CN214686579U - Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm - Google Patents
Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm Download PDFInfo
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- CN214686579U CN214686579U CN202120789095.5U CN202120789095U CN214686579U CN 214686579 U CN214686579 U CN 214686579U CN 202120789095 U CN202120789095 U CN 202120789095U CN 214686579 U CN214686579 U CN 214686579U
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Abstract
The utility model discloses a fruit vegetables picking machine based on six degree of freedom arms picks efficiently, and the location is accurate. The utility model discloses a fruit and vegetable picking machine based on six degree of freedom arms, which comprises a walking platform (100), a supporting module (200), a collecting box (500), 4 motion modules (300) and 4 end effectors (400); the 4 motion modules (300) are circumferentially and uniformly and fixedly arranged at four corners of the support module (200), the 4 end effectors (400) are respectively and fixedly connected with the tail ends of six-degree-of-freedom mechanical arms (305) of the motion modules (300), and the collection box (500) is fixedly arranged on a top plate (201) of the support module (200).
Description
Technical Field
The utility model belongs to the technical field of intelligent agricultural machinery, especially a fruit vegetables picking machine based on six degree of freedom arms.
Background
In the fruit production of China, manual picking is still adopted in large quantity, so that the picking efficiency is low, the labor intensity of personnel is high, and the picking cost is too high for a large-scale planting base.
In order to solve the problems of low efficiency and high labor cost of manual fruit picking, a large amount of fruit picking equipment is provided.
The Chinese patent application for invention 'a fruit picking robot based on a rectangular coordinate type mechanical arm' (application number: 202011100614.9, published: 2021.1.22) discloses a fruit picking robot, which comprises a frame, a driving system, an industrial personal computer, a rectangular coordinate type mechanical arm, an image recognition system, an end effector and the like. The fruit picking machine has the advantages that the target fruits are picked in a positioning mode through plane rectangular coordinates, corresponding X, Y, Z-axis coordinates are calculated by projecting fruit images in corresponding areas, and then the rectangular coordinate type mechanical arm is used for picking the fruits, so that the degree of freedom of the mechanical arm is reduced, a picking path of the mechanical arm is simpler and more convenient, and further, a program algorithm for automatically picking the fruits is simple and stable. Through reasonable design rectangular coordinate formula arm for the robot can adapt to more and pick the task, and then makes picking procedure algorithm more compatible robot. And the robot is provided with a GPS navigation system, can realize full autonomous navigation and travel when working in an orchard, realizes full-automatic fruit picking operation, and has the advantages of high working efficiency, simple structure and convenient maintenance and assembly. Because the picking positioning adopts a plane rectangular coordinate positioning mode, compared with the fruit picking robot, the fruit picking robot has the problems of inaccurate positioning, long reaction time and the like.
For another example, the chinese invention patent application "an intelligent fruit picking robot" (application No. 202011411527.X, published: 2021.3.26) discloses a fruit picking robot, comprising: the base, the underarm, the upper arm, the holder, image acquisition device and controlling means, wherein the base is fixed on running gear, it is articulated through first rotation axis driving motor between one side of underarm and the underarm support, the underarm support passes through rotation mechanism and sets up in the base, the opposite side of underarm is articulated through one side of second rotation axis driving motor and upper arm, the opposite side of upper arm is provided with the holder, the holder includes centre gripping finger and centre gripping finger control mechanism, control mechanism and first rotation axis driving motor, second rotation axis driving motor and centre gripping finger control mechanism electricity are connected. Because the shearing mechanism and the clamping mechanism are not integrated, the picking process efficiency is not high enough.
In summary, the prior art has the following problems: the process efficiency of shearing and clamping is low, the accuracy of positioning is not enough, and the like.
Disclosure of Invention
An object of the utility model is to provide a fruit vegetables picking machine based on six degree of freedom arms picks efficiently, and the location is accurate.
