Intelligent efficient picking robot

Abstract

The invention relates to the technical field of picking robots, in particular to an intelligent efficient picking robot which comprises a machine body, a temporary storage box and a mechanical arm are installed on the machine body in a matched mode, a camera and a picking mechanism are installed at the top of the mechanical arm in a matched mode, and an outer layer pipe in the picking mechanism is matched with an inner layer pipe in a clearance sleeving mode. An inner cavity is formed between the outer wall of the inner-layer pipe and the inner wall of the outer-layer pipe, a sliding mesh bag is installed in the inner cavity in a matched mode, and the mesh bag is used for grabbing apples and picking the apples; the picking mechanism is designed to be of a double-layer pipe structure, the space occupied by picking is greatly reduced, picking is convenient and fast, the picking efficiency is high, shielding of the camera is reduced, and the picking efficiency is improved.

Description

Technical Field

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

[0002] With the popularization of AI intelligence, picking robots have replaced manual picking. They identify apples through visual recognition modules, then grab them with mechanical claws. After grabbing, the apples are placed on a temporary storage mechanism for collection.

[0003] The picking robot consists of a manipulator, a walking mechanism, a hydraulic drive system, a visual recognition system and a single-chip control system. The manipulator consists of a turntable, a column, a large arm, a small arm and a picking claw. The entire manipulator has multiple degrees of freedom. When picking apples, the robot is first parked in front of the tree trunk at a close distance, and the manipulator turntable is controlled to aim the manipulator at a fruit tree. Then the single-chip system controls the large and small arms of the manipulator to rise to a certain height, and the picking claw opens and aims at the branch to be picked. The large and small arms move at the same time, so that the picking claw is aimed at the apples on the branch to pick and gather the fruits. After gathering the fruits, the large and small arms drive the picking claw to pull back along the original path to pick the apples, completing a picking operation.

[0004] In order to prevent the mechanical picking claws from damaging the apples, the claws of the picking claws are designed to be made of rubber material. The rubber material increases the probability of pinching the apple surface, but the picking method of pulling back after grabbing is adopted, which may easily cause the apple stems to fall off, and the picked apples cannot be stored for a long period of time. In order to prevent the apple stems from falling off, some picking claws have added a rotation function. After the apples are grabbed by the picking claws, a rotation action is performed to tear the apple stem ends from the branches. However, this rotation function has requirements for the space between the trunks and branches. If the space is small, it is easy to touch the trunks and branches and damage the apples. If the space is adjusted to a suitable space before rotating, the picking efficiency is low. The design of the existing picking claws itself also has defects. Since the picking claws expand outward when grabbing, the camera in the visual recognition system cannot view the angle and position of the picking claws grabbing the apples in real time, which causes some apples to fall or be grabbed multiple times, reducing the picking efficiency.

[0005] Therefore, the present application provides an intelligent and efficient picking robot to solve the problems raised in the above background technology. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent and efficient picking robot to solve the problem that the existing mechanical picking claws are prone to damage apples when picking apples, resulting in a short storage period of apples; at the same time, it solves the problem that the existing picking claws expand outward when grabbing apples, and the camera is partially blocked by the combined action of leaves and picking claws, resulting in the inability to view the grabbing angle and position in real time, causing some apples to fall or be grabbed multiple times, affecting the picking efficiency, and the like.

[0007] In order to solve the above technical problems, the present invention provides an intelligent and efficient picking robot, including a body, on which a temporary storage box and a mechanical arm are respectively adapted to be installed, a camera and a picking mechanism are adapted to be installed on the top of the mechanical arm, an outer tube in the picking mechanism is adapted to fit a gap in an inner tube, an inner cavity is formed between the outer wall of the inner tube and the inner wall of the outer tube, and a sliding mesh bag is adapted to be installed in the inner cavity, and the mesh bag is used to grab and pick apples.

[0008] A further improvement of the technical solution of the present invention is that the picking mechanism also includes a fixed seat, one end face of the fixed seat body is fixed to the base, the base is a concave cavity, at least two micro electric cylinders are adapted to be installed in the concave cavity, the telescopic rod in the micro electric cylinder is adapted to pass through a fixed ring, and the fixed ring is located above the base and installed close to one side of the base.

