Portal frame type edible rose picking robot

Abstract

A portal frame type edible rose picking robot belongs to the field of agricultural automatic picking and is composed of a portal frame, a picking device, a walking device, a transverse moving sliding rail, a longitudinal moving sliding rail and a collecting device, the portal frame structure can cover a whole rose plant, and the roses in different growth states can be picked conveniently; a crawler walking device is arranged below the portal frame, the crawler ensures the stability of mechanism operation, transverse and longitudinal moving sliding rails are installed above the portal frame, a depth camera is arranged on the mechanical arm and used for recognizing and positioning roses, and through movement of the sliding rails and cooperative movement of the mechanical arm, all the roses meeting the harvesting requirement can be accurately positioned. The manipulator controls opening and closing of a gripper through a telescopic mechanism to grab roses, and collecting devices are arranged on the two sides of the portal frame correspondingly and used for collecting the roses in different flowering periods correspondingly.

Description

Technical Field

[0001] The invention relates to an edible rose picking robot, in particular to a gantry-type picking robot equipped with a picking manipulator, and belongs to the field of agricultural automated picking. Background Art

[0002] Edible roses are an economic crop that are grown all over the world, with a total planting area of ​​nearly 15,300 hectares. 2 , represented by Pingyin, Shandong, Yongdeng, Gansu, and Hotan, Xinjiang. Edible roses have a cultivation history of more than 2,000 years in my country. The main rose varieties in my country include "Damask" roses, "Double Red" roses, "Bitter Water" roses, and "Purple Branch" roses. The opening process of edible roses can be roughly divided into the bud stage, bud stage, initial flowering stage, full flowering stage, and withered flowering stage. Roses in the bud stage can be used to extract rose essential oil and make rose tea, and roses in the full flowering stage can be used to make rose cakes and rose wine. Therefore, roses in the bud stage and full flowering stage are the best time to harvest.

[0003] As consumers' demand for edible roses continues to increase, the market's requirements for picking efficiency are also getting higher and higher. Picking roses requires manual operation. Since the petals are soft and fragile, they can only be bent, which is not only labor-intensive and slow, but also has a high damage rate, affecting the quality of the flowers. In recent years, mechanized rose picking has made some progress, but there are still some problems: due to the different uses of roses in the bud stage and the blooming stage, roses in different flowering stages need to be harvested separately during the picking process, and the picking machines on the market have no screening function and lack rose collection devices, so the picked roses cannot be stored; the shearing picking device is difficult to pick the roses hidden inside the plant; the combing and brushing picking device will pick the flowers that do not meet the harvesting conditions together when picking clusters of roses, causing problems such as wrong picking and over-picking; therefore, there is an urgent need for a robot that can pick edible roses in different growing environments. Summary of the invention

[0004] In view of the above-mentioned deficiencies, the present invention provides a gantry-type edible rose picking robot.

