CN214508055U

CN214508055U - Mobile picking robot based on vision

Info

Publication number: CN214508055U
Application number: CN202120499144.1U
Authority: CN
Inventors: 甄圣超; 马牧村
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-10-29
Anticipated expiration: 2031-03-09

Abstract

The utility model provides a vision-based mobile picking robot, which comprises a mobile chassis, a lifting device, an mechanical arm, a camera component and a clamping jaw component; the moving chassis is driven to move by four sets of Mecanum wheel assemblies which are independently driven; the lifting device is arranged at the upper end of the movable chassis, bears and can drive the mechanical arm to lift up and down integrally; a depth camera of the camera assembly is used to acquire environmental information; the clamping jaw assembly is used as an executing component of the mechanical arm, an output shaft of a driving motor, a lead screw and an executing end of the mechanical arm are coaxially arranged, the driving motor drives the lead screw to synchronously rotate, and a nut drives three flexible clamping jaws which are centrosymmetrically arranged by taking a central axis of the lead screw as a symmetric center to oppositely open and close through transmission of a transmission rod. The utility model discloses can replace the traditional operation mode of artifical harvesting, improve and pick efficiency and degree of automation.

Description

Mobile picking robot based on vision

Technical Field

The utility model relates to a robot field, the more specifically removal picking robot based on vision that says so.

Background

With the rapid development of science and technology, the arrival of artificial intelligence and big data era, the life style of people has undergone huge revolution, the traditional mode of relying on manual picking is limited by the height, density and complex operation environment of fruit trees, and the picking efficiency is low. Under the condition of large-scale fruit tree planting, the labor cost of the traditional manual picking mode is high, the worker may make a judgment error on the maturity of the fruit, and large-scale and efficient industrial picking cannot be realized.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving above-mentioned technical problem to a certain extent at least. Therefore, the utility model provides a remove picking robot based on vision to can replace artifical traditional operation mode of picking in the phase, improve and pick efficiency and degree of automation.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a movable picking robot based on vision is characterized in that:

the device comprises a movable chassis, a lifting device, a mechanical arm, a camera assembly and a clamping jaw assembly;

the movable chassis is driven to move by four groups of Mecanum wheel assemblies which are independently driven and distributed at four corners, a power supply system is arranged in the movable chassis, and a laser radar and a lighting device are arranged at the front end and the rear end of the movable chassis;

the lifting device is arranged at the upper end of the movable chassis, bears and can drive the mechanical arm to integrally lift up and down;

the depth camera of the camera component is mounted and supported above the mechanical arm execution end through a camera mounting frame and used for acquiring environmental information;

the clamping jaw assembly is used as an executing component of the mechanical arm, is arranged at an executing end of the mechanical arm through a clamping jaw fixing seat, and comprises a driving motor, a screw rod nut assembly, a transmission rod piece and three flexible clamping jaws, wherein the driving motor, the screw rod nut assembly, the transmission rod piece and the three flexible clamping jaws are arranged on the clamping jaw fixing seat;

the transmission member piece comprises a three-jaw connecting arm and three middle swing rods, the three-jaw connecting arm is fixedly arranged on the nut at the middle part and is formed with three radiation arms which are circumferentially, equidistantly and radially distributed by taking the central axis of the lead screw as a symmetric center, the three radiation arms are correspondingly distributed according to the radial positions of three flexible clamping jaws, each flexible clamping jaw is hinged to the clamping jaw fixing seat through a hinge seat at one end facing the mechanical arm at a first hinge point, each middle swing rod is hinged between the radiation arm end of the three-jaw connecting arm and a second hinge point of the hinge seat corresponding to the flexible clamping jaw at two ends respectively, and the second hinge point is located on the outer side of the first hinge point along the radial direction.

The utility model discloses a structural feature also lies in:

the Mecanum wheels of each set of Mecanum wheel assemblies are provided with a gear motor to provide power.

The lifting device is an electric shear type lifting platform.

The flexible clamping jaw is made of silicon rubber and is of a triangular block structure, the tip end of the flexible clamping jaw faces outwards along the central axis direction of the screw, and a plurality of trapezoidal hollowed-out holes are formed.

The mechanical arm is a three-axis mechanical arm and is arranged at the upper end of the lifting device through a mechanical arm base, and a first joint, a second joint, a first connecting rod, a third joint, a second connecting rod and an execution end are sequentially arranged on the mechanical arm base.

The left end and the right end of the movable chassis are both provided with emergency stop buttons, an electric control board is further arranged on the movable chassis, and the movable chassis is electrically connected with the laser radar, the illuminating device, the power system, the emergency stop buttons, the speed reducing motor, the lifting motor of the lifting device, the mechanical arm, the depth camera and the driving motor.