[0009] A further improvement of the technical solution of the present invention is that a through hole is set in the middle of the base body, the through hole is adapted to the inner tube vertically set in its own concave cavity, the outer wall of the inner tube body is adapted to the matching fixing ring, and the surrounding area away from the fixing ring is adapted to penetrate the telescopic rod.

[0010] A further improvement of the technical solution of the present invention is that an outer tube is vertically arranged on the base body, the inner wall of the outer tube is against the adapter fixing ring, the gap between the outer tube and the inner tube forms an inner cavity, a sliding installation mesh bag is adapted in the inner cavity, a bottom ring is arranged at the bottom of the mesh bag body, and the bottom end of the bottom ring body is adapted to fix the top of the telescopic rod.

[0011] A further improvement of the technical solution of the present invention is that a suction cup is adapted to be arranged at the top of the inner tube body, a through airway is arranged at the bottom of the inner cavity of the suction cup, the airway is connected to the hose port, and the hose port is connected to a micro suction pump installed on the robot arm.

[0012] A further improvement of the technical solution of the present invention is that the net bag also includes a net body, a bottom ring is arranged at the bottom end of the net body, and a ring knife and a ring knife A are symmetrically fixed at the top end of the net body, and the ring knife and the ring knife A together form a ring shape.

[0013] A further improvement of the technical solution of the present invention is that the ring cutter has the same size and structure as ring cutter A, a plurality of teeth are arranged on the ring cutter body, tooth grooves are formed between adjacent teeth, the inner wall surfaces of the tooth grooves and teeth are arranged as arc surfaces, and the arc surfaces are bent upward and outwardly at 30-60 degrees.

[0014] A further improvement of the technical solution of the present invention is that a V-shaped cutter head is arranged on one side of the tooth groove body close to the outer wall of the ring cutter.

[0015] A further improvement of the technical solution of the present invention is that: the mesh body is provided with at least two circular coils arranged side by side and connected, the circular coils are curved m-shaped bodies, the coils are provided with a number of curved connection points, each downwardly curved point is evenly fixed on the end face of the bottom ring; each upwardly curved point is evenly fixed on the bottom end faces of the ring knife and the ring knife A.

[0016] A further improvement of the technical solution of the present invention is that the mesh body is surrounded by a circular coil to form a cylinder, and the mesh cavity of the cylinder is adapted to be mounted on the outer wall of the inner tube.

[0017] A further improvement of the technical solution of the present invention is that the mesh body is made of nickel-titanium alloy.

[0018] Further improvements to the technical solution of the present invention are that: driving wheels are respectively installed on both sides of the lower part of the body, and a single-chip control module, a hydraulic drive module, a battery module and a visual recognition module are respectively installed in the inner cavity of the body; a micro suction pump is adapted to be installed in the large drive arm of the mechanical arm on the body; and a number of cameras A and infrared sensors are installed around the body.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects: 1. The present invention provides an intelligent and efficient picking robot, which uses a suction cup and a mesh bag to pick apples. The suction cup is used to locate the apples first, and then the mesh bag installed in the inner cavity is pushed out to wrap the apples. After the apples are wrapped, the apple stems are cut off by a ring knife installed on the top of the mesh bag, thereby reducing the damage to the apple stems and increasing the storage period of the apples.

[0020] 2. The present invention provides an intelligent and efficient picking robot. The picking mechanism adopts a double-layer tube structure and innovatively installs a mesh bag in the inner cavity of the double-layer tube, which greatly reduces the obstruction of the line of sight. Compared with the traditional three-claw picking structure, the mesh bag has a simple structure and a clever design. Even if the line of sight is partially blocked, observation can be carried out through the expanded through holes of the mesh bag, thereby improving the efficiency of apple grabbing and picking.

