Picking robot

Abstract

The invention provides a picking robot, and relates to the technical field of robots, the picking robot comprises a base, wheels, a mechanical arm, a paw and a storage frame; wheels are arranged on the two sides of the base. A mechanical arm and a storage frame are arranged on the base; a paw is arranged at the tail end of the mechanical arm; a gripper supporting base is arranged at the tail end of the mechanical arm, a first stepping motor and a second stepping motor are arranged on the gripper supporting base, a bearing is arranged at the bottom of the gripper supporting base, the turbine structure is sleeved with the bearing, the movable disc is connected with the turbine structure, and the movable disc is arranged in a round hole in the gripper supporting base. One end of the second finger is rotationally connected with the gripper supporting base, the other end of the second finger is rotationally connected with the first finger, the first stepping motor is in transmission connection with the turbine structure, the rack pushing structure is arranged in a groove in the gripper supporting base, and the second stepping motor is in transmission connection with the rack pushing structure. According to the picking robot, obstacles can be opened in the picking process, and the picking efficiency of the picking robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a picking robot. Background Art

[0002] A harvesting robot is a type of robotic equipment specially designed for use in the agricultural sector. Its main function is to help farmers pick fruits, vegetables or other crops efficiently. Through the combination of artificial intelligence and mechanical engineering technology, the harvesting robot can efficiently and continuously pick mature crops, reducing labor costs and reducing damage to crops. It is suitable for a variety of environments such as greenhouses, fields and orchards, and helps improve agricultural automation and production efficiency.

[0003] With the development of the economy, the output of crops has gradually increased. Harvesting robots can effectively cope with the problems of agricultural labor shortage and rising costs, improve crop picking efficiency and quality, and reduce losses and waste in manual operations. Harvesting robots promote the development of agricultural automation and intelligence, adapt to the needs of large-scale and refined production, and are of great significance to achieving sustainable development of agriculture and meeting global food needs.

[0004] However, the current harvesting robot vision system has poor recognition effect in complex environments, and it is difficult to fully judge the maturity and position of the fruit. Some robotic arms have low flexibility and it is difficult to cover all picking positions where the fruit is located. They cannot completely avoid obstacles, which affects the accuracy, reliability and efficiency of picking. Summary of the invention

[0005] In order to solve the technical problems that the existing picking robot vision system has poor recognition effect in complex environments, it is difficult to comprehensively judge the maturity and position of the fruit, some mechanical arms have low flexibility and it is difficult to cover all picking positions where the fruit is located, and obstacles cannot be completely avoided, which affects the accuracy, reliability and efficiency of picking, the present invention provides a picking robot.

[0006] A picking robot provided by an embodiment of the present invention comprises: a base, wheels, a mechanical arm, a gripper and a storage frame;

[0007] The wheels are arranged on both sides of the base;

[0008] The base is provided with the mechanical arm and the storage frame, and the storage frame is used to store the picked objects;

[0009] The gripper is provided at the end of the mechanical arm;

[0010] The hand gripper comprises: a hand gripper support base, a bearing, a first finger, a second finger, a moving disc, a turbine structure, a first stepper motor, a rack driving structure and a second stepper motor;

[0011] The claw support base is fixedly arranged at the end of the robotic arm, the first stepper motor and the second stepper motor are arranged on the claw support base, the bearing is arranged at the bottom of the claw support base, the bearing is sleeved on the turbine structure, the moving disc is connected to the turbine structure, a circular hole for the moving disc to move is arranged on the claw support base, the moving disc is movably arranged in the circular hole, one end of the second finger is rotatably connected to the claw support base, and the other end is rotatably connected to the first finger, the first stepper motor is transmission-connected to the turbine structure, a groove for the rack push structure to move is arranged on the claw support base, the rack push structure is movably arranged in the groove, and the second stepper motor is transmission-connected to the rack push structure; the rack push structure is used to prop open obstacles during picking.

