Crop picking robot based on collaborative grabbing of bionic four fingers and suction cup

Abstract

The invention discloses a crop picking robot based on collaborative grabbing of four bionic fingers and a suction cup, and belongs to the technical field of agricultural machinery, the crop picking robot comprises a bionic four-finger manipulator, a mechanical arm, a crawler chassis and a crop collecting bin, the crop collecting bin is fixed to the top end of the crawler chassis, and the mechanical arm is further connected to the top end of the crawler chassis; the end, away from the crawler chassis, of the mechanical arm is connected with the bionic four-finger manipulator, a control center is arranged in the crawler chassis, the control center is electrically connected with a driver of the crawler chassis, and the control center can further control operation of the bionic four-finger manipulator and the mechanical arm; the robot is provided with the bionic four-finger manipulator, the mechanical arm and the crawler chassis, the crawler chassis can operate in the complex terrain and cooperate with the bionic four-finger manipulator and the mechanical arm to achieve automation of crop picking, and the crop picking efficiency in the complex terrain is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a crop picking robot based on coordinated grasping of bionic four fingers and a suction cup. Background Art

[0002] In agricultural work, some crops with smooth skin, such as tomatoes and sweet potatoes, are easy to slip and difficult to grasp, which brings challenges to mechanized picking operations. Traditional crop picking robots mostly use a single manipulator structure or a suction cup gripping device. This method is prone to grasping failure or damage to crops when dealing with crops with smooth skin or complex shapes. In addition, harvesting work in complex terrains such as hilly mountains is still mainly done by manual harvesting, and it is often impossible to complete the picking operation efficiently, which limits the promotion and application of mechanized picking technology. Therefore, how to provide a crop picking robot that can grasp in complex terrains based on bionic four fingers and suction cups is a problem that technicians in this field urgently need to solve. Summary of the invention

[0003] The main purpose of the present invention is to provide a crop picking robot based on bionic four-finger and suction cup collaborative grasping to solve the above technical problems. The device is provided with a bionic four-finger manipulator, a mechanical arm and a tracked chassis. The tracked chassis can operate in complex terrains while cooperating with the bionic four-finger manipulator and the mechanical arm to realize the automation of picking crops, thereby improving the efficiency of crop picking in complex terrains.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A crop picking robot based on bionic four-fingers and suction cup collaborative grasping comprises a bionic four-fingered manipulator, a mechanical arm, a crawler chassis and a crop collecting bin, wherein the crop collecting bin is fixed to the top of the crawler chassis, the top of the crawler chassis is also connected to the mechanical arm, one end of the mechanical arm away from the crawler chassis is connected to the bionic four-fingered manipulator, a control center is arranged in the crawler chassis, the control center is electrically connected to a driver of the crawler chassis, and the control center can also control the operation of the bionic four-fingered manipulator and the mechanical arm.

[0006] Furthermore, the robotic arm includes a fixed arm and a plurality of connecting arms, adjacent connecting arms are hinged to each other, and a first motor is provided at the hinge of the connecting arm, the connecting arm close to the track chassis is connected to the output end of the second motor, the second motor is fixed at the top of the track chassis, the connecting arm away from the track chassis is connected to one end of the fixed arm, the other end of the fixed arm is connected to the bionic four-finger robotic arm, and the first motor and the second motor are electrically connected to the control center.

[0007] Furthermore, according to claim 2, a crop picking robot based on bionic four-fingers and suction cup collaborative grasping is characterized in that the bionic four-finger manipulator includes a front palm of the manipulator, a back palm of the manipulator, a manipulator connecting seat, three-joint manipulator fingers and two-joint manipulator fingers, a manipulator connecting seat is fixedly arranged on the back palm of the manipulator, the back palm of the manipulator is connected to the manipulator arm through the manipulator connecting seat, the front palm of the manipulator and the back palm of the manipulator are hinged to each other, a plurality of hinge seats are arranged on the front palm of the manipulator, which are hinged to the three-joint manipulator fingers through the hinge seats, a thumb hinge joint is arranged on the back palm of the manipulator, the thumb hinge joint is hinged to the two-joint manipulator fingers, and the front palm of the manipulator is fixedly arranged with a manipulator connecting seat. The palm and the back palm of the manipulator are both rotatably connected with multiple small traction rope pulleys, and the back palm of the manipulator is also rotatably connected with a medium-sized traction rope pulley. The small traction rope pulley and the medium-sized traction rope pulley are both connected to the transmission component, and the back palm of the manipulator is connected to the front palm of the manipulator, the three-joint manipulator fingers and the two-joint manipulator fingers through the transmission component. A connecting component is also provided at the hinge between the front palm of the manipulator and the back palm of the manipulator, and the connecting component includes a first connecting plate and a second connecting plate, one end of the first connecting plate is hinged to one end of the second connecting plate, the end of the first connecting plate away from the second connecting plate is hinged to the back palm of the manipulator, and the end of the second connecting plate away from the first connecting plate is hinged to the front palm of the manipulator.