[0021] 3. The present invention provides an intelligent and efficient picking robot, wherein the mesh bag is preferably made of an integrally formed nickel-titanium alloy material, the mesh bag is woven by a plurality of circular coils, each coil is bent into an M shape, and connected at each bending point of the M shape, so as to facilitate the self-expansion and contraction of the mesh bag; when grabbing apples, the mesh bag is pushed up by a micro electric cylinder, so that the ring knife and ring knife A on the top of the mesh bag expand symmetrically along the outer surface of the apple, and the mesh bag is continuously pushed up, and the mesh bag separated from the inner cavity is affected by its own M-shaped structure, and expands outward along the outer surface of the apple by itself, and at the same time, it is pulled by itself, so that the mesh bag always moves close to the outer surface of the apple; and the integrally formed nickel-titanium alloy mesh bag can well control the outward expansion deformation through the ingenious weaving structure and the characteristics of the material itself, and at the same time has the supporting strength, so as to quickly wrap the apple, thereby greatly improving the picking efficiency.

[0022] 4. The present invention provides an intelligent and efficient picking robot, wherein two ring knives and a ring knife A are symmetrically arranged on the top of the net bag, a plurality of teeth are arranged on the two ring knives and the ring knife A, and tooth grooves are formed between adjacent teeth, and a plurality of V-shaped blade heads are arranged on one side wall of the tooth groove body close to the outer wall of the ring knives for cutting off apple stems. In order to prevent the teeth and tooth grooves from scratching and rubbing the apples when the ring knives and the ring knife A move along the outer wall of the apples, an arc surface is arranged on the inner wall surface of the teeth and the tooth groove, and the arc surface is bent upward and outwardly at 30-60 degrees. The arc surface reduces the scratching of the apples by the inner wall of the ring knives. When the ring knives move, the apple stems are displaced along the tooth grooves, and the blade heads on the outer wall of the tooth grooves cut off the displaced apple stems. The ring knives greatly improve the picking efficiency, reduce the damage of apple picking, and increase the storage period and yield rate of apples.

[0023] 5. The present invention provides an intelligent and efficient picking robot. The picking mechanism is designed as a double-layer tube structure, which greatly reduces the space occupied by picking. The picking is convenient and efficient. The net bag itself has a multi-through-hole structure and the net bag has a small expansion space. The structure of the net bag itself is superior to the traditional three-claw picking hand. The net bag occupies a small space during the deformation process. The net bag has no blind spots in all directions, which reduces the problem of camera occupancy and improves the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is an overall schematic diagram of an intelligent and efficient picking robot; Figure 2It is a three-dimensional schematic diagram of an intelligent and efficient picking robot; Figure 3 It is a schematic diagram of the structure of the fixing seat and the outer tube; Figure 4 Schematic diagram of the structure of the outer tube and the inner tube; Figure 5 It is a schematic diagram of the structure of the inner tube and the mesh bag; Figure 6 It is a schematic diagram of the structure of the net bag and the telescopic rod; Figure 7 It is a schematic diagram of the structure of the suction cup and the inner tube; Figure 8 It is a schematic diagram of the structure of the perforation and the inner layer tube; Fig. 9 It is a schematic diagram of the partial enlarged structure of the airway and the inner cavity; Fig.10 It is a schematic diagram of the structure of the airway and the suction cup; Fig.11 It is a structural schematic diagram of the mesh bag in an extended state; Fig.12 It is a structural schematic diagram of the mesh bag in a closed state; Fig.13 It is a structural schematic diagram of the ring cutter A; Fig.14 It is a partial enlarged structural schematic diagram of the tooth groove and the cutter head; Fig.15 Schematic diagram of the structure of the mesh and coil.

[0026] Figure numerals: 1, robotic arm; 2, machine body; 3, driving wheel; 4, temporary storage box; 5, camera; 6, picking mechanism; 7, camera A; 8, micro suction pump; 9, hose mouth; 10, large drive arm; 60, fixed seat; 61, outer tube; 62, suction cup; 63, inner tube; 64, mesh bag; 65, inner cavity; 66, airway; 67, telescopic rod; 68, fixing ring; 69, micro electric cylinder; 70, base; 71, perforation; 72, concave cavity; 640, bottom ring; 641, ring knife; 642, ring knife A; 643, net cavity; 644, teeth; 645, tooth groove; 646, arc surface; 647, knife head; 648, mesh body; 649, coil; 650, point. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The present invention is further explained below in conjunction with specific implementation modes.

