CN215991989U - Grape picking robot with cantilever - Google Patents
Grape picking robot with cantilever Download PDFInfo
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- CN215991989U CN215991989U CN202122686947.0U CN202122686947U CN215991989U CN 215991989 U CN215991989 U CN 215991989U CN 202122686947 U CN202122686947 U CN 202122686947U CN 215991989 U CN215991989 U CN 215991989U
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Abstract
The utility model discloses a take grape harvesting robot of cantilever relates to agricultural production equipment. The utility model comprises a walking mechanism, a picking mechanism, a shearing mechanism, a sensing system, a storage box and a frame; the walking mechanism is provided with a cantilever, the tail end of the walking mechanism bears a walking wheel, and the driving motor is connected with the driving gear through a driving motor gear to provide power for the walking wheel. The picking mechanism is a six-degree-of-freedom mechanical arm, and the tail end of the picking mechanism is provided with a soft picking hand. The shearing mechanism is provided with a shearing knife which is welded on a shearing sliding block, and the shearing sliding block slides in the shearing guide rail. The perception system includes two mesh cameras and ultrasonic sensor, installs respectively in camera support and frame, and the bin is installed in the frame, holds the grape. The utility model discloses solved effectively under the farmland planting environment of complicacy, grape picking robot adapts to the high-quality problem of accomplishing the picking task of full topography.
Description
Technical Field
The utility model relates to a picking robot, especially relate to the picking robot field of grape agricultural product results.
Background
With the gradual promotion of various industrial automation in China, robots replacing manual labor appear in various industries, and picking robots appear in the field of agricultural picking. The robot can solve social problems caused by aging of population, and is also regarded as a new direction for economic growth in the future. The performance of the picking robot can directly influence the picking quality and efficiency, and the existing picking robot is semi-automatic, has single function and is inflexible to move in complex farmland environments. The main problems are as follows:
(1) when picking, the positioning and navigation control precision is not enough, and the hidden danger of injury of the supervision personnel exists;
(2) the farmland environment is difficult to identify, and accurate path planning is difficult to perform;
(3) the movement is not flexible, the device is not suitable for the complex planting environment of the farmland, and the picking quality is influenced;
(4) the picking process needs to be manually guided, and the picking robot cannot be completely automated.
Disclosure of Invention
In order to solve the technical problem, the utility model provides a simple structure, convenient to use, ability automatic navigation walking, and can adapt to the grape harvesting robot of various rugged topography through the running gear who takes the cantilever, realized grape harvesting robot's automatic navigation walking and pluck full process automation.
The technical problem solved by the utility model is realized through the following technical scheme.
The utility model provides a take grape picking robot of cantilever, includes running gear, picking mechanism, shears mechanism, perception system, bin, frame, its characterized in that: the traveling mechanism is of a rectangular structure and is provided with a hydraulic suspension; the picking mechanism is arranged at the front part of the robot and is provided with a six-degree-of-freedom mechanical arm and a soft picking hand; the shearing mechanism is positioned at the upper part of the tail end of the picking mechanism, is provided with a shearing knife and is driven by a shearing motor; the sensing system is positioned on the frame and consists of an ultrasonic sensor and a binocular camera; the storage box is installed on the frame. The travelling mechanism of the utility model is designed to contain a cantilever; the picking mechanism contains a unique soft picking hand.
The walking mechanism consists of a damping mechanism and a driving mechanism. The damping mechanism comprises a suspension small arm, a suspension large arm and a cantilever. The suspension small arm is sleeved in the suspension large arm, and the suspension small arm and the cantilever are connected with the rack through hinges. The driving mechanism consists of a driving gear, a driving bearing, a driving motor gear, a driving motor fixing belt and a driving motor fixing bolt. The driving gear is connected with the walking wheel, the driving bearing is installed at the middle part of the cantilever and matched with the cantilever, the driving motor gear is matched with the driving motor, the driving motor is fixed by the driving motor fixing belt, and the driving motor fixing belt is fixed on the side face of the cantilever through the driving motor fixing bolt.
The picking mechanism is composed of a mechanical arm fixing bolt, a joint 1, a joint 2, a joint 3, a joint 4, a joint 5, a joint 6, a mechanical arm motor and a soft picking hand. The picking mechanism is fixed on the front part of the frame by a mechanical arm fixing bolt, and the picking mechanical arm is formed by sequentially connecting a joint 1, a joint 2, a joint 3, a joint 4, a joint 5 and a joint 6. The soft picking hand is driven by the mechanical arm motor and is arranged at the tail end of the mechanical arm.
The shearing mechanism is positioned at the upper end of the soft picking hand and consists of a shearing knife, a shearing sliding block, a shearing guide rail, a shearing connecting rod, a shearing hinge and a shearing motor. The shearing knife is fixedly welded on the shearing sliding block, the shearing sliding block is embedded in the shearing guide rail, and the shearing guide rail is fixed on the upper portion of the picking manipulator. The shearing connecting rod connects the shearing sliding blocks with the shearing motor, and the shearing sliding blocks are symmetrically distributed at two ends of the shearing guide rail and can slide left and right. The shearing motor is fixed at the lower part of the soft picking hand.