[0012] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0013] In the present invention, by combining the turbine structure with the mobile disc, the picking robot can plan the grasping path in a complex background, avoid obstruction or repeated actions, and improve the picking efficiency. By designing a multi-axis mechanical arm, the high flexibility and precise operation of the picking robot can be achieved, and it can cover a wider picking range. The first finger and the second finger are set to enhance the flexibility and stability of grasping, reduce mechanical wear, and improve the accuracy and stability of the grasping action. Through the second stepper motor and the rack pushing structure, obstacles can be propped up, the strength of the claw can be adjusted, the damage to the fruit can be reduced, and the accuracy and efficiency of picking can be improved. Through the design of the wheels of the picking robot, the stability and flexibility of the picking robot in uneven or narrow spaces are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 A schematic diagram of the structure of a picking robot provided by an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of a hand-grasping structure of a picking robot provided by an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of the base structure of a picking robot provided in an embodiment of the present invention.

[0018] [reference numerals]

[0019] 1. Base; 2. Wheel; 3. Robotic arm; 4. Gripper; 5. Storage frame; 41. Gripper support base; 42. Bearing; 43. First finger; 44. Second finger; 45. Moving disc; 46. Turbine structure; 47. First stepper motor; 48. Rack driving structure; 49. And second stepper motor; 6. Positioning pin; 7. Sensor identifier; 8. Third stepper motor; 31. First axis; 32. Second axis; 33. Third axis; 34. Fourth axis; 35. Fifth axis; 36. Sixth axis; 37. Planetary reducer structure; 38. Servo motor; 9. Fixed frame plate; 10. Fixed frame column; 11. Base; 12. Track; 13. Differential; 14. Main motor; 15. Side motor; 16. Transmission gear.

[0020] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is described below in conjunction with the accompanying drawings. It is also noted that, in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0022] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0023] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0024] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0025] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0026] like Figures 1 to 3 As shown, an embodiment of the present invention provides a picking robot, comprising: a base 1, wheels 2, a mechanical arm 3, a gripper 4 and a storage frame 5;

[0027] Wheels 2 are arranged on both sides of the base 1;

[0028] A mechanical arm 3 and a storage frame 5 are provided on the base 1, and the storage frame 5 is used to store the picked objects;

[0029] A gripper 4 is provided at the end of the robot arm 3;

[0030] The hand gripper 4 includes: a hand gripper support base 41, a bearing 42, a first finger 43, a second finger 44, a moving disc 45, a turbine structure 46, a first stepping motor 47, a rack pushing structure 48 and a second stepping motor 49;

[0031] A gripper support base 41 is fixedly provided at the end of the robotic arm 3, and a first stepper motor 47 and a second stepper motor 49 are provided on the gripper support base 41. A bearing 42 is provided at the bottom of the gripper support base 41, and the bearing sleeve is arranged on the turbine structure 46. The movable disc 45 is connected to the turbine structure 46. A circular hole for the movable disc 45 to move is provided on the gripper support base 41, and the movable disc 45 is movably arranged in the circular hole. One end of the second finger 44 is rotatably connected to the gripper support base 41, and the other end is rotatably connected to the first finger 43. The first stepper motor 47 is transmission-connected to the turbine structure 46. A groove for the rack push structure 48 to move is provided on the gripper support base 41, and the rack push structure 48 is movably arranged in the groove. The second stepper motor 49 is transmission-connected to the rack push structure 48; the rack push structure 48 is used to prop open obstacles during the picking process.

[0032] It should be noted that the claw at the end of the robotic arm, combined with the first stepper motor and the second stepper motor, can achieve flexible and precise grasping actions. The cooperation between the turbine structure and the moving disc makes the grasping path controllable and adaptable to a variety of picking scenarios. The rack push structure can effectively propel obstacles and enhance operating capabilities.

[0033] In a possible implementation, it further includes: a positioning pin 6;

[0034] The second finger 44 is rotatably connected to the first finger 43 via the positioning pin 6 .

[0035] It should be noted that the locating pin is used to realize the rotational connection between the second finger and the first finger, which can ensure the rotational flexibility between the fingers, and at the same time provide stable connection support during the picking process, reduce mechanical wear, improve the accuracy and stability of the grasping action, and extend the service life of the gripper assembly.

[0036] In a possible implementation manner, the storage frame 5 , the first finger 43 , and the second finger 44 are made of rubber.