[0031] like Figure 1-Figure 15As shown, an intelligent and efficient picking robot provided in this embodiment includes a body 2, on which a temporary storage box 4 and a mechanical arm 1 are respectively adapted to be installed, the temporary storage box 4 is used to store the picked apples, and a camera 5 and a picking mechanism 6 are adapted to be installed on the top of the mechanical arm 1. The camera 5 is an existing product on the market and will not be described in detail here; the camera 5 is used to collect information such as the picking status and picking action in real time; the outer tube 61 in the picking mechanism 6 is adapted to fit the inner tube 63 with a gap, and an inner cavity 65 is formed between the outer wall of the inner tube 63 and the inner wall of the outer tube 61, and the inner cavity 65 is formed between the outer wall of the inner tube 63 and the inner wall of the outer tube 61. The cavity 65 is adapted to be installed with a sliding mesh bag 64, which is used to grab and pick apples; the top of the inner tube 63 body is adapted to be provided with a suction cup 62, and the bottom of the inner cavity of the suction cup 62 is provided with a through airway 66, the airway 66 is connected to the hose port 9, and the hose port 9 is connected to the micro suction pump 8 installed on the robot arm 1. The micro suction pump 8 is an existing product on the market and is not described here; specifically, a camera 5 and a picking mechanism 6 are installed on the top of the robot arm 1, and the camera 5 is used to collect information such as the action and status of picking apples in real time; and the picking mechanism 6 has two through pipes for embedding The picking claws are set to form a double-layer structure, and an inner cavity 65 is set between the outer wall of the inner tube 63 and the inner wall of the outer tube 61. A sliding net bag 64 is installed in the inner cavity 65. The net bag 64 is lifted and lowered by a telescopic rod 68 installed at its bottom. The apples are first fixed by a suction cup 62 set at the top of the inner tube 63. The suction cup 62 is installed at a hose port 9 through a hose. The hose port 9 is connected to a micro suction pump 8. The micro suction pump 8 first fixes the apples by suction force, and then starts the micro electric cylinder 69 to drive the telescopic rod 68 to lift the net bag 64. Slide out of the inner cavity 65, the inner tube 63 and the outer tube 61 are of the same length, the inner tube 63 is sleeved in the outer tube 61, and as the length of the net bag 64 is pushed out, the apples are slowly wrapped, and then the apples are picked; when the apples are placed in the temporary storage box 4, the net bag 64 shrinks as a whole to the initial state, or under the force of the micro electric cylinder 69 descending, the net bag 64 itself shrinks and sleeves on the outer wall of the inner tube 63, and the outer diameter of the suction cup 62 is smaller than the inner diameter of the net bag 64 in the contracted state, so that the net bag 64 is not affected by the suction cup 62 during recovery. The robot uses suction cups and net bags to pick apples, first positioning the apples through the suction cups, and then pushing out the net bag installed in the inner cavity to wrap the apples, and the apple stems of the wrapped apples are cut off by the ring knife installed on the top of the net bag, completing the picking of single apples.

