阅读说明：本技术 一种果蔬采摘机器人装置 (Fruit and vegetable picking robot device ) 是由 王斌 张丽 李元源 范笑笑 束长明 唐寰辰 孙乾理 于 2021-09-08 设计创作，主要内容包括：本发明公开了一种果蔬采摘机器人装置,涉及农业机械技术领域,包括采摘机器人机械结构,所述采摘机器人机械结构包括智能移动平台和机械手组件；所述智能移动平台上设有机械臂组件；所述机械手组件包括气缸、支撑板和两夹持爪,所述气缸的左端通过螺栓固定在所述机械臂组件上,所述支撑板通过螺钉固定在所述气缸右端的一侧面上；所述支撑板与所述气缸的活塞杆平行；所述支撑板上设有两齿轮固定轴,所述齿轮固定轴与所述支撑板垂直；两所述齿轮固定轴上分别通过平键固定连接有第一齿轮和第二齿轮；第一齿轮和第二齿轮分别与两夹持爪连接；所述活塞杆的前端设有齿条；本发明设有智能图像识别系统组件,便于寻找果实目标且不易夹伤果实。(The invention discloses a fruit and vegetable picking robot device, which relates to the technical field of agricultural machinery and comprises a picking robot mechanical structure, wherein the picking robot mechanical structure comprises an intelligent mobile platform and a manipulator assembly; a mechanical arm assembly is arranged on the intelligent mobile platform; the manipulator assembly comprises an air cylinder, a supporting plate and two clamping claws, the left end of the air cylinder is fixed on the manipulator assembly through a bolt, and the supporting plate is fixed on one side face of the right end of the air cylinder through a screw; the supporting plate is parallel to a piston rod of the air cylinder; two gear fixing shafts are arranged on the supporting plate and are perpendicular to the supporting plate; the two gear fixing shafts are fixedly connected with a first gear and a second gear through flat keys respectively; the first gear and the second gear are respectively connected with the two clamping claws; the front end of the piston rod is provided with a rack; the intelligent image recognition system component is arranged, so that fruit targets can be conveniently found, and fruits are not easily pinched.)

1. A fruit and vegetable picking robot device is characterized by comprising a picking robot mechanical structure, wherein the picking robot mechanical structure comprises an intelligent mobile platform (600) and a manipulator assembly (100); a mechanical arm assembly is arranged on the intelligent mobile platform (600);

the manipulator assembly (100) comprises an air cylinder (102), a support plate (104) and two clamping claws, wherein the left end of the air cylinder (102) is fixed on the manipulator assembly through a bolt (101), and the support plate (104) is fixed on one side face of the right end of the air cylinder (102) through a screw; the support plate (104) is parallel to a piston rod of the cylinder (102); two gear fixing shafts (113) are arranged on the supporting plate (104), and the gear fixing shafts (113) are perpendicular to the supporting plate (104); the two gear fixing shafts (113) are fixedly connected with a first gear (107) and a second gear (114) through flat keys respectively; the first gear (107) and the second gear (114) are respectively connected with the two clamping claws; the front end of the piston rod (105) is provided with a rack, the first gear (107) is positioned above the piston rod (105), the second gear (114) is positioned below the piston rod (105), and the rack is matched with the first gear (107) and the second gear (114);

when a piston rod (105) of the air cylinder (102) extends out, the first gear (107) is driven to rotate anticlockwise, and the second gear (114) rotates clockwise, so that the two clamping claws are far away from each other to be in an open state; when a piston rod (105) of the air cylinder (102) retracts, the first gear (107) is driven to rotate clockwise, and the second gear (114) rotates anticlockwise, so that the two clamping claws approach each other and are in a retracted state.