[0037] It should be noted that the storage frame, first finger and second finger made of rubber material can effectively protect the picked fruits and prevent damage caused by squeezing or collision during the grasping and storage process. At the same time, the rubber material has good wear resistance and impact resistance, which improves the service life of the equipment. The rubber material has high surface friction, which helps to grasp the stability and improve the picking efficiency and safety.

[0038] In a possible implementation, it further includes: a sensor identifier 7;

[0039] The sensor identifier 7 is arranged on the moving disc 45, and the sensor identifier 7 is used to identify the position of the fruit and plan the grasping path.

[0040] It should be noted that the sensor identifier is set on the gripper, which can identify the position of the fruit in real time and plan the optimal grasping path, reduce human intervention, and realize automated operation. The path planning function makes the grasping action more efficient and avoids misgrasping or misplacement. At the same time, it can adapt to fruits of different shapes and positions, improve the versatility and picking efficiency of the equipment, and reduce operation time and fruit loss.

[0041] In a possible implementation manner, it further includes: a third stepping motor 8;

[0042] The third stepper motor 8 is drivingly connected to the wheel 2;

[0043] When the picking robot is in a normal state, the third stepping motor 8 does not work;

[0044] When the picking robot is in a faulty state, the third stepping motor 8 provides a power source for the wheels 2 .

[0045] It should be noted that the introduction of the third stepper motor as a backup power source can provide power to the wheels in a fault state, ensuring that the robot can still move to a safe location or maintenance area, thereby improving the reliability and emergency response capabilities of the equipment. This design not only reduces the risk of downtime due to faults, but also extends the working time of the equipment and enhances the overall stability of the system and operational continuity.

[0046] In a possible implementation, the robot arm 3 includes a first shaft 31, a second shaft 32, a third shaft 33, a fourth shaft 34, a fifth shaft 35, a sixth shaft 36, a planetary reducer structure 37, and a servo motor 38, which are connected in sequence;

[0047] A hand claw 4 is provided at the end of the sixth shaft 36;

[0048] A planetary reducer structure 37 is disposed between the first shaft body 31 and the second shaft body 32 and between the second shaft body 32 and the third shaft body 33 , and the servo motor 38 is transmission-connected to the planetary reducer structure 37 .

[0049] It should be noted that the planetary reducer structure provides high-precision and high-torque output, which effectively improves the motion stability and load capacity of the robot arm. The multi-axis design gives the robot arm greater flexibility, enabling complex grasping movements and multi-angle operations. The servo motor is connected to the planetary reducer to ensure rapid response and high-precision control of the movement, adapting to a variety of picking scenarios and greatly improving operational efficiency and reliability.

[0050] In a possible implementation, it further includes: a fixed frame plate 9 and a fixed frame column 10;

[0051] The fixed frame plate 9 is arranged on the base 1;

[0052] The fixed frame column 10 is arranged on the fixed frame plate 9;

[0053] The fixed frame plate 9 is used to fix the storage frame 5 .

[0054] It should be noted that the fixed frame plate provides stable support to prevent the storage frame from being damaged due to vibration or movement during the picking process. The fixed frame column further improves the installation firmness of the storage frame, while facilitating the replacement and adjustment of storage frames of different sizes, thereby improving the durability and operational stability of the equipment and ensuring a smooth connection between the picking and storage processes.

[0055] In a possible implementation manner, the fixed frame plate 9 is movably disposed on the base 1 , and the size of the fixed frame plate 9 is adaptively adjusted according to the size of the storage frame 5 .

[0056] It should be noted that the fixed frame plate is movably set on the base and can be adaptively adjusted according to the size of the storage frame, which enhances the adaptability of the storage frame, can flexibly adapt to storage frames of different sizes, facilitates replacement or expansion of storage capacity, and improves the operational convenience and work efficiency of the equipment.

[0057] In a possible implementation, it further includes: a base 11;

[0058] The base 11 is disposed on the pedestal 1 , and the robot arm 3 is disposed on the base 11 .

[0059] It should be noted that the base provides solid support for the robotic arm, enhances the stability of the overall structure, effectively reduces the vibration of the robotic arm during picking, and expands the operating range of the robotic arm by increasing the installation height of the robotic arm to adapt to picking needs at different heights.