Realize the utility model discloses the technical solution of purpose does:
a fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm comprises a walking platform 100, a supporting module 200, a collecting box 500, 4 motion modules 300 and 4 end effectors 400;
the 4 motion modules 300 are circumferentially and uniformly fixed at four corners of the support module 200, the 4 end effectors 400 are respectively and fixedly connected with the end of the six-degree-of-freedom mechanical arm 305 of one motion module 300, and the collection box 500 is fixedly arranged on the top plate 201 of the support module 200.
Compared with the prior art, the utility model, it is showing the advantage and is:
1. the picking efficiency is high, the fruit and vegetable picking machine adopts a gantry type frame structure, the whole machine is symmetrically distributed, the four mechanical arms drive the four end effectors to pick, and the working efficiency is high; the end effector has the function of collection, reduces the time for putting the fruits and vegetables into the collection box by the mechanical arm and the end effector, and further improves the working efficiency of the end effector.
2. The positioning is accurate: the fruit and vegetable picking machine adopts a six-degree-of-freedom mechanical arm, has higher degree of freedom compared with a rectangular coordinate type mechanical arm, can realize accurate movement to a target position, and is more accurate in positioning.
3. The working range is wide: the four mechanical arms are distributed at four corners of the moving platform, the gantry type frame is evenly stressed, the moving space is large, and the working range is wide.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is the overall structure schematic diagram of the fruit and vegetable picking machine based on the six-degree-of-freedom mechanical arm.
Fig. 2 is a schematic structural diagram of the walking platform in fig. 1.
Fig. 3 is a schematic structural diagram of the support module in fig. 1.
Fig. 4 is a schematic structural diagram of the motion module in fig. 1.
Fig. 5 is a partial schematic view of the end effector of fig. 1.
Fig. 6 is a partial schematic view of the end effector of fig. 5 from another perspective.
Fig. 7 is a schematic structural view of the collection box of fig. 1.
Figure 8 is a front view of an embodiment of the trapezoidal closing surfaces of the clipper of figure 5.
Figure 9 is a front view of an embodiment of the semi-circular closure profiles of the clipper of figure 5.
In the figure: the robot comprises a walking platform 100, a support module 200, a motion module 300, an end effector 400, a collection box 500, a crawler wheel structure 101, a sprocket transmission structure 102, a first motor 103, a bottom plate 104, a speed reducer 105, a top plate 201, a top end cross beam 202, a linear module mounting plate 203, a column 204, a short cross beam 205, a partition plate 206, a guide rail 301, a second motor 302, a lead screw 303, a sliding table 304, a mechanical arm 305, a power supply 306, a mechanical arm controller 307, an L-shaped mounting plate 401, a support 402, an end effector top plate 403, a support base 404, a camera 405, a fixed support 406, a first electric push rod 407, a pneumatic shear support base 408, a motor connecting plate 409, an end motor 410, a pneumatic shear support base 411, a pneumatic shear body 412, a clamping shear head 413, a U-shaped frame 414, an electric push rod mounting plate 415, a second electric push rod 416, a connection base 417 and a hinge head 418.
Detailed Description
As shown in fig. 1, the fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm of the present invention includes a walking platform 100, a supporting module 200, a collecting box 500, 4 motion modules 300 and 4 end effectors 400;
the 4 motion modules 300 are circumferentially and uniformly fixed at four corners of the support module 200, the 4 end effectors 400 are respectively and fixedly connected with the end of the six-degree-of-freedom mechanical arm 305 of one motion module 300, and the collection box 500 is fixedly arranged on the top plate 201 of the support module 200.
As shown in figure 2 of the drawings, in which,
the walking platform 100 comprises a crawler wheel structure 101, a chain wheel transmission structure 102, a first motor 103, a bottom plate 104 and a speed reducer 105;
one end of the sprocket transmission structure 102 is connected with an input shaft of the track wheel structure 101, the other end of the sprocket transmission structure 102 is connected with an output shaft of the first motor 103, the first motor 103 is connected with the speed reducer 105, and the speed reducer 105 is fixedly installed on the bottom plate 104.