2. The fruit and vegetable picking robot device according to claim 1, characterized in that the mechanical arm assembly comprises a vertical mechanical arm (4), the lower end of the vertical mechanical arm (4) is rotatably mounted on the intelligent mobile platform (600), a first servo motor (5) is mounted at the lower part of the vertical mechanical arm (4), and the vertical mechanical arm (4) rotates along the central axis of the vertical mechanical arm (4) under the action of the first servo motor (5);

the upper end of the vertical mechanical arm (4) is provided with a swing mechanical arm (2) which is transversely arranged, the left end of the swing mechanical arm (2) is rotatably arranged at the upper end of the vertical mechanical arm (4), and the lower side of the left end of the swing mechanical arm is provided with a second servo motor (3) which controls the swing mechanical arm (2) to swing up and down; the right end of the swing mechanical arm (2) is connected with a cylinder (102) of the manipulator assembly (100);

the intelligent mobile platform (600) comprises a walking mechanism and a walking servo motor for controlling the walking mechanism.

3. The fruit and vegetable picking robot device according to claim 2, characterized in that a small micro air compressor (7) and an electric control cabinet (8) are installed on the intelligent mobile platform (600), and the small micro air compressor (7) provides high-pressure air for the air cylinder (102); the electric control cabinet (8) controls the small miniature air compressor (7), the air cylinder (102), the first servo motor (5), the second servo motor (3) and the walking servo motor to operate.

4. The fruit and vegetable picking robot device according to claim 1, characterized in that the gripper jaws comprise a rear gripper jaw (108), a middle gripper jaw (110) and a front gripper jaw (112) which are connected in sequence; the rear section clamping jaw (108) is rotatably connected with the middle section clamping jaw (110) and the middle section clamping jaw (110) is rotatably connected with the front section clamping jaw (112) through a pin shaft (109), and a torsion special-shaped spring (111) is arranged in the middle of the pin shaft (109).

5. The fruit and vegetable picking robot device according to claim 3, characterized by further comprising a control system, wherein the control system comprises an intelligent image recognition system component (103) and a PLC control system; the intelligent image recognition system component (103) is installed at the right end of the air cylinder (102), and the intelligent camera component (103) comprises a camera and a single chip microcomputer; the PLC control system comprises a clamping system for controlling the retraction distance of the piston rod (105).

6. The fruit and vegetable picking robot device according to claim 5, characterized in that the intelligent image recognition system component (103) is used for searching a fruit target to be picked and determining the coordinates of the target, transmitting a target signal to a main chip which is transmitted to an electric control cabinet through the single chip microcomputer, controlling a motor driving module of the electric control cabinet to enable a piston rod (105) to stretch and retract, and controlling the motor driving module of the electric control cabinet to enable the first servo motor (5), the second servo motor (3) and a walking servo motor to work;

the intelligent image recognition system component analyzes and determines the retraction stroke distance of the piston rod (105) according to the diameter of the target value, and the PLC control system receives the instruction of the single chip microcomputer and controls the retraction distance of the piston rod (105).

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a fruit and vegetable picking robot device.

Background

Picking is taken as an important link in fruit harvesting, most of the existing picking is manual, the workload is large, the labor cost is high, and the labor intensity and the labor cost can be effectively reduced by adopting a robot for picking. The distance between the clamping claws of the existing picking and mechanical arm is not easy to control, the clamping distance between the clamping claws is too small, fruits are easy to be damaged by clamping, the clamping distance between the clamping claws is too large, the fruits cannot be clamped, and the picking cannot be finished. The control system mostly adopts a singlechip, the power is often too small, and the control reliability and the control efficiency are poor.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to solve the problems in the prior art, and provides a technical scheme of a fruit and vegetable picking robot device, which comprises the following steps:

