Fruit and vegetable picking machine based on six-degree-of-freedom robotic arm

Abstract

The present invention discloses a fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm, which has high picking efficiency and accurate positioning. The fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm of the present invention comprises a walking platform (100), a support module (200), a collection box (500), four motion modules (300) and four end effectors (400); the four motion modules (300) are fixedly installed at the four corners of the support module (200) in a circumferentially uniform manner, the four end effectors (400) are each fixedly connected to the end of the six-degree-of-freedom mechanical arm (305) of a motion module (300), and the collection box (500) is fixedly arranged on the top plate (201) of the support module (200).

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural machinery, and in particular to a fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm. Background Art

[0002] Manual picking is still widely used in my country's fruit production. Not only is the picking efficiency low and the labor intensity high, but the picking cost is too high for large-scale planting bases.

[0003] In order to solve the problems of low efficiency and high labor cost of manual fruit picking, a large number of fruit picking equipment have emerged.

[0004] The Chinese invention patent application "A fruit picking robot based on a rectangular coordinate robot arm" (application number: 202011100614.9, publication date: 2021.1.22) discloses a fruit picking robot, which includes a frame, a driving system, an industrial computer, a rectangular coordinate robot arm, an image recognition system, and an end effector. The target fruit is positioned and picked by using a plane rectangular coordinate positioning method. By projecting the fruit image into the corresponding surface area, the corresponding X, Y, and Z axis coordinates are calculated, and then the rectangular coordinate robot arm is used to pick the fruit, reducing the degree of freedom of the robot arm, making the robot arm picking path simpler, and thus making the program algorithm for automatic fruit picking simple and stable. Through the reasonable design of the rectangular coordinate robot arm, the robot can be more adapted to the picking task, and thus the picking program algorithm is more compatible with the robot. In addition, the robot is equipped with a GPS navigation system, which can realize fully autonomous navigation and driving when operating in the orchard, and realizes fully automatic fruit picking operations, with high work efficiency, simple structure, and convenient maintenance and assembly. Since the picking positioning adopts a plane rectangular coordinate positioning method, the above-mentioned fruit picking robot has problems such as inaccurate positioning and long response time compared with the present invention.

[0005] For another example, the Chinese invention patent application "An Intelligent Fruit Picking Robot" (application number: 202011411527.X, publication date: 2021.3.26) discloses a fruit picking robot, which includes: a base, a lower arm, an upper arm, a clamp, an image acquisition device and a control device, wherein the base is fixed on the walking mechanism, one side of the lower arm is hinged to the lower arm support through the first rotating shaft drive motor, the lower arm support is arranged on the base through a slewing mechanism, the other side of the lower arm is hinged to one side of the upper arm through the second rotating shaft drive motor, and the other side of the upper arm is provided with a clamp, the clamp includes a clamping finger and a clamping finger control mechanism, and the control mechanism is electrically connected to the first rotating shaft drive motor, the second rotating shaft drive motor and the clamping finger control mechanism. Since the shearing mechanism and the clamping mechanism are not integrated, the efficiency of the picking process is not high enough.

[0006] In summary, the problems existing in the prior art are: low efficiency in the shearing and clamping processes, insufficient positioning accuracy, etc. Summary of the invention

[0007] The object of the present invention is to provide a fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm, which has high picking efficiency and accurate positioning.

[0008] The technical solution to achieve the purpose of the present invention is:

[0009] A fruit and vegetable picking machine based on a six-degree-of-freedom robotic arm, comprising a walking platform 100, a support module 200, a collection box 500, four motion modules 300 and four end effectors 400;

[0010] The four motion modules 300 are evenly distributed and fixedly installed at the four corners of the support module 200 . The four end effectors 400 are each fixedly connected to the end of a six-degree-of-freedom robotic arm 305 of a motion module 300 . The collection box 500 is fixedly set on the top plate 201 of the support module 200 .