As shown in figure 3 of the drawings,
the support module 200 comprises a top plate 201, 2 top end cross beams 202, 4 linear module mounting plates 203, 8 upright posts 204, 8 short cross beams 205 and 2 partition plates 206;
the 2 top end cross beams 202 are respectively and fixedly arranged on the lower surface of the top plate 201 close to the front edge and the rear edge, the 4 linear module mounting plates 203 are respectively and fixedly arranged on the front end and the rear end of the top plate 201 close to two sides, each 2 upright columns 204 are vertically and parallelly close to each other, the middle of each upright column is connected with 2 short cross beams 205 arranged at intervals to form an upright column pair, 4 upright columns are arranged at four corners of the top plate 201 in a halved mode, the upper ends of the upright columns are fixedly connected with the lower surface of the top end cross beam 202, and the adjacent front upright column pair and the adjacent rear upright column pair are fixedly connected through partition plates 206;
the lower end of the upright 204 is fixedly connected with the upper surface of the bottom plate 104 of the walking platform 100.
As shown in figure 4 of the drawings,
the motion module 300 comprises a guide rail 301, a second motor 302, a screw 303, a sliding table 304, a six-degree-of-freedom mechanical arm 305, a power supply 306 and a mechanical arm controller 307;
As shown in figures 5 and 6 of the drawings,
the end effector 400 comprises an L-shaped mounting plate 401, a bracket 402, an end effector top plate 403, a supporting seat 404, a camera 405, a fixed bracket 406, a first electric push rod 407, a pneumatic shear bracket supporting seat 408, a motor connecting plate 409, an end motor 410, a pneumatic shear bracket 411, a pneumatic shear body 412, a shear clamping head 413, a U-shaped frame 414, an electric push rod mounting plate 415, a second electric push rod 416, a connecting seat 417 and a hinge joint 418;
the L-shaped mounting plate 401 is fixedly mounted on the mechanical arm 305 of the motion module 300, the support 402 is fixedly mounted on the L-shaped mounting plate 401, the end effector top plate 403 is fixedly mounted on the support 402, the support base 404 is fixedly mounted on the end effector top plate 403, the camera 405 is fixedly mounted between the support bases 404, the fixing support 406 is fixedly mounted on the support 402 through bolts, the motor end of the first electric push rod 407 is fixedly mounted on the support 402, the push rod end of the first electric push rod 407 is connected with the pneumatic shear support 408 through threads, the pneumatic shear support 408 is slidably connected with the support 402 through the fixing support 406, the motor connecting plate 409 is fixedly mounted on the pneumatic shear support 408, and the end motor 410 is fixedly disposed on the motor connecting plate 409, pneumatic scissors support 411 sets up in pneumatic scissors support supporting seat 408, pneumatic scissors body 412 is fixed to be set up on the pneumatic scissors support 411, electric putter mounting panel 415 pass through bolt fixed mounting in on the support 402, the motor end fixed mounting of second electric putter 416 is in on the electric putter mounting panel 415, connecting seat 417 is fixed to be set up on U-shaped frame 414 and with the push rod end of second electric putter 416 is articulated, articulated joint 418 fixed mounting be in on the U-shaped frame 414 through the round pin with support 402 is connected.
Fig. 7 is a schematic structural view of the collecting box.
Preferably, as shown in fig. 8, the closed surface of the clipping head 413 is a trapezoidal closed surface, so that the action of clipping the stems of the fruits and vegetables and then clipping the stems can be realized.
Preferably, as shown in fig. 9, the closed surface of the clipping head 413 is a semicircular closed surface, and the actions of clipping the stems of the fruits and vegetables and then clipping the stems can also be realized.
The shape of the closing surface of the clipping head 413 may also be rectangular, triangular, etc. When the closed surfaces are meshed, the shearing part is not sheared, and shearing can be carried out after the closed surfaces are closed. The functions of clamping the closed wire and shearing the scissors are realized.