a fruit and vegetable picking robot device comprises a picking robot mechanical structure, wherein the picking robot mechanical structure comprises an intelligent moving platform and a manipulator assembly; a mechanical arm assembly is arranged on the intelligent mobile platform; the manipulator assembly comprises an air cylinder, a supporting plate and two clamping claws, the left end of the air cylinder is fixed on the manipulator assembly through a bolt, and the supporting plate is fixed on one side face of the right end of the air cylinder through a screw; the supporting plate is parallel to a piston rod of the air cylinder; two gear fixing shafts are arranged on the supporting plate and are perpendicular to the supporting plate; the two gear fixing shafts are fixedly connected with a first gear and a second gear through flat keys respectively; the first gear and the second gear are respectively connected with the two clamping claws; the front end of the piston rod is provided with a rack, the first gear is positioned above the piston rod, the second gear is positioned below the piston rod, and the rack is matched with the first gear and the second gear; when a piston rod of the air cylinder extends out, the first gear is driven to rotate anticlockwise, and the second gear rotates clockwise, so that the two clamping claws are far away from each other to be in an open state; when the piston rod of the air cylinder retracts, the first gear is driven to rotate clockwise, and the second gear rotates anticlockwise, so that the two clamping claws are close to each other and are in a retracted state.

Further, the mechanical arm assembly comprises a vertical mechanical arm, the lower end of the vertical mechanical arm is rotatably mounted on the intelligent mobile platform, a first servo motor is mounted at the lower part of the vertical mechanical arm, and the vertical mechanical arm rotates along the central shaft of the vertical mechanical arm under the action of the first servo motor; the upper end of the vertical mechanical arm is provided with a transversely arranged swinging mechanical arm, the left end of the swinging mechanical arm is rotatably arranged at the upper end of the vertical mechanical arm, and the lower side of the left end of the swinging mechanical arm is provided with a second servo motor for controlling the swinging mechanical arm to swing up and down; the right end of the swing mechanical arm is connected with a cylinder of the mechanical arm assembly; the intelligent mobile platform comprises a walking mechanism and a walking servo motor for controlling the walking mechanism.

Further, a small micro air compressor and an electrical control cabinet are mounted on the intelligent mobile platform, and the small micro air compressor provides high-pressure gas for the air cylinder; the electric control cabinet controls the small miniature air compressor, the air cylinder, the first servo motor, the second servo motor and the walking servo motor to operate.

Furthermore, the clamping claw comprises a rear-section clamping claw, a middle-section clamping claw and a front-section clamping claw which are connected in sequence; the rear section clamping jaw and the middle section clamping jaw as well as the middle section clamping jaw and the front section clamping jaw are rotatably connected through a pin shaft, and a torsion special-shaped spring is arranged in the middle of the pin shaft.

The intelligent image recognition system further comprises a control system, wherein the control system comprises an intelligent image recognition system component and a PLC control system; the intelligent image recognition system component is arranged at the right end of the air cylinder, and the intelligent camera component comprises a camera and a single chip microcomputer; the PLC control system comprises a clamping system, and the clamping system is used for controlling the retraction distance of the piston rod.

Furthermore, the intelligent image recognition system component is used for searching a fruit target to be picked and determining the coordinate of the target, transmitting a target signal to a main chip of the electric control cabinet through the single chip microcomputer, controlling a motor driving module of the electric control cabinet to enable a piston rod to stretch, and controlling the motor driving module of the electric control cabinet to enable the first servo motor, the second servo motor and the walking servo motor to work; the intelligent image recognition system component analyzes and determines the retraction stroke distance of the piston rod according to the diameter of the target value, and the PLC control system receives the instruction of the single chip microcomputer and controls the retraction distance of the piston rod.

Has the advantages that:

1) the intelligent image recognition system component is arranged, so that fruit targets can be conveniently found.

2) The diameter of the fruit target can be read by the image recognition system, an instruction is sent to the PLC control system through the STM32 single chip microcomputer, the retraction distance of the piston rod is accurately controlled, the clamping distance between the clamping claws is accurately controlled, and the fruit is not easy to be pinched.

3) The clamping distance between the clamping claws of the manipulator is controlled by the cylinder and the gear, the structure is simple, and the manipulator is easy to control in opening and clamping operation.