The sensing system is positioned on the frame and consists of a binocular camera and an ultrasonic sensor. The binocular camera is fixed by the camera support, the camera support by the support bolt is fixed at the frame left front portion, ultrasonic sensor symmetry is fixed in frame the place ahead. The storage box is fixed on the rack through welding.
The beneficial effects of the utility model reside in that:
the utility model discloses a running gear adopts suspension damper, and adopts six degree of freedom arms for picking robot can the free motion under farmland complex environment, adapts to different topography, has improved the flexibility of robot, and the end adopts the inflated software picking hand, avoids the damage to be grabbed the grape, adopts multiple sensor to fuse the navigation, has improved the outdoor navigation's of robot precision, has improved picking robot's picking efficiency greatly.
Drawings
Fig. 1 is an axonometric view of the picking robot of the utility model.
Fig. 2 is a front view of the traveling mechanism of the picking robot of the present invention.
Fig. 3 is a front view of the picking mechanism of the picking robot of the present invention.
Fig. 4 is a front view of the shearing mechanism of the picking robot of the present invention.
In the figure:
1-binocular camera, 2-picking mechanism, 3-shearing mechanism, 4-ultrasonic sensor, 5-bracket bolt, 6-camera bracket, 7-walking wheel, 8-frame, 9-walking mechanism, 10-storage box, 11-suspension forearm, 12-suspension big arm, 13-cantilever, 14-driving gear, 15-driving bearing, 16-driving motor gear, 17-driving motor, 18-driving motor fixing belt, 19-driving motor fixing bolt, 20-mechanical arm fixing bolt, 21-joint 1, 22-joint 2, 23-joint 3, 24-joint 4, 25-joint 5, 26-joint 6, 27-mechanical arm motor, 28-soft picking hand, 29-shearing knife, 30-shearing slide block, 31-shearing hinge, 32-shearing connecting rod, 33-shearing motor and 34-shearing guide rail.
Detailed Description
The invention is further described with reference to the drawings and examples.
The utility model discloses a grape picking robot with a cantilever, which mainly comprises a walking mechanism (9), a picking mechanism (2), a shearing mechanism (3), sensing systems (1), (4), a storage box (10) and a frame (8). As shown in figure 1, the utility model discloses a perception system (1), (4) include two mesh cameras (1), ultrasonic sensor (4), and two mesh cameras (1) are installed on camera support (6), and camera support (6) are fixed in frame (8) front portion left side by support bolt (5), and ultrasonic sensor (4) direct mount is in frame (8) front end both sides. The walking wheels (7) are connected with the walking mechanism (9) and are symmetrically distributed on the two sides of the rack (8), the picking mechanism (2) is fixed in the middle of the front part of the rack (8) through a mechanical arm fixing bolt (20), and the shearing mechanism (3) is welded and fixed at the tail end of the picking mechanism (2).
As shown in fig. 2, the traveling mechanism (9) mainly comprises a suspension small arm (11), a suspension large arm (12), a cantilever (13), a driving gear (14), a driving bearing (15), a driving motor gear (16), a driving motor (17), a driving motor fixing belt (18) and a driving motor fixing bolt (19). The suspension small arm (11) is nested in the suspension big arm (12), and the suspension small arm (11) and the suspension big arm (12) are connected with the rack (8) and the cantilever (13) through hinges. Cantilever (13) are connected with frame (8) through the hinge, and inside cavity, and drive gear (14) and drive bearing (15) set up in cantilever (13) inside and coaxial, bear walking wheel (7). The driving motor gear (16) is meshed with the driving gear (14) and is connected with an output shaft of the driving motor (17). The driving motor (17) is fixed on the side surface of the cantilever (13) by a driving motor fixing belt (18), and the driving motor fixing belt (18) is connected with the cantilever (13) through a driving motor fixing bolt (19).
As shown in fig. 3, the picking mechanism (2) is composed of a joint 1 (21), a joint 2 (22), a joint 3 (23), a joint 4 (24), a joint 5 (25), a joint 6 (26), a manipulator motor (27) and a soft picking hand (28). The picking mechanism (2) is fixed in the middle of the front end of the frame (8) by a mechanical arm fixing bolt (20), and the joint 1 (21), the joint 2 (22), the joint 3 (23), the joint 4 (24), the joint 5 (25) and the joint 6 (26) are sequentially connected to form the picking mechanical arm. The manipulator motor (27) is positioned below the soft picking hand (28) and provides power for the soft picking hand (28). The soft picking hand (28) is an inflatable mechanical hand, can clamp the grape bunch and does not cause damage.
