Autonomous-navigation crawler-type multi-mechanical-arm apple picking robot
An autonomous navigation and crawler-type technology, which is applied in the direction of picking machines, agricultural machinery and tools, instruments, etc., can solve the problems of high cost, inability to realize automation and unmanned, and lack of research, so as to improve productivity, reduce labor intensity, The effect of improving picking efficiency
Inactive Publication Date: 2016-06-29
NORTHWEST A & F UNIV
View PDF5 Cites 25 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, most of the research focuses on unilateral research on apple picking robotic arms, various end effectors, various sensors, and automatic navigation of picking robots. There is relatively little research on the overall system of apple picking robots. Robots still need human assistance in actual work, and cannot achieve complete automation and unmanned. Most of the existing apple picking robots work with a single manipulator. Although they can replace manpower and save labor, this type of apple picking Robots are expensive, and picking efficiency still needs to be improved
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] The present invention will be further explained below in conjunction with accompanying drawing and specific embodiment:
[0021] Such as figure 1 , a novel crawler-type apple picking robot of the present embodiment is mainly composed of load-bearing wheels [1], drive wheels [2], control box [3], gearbox [4], experimental equipment fixed frame [5], apple collection Box [6], flexible tube [7], camera [8], end effector [9], push rod [10], small arm motor [11], large arm [12], large arm motor [13], waist [14], waist motor [15], picking control box [16], lifting platform [17], support column [18], guide wheel [19], battery [20], [21] binocular camera, [22] Hydraulic cylinder block, [23] tensioner pulley, [24] beam, [25] frame, [26] crawler support beam, [27] crawler track is formed. There are position sensors, limit switch sensors, and force-sensitive resistance collision sensors arranged around the picking robot arm to ensure that the robot arm moves within a safe working...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an autonomous-navigation crawler-type multi-mechanical-arm apple picking robot which comprises a crawler-type mobile platform, a navigation system and a picking system. The autonomous-navigation crawler-type multi-mechanical-arm apple picking robot is characterized in that the crawler-type mobile platform comprises a crawler assembly, a vehicle body rack, an experimental device fixing rack, a cross beam, a support upright, a hydraulic cylinder body and the like; the navigation system comprises a machine vision module, an ultrasonic obstacle-avoiding module, a GPS (Global Positioning system) module and a navigation control module; the picking system comprises picking mechanical arms, a terminal executor, an apple collection device and the like. The crawler-type mobile platform is integrated with four apple picking mechanical arms, and an autonomous navigation function is increased, so that the working efficiency and automation degree of the apple picking robot are improved.
Description
technical field [0001] The invention relates to an apple picking robot, in particular to a crawler-type multi-arm apple picking robot capable of autonomous navigation. Background technique [0002] my country is a large apple producing country, and apple production is of great significance to the development of my country's agricultural economy. However, at present, apple picking in my country is basically carried out by hand, and the picking efficiency is low. In recent years, with the development of agricultural mechanization and automation, the research on automatic apple picking robots has attracted more and more attention. However, most of the research focuses on unilateral research on apple picking robotic arms, various end effectors, various sensors, and automatic navigation of picking robots. There is relatively little research on the overall system of apple picking robots. Robots still need human assistance in actual work, and cannot achieve complete automation an...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30G05D1/02
CPCA01D46/30G05D1/0242
Inventor 杨福增王帅先朱利元
Owner NORTHWEST A & F UNIV