[0008] Furthermore, the three-joint manipulator finger includes an upper joint of the manipulator finger, a middle joint of the manipulator finger and a lower joint of the manipulator finger. One end of the upper joint of the manipulator finger is hinged to one end of the middle joint of the manipulator finger, and the other end of the middle joint of the manipulator finger is hinged to the lower joint of the manipulator finger. The lower joint of the manipulator finger is hinged to an articulation seat. A plurality of tension spring mounting holes are also provided on the upper joint of the manipulator finger, the middle joint of the manipulator finger, the lower joint of the manipulator finger and the side of the articulation seat close to the back of the hand. The upper joint of the manipulator finger and the middle joint of the manipulator finger are connected to a first tension spring through the tension spring mounting hole. The middle joint of the manipulator finger and the lower joint of the manipulator finger are connected to a first tension spring through the tension spring mounting hole. The mounting hole is detachably connected to a first tension spring, and the lower joint of the manipulator finger and the hinge seat are detachably connected to the first tension spring through the tension spring mounting hole. The upper joint of the manipulator finger, the middle joint of the manipulator finger and the lower joint of the manipulator finger on the side close to the palm are provided with a small suction cup and a pressure sensor, and the small suction cup is connected to the suction component. The upper joint of the manipulator finger, the middle joint of the manipulator finger and the lower joint of the manipulator finger are also provided with a transmission rod, and the top of the transmission rod inside the middle joint of the manipulator finger and the lower joint of the manipulator finger are rotatably connected to two small traction rope pulleys, the small traction rope pulley and the transmission rod are connected to the transmission component, and the pressure sensor is electrically connected to the control center.

[0009] Furthermore, the two-joint manipulator finger includes a first manipulator finger joint and a second manipulator finger joint, one end of the second manipulator finger joint is hinged to the thumb hinge joint, and the other end is hinged to one end of the first manipulator finger joint, a plurality of tension spring mounting holes are provided on the second manipulator finger joint and the first manipulator finger joint on the side close to the back of the hand, the second manipulator finger joint and the first manipulator finger joint are detachably connected with the first tension spring through the tension spring mounting hole, a transmission rod is provided inside the second manipulator finger joint and the first manipulator finger joint, the top end of the transmission rod in the second manipulator finger joint is rotatably connected to two small traction rope pulleys, the small traction rope pulley and the transmission rod are connected to the transmission assembly, a small suction cup and a pressure sensor electrically connected to the control center are also provided on the second manipulator finger joint on the side close to the palm, and the small suction cup is connected to the suction assembly.

[0010] Furthermore, the fixed arm includes a fixed arm shell, one end of the fixed arm shell is fixedly connected to a robotic arm connecting seat, the fixed arm shell is detachably connected to a robotic arm connecting seat provided on the bionic four-finger manipulator through the robotic arm connecting seat, the end of the fixed arm shell away from the robotic arm connecting seat is hinged to an end of the connecting arm close to the fixed arm, and a first motor electrically connected to the control center is provided at the hinge, a slide groove is provided inside the fixed arm shell, one end of the slide groove is rotatably connected to a double pulley mechanism, the double pulley mechanism is two transmission pulleys, the two transmission pulleys are rotatably connected in the slide groove through a rotating shaft, and the fixed arm shell is connected to the transmission assembly through the double pulley mechanism.