[0011] Compared with the prior art, the present invention has the following significant advantages:

[0012] 1. High picking efficiency: The fruit and vegetable picking machine adopts a gantry frame structure, and the overall structure is symmetrically distributed. Four robotic arms drive four end effectors for picking, which has high working efficiency; the end effector has a collection function, which reduces the time for the robotic arms and end effectors to put fruits and vegetables into the collection box, further improving its working efficiency.

[0013] 2. Accurate positioning: The fruit and vegetable picking machine uses a six-degree-of-freedom robotic arm, which has a higher degree of freedom than a rectangular coordinate robotic arm, can achieve precise movement to the target position, and has more accurate positioning.

[0014] 3. Wide working range: The four robotic arms are distributed at the four corners of the mobile platform. The gantry frame is evenly stressed, with large activity space and wide working range.

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic diagram of the overall structure of the fruit and vegetable picking machine based on the six-degree-of-freedom robotic arm of the present invention.

[0017] Figure 2 for Figure 1 Schematic diagram of the structure of the walking platform.

[0018] Figure 3 for Figure 1 Schematic diagram of the structure of the middle support module.

[0019] Figure 4 for Figure 1 Schematic diagram of the structure of the motion module.

[0020] Figure 5 for Figure 1 Schematic diagram of the local structure of the end effector.

[0021] Figure 6 for Figure 5 Schematic diagram of the local structure of the end effector from another perspective.

[0022] Figure 7 for Figure 1 Schematic diagram of the structure of the collection box.

[0023] Figure 8 for Figure 5 A front view of an embodiment of a trapezoidal closing surface of a middle clip shear head.

[0024] Fig. 9 for Figure 5 A front view of an embodiment of a semicircular closed surface of a middle clip shear head.

[0025] In the figure: walking platform 100, support module 200, motion module 300, end effector 400, collection box 500, track wheel structure 101, sprocket transmission structure 102, first motor 103, bottom plate 104, reducer 105, top plate 201, top crossbeam 202, linear module mounting plate 203, column 204, short crossbeam 205, partition 206, guide rail 301, second motor 302, screw rod 303, slide 304, robot arm 305, power supply 306 , robot arm controller 307, L-shaped mounting plate 401, bracket 402, end actuator top plate 403, support seat 404, camera 405, fixed bracket 406, first electric push rod 407, pneumatic shear bracket support seat 408, motor connecting plate 409, end motor 410, pneumatic shear bracket 411, pneumatic shear body 412, clamping shear head 413, U-shaped frame 414, electric push rod mounting plate 415, second electric push rod 416, connecting seat 417, hinged head 418. DETAILED DESCRIPTION

[0026] like Figure 1 As shown, the fruit and vegetable picking machine based on the six-degree-of-freedom mechanical arm of the present invention includes a walking platform 100, a support module 200, a collection box 500, four motion modules 300 and four end effectors 400;

[0027] The four motion modules 300 are evenly distributed and fixedly installed at the four corners of the support module 200 . The four end effectors 400 are each fixedly connected to the end of a six-degree-of-freedom robotic arm 305 of a motion module 300 . The collection box 500 is fixedly set on the top plate 201 of the support module 200 .

[0028] like Figure 2 As shown,

[0029] The walking platform 100 includes a track wheel structure 101, a sprocket transmission structure 102, a first motor 103, a base plate 104 and a reducer 105;

[0030] One end of the sprocket transmission structure 102 is connected to the input shaft of the track wheel structure 101, and the other end of the sprocket transmission structure 102 is connected to the output shaft of the first motor 103. The first motor 103 is connected to the reducer 105, and the reducer 105 is fixedly mounted on the base plate 104.

