Asparagus picking robot

Abstract

The invention relates to an asparagus picking robot, in particular to the asparagus picking robot which takes a wheel type mobile platform as a basic power unit and realizes asparagus picking through cooperative movement of a Delta mechanical arm and a mechanical arm based on a Bricard mechanism.

Description

Technical Field

[0001] The invention relates to an asparagus picking robot, in particular to a wheeled mobile platform as a basic power unit, which can harvest asparagus through the coordinated movement of a Delta mechanical arm and a mechanical hand based on a Bricard mechanism. Background Art

[0002] The asparagus picking robot uses a wheeled mobile platform as the basic structural unit. The Delta robotic arm and the Bricard mechanism-based manipulator form a picking robotic arm module. The robotic arm and the wheeled mobile platform are then fixedly connected to form a composite structural system. The whole machine integrates the two functions of "clamping" and "cutting" to achieve asparagus picking. Summary of the invention

[0003] Intelligent asparagus harvesting in my country has not yet been perfected. The existing asparagus harvesting machines are bulky, not fully functional, and have poor movement flexibility. There are also problems such as missed harvests, and damage to the tender stems of asparagus.

[0004] The technical solution of the present invention:

[0005] An asparagus picking robot, characterized by: a wheeled mobile chassis, a picking module, and a control module;

[0006] The picking robot arm module is shown in the figure. Its main structure includes: Delta three-degree-of-freedom parallel robot arm, Bricard mechanism-based robot arm, and connection module;

[0007] The Delta three-DOF parallel manipulator is provided with three connection blocks, which are connected to the connection module in the form of a ball pair;

[0008] The Bricard mechanism-based manipulator is provided with three through holes and is connected to the connection module by bolts;

[0009] The connection module is a circular tube structure, with a thread at the front end for fixing and connecting with the Bricard mechanism-based manipulator by screws; a group of connection holes at the rear end for connecting with the Delta three-degree-of-freedom parallel manipulator in the form of a ball pair;

[0010] The wheeled mobile platform includes: round wheels, a storage box, a motor, a lithium battery, a collection box

[0011] The two storage boxes are respectively arranged on both sides; the motors are respectively arranged in the two storage boxes; the lithium batteries are respectively arranged in the two storage boxes; the collection box is used to collect the picked asparagus; and the control module is placed in the storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A fully automatic asparagus picking robot

[0013] Figure 2 3D image of wheeled mobile platform

[0014] Figure 3 3D image of picking module

[0015] Figure 4 3D diagram of connection module

[0016] Figure 5 3D diagram of Delta three-degree-of-freedom parallel manipulator

[0017] Figure 6 3D image of Bricard robot DETAILED DESCRIPTION

[0018] The present invention is further described in detail below with reference to the accompanying drawings.

[0019] like Figure 1 As shown, a fully automatic asparagus picking robot is characterized by: a wheeled mobile chassis, a picking module, and a control module;

[0020] like Figure 2 As shown, the wheeled mobile platform has the following main structures: round wheels, storage box, motor, lithium battery, collection box;

[0021] like Figure 3 As shown, the picking module, its main structure includes: Delta three-degree-of-freedom parallel robot arm, Bricard mechanism-based robot arm, and connection module;

[0022] like Figure 4 As shown, the connection module is a circular tube structure, with a thread at the front end for fixing and connecting with the Bricard mechanism-based manipulator by screws; a group of connection holes are opened at the rear end for connecting with the Delta three-degree-of-freedom parallel manipulator in the form of a ball pair;

[0023] like Figure 5 As shown, the Delta three-degree-of-freedom parallel robot arm is provided with three connection blocks, which are connected to the connection module in the form of a ball joint.

[0024] like Figure 6 As shown, the Bricard mechanism-based manipulator is connected to the three-degree-of-freedom parallel manipulator via a connection module Delta.

Claims

1. An asparagus picking robot, characterized in that: Wheeled mobile platform (A), picking module (B), control module (C).

2. The fully automatic asparagus picking robot according to claim 1, characterized in that: The picking module (B) comprises: a Delta three-degree-of-freedom parallel robot arm (B1), a Bricard mechanism-based robot (B2), and a connection module (B3); The Delta three-degree-of-freedom parallel robot arm (B1) is provided with three connection blocks (B1-1, B1-2, B1-3), which are connected to the connection module (B3) in the form of a ball pair; The Bricard mechanism-based manipulator (B2) is provided with three through holes (B2-1, B2-2, B2-3) and is connected to the connection module (B3) by bolts; The connection module (B3) is a circular tube structure, with a thread (B3-1) at the front end for fixing and connecting with the Bricard mechanism-based manipulator (B2) by screws; and a group of connection holes (B3-2) at the rear end for connecting with the Delta three-degree-of-freedom parallel manipulator in the form of a ball pair. The wheeled mobile platform (A) comprises: a circular wheel (A1), a storage box (A2), a motor (A3), a lithium battery (A4), and a collection box (A5). The two storage boxes (A2) are respectively arranged on both sides; the motors (A3) are respectively arranged in the two storage boxes (A4); the lithium batteries (A4) are respectively arranged in the two storage boxes (A2); the collection box (A5) is used to collect the picked asparagus; The control module (C) is placed in the storage box (A4).

3. The asparagus picking robot according to claim 1, characterized in that: The driving mode of the above-mentioned mobile platform can be selected in the form of a cylinder or a hydraulic rod.

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