Compared with the prior art, the utility model discloses beneficial effect embodies:

the utility model utilizes four groups of Mecanum wheels which are independently driven to drive the mobile chassis to move, can realize the omnidirectional movement of the robot, has flexible and convenient steering, avoids obstacles by means of laser radar during moving, and is favorable for adapting to complex picking environments; on this basis, utilize elevating gear and arm cooperation, can make clamping jaw assembly reach required position, compare in six arms, reduced the design degree of difficulty and manufacturing cost, cooperation degree of depth camera can scan, discern article on a large scale, improves and picks efficiency, and clamping jaw assembly adopts the flexible clamping jaw of three-jaw structure, destroys the epidermis of fruit when avoiding snatching, guarantees the integrality of fruit.

Drawings

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

fig. 2 is a rear view structure diagram of the present invention;

FIG. 3 is a schematic perspective view of a mobile chassis;

FIG. 4 is a schematic bottom view of the mobile chassis;

FIG. 5 is a schematic diagram of a Mecanum wheel assembly;

FIG. 6 is a schematic structural view of the lifting device;

FIG. 7 is a schematic view of a robotic arm;

FIG. 8 is a schematic view of the jaw assembly and camera assembly in a closed position;

figure 9 is a schematic view of the jaw assembly in an open position.

In the figure, 1 moves the chassis; 2 Mecanum wheels; 3, a speed reducing motor; 4, laser radar; 5 a lighting device; 6 supporting the bottom plate; 7 a chassis frame; 8, covering a plate; 9 emergency stop button; 10 an electric control board; 11 a direct contactor; 12 a voltage converter; 13 batteries; 14 a lifting device; 15 a mechanical arm; 16 a robot arm base; 17 a first joint; 18 a second joint; 19 a first link; 20 a third joint; 21 a second link; 22 an execution end; 23, a camera mounting bracket; a 24 depth camera; 25 clamping jaw fixing seats; 26 driving the motor; 27 leading screw; 28 a nut; 29 a three-jaw connecting arm; 30 middle swing rod; 31 a flexible jaw; 32 a first hinge point; 33 second hinge point.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are 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 efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 9, the vision-based mobile picking robot of the present embodiment includes a mobile chassis 1, a lifting device 14, a robot arm 15, a camera assembly and a gripper assembly;

the movable chassis 1 is driven to move by four groups of independently driven Mecanum wheel 2 assemblies distributed at four corners, a power supply system is arranged in the movable chassis, and the front end and the rear end of the movable chassis are respectively provided with a laser radar 4 and an illuminating device 5;

the lifting device 14 is arranged at the upper end of the movable chassis 1, bears and can drive the mechanical arm 15 to lift up and down integrally;

a depth camera 24 of the camera component is installed and supported above the execution end 22 of the mechanical arm 15 through a camera installation frame 23 and is used for acquiring environmental information;

the clamping jaw assembly is used as an executing component of the mechanical arm 15 and is installed at an executing end 22 of the mechanical arm 15 through a clamping jaw fixing seat 25, and comprises a driving motor 26, a screw rod nut assembly, a transmission rod piece and three flexible clamping jaws 31 which are installed on the clamping jaw fixing seat 25, an output shaft of the driving motor 26, a screw rod 27 and the executing end 22 of the mechanical arm 15 are coaxially arranged, the driving motor 26 is connected with the screw rod 27 through the output shaft, the screw rod 27 is driven to synchronously rotate, and the three flexible clamping jaws 31 which are symmetrically arranged by taking a central axis of the screw rod 27 as a symmetric center are driven to oppositely open and close through the transmission rod piece by a nut 28 on the screw rod 27;

the transmission rod comprises a three-jaw connecting arm 29 and three middle swing rods 30, the three-jaw connecting arm 29 is fixedly arranged on a nut 28 in the middle, three radiation arms are formed and distributed circumferentially, equidistantly and radially by taking the central axis of the screw 27 as a symmetric center, the three radiation arms are correspondingly distributed according to the radial positions of three flexible clamping jaws 31, each flexible clamping jaw 31 is hinged on the clamping jaw fixing seat 25 at one end facing the mechanical arm 15 through a hinge seat at a first hinge point 32, each middle swing rod 30 is hinged between the end of the radiation arm of the three-jaw connecting arm 29 and a second hinge point 33 of the hinge seat corresponding to the flexible clamping jaw 31 by two ends, and the second hinge point 33 is positioned outside the first hinge point 32 along the radial direction.

