Mobile mangosteen picking robot

Abstract

The invention discloses a mobile mangosteen picking robot. The mobile mangosteen picking robot includes a picking vehicle module, a shoulder joint module, an elbow joint module, a wrist joint module and a shearing module; the picking vehicle module is a basic positioning and mobile part of the whole device; the shoulder joint module is fixed on the picking vehicle body of the picking vehicle module through a base plate; the side end and lower end of the elbow joint module are connected with kinematic chain bearing end seats of two kinematic chains of the shoulder joint module respectively; thewrist joint module is fixed on a forearm connecting plate of the elbow joint module through a static platform; the shearing module is fixed on a mobile platform of the wrist joint module through a shearing motor bracket. According to the mobile mangosteen picking robot, the shoulder joint module adopts a spherical parallel mechanism with two freedom degrees, the elbow joint module adopts a parallel mechanism of a symmetrical structure, and the robot has the advantages of strong bearing capacity and large working space; a mechanical arm composed of shoulder, elbow and wrist joints is of a series-parallel structure and has six freedom degrees, mechanism motion is flexible, and the structure is compact.

Description

technical field [0001] The invention relates to the technical field of mechanical arm picking, and more specifically, relates to a mobile mangosteen fruit picking robot. Background technique [0002] Vegetable and fruit picking is an important daily technical application of intelligent robots, and the advanced level of its equipment plays a key role in agriculture, forestry and orchard picking. As a pome fruit, mangosteen is widely cultivated in the tropical regions of Asia and Africa, and is planted in Taiwan, Fujian, Guangdong, Guangxi and Yunnan in China. [0003] Mangosteen is a small tree with a height of 12-20m, straight stem, rough bark, dark brown, yellow bitter resin juice, and conical crown. The branches of the mangosteen tree are opposite to each other, making reflection symmetry. Branches are stout and numerous and dense, and branchlets generally have obvious longitudinal ribs. The mangosteen fruit is subspherical berry, 3.5-7cm in diameter, with persistent ca...

AI Technical Summary

Problems solved by technology

[0005] However, the mechanical devices involved in the above three fruit and vegetable picking robots all adopt a single picking method and block design, with few degrees of freedom, and the movement of the mechanism is not flexible enough during picking. Not tall enough, not suitable for a certain special terrain and the characteristics of different fruit trees

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