[0031] like Figure 3 As shown,

[0032] The support module 200 includes a top plate 201, two top cross beams 202, four linear module mounting plates 203, eight columns 204, eight short cross beams 205 and two partitions 206;

[0033] The two top cross beams 202 are respectively fixedly arranged on the lower surface of the top plate 201 near the front and rear edges, and the four linear module mounting plates 203 are respectively fixedly arranged on the front and rear ends of the top plate 201 near the two sides, and every two columns 204 are vertically parallel and close to each other, and are connected by two short cross beams 205 arranged at intervals in the middle to form a column pair, and the four column pairs are respectively placed at the four corners of the top plate 201, and the upper ends are fixedly connected to the lower surface of the top cross beam 202, and the adjacent front and rear column pairs are fixedly connected by a partition plate 206;

[0034] The lower end of the column 204 is fixedly connected to the upper surface of the bottom plate 104 of the walking platform 100 .

[0035] like Figure 4 As shown,

[0036] The motion module 300 includes a guide rail 301, a second motor 302, a lead screw 303, a slide 304, a six-degree-of-freedom robot 305, a power supply 306 and a robot controller 307;

[0037] The guide rail 301 is fixedly mounted on a linear module mounting plate 203, the second motor 302 is fixedly mounted on the guide rail 301, the lead screw 303 is mounted in the guide rail 301, the slide 304 is mounted on the guide rail 301, and forms a spiral pair with the lead screw 303 that moves up and down under the drive of the second motor 302, the six-degree-of-freedom robotic arm 305 is fixedly mounted on the slide 304, the power supply 306 is fixedly mounted on the partition 206, and the robotic arm controller 307 is fixedly mounted on the base plate 104 of the walking platform 100.

[0038] like Figure 5 , 6 As shown,

[0039] The end effector 400 includes an L-shaped mounting plate 401, a bracket 402, an end effector top plate 403, a support seat 404, a camera 405, a fixing bracket 406, a first electric push rod 407, a pneumatic shear bracket support seat 408, a motor connecting plate 409, an end motor 410, a pneumatic shear bracket 411, a pneumatic shear body 412, a clamping shear head 413, a U-shaped frame 414, an electric push rod mounting plate 415, a second electric push rod 416, a connecting seat 417 and a hinged head 418;

[0040] The L-shaped mounting plate 401 is fixedly mounted on the mechanical arm 305 of the motion module 300, the bracket 402 is fixedly mounted on the L-shaped mounting plate 401, the end effector top plate 403 is fixedly mounted on the bracket 402, the support seat 404 is fixedly mounted on the end effector top plate 403, the camera 405 is fixedly mounted between the support seats 404, the fixed bracket 406 is fixedly mounted on the bracket 402 by bolts, the motor end of the first electric push rod 407 is fixedly mounted on the bracket 402, the push rod end of the first electric push rod 407 is threadedly connected to the pneumatic shear bracket support seat 408, and the pneumatic shear bracket support seat 408 is slidably connected to the bracket 402 through the fixed bracket 406 The motor connecting plate 409 is fixedly mounted on the pneumatic shear bracket support seat 408, the end motor 410 is fixedly mounted on the motor connecting plate 409, the pneumatic shear bracket 411 is arranged in the pneumatic shear bracket support seat 408, the pneumatic shear body 412 is fixedly mounted on the pneumatic shear bracket 411, the electric push rod mounting plate 415 is fixedly mounted on the bracket 402 by bolts, the motor end of the second electric push rod 416 is fixedly mounted on the electric push rod mounting plate 415, the connecting seat 417 is fixedly mounted on the U-shaped frame 414 and is hinged to the push rod end of the second electric push rod 416, and the hinged head 418 is fixedly mounted on the U-shaped frame 414 and connected to the bracket 402 by a pin.

[0041] Figure 7 This is a schematic diagram of the structure of the collection box.

[0042] Preferably, if Figure 8 As shown, the closing surface of the clamping and shearing head 413 is a trapezoidal closing surface, which can first clamp the stems of fruits and vegetables and then shear them.

[0043] Preferably, if Fig. 9 As shown, the closed surface of the clamping and shearing head 413 is a semicircular closed surface, which can also realize the action of first clamping the stems of fruits and vegetables and then shearing them.