In specific implementation, the corresponding structural arrangement also includes:

the clamping jaw fixing seat 25 is formed by fixedly connecting three connecting rods which are arranged along the circumferential direction at equal intervals with the mounting plates which are arranged in tandem along the axial direction of the screw 27, the mounting plate close to the execution end 22 of the mechanical arm 15 is assembled on the execution end 22 of the mechanical arm 15, and the camera mounting frame 23 is clamped between the execution end 22 of the mechanical arm 15 and the mounting plates of the clamping jaw fixing seat 25.

Fig. 8 shows the closed state of the three flexible jaws 31, and when the nut 28 moves along the lead screw 27 toward the robot arm 15, the three flexible jaws 31 are gradually opened to the state shown in fig. 9.

The mecanum wheels 2 of each set of mic-wheel assemblies are provided with a gear motor 3 for powering.

The lifting device 14 is an electric scissor type lifting platform.

The flexible clamping jaw 31 is made of silicon rubber, is of a triangular block structure, faces outwards from the tip along the central axis direction of the screw 27, and is formed with a plurality of trapezoidal hollow holes.

The mechanical arm 15 is a three-axis mechanical arm 15 and is mounted at the upper end of the lifting device 14 through a mechanical arm base 16, a first joint 17, a second joint 18, a first connecting rod 19, a third joint 20, a second connecting rod 21 and an execution end 22 are sequentially mounted on the mechanical arm base 16, the first joint 17 is rotatably connected with the mechanical arm base 16, the second joint 18 is rotatably connected with the first joint 17, the third joint 20 is fixedly connected with the second joint 18 through the first connecting rod 19, and the second connecting rod 21 is rotatably connected with the third joint 20 and has three rotational degrees of freedom.

The movable chassis 1 is characterized in that a chassis frame 7 is arranged around the supporting base plate 6, a cover plate 8 is packaged at the top end of the chassis frame 7, and a laser radar 4 and a lighting device 5 are arranged at the front end and the rear end of the chassis frame 7. Axle holes are arranged at four corners of the chassis frame 7 and used for mounting the microphone receiving wheel assembly. The speed reducing motor 3 of the microphone nano wheel assembly is arranged on a speed reducing motor 3 support, and the speed reducing motor 3 support is arranged on the position of the supporting bottom plate 6 corresponding to the wheel axle hole.

Move the chassis 1 left and right ends and all be equipped with emergency stop button 9, still be equipped with automatically controlled board 10 on the removal chassis 1, with laser radar 4, lighting device 5, electrical power generating system, emergency stop button 9, gear motor 3, elevating gear 14's elevator motor, arm 15, degree of depth camera 24, driving motor 26 electric connection carries out the circuit communication, and in time receive information and make feedback processing, electrical power generating system is used for the power supply, including direct contactor 11, two voltage converter 12, three battery 13, electrical power generating system and automatically controlled board 10 are installed at the middle part of supporting baseplate 6.

The working principle is as follows:

the mobile picking robot of the embodiment can scan external environment information through the depth camera 24, extract characteristics of the environment information, including the volume, color and the like of an object, transmit the information to the electric control board 10, analyze and process the received environment information by the electric control board 10, and convert the information into a mobile signal of the mobile chassis 1 and a grabbing action signal of the lifting device 14, the mechanical arm 15 and the clamping jaw assembly, thereby realizing the purpose of picking different objects. The front laser radar 4 and the rear laser radar 4 can be used for avoiding obstacles when the movable chassis 1 moves, the safety of the robot is improved, and the left emergency stop button 9 and the right emergency stop button 9 can be used for manual intervention when an emergency situation occurs.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A movable picking robot based on vision is characterized in that:

2. The vision-based mobile picking robot of claim 1, characterized by: the Mecanum wheels of each set of Mecanum wheel assemblies are provided with a gear motor to provide power.

3. The vision-based mobile picking robot of claim 1, characterized by: the lifting device is an electric shear type lifting platform.

4. The vision-based mobile picking robot of claim 1, characterized by: the flexible clamping jaw is made of silicon rubber and is of a triangular block structure, the tip end of the flexible clamping jaw faces outwards along the central axis direction of the screw, and a plurality of trapezoidal hollowed-out holes are formed.

5. The vision-based mobile picking robot of claim 1, characterized by: the mechanical arm is a three-axis mechanical arm and is arranged at the upper end of the lifting device through a mechanical arm base, and a first joint, a second joint, a first connecting rod, a third joint, a second connecting rod and an execution end are sequentially arranged on the mechanical arm base.

6. The vision-based mobile picking robot of claim 2, characterized by: the left end and the right end of the movable chassis are both provided with emergency stop buttons, an electric control board is further arranged on the movable chassis, and the movable chassis is electrically connected with the laser radar, the illuminating device, the power system, the emergency stop buttons, the speed reducing motor, the lifting motor of the lifting device, the mechanical arm, the depth camera and the driving motor.