[0032] like Figure 2-Figure 10 , Fig.12As shown, in this embodiment, the picking mechanism 6 also includes a fixed seat 60, and a base 70 is fixed on one end face of the fixed seat 60 body. The base 70 is a concave cavity 72, and at least two micro electric cylinders 69 are adapted to be installed in the concave cavity 72. The micro electric cylinder 69 is an existing product on the market and is not described in detail here. The telescopic rod 67 in the micro electric cylinder 69 is adapted to penetrate the fixed ring 68, and the fixed ring 68 is located above the base 70 and is installed close to one side of the base 70; a through hole 71 is set in the middle of the base 70 body, and the through hole 71 is adapted to the inner layer tube 63 vertically arranged in its own concave cavity 72, and the outer wall of the inner layer tube 63 body An adaptor fixing ring 68 is installed, and the four sides away from the fixing ring 68 are adapted to penetrate the telescopic rod 67; an outer tube 61 is vertically arranged on the base 70 body, and the inner wall of the outer tube 61 is against the adaptor fixing ring 68, and the gap between the outer tube 61 and the inner tube 63 forms an inner cavity 65. The fixing ring 68 is used to increase the stability of the telescopic rod 67 and to further separate the distance between the inner tube 63 and the outer tube 61. The distance facilitates the movement of the mesh bag 64. The mesh bag 64 is adapted to be slidably installed in the inner cavity 65, and a bottom ring 640 is arranged at the bottom of the mesh bag 64 body, and the bottom end of the bottom ring 640 body is adapted to fix the top of the telescopic rod 67. Specifically, the front end face of the fixing seat 60 body is fixed with the base 70, the inner tube 63 and the outer tube 61 are vertically fixed on the base 70, and the inner tube 63 is sleeved in the inner cavity of the outer tube 61; a gap is formed between the outer wall of the inner tube 63 and the inner wall of the outer tube 61, and a fixing ring 68 is installed in the gap, and the fixing ring 68 is installed at one side end close to the base 70, and a concave cavity 72 is provided on the base 70 body, and a through hole 71 is provided in the middle of the concave cavity 72, and the through hole 71 is adapted to the outer wall of the inner tube 63, and a plurality of The micro electric cylinder 69, the telescopic rod 67 in the multiple micro electric cylinders 69 passes through the fixing ring 68 and extends upward, the top of the telescopic rod 67 is connected to the bottom ring 640 set at the bottom of the net bag 64 body; and the suction cup 62 is installed on the top of the inner layer tube 63 body, the air channel 66 at the bottom of the suction cup 62 is sealed and connected to the micro suction pump 8 through the air channel 66 of the inner layer tube 63, the position of the apple is first locked by the camera 5, the suction cup 62 performs the initial fixation of the apple, and then pushes out the net bag 64 in the inner cavity 65, and the net bag 64 performs the apple picking work; the net bag 64 normally pushes out 2 / 3 of its own length, The bottom ring 640 is always kept in the inner cavity 65 to prevent the bottom ring 640 from pushing out of the inner cavity 65 and causing the net bag 64 to fall. The picking mechanism is designed as a double-layer tube structure, which greatly reduces the space occupied by picking, and is convenient for picking, with high picking efficiency, reducing camera obstruction and improving picking efficiency.

[0033] like Figure 11-Figure 15As shown, in this embodiment, the net bag 64 also includes a net body 648, and a bottom ring 640 is arranged at the bottom end of the net body 648, and a ring knife 641 and a ring knife A642 are symmetrically fixed at the top of the net body 648, and the ring knife 641 and the ring knife A642 together form a ring; the size and structure of the ring knife 641 and the ring knife A642 are the same, and a plurality of teeth 644 are arranged on the ring knife 641 body, and tooth grooves 645 are formed between two adjacent teeth 644, and the inner side wall surfaces of the tooth grooves 645 and the teeth 644 are arranged as arc surfaces 646, and the arc surfaces 646 are bent upward and outward at 30-60 degrees; a V-shaped blade head 647 is arranged on the side of the tooth groove 645 body close to the outer wall of the ring knife 641. Specifically, a bottom ring 640 is installed at the bottom end of the net body 648, and the top of the telescopic rod 67 is fixed to the lower end surface of the bottom ring 640, and a ring knife 641 and a ring knife A642 are symmetrically arranged at the top of the net body 648. The ring knife 641 and the ring knife A642 are both arc-shaped bodies. The ring knife 641 and the ring knife A642 together form an annular opening. The annular opening design facilitates the exaggeration of the net bag 64. A plurality of teeth 644 are respectively arranged on the ring knife 641 and the ring knife A642, and a tooth groove 645 between two adjacent teeth 644 is provided. A V-shaped blade head 647 is provided, and the blade head 647 is used to cut off the apple stems; when the net bag 64 is used to wrap the apples, as the wrapping proceeds, the apple stems slide along the tooth groove 645 and hit the blade head 647, thereby cutting off the apple stems; in order to prevent the ring knife 641 from scratching and scratching the surface of the apples when the net bag 64 is wrapping the apples, the inner wall surface of the entire tooth groove 645 and the teeth 644 in the ring knife 641 is set to an arc surface 646. The design of the arc surface 646 reduces scratches on the apple surface and increases the storage period of the apples.