The utility model discloses fruit vegetables picking machine's based on six degree of freedom arms working process as follows:
in the first step, the first motor 103 drives the walking platform 100 to move, so that the fruit and vegetable picking machine moves across a plurality of rows of fruit and vegetable,
second, the camera 403 identifies the image data of the fruit and vegetable to be picked to locate the picking position,
thirdly, the motion module 300 and the end effector 400 move the pneumatic scissors body 412 to the position for picking the fruits and vegetables based on the image data, the clipping head 413 simultaneously realizes the function of clipping and clipping the stems of the fruits and vegetables, the end motor 410 drives the pneumatic scissors bracket 411 to rotate, the pneumatic scissors bracket 411 rotates into the U-shaped frame 406, the clipping head 413 is loosened, the fruits and vegetables fall into the U-shaped frame 406,
fourthly, when the fruit and vegetable collection in the U-shaped frame 414 is full, the second motor 302 drives the screw rod 303 to rotate, so as to drive the mechanical arm 305 to move to the upper end of the guide rail 301 through the sliding table 304, and the mechanical arm controller 307 controls the mechanical arm 305 to move, so that the end effector 400 reaches the upper part of the collection box 500 under the driving of the mechanical arm 305. The end effector 400 pushes the U-shaped frame 414 to rotate through the second electric push rod 416, so that the fruits and vegetables in the U-shaped frame 414 slide down to the collection box 500, and collection is completed.
The utility model discloses fruit vegetables picking machine based on six degree of freedom arms wholly ties and constitutes the symmetric type and distributes. The motion module drives the sliding table to move up and down through the rotation of the motor driving the screw rod and the six-degree-of-freedom mechanical arm to be matched with each other to realize the motion of the end effector in all directions. The end effector identifies fruits and vegetables which can be picked through the camera; the pneumatic scissors bracket is pushed to slide in the fixed bracket through the first electric push rod, so that the back-and-forth movement of the pneumatic scissors is realized; the pneumatic shear support is driven to rotate by the tail end motor, so that the shearing angle of the pneumatic shear is adjusted. The pneumatic scissors can simultaneously realize the functions of shearing and clamping the fruit and vegetable stems, and after the fruit and vegetable stems are sheared, the pneumatic scissors support is driven by the tail end motor to rotate, so that the fruit and vegetable are placed in the U-shaped frame. The end effector is moved above the collecting box through the motion module, and the second electric push rod pushes the U-shaped frame to rotate, so that the fruits and vegetables in the U-shaped frame slide and fall into the collecting box, and picking is completed. The utility model discloses compact structure, the principle is clear, can realize picking and the transportation of fruit vegetables simultaneously, has further improved work efficiency.
Claims (6)
1. A fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm is characterized in that:
the robot comprises a walking platform (100), a supporting module (200), a collecting box (500), 4 motion modules (300) and 4 end effectors (400);
the 4 motion modules (300) are circumferentially and uniformly and fixedly arranged at four corners of the support module (200), the 4 end effectors (400) are respectively and fixedly connected with the tail ends of six-degree-of-freedom mechanical arms (305) of the motion modules (300), and the collection box (500) is fixedly arranged on a top plate (201) of the support module (200).
2. The fruit and vegetable picking machine according to claim 1, characterized in that:
the walking platform (100) comprises a crawler wheel structure (101), a chain wheel transmission structure (102), a first motor (103), a bottom plate (104) and a speed reducer (105);
one end of the chain wheel transmission structure (102) is connected with an input shaft of the crawler wheel structure (101), the other end of the chain wheel transmission structure (102) is connected with an output shaft of the first motor (103), the first motor (103) is connected with the speed reducer (105), and the speed reducer (105) is fixedly installed on the bottom plate (104).