[0005] The present invention is realized through the following technical scheme: a gantry-type edible rose picking robot, which is composed of a gantry, a picking device, a walking device, a transverse movable slide rail, a longitudinal movable slide rail and a collecting device, wherein the gantry is installed on the walking device, the longitudinal movable slide rail is installed on the left and right sides above the gantry, the transverse movable slide rail is horizontally installed above the upper slider of the longitudinal movable slide rail, the picking device is installed on the moving slider of the transverse movable slide rail, and the collecting device is installed on the walking device and the gantry, the gantry structure can cover the entire rose plant, which is convenient for picking roses in different growth states, and the gantry structure is stable and has a strong load-bearing capacity, and can operate stably for a long time in a rose field, the picking device is composed of a picking mechanical arm, a depth camera and a manipulator, the picking mechanical arm is installed on the moving slider of the transverse movable slide rail, the depth camera is installed on the first joint of the picking mechanical arm, the manipulator is installed on the second joint of the picking mechanical arm, the picking mechanical arm includes a slewing mechanism, a first joint and a second joint, and the slewing mechanism is installed on the transverse movable slide rail. On the moving slider of the moving slide rail, the first joint is installed on the rotating mechanism, the second joint is connected to the first joint, the depth camera is used to identify and locate roses, and transmit the position information of the roses to the controller, the controller controls the manipulator to pick the roses, in addition, the depth camera can also identify roses in different flowering periods, pick the roses in the full flowering period and store them in the left collection device, and store the roses in the bud period in the right collection device, the manipulator consists of a connecting seat, a telescopic mechanism, a driving rod, a connecting rod, an auxiliary rod and a claw, the connecting seat is installed on the second joint of the picking mechanical arm, the telescopic mechanism is installed on the connecting seat, three threaded holes are provided on the connecting rod, the threaded holes at both ends are respectively connected to the connecting seat and the claw, the middle threaded hole is connected to one end of the driving rod, the other end of the driving rod is connected to the telescopic mechanism, the two ends of the auxiliary rod are respectively connected to the connecting seat and the claw, the telescopic movement of the telescopic mechanism drives the driving rod to move, the driving rod and the auxiliary rod movement control the opening and closing of the claw, so as to realize the grabbing and picking of the roses, and the claw is set with a certain arc.The traverse movable slide rail is composed of a moving slider, a first stepper motor, a first motor frame, a driver, a fixed plate, a transverse support rod, a screw rod, a guide rod and a photoelectric sensor, the driver is connected to the first stepper motor and the photoelectric sensor to control the horizontal movement of the moving slider, the fixed plate is installed on the upper slider of the longitudinal moving slide rail, one end of the screw rod is connected to the first stepper motor and is clamped on the fixed plate, the moving slider is clamped on the screw rod, the transverse support rod and the guide rod, the transverse support rod and the guide rod are installed on the fixed plate, and the moving slider supports and guides the first motor frame. The first stepper motor is placed on the first motor frame. The longitudinal moving slide rail is composed of a support seat, a synchronous belt, a synchronous wheel, a synchronous wheel fixing plate, a support rod, an upper slider, a lower slider, a slider connecting plate, a synchronous belt pressure block, a synchronous wheel shaft, a second stepper motor and a second motor frame, the support seats are respectively placed at the front and rear positions on one side of the gantry, the synchronous wheel fixing plate is fixed on the support seat, the synchronous wheel shaft is installed on the synchronous wheel fixing plate, and the synchronous wheel is coaxial with the synchronous wheel shaft The synchronous belt is sleeved on the synchronous wheels at both ends and is clamped on the upper slider through the synchronous belt pressure block. The upper slider and the lower slider are respectively clamped on the upper and lower support rods and fixed on the slider connecting plate. The two support rods are parallelly mounted on the support seats at both ends. The second motor frame is mounted on the gantry, and the second stepper motor is fixed on the second motor frame. The output shaft of the second stepper motor is sleeved on the synchronous wheel shaft. The walking device is composed of crawler tracks, rollers, a supporting platform and a servo motor. The supporting platform is mounted on the left and right sides below the gantry, the crawler tracks are mounted on the rollers, and the rollers are mounted on both sides of the supporting platform. The servo motor is connected to the rollers to drive the rollers forward. The crawler type walking device can adapt to different field landforms and improve the walking stability. The collecting device is composed of a collecting funnel and a collecting box. The collecting funnel is mounted on the cross bars on both sides above the gantry, and the collecting boxes are mounted on the supporting platforms on both sides of the walking device. The left and right collecting boxes are placed separately. The left collecting device is used to collect roses in full bloom, and the right collecting device is used to collect roses in bud period.