[0044] The shape of the closing surface of the clamping shear head 413 can also be a rectangle, a triangle, etc., which can satisfy the requirement that when the closing surface is engaged, the shearing part does not shear, and shearing occurs only after closing, thus realizing the functions of closing line clamping and scissor shearing.

[0045] The working process of the fruit and vegetable picking machine based on the six-degree-of-freedom mechanical arm of the present invention is as follows:

[0046] In the first step, the first motor 103 drives the walking platform 100 to move so that the fruit and vegetable picking machine moves across multiple rows of fruits and vegetables.

[0047] In the second step, the camera 403 identifies the image data of the fruits and vegetables to be picked to locate the picking position.

[0048] In the third step, the motion module 300 and the end effector 400 move the pneumatic shear body 412 to the place where fruits and vegetables are picked based on the image data, and the clamping shear head 413 simultaneously realizes the functions of cutting and clamping the stems of fruits and vegetables, and then the end motor 410 drives the pneumatic shear bracket 411 to rotate, and the pneumatic shear bracket 411 rotates into the U-shaped frame 406, and the clamping shear head 413 is released, and the fruits and vegetables fall into the U-shaped frame 406.

[0049] In the fourth step, when the U-shaped frame 414 is full of collected fruits and vegetables, the second motor 302 drives the screw rod 303 to rotate, and then drives the mechanical arm 305 to move to the upper end of the guide rail 301 through the slide 304, and the mechanical arm controller 307 controls the movement of the mechanical arm 305, so that the end effector 400 reaches the top of the collection box 500 driven by the mechanical arm 305. The end effector 400 drives the U-shaped frame 414 to rotate through the second electric push rod 416, so that the fruits and vegetables in the U-shaped frame 414 slide into the collection box 500, and the collection is completed.

[0050] The present invention is a fruit and vegetable picking machine based on a six-degree-of-freedom mechanical arm, and the overall structure is symmetrically distributed. The motion module drives the sliding table to move up and down through the motor-driven screw rod rotation movement and the six-degree-of-freedom mechanical arm to cooperate with each other to realize the movement of the end effector in all directions. The end effector identifies the fruits and vegetables that can be picked through the camera; the pneumatic shear bracket is pushed to slide in the fixed bracket by the first electric push rod to realize the forward and backward movement of the pneumatic shear; the pneumatic shear bracket is driven to rotate by the end motor to realize the shearing angle adjustment of the pneumatic shear. The pneumatic shear can simultaneously realize the functions of shearing and clamping the stems of fruits and vegetables. After cutting the stems of fruits and vegetables, the pneumatic shear bracket is driven to rotate by the end motor to place the fruits and vegetables in a U-shaped frame. The end effector is moved to the top of the collection box through the motion module, and the second electric push rod drives the U-shaped frame to rotate, so that the fruits and vegetables in the U-shaped frame slide and fall into the collection box to complete the picking. The present invention has a compact structure and a clear principle, and can simultaneously realize the picking and transportation of fruits and vegetables, further improving the work efficiency.