[0011] Furthermore, the transmission assembly includes a weight, a weight traction motor, a traction rope tightening mechanism, a total traction rope, a weight traction rope, a two-joint branch traction rope and a three-joint branch traction rope. A weight is slidably connected in the slide slot, and an end of the weight away from the double pulley mechanism is detachably provided with an ascending limit buckle. A weight traction motor is also fixedly provided in the slide slot. One end of the weight traction rope is connected to the output end of the weight traction motor, and the other end of the weight traction rope is connected to a side of the weight close to the ascending limit buckle. The end of the weight close to the double pulley mechanism is connected to the total traction rope. A traction Rope tightening mechanism, the total traction rope is connected with one end of the two-joint branch traction rope and the three-joint branch traction rope in sequence through a double pulley mechanism, a traction rope tightening mechanism, and a medium-sized traction rope pulley, one end of the two-joint branch traction rope away from the total traction rope is fixed to the top of the transmission rod in the first manipulator finger joint through a small traction rope pulley arranged in the second manipulator finger joint, and one end of the three-joint branch traction rope away from the total traction rope is fixed to the top of the transmission rod in the upper joint of the manipulator finger through the small traction rope pulleys in the lower joint of the manipulator finger and the middle joint of the manipulator finger in sequence, and the weight traction motor is electrically connected to the control center;

[0012] The two-joint branch traction rope and the three-joint branch traction rope both include multiple sections of branch traction ropes, and adjacent branch traction ropes are connected by a second tension spring.

[0013] Furthermore, the suction assembly includes an suction control box, a hose buckle and a suction cup suction hose. The suction control box is fixed on the connecting arm, and the suction control box is connected to one end of the suction cup suction hose. The other end of the suction cup suction hose passes through the fixed arm and is connected to a small suction cup arranged on the side close to the palm of the bionic four-finger manipulator. The part of the suction cup suction hose located inside the bionic four-finger manipulator is fixed by the hose buckle, and the suction control box is electrically connected to the control center.

[0014] Furthermore, a depth camera is provided on the rear palm of the manipulator, and the depth camera is electrically connected to the control center.

[0015] Furthermore, the traction rope tightening mechanism includes a tightening motor and a tightening pulley group. The tightening motor is fixedly arranged inside the bionic four-finger manipulator. One end of the total traction rope is connected to the tightening motor output shaft through the tightening pulley group. The tightening motor is electrically connected to the control center.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention is provided with a bionic four-finger manipulator, a mechanical arm and a track chassis. The track chassis can operate in complex terrain and cooperate with the bionic four-finger manipulator and the mechanical arm to realize the automation of picking up crops, thereby improving the efficiency of picking up crops in complex terrain; the tightness of the total traction rope in the bionic four-finger manipulator is controlled by a weight block and a traction rope tightening mechanism, and the grip and opening of the bionic four-finger manipulator are controlled by a tension spring to realize the gripping of crops; the bionic four-finger manipulator in the present invention is provided with an air suction component, which can cooperate with the bionic four-finger manipulator to grip crops more firmly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 Schematic diagram of the bionic four-finger manipulator structure.

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of the three-joint manipulator fingers of the bionic four-finger manipulator.

[0022] Figure 4 This is a schematic diagram of the cross-sectional structure of the two-joint manipulator fingers of the bionic four-finger manipulator.

[0023] Figure 5 This is a schematic diagram of the cross-sectional structure of the palm part of the bionic four-finger manipulator from a top view.

[0024] Figure 6 Schematic diagram of the palm structure of the bionic four-finger robotic hand.

[0025] Figure 7 Schematic diagram of the connection structure between the robotic arm and the bionic four-finger robotic hand.

[0026] Figure 8 This is a schematic diagram of the side structure of the bionic four-finger manipulator.

[0027] Fig. 9 Schematic diagram of a double rocker structure consisting of a first connecting plate and a second connecting plate.

[0028] Fig.10 Schematic diagram of the robotic arm structure.

[0029] Fig.11 It is the work flow chart of the present invention.

[0030] Among them, 1-bionic four-finger manipulator, 101-first tension spring, 102-knuckle connecting shaft, 103-small suction cup, 104-pressure sensor, 105-front palm of manipulator, 106-back palm of manipulator, 107-suction cup suction hose, 108-traction rope, 109-hose buckle, 110-small traction rope pulley, 111-second tension spring, 112-total traction rope, 113-medium traction rope pulley, 114-traction rope tightening mechanism , 115-thumb hinge joint, 116-first connecting plate, 117-second connecting plate, 118-depth camera, 119-first manipulator finger joint, 120-second manipulator finger joint, 121-manipulator connecting seat, 2-manipulator arm, 201-suction control box, 202-weight block, 203-double pulley mechanism, 204-rise limit buckle, 205-manipulator connecting seat, 206-bolt, 3-crawler chassis, 4-crop collection bin. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0032] like Figures 1 to 10 As shown, the present invention provides a crop picking robot based on bionic four-fingered and suction cup collaborative grasping, comprising a bionic four-fingered manipulator 1, a mechanical arm 2, a crawler chassis 3 and a crop collecting bin 4, wherein the crop collecting bin 4 is fixed at the top of the crawler chassis 3, the top of the crawler chassis 3 is also connected to the mechanical arm 2, the end of the mechanical arm 2 away from the crawler chassis 3 is connected to the bionic four-fingered manipulator 1, a control center is arranged in the crawler chassis 3, the control center is electrically connected to the driver of the crawler chassis 3, the control center can also control the operation of the bionic four-fingered manipulator 1 and the mechanical arm 2, and the bionic four-fingered manipulator 1 is also pasted with a textured and soft imitation human epidermis to increase friction while protecting crops and avoiding crop damage.