[0006] The benefit of the invention is that the gantry structure can cover the entire rose plant, and the picking manipulator is equipped to facilitate the picking of roses in different growth states. The gantry has a stable structure and a strong load-bearing capacity, and can operate stably for a long time in the rose field. The gantry is equipped with a crawler walking device, and the crawler improves the stability of the mechanism's walking, and is suitable for working in complex flower field landforms. The gantry is equipped with horizontal and vertical movable slides, and the picking device is installed on the movable slides and moves relatively fast. The roses can be identified by a depth camera, and each rose that meets the requirements for harvest can be accurately located. Collection boxes are respectively arranged on both sides of the gantry, which can store roses of different flowering periods respectively. The manipulator controls the opening and closing of the claws through a telescopic mechanism to achieve the grasping of the roses, and the claws are designed to be in an arc shape, which can ensure that they fit the flowers during grasping, thereby improving the picking efficiency and picking accuracy. Compared with the traditional manual picking method, this device can complete more work in the same time, improve the picking efficiency, and reduce the picking cost, thereby effectively saving labor and realizing the intelligent picking of field roses. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0008] Figure 2 It is the overall structural diagram of the picking device of the present invention.

[0009] Figure 3 It is a schematic structural diagram of the transverse movable slide rail of the present invention.

[0010] Figure 4 It is a schematic structural diagram of the longitudinal movable slide rail of the present invention.

[0011] Figure 5 It is a schematic structural diagram of the manipulator of the present invention.

[0012] In the figure, 1, walking device, 101, crawler, 102, roller, 103, servo motor, 104, support platform 2, collecting device, 201, collecting box, 202, collecting funnel, 3, gantry, 4, transverse moving slide rail, 401, moving slider, 402, first stepper motor, 403, first motor frame, 404, driver, 405, fixing plate, 406, transverse support rod, 407, lead screw, 408, guide rod, 409, photoelectric sensor, 5, longitudinal moving slide rail, 501, support seat, 502, synchronous belt, 503, synchronous wheel, 504 , synchronous wheel fixing plate, 505, support rod, 506, upper slider, 507, lower slider, 508, slider connecting plate, 509, synchronous belt pressure block, 510, synchronous wheel axle, 511, second stepping motor, 512, second motor frame 6, picking device, 601, picking robot arm, 602, depth camera, 603 robot, 6011, rotating mechanism, 6012, first joint, 6013, second joint, 6031, telescopic mechanism, 6032, hand claw 6033, connecting seat, 6034, driving rod, 6035, connecting rod, 6036, auxiliary rod. DETAILED DESCRIPTION

