two sets of degree of depth camera subassemblies in stand top, can make the judgement to the fruit is ripe, and ripe fruit is picked to the accuracy, improves work efficiency, mutually supports through the structure of servo drive motor, linear guide rail module, ball screw subassembly, pneumatic swinging boom etc. can let the manipulator realize diversified removal, picks the ripe fruit in different positions, further promotes this picking robot's practicality.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a side view of the present invention;

fig. 4 is a top view of the present invention;

fig. 5 is a circuit control diagram of the present invention.

In the figure: 1. a depth camera assembly; 2. a telescopic arm assembly; 3. a manipulator assembly; 4. a column; 5. an unmanned platform vehicle; 6. a first ball screw assembly; 7. a pneumatic rotating arm; 8. a first servo drive motor; 9. a first linear guide rail module; 10. a second linear guide rail module; 11. a lifting platform assembly; 12. a mechanical arm fixing plate; 13. a second servo drive motor; 14. a second ball screw assembly; 15. a base plate; 16. a first slider; 17. a second slider; 18. and a main controller.

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 in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides an embodiment: a picking robot comprises an unmanned platform vehicle 5, a bottom plate 15 is arranged on one side of the top of the unmanned platform vehicle 5, second ball screw assemblies 14 are arranged at the middle positions of two sides of the top of the bottom plate 15, a second servo driving motor 13 is arranged at the middle position of one side of the bottom plate 15, the output end of the second servo driving motor 13 is communicated with the second ball screw assemblies 14, second linear guide rail modules 10 are arranged at two ends of the top of the bottom plate 15, two groups of first sliders 16 are arranged inside the second linear guide rail modules 10, a mechanical arm fixing plate 12 is arranged at the top of each first slider 16, a lifting platform assembly 11 is arranged at the top of each mechanical arm fixing plate 12 and plays a lifting role, stand columns 4 are arranged at four corners of the top of each lifting platform assembly 11 and play a supporting role, first linear guide rail modules 9 are arranged at two ends of one side of each stand column 4, first ball screw assemblies 6 are arranged at the middle positions inside the stand columns 4, the stand 4 is provided with four groups, and two sets of tops that are close to second servo driving motor 13 one side stand 4 are provided with first servo driving motor 8, and the inside that the output of first servo driving motor 8 extends to stand 4 is linked together with first ball screw subassembly 6, the outside cover of first ball screw subassembly 6 is equipped with second slider 17, the one end that stand 4 was kept away from to second slider 17 is provided with telescopic arm subassembly 2, the one end that second slider 17 was kept away from to telescopic arm subassembly 2 is provided with pneumatic swinging boom 7, the one end that telescopic arm subassembly 2 was kept away from to pneumatic swinging boom 7 is provided with manipulator assembly 3, the both ends that bottom plate 15 one side was kept away from at unmanned driving platform car 5 top are provided with main control unit 18.

In this implementation, stand 4 is close to the intermediate position department at 3 one side tops of manipulator subassembly and is provided with degree of depth camera subassembly 1, it is ripe whether better detection fruit, be provided with four groups of mechanical fingers on the manipulator subassembly 3 altogether, and the mechanical finger is made by half arc structure, be convenient for snatch the fruit, the four corners department of 5 bottoms of unmanned platform truck all is provided with the wheel, and the outside of wheel is provided with anti-skidding line, increase frictional force, the outside of first servo drive motor 8 is provided with the motor storehouse, the protection motor, and the inboard in motor storehouse is provided with the shock attenuation amortization cotton, the intermediate position department that bottom plate 15 one side was kept away from at 5 tops of unmanned platform truck is provided with two sets of receiving antenna.

The working principle is as follows: during operation, move the automobile body to assigned position department, judge whether the fruit is ripe through degree of depth camera subassembly 1 earlier, if ripe then transmit the fruit coordinate for main control unit 18, main control unit 18 carries out information acquisition processing and sends the signal for first servo driving motor 8 and second servo driving motor 13, drive second slider 17 on the first ball screw subassembly 6 through first servo driving motor 8 and reciprocate, drive arm fixed plate 12 on the second ball screw subassembly 14 through second servo driving motor 13 and carry out the back-and-forth movement, thereby control manipulator subassembly 3 and remove to the fruit coordinate position, again drive manipulator subassembly 3 and rotate by main control unit 18 control pneumatic swinging boom 7, let manipulator subassembly 3 grasp the fruit, thereby accomplish and snatch work, put into the fruit at last and hold the container of fruit.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a picking robot, includes unmanned platform car (5), its characterized in that: a bottom plate (15) is arranged on one side of the top of the unmanned platform truck (5), second ball screw assemblies (14) are arranged at the middle positions of two sides of the top of the bottom plate (15), a second servo driving motor (13) is arranged at the middle position of one side of the bottom plate (15), the output end of the second servo driving motor (13) is communicated with the second ball screw assemblies (14), second linear guide rail modules (10) are arranged at two ends of the top of the bottom plate (15), two groups of first sliding blocks (16) are arranged inside the second linear guide rail modules (10), a mechanical arm fixing plate (12) is arranged at the top of each first sliding block (16), a lifting platform assembly (11) is arranged at the top of each mechanical arm fixing plate (12), stand columns (4) are arranged at four corners of the top of each lifting platform assembly (11), and first linear guide rail modules (9) are arranged at two ends of one side of each stand column (4), stand (4) inside intermediate position department is provided with first ball screw subassembly (6), stand (4) are provided with four groups, and two sets of tops that are close to second servo driving motor (13) one side stand (4) are provided with first servo driving motor (8), and the output of first servo driving motor (8) extends to the inside and first ball screw subassembly (6) of stand (4) and are linked together, the outside cover of first ball screw subassembly (6) is equipped with second slider (17), the one end that stand (4) were kept away from in second slider (17) is provided with telescopic arm subassembly (2), the one end that second slider (17) were kept away from in telescopic arm subassembly (2) is provided with pneumatic swinging boom (7), the one end that telescopic arm subassembly (2) were kept away from in pneumatic swinging boom (7) is provided with manipulator assembly (3), the both ends that bottom plate (15) one side was kept away from at unmanned platform car (5) top are provided with ware (18) ).

2. A picking robot as claimed in claim 1, characterised in that: and a depth camera assembly (1) is arranged at the middle position of the upright post (4) close to the top of one side of the manipulator assembly (3).

3. A picking robot as claimed in claim 1, characterised in that: four groups of mechanical fingers are arranged on the mechanical arm component (3) and are made of a semi-arc structure.

4. A picking robot as claimed in claim 1, characterised in that: the four corners department of unmanned platform car (5) bottom all is provided with the wheel, and the outside of wheel is provided with anti-skidding line.

5. A picking robot as claimed in claim 1, characterised in that: the outside of first servo drive motor (8) is provided with the motor storehouse, and the inboard in motor storehouse is provided with the shock attenuation amortization cotton.

6. A picking robot as claimed in claim 1, characterised in that: two groups of receiving antennas are arranged at the middle position of one side, far away from the bottom plate (15), of the top of the unmanned platform vehicle (5).