4) The rear section clamping jaw and the middle section clamping jaw are connected through a pin shaft gap, and the rear section clamping jaw and the interruption clamping jaw can rotate relatively. The middle section gripper jaw and the anterior segment gripper jaw can be rotatably connected through the pin shaft, relative rotation can be realized, the middle mounting of the pin shaft is provided with a torsional special-shaped spring, under the action of the torsional special-shaped spring, the rotation angle between the middle section gripper jaw and the anterior segment gripper jaw, between the middle section gripper jaw and the rear section gripper jaw is limited, the radian of the gripper jaw can be changed within a certain range, the fitting degree of the gripper jaw and a fruit to be picked is higher, and the clamping effect is improved.

5) The vertical mechanical arm can rotate along the central shaft of the vertical mechanical arm, and the right end of the swinging mechanical arm can swing upwards, so that the mechanical arm assembly is driven to move in the horizontal direction and the vertical direction. The right end of the swing mechanical arm can swing upwards. Also can separate the fruit held by the manipulator component from the fruit tree in the process of shaking up and down.

4) The control mode of combining the single chip microcomputer and the PLC control is used, so that the operation steps of workers are reduced, the labor intensity of the workers is reduced, the misoperation of the workers is avoided, and the control reliability and the work efficiency are improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a robot assembly according to the present invention;

FIG. 3 is a flow chart of a control system of the present invention;

FIG. 4 is a schematic diagram of a control system according to the present invention.

Reference numbers in the figures: 100. a manipulator assembly; 2. swinging the mechanical arm; 3. a second servo motor; 4. a vertical mechanical arm; 5. a first servo motor; 600. intelligently moving the flat; 7. a small miniature air compressor; 8. an electrical control cabinet; 101. a bolt; 102. a cylinder; 103. an intelligent image recognition system component; 104. a support plate; 105. a piston rod; 106. a flat bond; 107. a first gear; 108. a rear clamping jaw; 109. a pin shaft; 110. a middle section gripper jaw; 111. a torsion special-shaped spring; 112. a front section gripper jaw; 113. a gear fixing shaft; 114. a second gear.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.

As shown in fig. 1-4, a fruit and vegetable picking robot device comprises a picking robot mechanical structure comprising an intelligent mobile platform 600 and a manipulator assembly 100; a mechanical arm assembly is arranged on the intelligent mobile platform 600;

the manipulator assembly 100 comprises an air cylinder 102, a support plate 104 and two clamping claws, wherein the left end of the air cylinder 102 is fixed on the manipulator assembly through a bolt 101, and the support plate 104 is fixed on one side surface of the right end of the air cylinder 102 through a screw; the support plate 104 is parallel to the piston rod of the cylinder 102; two gear fixing shafts 113 are arranged on the supporting plate 104, and the gear fixing shafts 113 are perpendicular to the supporting plate 104; the two gear fixing shafts 113 are fixedly connected with a first gear 107 and a second gear 114 through flat keys respectively; the first gear 107 and the second gear 114 are respectively connected with the two clamping claws; the front end of the piston rod 105 is provided with a rack, the first gear 107 is positioned above the piston rod 105, the second gear 114 is positioned below the piston rod 105, and the rack is matched with the first gear 107 and the second gear 114;

the clamping jaws comprise a rear section clamping jaw 108, a middle section clamping jaw 110 and a front section clamping jaw 112 which are connected in sequence; the rear section clamping jaw 108 and the middle section clamping jaw 110 as well as the middle section clamping jaw 110 and the front section clamping jaw 112 are rotatably connected through a pin shaft 109, and a torsion special-shaped spring 111 is installed in the middle of the pin shaft 109. The free end of the rear clamping jaw 108 is fixedly connected with the first gear 107 and the second gear 114.

When a piston rod (105) of the air cylinder 102 extends out, the first gear 107 is driven to rotate anticlockwise, and the second gear 114 rotates clockwise, so that the two clamping claws are far away from each other to be in an open state; when the piston rod 105 of the cylinder 102 retracts, the first gear 107 is driven to rotate clockwise, and the second gear 114 rotates counterclockwise, so that the two clamping jaws approach each other and are in a retracted state.