[0013] A gantry-type edible rose picking robot is composed of a gantry 3, a picking device 6, a walking device 1, a transverse movable slide rail 4, a longitudinal movable slide rail 5 and a collecting device 2, characterized in that: the gantry 3 is installed on the walking device 1, the longitudinal movable slide rail 5 is vertically installed on the left and right sides above the gantry 3, the transverse movable slide rail 4 is horizontally installed above the upper slider 506 of the longitudinal movable slide rail 5, the picking device 6 is installed on the movable slider 401 of the transverse movable slide rail 4, and the collecting device 2 is installed on the walking device 1 and the gantry 3. The picking device 6 is composed of a picking robot arm 601, a depth camera 602 and a manipulator 603. The picking robot arm 601 is installed on the moving slider 401 of the transverse moving slide rail 4, the depth camera 602 is installed on the first joint 6012 of the picking robot arm 601, and the manipulator 603 is installed on the second joint 6013 of the picking robot arm 601. The picking robot arm 601 includes a rotating mechanism 6011, a first joint 6012 and a second joint 6013. The rotating mechanism 6011 is installed on the moving slider 401 of the transverse moving slide rail 4, the first joint 6012 is installed on the rotating mechanism 6011, and the second joint 6012 is connected to the first joint 6011. The manipulator 603 is composed of a connecting seat 6033, a telescopic mechanism 6031, a driving rod 6034, a connecting rod 6035, an auxiliary rod 6036 and a claw 6032. The connecting seat 6033 is installed on the second joint 6013 of the picking robot arm 601, and the telescopic mechanism 6031 is installed on the connecting seat 6033. The connecting rod 6035 is provided with three threaded holes, and the threaded holes at both ends are respectively connected to the connecting seat 6033 and the claw 6032, the middle threaded hole is connected to one end of the driving rod 6034, and the other end of the driving rod 6034 is connected to the telescopic mechanism 6031. The two ends of the auxiliary rod 6036 are respectively connected to the connecting seat 6033 and the claw 6032. The telescopic movement of the telescopic mechanism 6031 drives the driving rod 6034 to move, and the driving rod 6034 and the auxiliary rod 6036 control the opening and closing of the claw 6032 to realize the grasping and picking of roses. The claw 6033 is set with a certain curvature.The transverse movable slide rail 4 is composed of a movable slider 401, a first stepper motor 402, a first motor frame 403, a driver 404, a fixed plate 405, a transverse support rod 406, a screw rod 407, a guide rod 408 and a photoelectric sensor 409. The driver 404 is connected to the first stepper motor 402 and the photoelectric sensor 409 to control the horizontal movement of the movable slider 401. The fixed plate 405 is installed on the upper slider 506 of the longitudinal movable slide rail 5. One end of the screw rod 407 is connected to the first stepper motor 402 and is clamped on the fixed plate 405. The movable slider 401 is clamped on the screw rod 407, the transverse support rod 406 and the guide rod 408. The transverse support rod 406 and the guide rod 408 are installed in parallel on the fixed plate 405 to support and guide the movable slider 401. The first motor frame 403 is installed on the fixed plate 405, and the first stepper motor 401 is placed on the first motor frame 403. The longitudinal movable slide rail 5 is composed of a support seat 501, a synchronous belt 502, a synchronous wheel 503, a synchronous wheel fixing plate 504, a support rod 505, an upper slider 506, a lower slider 507, a slider connecting plate 508, a synchronous belt pressing block 509, a synchronous wheel shaft 510, a second stepping motor 511 and a second motor frame 512. The support seat 501 is respectively placed at the front and rear positions of one side of the gantry 3, the synchronous wheel fixing plate 504 is fixed on the support seat 501, the synchronous wheel shaft 510 is installed on the synchronous wheel fixing plate 504, and the synchronous wheel 503 is connected to the synchronous wheel 503. The synchronous wheel shaft 510 is installed coaxially, the synchronous belt 501 is sleeved on the synchronous wheels 503 at both ends and clamped on the upper slider 506 through the synchronous belt pressure block 509, the upper slider 506 and the lower slider 507 are respectively clamped on the upper and lower support rods 505 and fixed on the slider connecting plate 508, the two support rods 505 are parallelly installed on the support seats 501 at both ends, the second motor frame 512 is installed on the gantry 3, the second stepper motor 511 is fixed on the second motor frame 512, and the output shaft of the second stepper motor 511 is sleeved on the synchronous wheel shaft 510. The walking device 1 is composed of a crawler 101, a roller 102, a support platform 104 and a servo motor 103, the support platform 104 is installed on the left and right sides below the gantry 3, the crawler 101 is installed on the roller 102, the roller 102 is installed on both sides of the support platform 104, and the servo motor 103 is connected to the roller 102. The collecting device 2 is composed of a collecting funnel 202 and a collecting box 201. The collecting funnel 202 is installed on the cross bars on both sides above the gantry 3, and the collecting box 201 is installed on the supporting platforms 104 on both sides of the walking device 1. The left and right collecting boxes 201 are placed separately. The left collecting device 201 is used to collect roses in full bloom, and the right collecting device 201 is used to collect roses in bud stage.

[0014] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A gantry-type edible rose picking robot, which is composed of a gantry, a picking device, a walking device, a transverse moving slide rail, a longitudinal moving slide rail and a collecting device, and is characterized in that: The gantry is installed on the traveling device, the longitudinal movable slide rail is installed on the left and right sides above the gantry, the transverse movable slide rail is horizontally installed above the upper slider of the longitudinal movable slide rail, the picking device is installed on the movable slider of the transverse movable slide rail, and the collecting device is installed on the traveling device and the gantry.