As shown in fig. 4, the shearing mechanism (3) is composed of a shearing knife (29), a shearing slider (30), a shearing hinge (31), a shearing connecting rod (32), a shearing motor (33) and a shearing guide rail (34). The shearing knife (29) is welded on the shearing sliding block (30), the shearing sliding block (30) moves in the shearing guide rail (34) and is distributed at two ends, the shearing sliding block (30) is connected with the shearing motor (33) through the shearing connecting rod (32), the shearing connecting rod (32) is connected with each other through the shearing hinge (31), and the shearing guide rail (34) is fixed at the tail end of the picking mechanism (2) through welding.
As shown in fig. 1, 2, 3 and 4, the working mode of the grape picking robot with the cantilever is explained, the picking robot moves to a working area, a sensing system senses external information in the walking process, a binocular camera (1) senses obstacles and grapes through visual information, an ultrasonic sensor (4) senses the obstacles through sound wave information, and the picking robot plans a path through the information of the sensing system. The picking robot walks when encountering rough and uneven road surfaces, the small suspension arm (11) moves in the large suspension arm (12), and meanwhile, the small suspension arm (11), the large suspension arm (12) and the cantilever (13) rotate around the hinge, so that the walking wheel (7) can move up and down, and the jolt of a vehicle body is reduced. Upon arrival at the work area, the binocular camera (1) identifies the grape fruit and provides the picking robot with the grape fruit position information, and the picking mechanism (2) then begins to move, bringing the end in front of the grape fruit. The soft picking hand (28) clamps the grape fruits, then the shearing mechanism (3) acts, and the shearing knife (29) shears the grape fruit stalks. After cutting the stalks, the picking mechanism (2) moves, sending the grapes into the storage bin (10), and the picking robot goes to the next working area.
The above description has been made of specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (3)
1. The utility model provides a take grape harvesting robot of cantilever, includes running gear (9), picking mechanism (2), shears mechanism (3), bin (10), two mesh cameras (1), ultrasonic sensor (4), frame (8), its characterized in that: the traveling mechanism (9) is of a rectangular symmetrical structure, is arranged on two sides of the rack (8), and comprises a suspension small arm (11), a suspension large arm (12), a cantilever (13), a driving gear (14), a driving bearing (15), a driving motor gear (16), a driving motor (17), a driving motor fixing belt (18) and a driving motor fixing bolt (19); the suspension small arm (11) is nested in the suspension big arm (12), and the cantilever (13), the suspension small arm (11) and the suspension big arm (12) can rotate around the hinge; the driving gear (14) and the driving bearing (15) are arranged inside the cantilever (13) and used for bearing the traveling wheels (7); the shearing mechanism (3) comprises a shearing knife (29), a shearing sliding block (30), a shearing hinge (31), a shearing connecting rod (32), a shearing motor (33) and a shearing guide rail (34); the shearing knife (29) is welded on the shearing sliding block (30), the shearing sliding block (30) slides in the shearing guide rail (34), the shearing motor (33) is connected with the shearing sliding block (30) through the shearing connecting rod (32), and the shearing connecting rod (32) is connected through the shearing hinge (31).
2. Grape picking robot with cantilever according to claim 1, characterized in that the small suspension arm (11) is nested in the large suspension arm (12) and can move relatively along the axis, and the walking wheel (7) can move up and down.
3. Grape picking robot with cantilever according to claim 1, characterized in that the picking mechanism (2) is a six degree of freedom robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122686947.0U CN215991989U (en) | 2021-11-04 | 2021-11-04 | Grape picking robot with cantilever |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122686947.0U CN215991989U (en) | 2021-11-04 | 2021-11-04 | Grape picking robot with cantilever |
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| Publication Number | Publication Date |
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| CN215991989U true CN215991989U (en) | 2022-03-11 |
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| CN202122686947.0U Active CN215991989U (en) | 2021-11-04 | 2021-11-04 | Grape picking robot with cantilever |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766207A (en) * | 2022-04-15 | 2022-07-22 | 杭州电子科技大学 | Machine vision-based Chinese cherry picking and sorting method |
| CN114931024A (en) * | 2022-04-22 | 2022-08-23 | 新疆大学 | Single-drive grape picking robot end effector for clamping and cutting fruit stalks |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
-
2021
- 2021-11-04 CN CN202122686947.0U patent/CN215991989U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766207A (en) * | 2022-04-15 | 2022-07-22 | 杭州电子科技大学 | Machine vision-based Chinese cherry picking and sorting method |
| CN114931024A (en) * | 2022-04-22 | 2022-08-23 | 新疆大学 | Single-drive grape picking robot end effector for clamping and cutting fruit stalks |
| CN115413479A (en) * | 2022-09-27 | 2022-12-02 | 江苏大学 | Water shield picking end effector based on depth vision and picking method thereof |
| CN115413479B (en) * | 2022-09-27 | 2024-03-22 | 江苏大学 | Deep vision-based water shield picking end effector and picking method thereof |
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