[0034] like Figure 6 , Fig.12 , Fig.15As shown, in this embodiment, the mesh body 648 in the mesh bag 64 has at least two parallel and connected circular coils 649 arranged on the mesh body 648, the circular coils 649 are curved m-shaped bodies, and the coils 649 are provided with a plurality of curved connection points 650, each downwardly curved point 650 is evenly fixed on the end face of the bottom ring 640; each upwardly curved point 650 is evenly fixed on the bottom end faces of the ring knife 641 and the ring knife A642 respectively; the mesh body 648 is surrounded by the circular coils 649 to form a cylinder, and the net cavity 643 of the cylinder is adapted to The mesh body 648 is sleeved on the outer wall of the inner tube 63; the mesh body 648 is made of nickel-titanium alloy; specifically, the mesh body 648 is woven with a plurality of circular coils 649, each coil 649 is bent into an m-shape, and the bending points 650 of each coil 649 are connected side by side to form the entire mesh body 648, and the top surface of the bottom ring 640 is fixed at the bottom end of the mesh body 648, and the ring knife 641 and the ring knife A642 are respectively fixed at the top end of the mesh body 648; in this embodiment, the mesh bag 64 is preferably made of an integrally formed nickel-titanium alloy, and the mesh bag is woven by a plurality of circular coils. Each coil is bent into an m-shape, and connected at each bending point of the m-shape, so that the net bag can expand and contract by itself. When grabbing apples, the net bag is pushed up by a micro electric cylinder, so that the ring knife and ring knife A on the top of the net bag expand symmetrically along the outer surface of the apple, and the net bag is continuously pushed up. The net bag separated from the inner cavity is affected by its own m-shape structure and expands outward along the outer surface of the apple by itself. At the same time, it is pulled by itself to make the net bag always move closely to the outer surface of the apple. In order to prevent scratches on the surface of the apple, the inner side walls of the ring knife and ring knife A are set to be arc-shaped, and symmetrical ring knives are used. The ring knife and the ring knife A form a closing mouth. When they are against the apple, the ring knife and the ring knife A expand outward by themselves, which greatly reduces the damage to the outer surface of the apple. The one-piece nickel-titanium alloy mesh bag can well control the outward expansion variable through the clever weaving structure and the characteristics of the material itself. At the same time, it has supporting strength, and can quickly wrap the apples, which greatly improves the picking efficiency. Compared with the traditional three-claw picking structure, the mesh bag has a simple structure and clever design. Even if the line of sight is partially blocked, it can be observed through the through holes of the mesh bag itself, thereby improving the efficiency of apple grabbing and picking.

[0035] like Figure 1-Figure 2As shown, in this embodiment, driving wheels 3 are respectively adapted to be installed on both sides of the lower part of the body 2, and a single-chip control module, a hydraulic drive module, a battery module and a visual recognition module are respectively installed in the inner cavity of the body 2; the single-chip control module, the hydraulic drive module, the battery module and the visual recognition module are all existing products on the market, and they are not described in detail here; a micro suction pump 8 is adapted to be installed in the large drive arm 10 in the mechanical arm 1 on the body 2; the mechanical arm 1 and the large drive arm 10 are also existing products on the market, and they are not described in detail here; a number of cameras A7 and infrared sensors are installed around the body 2, and the cameras A7 and infrared sensors are all existing products on the market, and they are not described in detail here; the picking mechanism in the picking robot is designed as a double-layer tube structure, which greatly reduces the space occupied by the picking claws, and the picking is convenient and efficient, which greatly reduces the camera occupancy and improves the picking accuracy and picking efficiency.