[0033] In this embodiment, the robotic arm 2 includes a fixed arm and a plurality of connecting arms, adjacent connecting arms are hinged to each other, and a first motor is provided at the hinge of the connecting arm, the connecting arm close to the track chassis 3 is connected to the output end of the second motor, the second motor is fixed at the top of the track chassis 3, the connecting arm away from the track chassis 3 is connected to one end of the fixed arm, and the other end of the fixed arm is connected to the bionic four-finger robotic arm 1, the first motor and the second motor are electrically connected to the control center, the second motor can control the rotation of the robotic arm 2 in the horizontal direction, and the first motor is mainly used to control the height of the bionic four-finger robotic arm 1 on the robotic arm 2.

[0034] In this embodiment, the bionic four-finger manipulator 1 includes a front palm 105 of the manipulator, a rear palm 106 of the manipulator, a manipulator connecting seat 121, a three-joint manipulator finger and a two-joint manipulator finger. The manipulator connecting seat 121 is fixedly arranged on the rear palm 106 of the manipulator, and the rear palm 106 of the manipulator is connected to the manipulator arm 2 through the manipulator connecting seat 121. The front palm 105 of the manipulator and the rear palm 106 of the manipulator are hinged to each other. A plurality of hinge seats are arranged on the front palm 105 of the manipulator, which are hinged to the three-joint manipulator fingers through the hinge seats. A thumb hinge joint 115 is arranged on the rear palm 106 of the manipulator, and the thumb hinge joint 115 is hinged to the two-joint manipulator fingers. A plurality of small traction rope pulleys 110 are rotatably connected inside the front palm 105 and the rear palm 106 of the manipulator, and the rear palm 106 of the manipulator is also rotatably connected inside. The small traction rope pulley 110 and the medium traction rope pulley 113 are both connected to the transmission component. The interior of the manipulator rear palm 106 is connected to the manipulator front palm 105, the three-joint manipulator fingers and the two-joint manipulator fingers through the transmission component. The manipulator front palm 105 and the manipulator rear palm 106 are also provided with a connecting component at the hinge. The connecting component includes a first connecting plate 116 and a second connecting plate 117. One end of the first connecting plate 116 is hinged to one end of the second connecting plate 117. One end of the first connecting plate 116 away from the second connecting plate 117 is hinged to the manipulator rear palm 106. One end of the second connecting plate 117 away from the first connecting plate 116 is hinged to the manipulator front palm 105. The first connecting plate 116 and the second connecting plate 117 cooperate with each other to realize the opening and tightening of the bionic four-finger manipulator 1.

[0035] like Fig. 9 As shown, if rod d is fixed, when the mechanism is in the extreme position, the angle between rod c and rod d reaches the maximum or minimum value. Through geometric analysis, the following equation can be written (based on vector closed equation):

[0036] Maximum Angle At the maximum extension position, θcd is the maximum value, according to the cosine theorem:

[0037]

[0038] Minimum angle At the minimum extension position, θcd is the minimum value, according to the cosine theorem:

[0039]