Claims

1. A fruit and vegetable picking machine based on a six-degree-of-freedom robotic arm, characterized in that: It comprises a walking platform (100), a supporting module (200), a collecting box (500), four motion modules (300) and four end effectors (400); The four motion modules (300) are evenly distributed and fixedly installed at the four corners of the support module (200) in the circumferential direction; the four end effectors (400) are each fixedly connected to the end of a six-degree-of-freedom mechanical arm (305) of a motion module (300); and the collection box (500) is fixedly arranged on the top plate (201) of the support module (200); The motion module (300) comprises a guide rail (301), a second motor (302), a lead screw (303), a slide table (304), a six-degree-of-freedom mechanical arm (305), a power supply (306), and a mechanical arm controller (307); The guide rail (301) is fixedly mounted on a linear module mounting plate (203); the second motor (302) is fixedly mounted on the guide rail (301); the lead screw (303) is mounted in the guide rail (301); the slide (304) is mounted on the guide rail (301) and forms a screw pair with the lead screw (303) that moves up and down under the drive of the second motor (302); the six-degree-of-freedom robot (305) is fixedly mounted on the slide (304); the power supply (306) is fixedly mounted on the partition (206); and the robot controller (307) is fixedly mounted on the bottom plate (104) of the walking platform (100); The end effector (400) comprises an L-shaped mounting plate (401), a bracket (402), an end effector top plate (403), a support seat (404), a camera (405), a fixing bracket (406), a first electric push rod (407), a pneumatic shear bracket support seat (408), a motor connecting plate (409), an end motor (410), a pneumatic shear bracket (411), a pneumatic shear body (412), a clamping shear head (413), a U-shaped frame (414), an electric push rod mounting plate (415), a second electric push rod (416), a connecting seat (417) and a hinged joint (418); The L-shaped mounting plate (401) is fixedly mounted on the mechanical arm (305) of the motion module (300), the bracket (402) is fixedly mounted on the L-shaped mounting plate (401), the end effector top plate (403) is fixedly mounted on the bracket (402), the support seat (404) is fixedly mounted on the end effector top plate (403), the camera (405) is fixedly mounted between the support seats (404), the fixed bracket (406) is fixedly mounted on the bracket (402) by bolts, the motor end of the first electric push rod (407) is fixedly mounted on the bracket (402), the push rod end of the first electric push rod (407) is threadedly connected to the pneumatic shear bracket support seat (408), and the pneumatic shear bracket support seat (408) is slidably connected to the bracket (402) by the fixed bracket (406). The pneumatic shear bracket (411) is arranged in the pneumatic shear bracket support seat (408), the pneumatic shear body (412) is fixedly arranged on the pneumatic shear bracket (411), the electric push rod mounting plate (415) is fixedly mounted on the bracket (402) by bolts, the motor end of the second electric push rod (416) is fixedly mounted on the electric push rod mounting plate (415), the connecting seat (417) is fixedly mounted on the U-shaped frame (414) and is hinged to the push rod end of the second electric push rod (416), and the hinged head (418) is fixedly mounted on the U-shaped frame (414) and connected to the bracket (402) by a pin.

2. The fruit and vegetable picking machine according to claim 1, characterized in that: The walking platform (100) comprises a track wheel structure (101), a sprocket transmission structure (102), a first motor (103), a bottom plate (104) and a reducer (105); One end of the sprocket transmission structure (102) is connected to the input shaft of the track wheel structure (101), and the other end of the sprocket transmission structure (102) is connected to the output shaft of the first motor (103). The first motor (103) is connected to the reducer (105), and the reducer (105) is fixedly mounted on the base plate (104).

3. The fruit and vegetable picking machine according to claim 2, characterized in that: The support module (200) comprises a top plate (201), two top cross beams (202), four linear module mounting plates (203), eight columns (204), eight short cross beams (205) and two partitions (206); The two top cross beams (202) are respectively fixedly arranged on the lower surface of the top plate (201) near the front and rear edges, the four linear module mounting plates (203) are respectively fixedly arranged on the front and rear ends of the top plate (201) near both sides, every two columns (204) are vertically parallel and close to each other, connected by two short cross beams (205) arranged at intervals in the middle, forming a column pair, the four column pairs are respectively arranged at the four corners of the top plate (201), the upper ends are fixedly connected to the lower surface of the top cross beam (202), and the adjacent front and rear column pairs are fixedly connected by a partition plate (206); The lower end of the upright column (204) is fixedly connected to the upper surface of the bottom plate (104) of the walking platform (100).

4. The fruit and vegetable picking machine according to claim 3, characterized in that: The closing surface of the shear clamping head (413) is a trapezoidal closing surface or a semicircular closing surface.

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