[0036] The present invention also provides a working principle of an intelligent and efficient picking robot: first, the picking robot is moved to the side of the fruit tree through a driving module, information is collected through a visual identification module, and the collected information is sent to a single-chip control module. The single-chip control module controls the hydraulic driving module to drive the mechanical arm 1 to move to a suitable position, and a camera 5 and a picking mechanism 6 are respectively installed on the top of the mechanical arm 1. The camera 5 is used to collect picking action and picking status information in real time, and the collected information is transmitted back to the single-chip control module. The single-chip control module controls the action adjustment of the picking mechanism 6 in real time; the picking mechanism 6 adopts a double-layer tube structure and an innovative picking design, which greatly reduces the space occupied by picking. The outer layer tube 61 and the outer layer tube 62 are vertically fixed on the base 70 in the picking mechanism 6. The inner tube 63 is sleeved in the outer tube 61. The gap between the outer wall of the inner tube 63 and the inner wall of the outer tube 61 constitutes an inner cavity 65. The net bag 64 is adapted to be installed in the inner cavity 65. The bottom end of the net bag 64 is provided with a telescopic rod 67 on the bottom ring 640. The telescopic rod 67 penetrates the fixing ring 68. The telescopic rod 67 is the telescopic rod 67 on the micro electric cylinder 69. The micro electric cylinder 69 is installed in the concave cavity 72 of the base 70. A perforation 71 is penetrated in the middle of the concave cavity 72. The perforation 71 is adapted to the airway 66 of the inner tube 63. The airway 66 is respectively sealed to connect the micro suction pump 8 and the suction cup 62. The suction cup 62 is adapted to the top of the inner tube 63. When picking apples, the apples are first sucked by the suction cup 62 for initial The net bag 64 is fixed, and then the micro electric cylinder 69 is used to push out the net bag 64. By continuously pushing the net bag 64, the ring knife 641 on the top of the net bag 64 cuts the apple stems. The ring knife 641 and the ring knife A642 are symmetrically arranged on the top of the net bag 64. The ring knife 641 and the ring knife A642 together form a ring-shaped picking and gathering mouth and a stem cutting knife; in order to prevent the ring knife 641 and the ring knife A642 from scratching and rubbing the surface of the apples as the net bag 64 wraps the apples, the inner wall surface of the tooth groove 645 and the tooth 644 of the ring knife 641 body and the ring knife A642 body is provided with an arc surface 646, and the arc surface 646 effectively reduces the damage to the apple surface, thereby improving the picking efficiency; and the net bag 64 is an integrally formed nickel-titanium alloy material. The mesh body 648 in the mesh bag 64 is made of a material, at least two circular coils 649 are arranged side by side and connected, the circular coils 649 are bent into an m-shape, and the coils 649 are provided with a plurality of bent connection points 650, each of which is bent downward and evenly fixed on the end face of the bottom ring 640; each of which is bent upward and evenly fixed on the bottom end faces of the ring cutter 641 and the ring cutter A642; the main body of the mesh body 648 is surrounded by the circular coils 649 to form a cylinder, and the net cavity 643 of the cylinder is adapted to be assembled in the inner tube 63, and the mesh bag 64 is woven by a plurality of circular coils 649, each of which is bent into an m-shape and connected at each m-shape bending point 650, so as to facilitate the self-expansion and contraction of the mesh bag 64;When picking apples, the net bag 64 is pushed by the micro electric cylinder 69, so that the ring knife 641 and the ring knife A642 on the top of the net bag 64 expand symmetrically along the outer surface of the apple, and the net bag 64 is continuously pushed. The net bag 64 separated from the inner cavity 65 is expanded along the outer surface of the apple by itself due to its own m-shaped structure. At the same time, due to the mutual pulling effect, the net bag 64 always moves closely to the outer surface of the apple; and the one-piece nickel-titanium alloy net bag 64 can well control the outward expansion variable through the clever weaving structure and the characteristics of the material itself, and at the same time has the supporting strength to quickly wrap the apple, greatly improving the picking efficiency; compared with the traditional three-claw picking structure, the net bag has a simple structure and a clever design. Even if the line of sight is partially blocked, it can be observed through the through hole of the net bag itself, improving the efficiency of apple grabbing and picking. ;

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent and efficient picking robot, characterized in that: The invention comprises a machine body (2), wherein a temporary storage box (4) and a mechanical arm (1) are respectively adapted to be installed on the main body of the machine body (2), a camera (5) and a picking mechanism (6) are adapted to be installed on the top of the mechanical arm (1), an outer tube (61) in the picking mechanism (6) is adapted to fit a gap between an inner tube (63), an inner cavity (65) is formed between the outer wall of the inner tube (63) and the inner wall of the outer tube (61), and a sliding net bag (64) is adapted to be installed on the inner cavity (65), and the net bag (64) is used to grab and pick apples.