2. The gantry-type edible rose picking robot according to claim 1, characterized in that: The picking device consists of a picking robot arm, a depth camera and a manipulator. The picking robot arm is installed on a moving slider of a transverse moving slide rail, the depth camera is installed on a first joint of the picking robot arm, and the manipulator is installed on a second joint of the picking robot arm. The picking robot arm includes a slewing mechanism, a first joint and a second joint. The slewing mechanism is installed on the transverse moving slide rail, the first joint is installed on the slewing mechanism, and the second joint is connected to the first joint.

3. The gantry-type edible rose picking robot according to claim 2, characterized in that: The manipulator consists of a connecting seat, a telescopic mechanism, a driving rod, a connecting rod, an auxiliary rod and a claw. The connecting seat is installed on the second joint of the picking robot arm, the telescopic mechanism is installed on the connecting seat, and three threaded holes are provided on the connecting rod. The threaded holes at both ends are respectively connected to the connecting seat and the claw, the middle threaded hole is connected to one end of the driving rod, and the other end of the driving rod is connected to the telescopic mechanism. The two ends of the auxiliary rod are respectively connected to the connecting seat and the claw. The driving rod is driven to move by the telescopic movement of the telescopic mechanism, and the movement of the driving rod and the auxiliary rod controls the opening and closing of the claw to realize the grasping and picking of roses. The claw is set with a certain arc.

4. The gantry-type edible rose picking robot according to claim 1, characterized in that: The transverse movable slide rail is composed of a movable slider, a first stepper motor, a first motor frame, a driver, a fixed plate, a transverse support rod, a screw rod, a guide rod and a photoelectric sensor. The driver is connected to the first stepper motor and the photoelectric sensor to control the horizontal movement of the movable slider. The fixed plate is installed on the upper slider of the longitudinal movable slide rail. One end of the screw rod is connected to the first stepper motor and clamped on the fixed plate. The movable slider is clamped on the screw rod, the transverse support rod and the guide rod. The transverse support rod and the guide rod are installed in parallel on the fixed plate to support and guide the movable slider. The first motor frame is installed on the fixed plate, and the first stepper motor is placed on the first motor frame.

5. The gantry-type edible rose picking robot according to claim 1, characterized in that: The longitudinal movable slide rail is composed of a support seat, a synchronous belt, a synchronous wheel, a synchronous wheel fixing plate, a support rod, an upper slider, a lower slider, a slider connecting plate, a synchronous belt pressure block, a synchronous wheel shaft, a second stepping motor and a second motor frame. The support seats are respectively placed at the front and rear positions of one side of the gantry, the synchronous wheel fixing plate is fixed on the support seat, the synchronous wheel shaft is installed on the synchronous wheel fixing plate, the synchronous wheel and the synchronous wheel shaft are installed coaxially, the synchronous belt is sleeved on the synchronous wheels at both ends and clamped on the upper slider through the synchronous belt pressure block, the upper and lower sliders are respectively clamped on the upper and lower support rods and fixed on the slider connecting plate, the two support rods are installed in parallel on the support seats at both ends, the second motor frame is installed on the gantry, the second stepping motor is fixed on the second motor frame, and the output shaft of the second stepping motor is sleeved on the synchronous wheel shaft.

6. The gantry-type edible rose picking robot according to claim 1, characterized in that: The walking device is composed of crawlers, rollers, a supporting platform and a servo motor. The supporting platform is installed on the left and right sides below the gantry, the crawlers are installed on the rollers, the rollers are installed on both sides of the supporting platform, and the servo motor is connected to the rollers.

7. The gantry-type edible rose picking robot according to claim 1, characterized in that: The collecting device consists of a collecting funnel and a collecting box. The collecting funnel is installed on the cross bars on both sides above the gantry, and the collecting box is installed on the supporting platforms on both sides of the walking device. The left and right collecting boxes are placed separately. The left collecting device is used to collect roses in full bloom, and the right collecting device is used to collect roses in bud stage.

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