[0060] In a possible implementation, it further includes: a crawler 12, a differential 13, a main motor 14, a side motor 15 and a transmission gear 16;

[0061] The wheel 2 cooperates with the track 12 to form a track-covered wheel;

[0062] The main motor 14 and the side motor 15 are both connected to the differential 13;

[0063] The differential 13 is connected to the wheels 2 via a transmission gear 16 .

[0064] It should be noted that the cooperation between the tracks and wheels enhances the equipment's adaptability to complex terrain and improves off-road performance. The differential balances the driving force distribution through the transmission gears, allowing the robot to remain stable on turns and uneven roads. The combined design of the main motor and side motor provides efficient and flexible power output, ensuring the continuity of the picking operation.

[0065] During the design of a picking robot, it is necessary to calculate the gear ratio, gear strength, and approximation of the range of motion of the robot arm.

[0066] The calculation of gear ratio is as follows:

[0067]

[0068] Among them, i represents the gear ratio, n1 represents the speed of the gear driving wheel, n2 represents the speed of the gear driven wheel, z1 represents the number of teeth of the driving gear, and z2 represents the number of teeth of the driven gear.

[0069] The calculation of gear strength is as follows:

[0070]

[0071] Among them, σ H Indicates the contact stress of the gear, F t represents the circumferential force, σ F represents the tooth root bending stress, Y F Indicates the tooth form factor, Y s represents the stress correction coefficient, b represents the tooth width, u represents the transmission ratio, Z represents the area coefficient, E represents the elastic modulus, d1 represents the pinion pitch circle diameter, and m represents the module.

[0072] In actual operation, the robotic arm of the picking robot realizes the operations of grabbing, transporting, and placing objects through the coordinated action of the control system, drive system, and actuator. Specifically, the following steps are included:

[0073] The sensor identifier in the center of the gripper is used to sense and identify the fruits in the working environment, and obtain information such as the position, shape, color of the fruits and whether there are obstacles (branches) next to the fruits.

[0074] The robot's control system plans the grasping path, determines the movement trajectory and operation mode of the robotic arm, and calculates the position of the fruit and the grasping method to ensure that the robotic arm can accurately grasp the fruit. For example, when an obstacle (branch) interferes with the robot's normal grasping work, the robot control system will start a gear rack pushing structure on the gripper of this product, and then push the branches to both sides, and then start the gripper for grasping. The control system will feed back this decision to the drive system, allowing it to execute the decision during the grasping process. The design of this structure can effectively improve the robot's accurate grasping rate of fruits to a certain extent.

[0075] The robot executes the drive system according to the instructions sent back by the control system, controlling the movement of the various joints and actuators of the robotic arm.

[0076] When the robotic arm moves to the position in front of the fruit, the actuator will, according to the instructions of the control system, directly grab the fruit or push away obstacles (branches) before grabbing. After grabbing, it will be stored and placed according to the position of the storage frame.

[0077] In summary, the robotic arm achieves flexible movement through a multi-section shaft and planetary reducer structure. The gripper installed at the end includes multiple drive modules and a rack push structure, which can accurately grasp and process fruits. The sensor identifier identifies the position of the fruit and plans the grasping path. At the same time, the rack push structure can prop up obstacles during the picking process. The storage frame is made of rubber to protect the fruit from damage and can be adaptively adjusted according to size. In order to enhance stability, the tracks are coordinated with the wheels, combined with the differential and motor system to improve off-road capabilities, and the third stepper motor provides backup power for the wheels in case of failure. The overall design has the advantages of high efficiency, flexibility and reliability, and can adapt to a variety of complex terrains and picking needs.

[0078] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0079] In the present invention, by combining the turbine structure with the mobile disc, the picking robot can plan the grasping path in a complex background, avoid obstruction or repeated actions, and improve the picking efficiency. By designing a multi-axis mechanical arm, the high flexibility and precise operation of the picking robot can be achieved, and it can cover a wider picking range. The first finger and the second finger are set to enhance the flexibility and stability of grasping, reduce mechanical wear, and improve the accuracy and stability of the grasping action. Through the second stepper motor and the rack pushing structure, obstacles can be propped up, the strength of the claw can be adjusted, the damage to the fruit can be reduced, and the accuracy and efficiency of picking can be improved. Through the design of the wheels of the picking robot, the stability and flexibility of the picking robot in uneven or narrow spaces are improved.