2. According to claim 1, the intelligent and efficient picking robot is characterized in that: The picking mechanism (6) further comprises a fixed seat (60), wherein one end face of the fixed seat (60) body is fixed to a base (70), the base (70) being an inner concave cavity (72), at least two micro electric cylinders (69) being adapted to be installed in the inner concave cavity (72), the telescopic rods (67) in the micro electric cylinders (69) being adapted to pass through a fixed ring (68), and the fixed ring (68) being located above the base (70) and installed close to one side of the base (70).

3. According to claim 2, the intelligent and efficient picking robot is characterized in that: A through hole (71) is provided in the middle of the base (70) body, and the through hole (71) is adapted to fit the inner tube (63) vertically arranged in the inner concave cavity (72) thereof; the outer wall of the inner tube (63) body is adapted to fit the fixed ring (68), and the surrounding area away from the fixed ring (68) is adapted to fit the telescopic rod (67) passing through.

4. According to claim 2, the intelligent and efficient picking robot is characterized in that: An outer tube (61) is vertically arranged on the body of the base (70), the inner wall of the outer tube (61) abuts against the adapting fixing ring (68), the gap between the outer tube (61) and the inner tube (63) forms an inner cavity (65), a mesh bag (64) is adapted to slide in the inner cavity (65), a bottom ring (640) is arranged at the bottom of the body of the mesh bag (64), and the bottom end of the body of the bottom ring (640) is adapted to fix the top end of the telescopic rod (67).

5. According to claim 3, the intelligent and efficient picking robot is characterized in that: A suction cup (62) is adapted to be arranged at the top of the inner tube (63) body, and an air passage (66) is arranged at the bottom of the inner cavity of the suction cup (62). The air passage (66) is connected to a hose port (9), and the hose port (9) is connected to a micro suction pump (8) installed on the robot arm (1).

6. The intelligent and efficient picking robot according to claim 1, characterized in that: The net bag (64) further comprises a net body (648), a bottom ring (640) being arranged at the bottom end of the net body (648), and a ring knife (641) and a ring knife A (642) being symmetrically fixedly arranged at the top end of the net body (648), wherein the ring knife (641) and the ring knife A (642) together form an annular cutting knife.

7. The intelligent and efficient picking robot according to claim 6, characterized in that: The ring knife (641) and the ring knife A (642) have the same size and structure. A plurality of teeth (644) are arranged on the body, and tooth grooves (645) are formed between two adjacent teeth (644). The inner wall surfaces of the tooth grooves (645) and the teeth (644) are arranged as arc surfaces (646), and the arc surfaces (646) are bent upward and outward at an angle of 30-60 degrees.

8. The intelligent and efficient picking robot according to claim 6, characterized in that: A V-shaped cutter head (647) is provided on one side of the tooth groove (645) body close to the outer wall of the ring cutter (641).

9. The intelligent and efficient picking robot according to claim 6, characterized in that: The mesh body (648) is provided with at least two circular coils (649) arranged side by side and connected to each other. The circular coils (649) are bent into an M-shaped body, and the body of the coils (649) is bent to form a plurality of connection points (650). For the coils (649) close to the bottom ring (640), each downwardly bent point (650) of the coils (649) is evenly fixed on the upper end surface of the bottom ring (640). For the coils (649) close to the ring knife (641), each upwardly bent point (650) of the coils (649) is evenly fixed on the bottom end surfaces of the ring knife (641) and the ring knife A (642).

10. The intelligent and efficient picking robot according to claim 9, characterized in that: The main body of the mesh body (648) is connected through a plurality of circular coils (649) to form a cylinder, and the mesh cavity (643) of the cylinder is adapted to be mounted on the outer wall of the inner tube (63).

Images