[0040] In this embodiment, the three-joint manipulator finger includes an upper joint of the manipulator finger, a middle joint of the manipulator finger and a lower joint of the manipulator finger. One end of the upper joint of the manipulator finger is hinged to one end of the middle joint of the manipulator finger, and the other end of the middle joint of the manipulator finger is hinged to the lower joint of the manipulator finger. The lower joint of the manipulator finger is hinged to an articulation seat. The upper joint of the manipulator finger, the middle joint of the manipulator finger, the lower joint of the manipulator finger and the side of the articulation seat close to the back of the hand are also provided with a plurality of tension spring mounting holes. The upper joint of the manipulator finger and the middle joint of the manipulator finger are connected to the first tension spring 101 through the tension spring mounting hole, and the middle joint of the manipulator finger and the lower joint of the manipulator finger are detachably connected to the first tension spring 101 through the tension spring mounting hole. A tension spring 101, the lower joint of the manipulator finger and the hinge seat are detachably connected with the first tension spring 101 through the tension spring mounting hole, the upper joint of the manipulator finger, the middle joint of the manipulator finger and the lower joint of the manipulator finger are each provided with a small suction cup 103 and a pressure sensor 104 on the side close to the palm, the small suction cup 103 is connected to the suction component, the upper joint of the manipulator finger, the middle joint of the manipulator finger and the lower joint of the manipulator finger are also provided with a transmission rod, the top of the transmission rod inside the middle joint of the manipulator finger and the lower joint of the manipulator finger are both rotatably connected to two small traction rope pulleys 110, the small traction rope pulley 110 and the transmission rod are connected to the transmission component, and the pressure sensor 104 is electrically connected to the control center.

[0041] In this embodiment, the two-joint manipulator finger includes a first manipulator finger joint 119 and a second manipulator finger joint 120, one end of the second manipulator finger joint 120 is hinged to the thumb hinge joint 115, and the other end is hinged to one end of the first manipulator finger joint 119, and a plurality of tension spring mounting holes are provided on the second manipulator finger joint 120 and the first manipulator finger joint 119 on the side close to the back of the hand, and the first tension spring 101 is detachably connected between the second manipulator finger joint 120 and the first manipulator finger joint 119 through the tension spring mounting hole, and a transmission spring is provided inside the second manipulator finger joint 120 and the first manipulator finger joint 119. Rod, the top of the transmission rod in the finger joint 120 of the second manipulator is rotatably connected to two small traction rope pulleys 110, and the small traction rope pulleys 110 and the transmission rod are connected to the transmission component. A small suction cup 103 and a pressure sensor 104 electrically connected to the control center are also provided on the side close to the palm of the finger joint 120 of the second manipulator, the small suction cup 103 is connected to the suction component, and the tension spring 101 is used to provide tension. When the total traction rope 112 becomes loose, the tension spring 101 controls the simulated four-finger manipulator 1 to open, the small suction cup 103 is used to cooperate with the simulated four-finger manipulator 1 to grasp crops, and the pressure sensor 104 is used to sense whether the simulated four-finger manipulator 1 has grasped crops.

[0042] In this embodiment, the fixed arm includes a fixed arm shell, one end of the fixed arm shell is fixedly connected to a robot arm connecting seat 205, and the fixed arm shell is detachably connected to the robot arm connecting seat 121 set on the bionic four-finger manipulator 1 through the robot arm connecting seat 205. Specifically, in this embodiment, the connection is made through bolts 206, and one end of the fixed arm shell away from the robot arm connecting seat 205 is hinged to one end of the connecting arm close to the fixed arm, and a first motor electrically connected to the control center is provided at the hinge, and a slide groove is provided inside the fixed arm shell, and a double pulley mechanism 203 is rotatably connected to one end of the slide groove, and the double pulley mechanism 203 is two transmission pulleys, and the two transmission pulleys are rotatably connected in the slide groove through a rotating shaft, and the fixed arm shell is connected to the transmission assembly through the double pulley mechanism 203, and the double pulley mechanism 203 is used for auxiliary transmission of the transmission assembly.

[0043] In this embodiment, the transmission assembly includes a weight 202, a weight traction motor, a traction rope tightening mechanism 114, a total traction rope 112, a weight traction rope, a two-joint branch traction rope and a three-joint branch traction rope. The weight 202 is slidably connected in the slide groove, and the end of the weight 202 away from the double pulley mechanism 203 is detachably provided with an ascending limit buckle 204. The weight traction motor is also fixedly provided in the slide groove. One end of the weight traction rope is connected to the output end of the weight traction motor, and the other end of the weight traction rope is connected to the side of the weight close to the ascending limit buckle 204. The end of the weight 202 close to the double pulley mechanism 203 is connected to the total traction rope 112. The bionic four-finger manipulator 1 is also provided with a traction rope tightening mechanism. Structure 114, the total traction rope 112 is connected with one end of the two-joint branch traction rope and the three-joint branch traction rope in sequence through the double pulley mechanism 203, the traction rope tightening mechanism 114, and the medium-sized traction rope pulley 113, the one end of the two-joint branch traction rope away from the total traction rope 112 is fixed to the top of the transmission rod in the first manipulator finger joint through the small traction rope pulley 110 arranged in the second manipulator finger joint, and the one end of the three-joint branch traction rope away from the total traction rope 112 is fixed to the top of the transmission rod in the upper joint of the manipulator finger through the small traction rope pulley 110 in the lower joint of the manipulator finger and the middle joint of the manipulator finger, the weight block traction motor is electrically connected to the control center, and the weight block traction motor can drive the weight block to move;