3. The fruit and vegetable picking machine according to claim 2, characterized in that:
the supporting module (200) comprises a top plate (201), 2 top end cross beams (202), 4 linear module mounting plates (203), 8 upright posts (204), 8 short cross beams (205) and 2 partition plates (206);
the 2 top end cross beams (202) are respectively fixedly arranged on the lower surface of the top plate (201) and close to the front edge and the rear edge, the 4 linear module mounting plates (203) are respectively fixedly arranged on the front end and the rear end of the top plate (201) and close to two sides, each 2 upright columns (204) are vertically parallel and close to each other, the middle parts of the 4 upright columns are connected with 2 short cross beams (205) arranged at intervals to form an upright column pair, the 4 upright columns are arranged at four corners of the top plate (201) in a halved mode, the upper ends of the 4 upright columns are fixedly connected with the lower surface of the top end cross beam (202), and the adjacent front upright column pair and the adjacent rear upright column pair are fixedly connected through partition plates (206);
the lower end of the upright post (204) is fixedly connected with the upper surface of the bottom plate (104) of the walking platform (100).
4. The fruit and vegetable picking machine according to claim 3, characterized in that:
the motion module (300) comprises a guide rail (301), a second motor (302), a screw rod (303), a sliding table (304), a six-degree-of-freedom mechanical arm (305), a power supply (306) and a mechanical arm controller (307);
guide rail (301) fixed mounting is on a straight line module mounting panel (203), second motor (302) fixed mounting be in on guide rail (301), lead screw (303) are installed in guide rail (301), slip table (304) are installed on guide rail (301), and with lead screw (303) form the screw pair that reciprocates under the drive of second motor (302), six degree of freedom arms (305) fixed mounting be in on slip table (304), power (306) fixed mounting be in on baffle (206), arm controller (307) fixed mounting is on bottom plate (104) of walking platform (100).
5. The fruit and vegetable picking machine according to claim 4, characterized in that:
the end effector (400) comprises an L-shaped mounting plate (401), a support (402), an end effector top plate (403), a support seat (404), a camera (405), a fixed support (406), a first electric push rod (407), a pneumatic shear support seat (408), a motor connecting plate (409), an end motor (410), a pneumatic shear support (411), a pneumatic shear body (412), a shear clamping head (413), a U-shaped frame (414), an electric push rod mounting plate (415), a second electric push rod (416), a connecting seat (417) and a hinge joint (418);
the L-shaped mounting plate (401) is fixedly mounted on a mechanical arm (305) of the motion module (300), the support (402) is fixedly mounted on the L-shaped mounting plate (401), the end effector top plate (403) is fixedly mounted on the support (402), the support seat (404) is fixedly mounted on the end effector top plate (403), the camera (405) is fixedly mounted between the support seats (404), the fixed support (406) is fixedly mounted on the support (402) through a bolt, a motor end of the first electric push rod (407) is fixedly mounted on the support (402), a push rod end of the first electric push rod (407) is in threaded connection with the pneumatic shear support (408), and the pneumatic shear support (408) is in sliding connection with the support (402) through the fixed support (406), motor connecting plate (409) fixed mounting is in on pneumatic scissors support supporting seat (408), terminal motor (410) fixed setting is in on motor connecting plate (409), pneumatic scissors support (411) set up in pneumatic scissors support supporting seat (408), pneumatic scissors body (412) fixed setting is in on pneumatic scissors support (411), electric putter mounting panel (415) pass through bolt fixed mounting in on support (402), the motor end fixed mounting of second electric putter (416) is in on electric putter mounting panel (415), connecting seat (417) fixed setting is in on U-shaped frame (414) and with the push rod end of second electric putter (416) is articulated, articulated joint (418) fixed mounting be in on U-shaped frame (414) through the round pin with support (402) is connected.
6. The fruit and vegetable picking machine according to claim 5, characterized in that:
the closed surface of the clipping head (413) is a trapezoidal closed surface or a semicircular closed surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120789095.5U CN214686579U (en) | 2021-04-19 | 2021-04-19 | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120789095.5U CN214686579U (en) | 2021-04-19 | 2021-04-19 | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm |
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| Publication Number | Publication Date |
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| CN214686579U true CN214686579U (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120789095.5U Active CN214686579U (en) | 2021-04-19 | 2021-04-19 | Fruit and vegetable picking machine based on six-degree-of-freedom mechanical arm |
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| CN (1) | CN214686579U (en) |
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- 2021-04-19 CN CN202120789095.5U patent/CN214686579U/en active Active
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