The mechanical arm assembly comprises a vertical mechanical arm 4, the lower end of the vertical mechanical arm 4 is rotatably mounted on the intelligent mobile platform 600, a first servo motor 5 is mounted at the lower part of the vertical mechanical arm 4, and the vertical mechanical arm 4 rotates along the central shaft of the vertical mechanical arm 4 under the action of the first servo motor 5;

the upper end of the vertical mechanical arm 4 is provided with a swing mechanical arm 2 which is transversely arranged, the left end of the swing mechanical arm 2 is rotatably arranged at the upper end of the vertical mechanical arm 4, and the lower side of the left end of the swing mechanical arm is provided with a second servo motor 3 which controls the swing mechanical arm 2 to swing up and down; the right end of the swing mechanical arm 2 is connected with the air cylinder 102 of the mechanical arm assembly 100;

the intelligent mobile platform 600 includes a traveling mechanism and a traveling servo motor for controlling the traveling mechanism.

A small micro air compressor 7 and an electrical control cabinet 8 are installed on the intelligent mobile platform 600, and the small micro air compressor 7 provides high-pressure gas for the cylinder 102; the electric control cabinet 8 controls the small miniature air compressor 7, the air cylinder 102, the first servo motor 5, the second servo motor 3 and the walking servo motor to operate.

The rear section clamping jaw is connected with the middle section clamping jaw through a pin shaft, and the rear section clamping jaw and the interruption clamping jaw can realize relative rotation. The middle section gripper jaw and the front section gripper jaw are connected by a pin shaft, the middle section gripper jaw and the front section gripper jaw can realize relative rotation, a torsion special-shaped spring is arranged in the middle of the pin shaft, and under the action of the special-shaped spring, the rotation angle between the middle section gripper jaw and the front section gripper jaw, and the rotation angle between the middle section gripper jaw and the rear section gripper jaw is limited.

The fruit and vegetable picking robot device also comprises a control system, wherein the control system comprises an intelligent image recognition system component 103 and a PLC control system; the intelligent image recognition system component 103 is installed at the right end of the air cylinder 102, and the intelligent camera component 103 comprises a camera and a single chip microcomputer; the PLC control system includes a clamping system for controlling the retraction distance of the piston rod 105.

The intelligent image recognition system component 103 is used for searching a fruit target to be picked and determining the coordinate of the target, transmitting a target signal to a main chip which is transmitted to the electric control cabinet through the single chip microcomputer, controlling a motor driving module of the electric control cabinet to enable the piston rod 105 to stretch, and controlling the motor driving module of the electric control cabinet to enable the first servo motor 5, the second servo motor 3 and the walking servo motor to work.

The intelligent image recognition system component analyzes and determines the retraction stroke distance of the piston rod 105 according to the diameter of the target value, and the PLC control system receives the instruction of the single chip microcomputer and controls the retraction distance of the piston rod 105.

The small miniature air compressor is a DC-12V/24V small miniature air compressor, and the singlechip is an STM32 singlechip.

The working process of the invention is as follows:

1) opening the intelligent camera component through the electrical control cabinet;

searching a picked fruit target through an intelligent image recognition system, determining a target coordinate, and opening a small miniature air compressor by controlling a motor driving module in an electrical control cabinet to enable a cylinder piston rod to extend out so as to open a manipulator assembly;

2) the STM32 singlechip controls the motor driving module according to the information of the target coordinate to enable the first servo motor, the second servo motor and the walking servo motor to work, so that the manipulator assembly is close to the target.

3) The intelligent image recognition system component calculates the range of the clamping force according to the parameters of the torsion special-shaped spring, the rear section clamping jaw, the middle section clamping jaw, the rear section clamping jaw and the fruit diameter, and determines the retraction stroke distance of the cylinder piston rod.

4) The STM32 singlechip gives PLC control system and gives an instruction, through the withdrawal of clamping system control cylinder piston rod, the centre gripping operation is accomplished to the manipulator subassembly.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.