[0044] The two-joint branch traction rope and the three-joint branch traction rope both include multiple sections of branch traction ropes, and adjacent branch traction ropes are connected by a second tension spring 111; the traction rope tightening mechanism 114 can control the tightness of the total traction rope 112, and the tightness of the total traction rope 112 can adjust the tightness of the two-joint branch traction rope and the three-joint branch traction rope, and the weight 202 can drive the total traction rope 112 to cooperate with the traction rope tightening mechanism 114 to control the tightness of the total traction rope 112.

[0045] In this embodiment, the suction component includes a suction control box 201, a hose buckle 109 and a suction cup suction hose 107. The suction control box 201 is fixed on the connecting arm. The suction control box 201 is connected to one end of the suction cup suction hose 107. The other end of the suction cup suction hose 107 passes through the fixed arm and is connected to a small suction cup 103 arranged on the palm side of the bionic four-finger manipulator 1. The part of the suction cup suction hose 107 located inside the bionic four-finger manipulator 1 is fixed by the hose buckle 109. The suction control box 201 is electrically connected to the control center. The control center can control the opening and closing of the suction control box 201, and control the suction force of the suction cup suction hose 107 through the suction control box 201 to control the degree of suction on the crops; the hose buckle 109 can fix the suction cup suction hose 107.

[0046] In this embodiment, a depth camera 118 is further disposed on the rear palm 106 of the manipulator. The depth camera 118 is electrically connected to the control center. The depth camera 118 is used to identify crops and transmit signals to the control center.

[0047] In this embodiment, the traction rope tightening mechanism 114 includes a tightening motor and a tightening pulley group. The tightening motor is fixedly arranged inside the bionic four-finger manipulator 1. One end of the total traction rope 112 is connected to the tightening motor output shaft through the tightening pulley group. The tightening motor is electrically connected to the control center. The tightening motor cooperates with the tightening pulley group to rotate, so that the tightness of the total traction rope 112 can be adjusted to control the opening and closing of the simulated four-finger manipulator.

[0048] like Fig.11 The overall workflow of a crop picking robot based on the coordinated grasping of bionic four fingers and suction cups in the present invention is shown as follows:

[0049] When in use, the depth camera 118 is first used for identification. After the depth camera 118 identifies the crops, it transmits a signal to the control center. The control center controls the operating angle of the robot arm 2 and the direction of the bionic four-finger robot 1 by controlling the first motor and the second motor. At the same time, the rising limit buckle 204 and the traction rope tightening mechanism 114 are opened, and the bionic four-finger robot 1 starts to grasp the crops, and the weight 202 starts to descend, driving the total traction rope 112, the two-joint branch traction rope and the three-joint branch traction rope to contract to achieve The bionic four-finger manipulator 1 grasps, and at the same time, the pressure sensor 104 sends a signal to the control center when the bionic four-finger manipulator 1 grasps. The control center controls the operation of the suction control box 201, controls the suction volume, and controls the bionic four-finger manipulator 1 to suck and grasp the crops tightly. The grasping is successful, and then the control center controls the first motor and the second motor to rotate the manipulator 2, shut down the operation of the suction control box 201, relax the traction rope tightening mechanism 114, and open the bionic four-finger manipulator 1 to allow the crops to fall into the crop collection bin 4.

[0050] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0051] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crop picking robot based on bionic four-fingers and suction cup collaborative grasping, characterized in that: The invention comprises a bionic four-finger manipulator (1), a mechanical arm (2), a crawler chassis (3) and a crop collection bin (4), wherein the crop collection bin (4) is fixed to the top of the crawler chassis (3), the top of the crawler chassis (3) is also connected to the mechanical arm (2), one end of the mechanical arm (2) away from the crawler chassis (3) is connected to the bionic four-finger manipulator (1), a control center is arranged in the crawler chassis (3), the control center is electrically connected to the driver of the crawler chassis (3), and the control center can also control the operation of the bionic four-finger manipulator (1) and the mechanical arm (2).

2. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 1 is characterized in that: The mechanical arm (2) comprises a fixed arm and a plurality of connecting arms, adjacent connecting arms are hinged to each other, and a first motor is arranged at the hinge of the connecting arm, the connecting arm close to the track chassis (3) is connected to the output end of the second motor, the second motor is fixed to the top of the track chassis (3), the connecting arm away from the track chassis (3) is connected to one end of the fixed arm, the other end of the fixed arm is connected to the bionic four-finger mechanical hand (1), and the first motor and the second motor are electrically connected to a control center.

3. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 2 is characterized in that: The bionic four-finger manipulator (1) comprises a manipulator front palm (105), a manipulator back palm (106), a manipulator connecting seat (121), three-joint manipulator fingers and two-joint manipulator fingers, the manipulator back palm (106) is fixedly provided with a manipulator connecting seat (121), the manipulator back palm (106) is connected to a manipulator arm (2) via the manipulator connecting seat (121), the manipulator front palm (105) is connected to the manipulator back palm The palms (106) are hinged to each other, a plurality of hinge seats are arranged on the front palm (105) of the manipulator, and the manipulator is hinged to the fingers of the three-joint manipulator through the hinge seats, a thumb hinge joint (115) is arranged on the back palm (106) of the manipulator, and the thumb hinge joint (115) is hinged to the fingers of the two-joint manipulator, and a plurality of small traction rope pulleys (110) are rotatably connected inside the front palm (105) and the back palm (106) of the manipulator ), a medium-sized traction rope pulley (113) is rotatably connected inside the rear palm (106) of the manipulator, the small traction rope pulley (110) and the medium-sized traction rope pulley (113) are both connected to the transmission component, the interior of the rear palm (106) of the manipulator is connected to the front palm (105) of the manipulator, the three-joint manipulator fingers and the two-joint manipulator fingers through the transmission component, a connecting component is also provided at the hinge between the front palm (105) of the manipulator and the rear palm (106) of the manipulator, the connecting component comprises a first connecting plate (116) and a second connecting plate (117), one end of the first connecting plate (116) is hinged to one end of the second connecting plate (117), one end of the first connecting plate (116) away from the second connecting plate (117) is hinged to the rear palm (106) of the manipulator, and one end of the second connecting plate (117) away from the first connecting plate (116) is hinged to the front palm (105) of the manipulator.

4. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 3 is characterized in that: The three-joint manipulator finger comprises an upper joint of the manipulator finger, a middle joint of the manipulator finger and a lower joint of the manipulator finger, one end of the upper joint of the manipulator finger is hinged to one end of the middle joint of the manipulator finger, the other end of the middle joint of the manipulator finger is hinged to the lower joint of the manipulator finger, the lower joint of the manipulator finger is hinged to an articulation seat, the upper joint of the manipulator finger, the middle joint of the manipulator finger, the lower joint of the manipulator finger and a side close to the back of the hand on the articulation seat are also provided with a plurality of tension spring mounting holes, the upper joint of the manipulator finger and the middle joint of the manipulator finger are connected to a first tension spring (101) through the tension spring mounting hole, and the middle joint of the manipulator finger and the lower joint of the manipulator finger are detachably connected to the first tension spring (101) through the garbage spring mounting hole The lower joint of the manipulator finger and the hinge seat are detachably connected with a first tension spring (101) through a tension spring mounting hole. The upper joint of the manipulator finger, the middle joint of the manipulator finger and the side of the lower joint of the manipulator finger close to the palm are all provided with a small suction cup (103) and a pressure sensor (104). The small suction cup (103) is connected to the suction component. The upper joint of the manipulator finger, the middle joint of the manipulator finger and the lower joint of the manipulator finger are also provided with a transmission rod. The top ends of the transmission rods in the middle joint of the manipulator finger and the lower joint of the manipulator finger are rotatably connected to two small traction rope pulleys (110). The small traction rope pulley (110) and the transmission rod are connected to the transmission component. The pressure sensor (104) is electrically connected to the control center.

5. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 4 is characterized in that: The two-joint manipulator finger comprises a first manipulator finger joint (119) and a second manipulator finger joint (120); one end of the second manipulator finger joint (120) is hinged to the thumb hinge joint (115), and the other end is hinged to one end of the first manipulator finger joint (119); a plurality of tension spring mounting holes are provided on the second manipulator finger joint (120) and the first manipulator finger joint (119) on a side close to the back of the hand; the second manipulator finger joint (120) and the first manipulator finger joint (119) are detachably connected via the tension spring mounting holes. A first tension spring (101) is provided, and transmission rods are arranged inside the second manipulator finger joint (120) and the first manipulator finger joint (119). The top end of the transmission rod in the second manipulator finger joint (120) is rotatably connected to two small traction rope pulleys (110), and the small traction rope pulleys (110) and the transmission rod are connected to a transmission component. A small suction cup (103) and a pressure sensor (104) electrically connected to a control center are also arranged on the side of the second manipulator finger joint (120) close to the palm, and the small suction cup (103) is connected to the suction component.

6. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 5, characterized in that: The fixed arm comprises a fixed arm shell, one end of the fixed arm shell is fixedly connected to a robot arm connection seat (205), the fixed arm shell is detachably connected to a robot arm connection seat (121) provided on the bionic four-finger robot (1) through the robot arm connection seat (205), one end of the fixed arm shell away from the robot arm connection seat (205) is hinged to one end of the connection arm close to the fixed arm, and a first motor electrically connected to a control center is provided at the hinge, a slide groove is provided inside the fixed arm shell, one end of the slide groove is rotatably connected to a double pulley mechanism (203), the double pulley mechanism (203) is two transmission pulleys, both of the two transmission pulleys are rotatably connected in the slide groove through a rotating shaft, and the fixed arm shell is connected to the transmission component through the double pulley mechanism (203).

7. The crop picking robot based on bionic four-fingers and suction cup collaborative grasping according to claim 6 is characterized in that: The transmission assembly comprises a weight (202), a weight traction motor, a traction rope tightening mechanism (114), a total traction rope (112), a weight traction rope, a two-joint branch traction rope and a three-joint branch traction rope. The weight (202) is slidably connected in the slide groove. The end of the weight (202) away from the double pulley mechanism (203) is detachably provided with an ascending limit buckle (204). The weight traction motor is also fixedly provided in the slide groove. One end of the weight traction rope is connected to the output end of the weight traction motor. The other end of the weight traction rope is connected to a side of the weight close to the ascending limit buckle (204). The end of the weight (202) close to the double pulley mechanism (203) is connected to the total traction rope (112). The bionic four-finger manipulator (1) is also provided with a A traction rope tightening mechanism (114) is provided, the total traction rope (112) is connected to one end of the two-joint branch traction rope and the three-joint branch traction rope in sequence through a double pulley mechanism (203), a traction rope tightening mechanism (114), and a medium-sized traction rope pulley (113); one end of the two-joint branch traction rope away from the total traction rope (112) is fixed to the top end of the transmission rod in the first manipulator finger joint through a small traction rope pulley (110) arranged in the second manipulator finger joint; one end of the three-joint branch traction rope away from the total traction rope (112) is fixed to the top end of the transmission rod in the upper manipulator finger joint through small traction rope pulleys (110) in the lower manipulator finger joint and the middle manipulator finger joint in sequence; the weight traction motor is electrically connected to the control center; The two-joint branch traction rope and the three-joint branch traction rope both include multiple sections of branch traction ropes, and adjacent branch traction ropes are connected via a second tension spring (111).

8. The crop picking robot based on bionic four-fingers and suction cup coordinated grasping according to claim 6 is characterized in that: The air suction component comprises an air suction control box (201), a hose buckle (109) and a suction cup air suction hose (107); the air suction control box (201) is fixed on a connecting arm; the air suction control box (201) is connected to one end of the suction cup air suction hose (107); the other end of the suction cup air suction hose (107) passes through the fixed arm and is connected to a small suction cup (103) arranged on the palm side of the bionic four-finger manipulator (1); the part of the suction cup air suction hose (107) located inside the bionic four-finger manipulator (1) is fixed by the hose buckle (109); and the air suction control box (201) is electrically connected to a control center.

9. The crop picking robot based on bionic four-fingers and suction cup coordinated grasping according to claim 3 is characterized in that: A depth camera (118) is also provided on the rear palm (106) of the manipulator, and the depth camera (118) is electrically connected to a control center.

10. The crop picking robot based on bionic four-fingers and suction cup coordinated grasping according to claim 7, characterized in that: The traction rope tightening mechanism (114) comprises a tightening motor and a tightening pulley block, the tightening motor is fixedly arranged inside the bionic four-finger manipulator (1), one end of the total traction rope (112) is connected to the tightening motor output shaft via the tightening pulley block, and the tightening motor is electrically connected to the control center.

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