[0080] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0081] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A picking robot, characterized in that: include: A base (1), wheels (2), a mechanical arm (3), a gripper (4) and a storage frame (5); The wheels (2) are arranged on both sides of the base (1); The base (1) is provided with the mechanical arm (3) and the storage frame (5), and the storage frame (5) is used to store the picked objects; The claw (4) is provided at the end of the mechanical arm (3); The hand gripper (4) comprises: a hand gripper support base (41), a bearing (42), a first finger (43), a second finger (44), a moving disc (45), a turbine structure (46), a first stepper motor (47), a rack driving structure (48) and a second stepper motor (49); The gripper support base (41) is fixedly provided at the end of the robot arm (3), the first stepper motor (47) and the second stepper motor (49) are provided on the gripper support base (41), the bearing (42) is provided at the bottom of the gripper support base (41), the bearing sleeve is arranged on the turbine structure (46), the movable disc (45) is connected to the turbine structure (46), the gripper support base (41) is provided with a circular hole for the movable disc (45) to move, and the movable disc (45) is movably arranged in the circular hole. In the embodiment, one end of the second finger (44) is rotationally connected to the gripper support base (41), and the other end is rotationally connected to the first finger (43); the first stepper motor (47) is transmission-connected to the turbine structure (46); a groove for the rack push structure (48) to move is provided on the gripper support base (41); the rack push structure (48) is movably provided in the groove; the second stepper motor (49) is transmission-connected to the rack push structure (48); the rack push structure (48) is used to prop open obstacles during the picking process.

2. The picking robot according to claim 1, characterized in that: Also includes: Positioning pin (6); The second finger (44) is rotatably connected to the first finger (43) via the positioning pin (6).

3. The picking robot according to claim 1, characterized in that: The storage frame (5), the first finger (43) and the second finger (44) are made of rubber.

4. The picking robot according to claim 1, characterized in that: Also includes: Sensor identifier (7); The sensor identifier (7) is arranged on the movable disc (45), and the sensor identifier (7) is used to identify the position of the fruit and plan a grasping path.

5. The picking robot according to claim 1, characterized in that: Also includes: a third stepping motor (8); The third stepping motor (8) is drivingly connected to the wheel (2); When the picking robot is in a normal state, the third stepping motor (8) does not work; When the picking robot is in a faulty state, the third stepping motor (8) provides a power source for the wheels (2).

6. The picking robot according to claim 1, characterized in that: The mechanical arm (3) comprises a first shaft (31), a second shaft (32), a third shaft (33), a fourth shaft (34), a fifth shaft (35), a sixth shaft (36), a planetary reducer structure (37) and a servo motor (38) which are connected in sequence; The hand claw (4) is provided at the end of the sixth shaft (36); The planetary reducer structure (37) is disposed between the first shaft (31) and the second shaft (32), and between the second shaft (32) and the third shaft (33), and the servo motor (38) is transmission-connected to the planetary reducer structure (37).

7. The picking robot according to claim 1, characterized in that: Also includes: A fixed frame plate (9) and a fixed frame column (10); The fixed frame plate (9) is arranged on the base (1); The fixed frame column (10) is arranged on the fixed frame plate (9); The fixed frame plate (9) is used to fix the storage frame (5).

8. The picking robot according to claim 7, characterized in that: The fixed frame plate (9) is movably arranged on the base (1), and the size of the fixed frame plate (9) is adaptively adjusted according to the size of the storage frame (5).

9. The harvesting robot according to claim 1, characterized in that: Also includes: Base (11); The base (11) is arranged on the base (1), and the mechanical arm (3) is arranged on the base (11).

10. The harvesting robot according to claim 1, characterized in that: Also includes: crawler tracks (12), differential (13), main motor (14), side motors (15) and transmission gears (16); The wheel (2) cooperates with the track (12) to form a track-covered wheel; The main motor (14) and the side motor (15) are both connected to the differential (13); The differential (13) is connected to the wheel (2) via the transmission gear (16).

Images