Portable double-arm robot system

Abstract

The invention discloses a portable double-arm robot system, belongs to the technical field of double-arm robots, and aims to solve the problem that fruits at higher positions are inconvenient to pick, the portable double-arm robot system comprises a rotary lifting base and an electric control cabinet mounted on the side surface of the rotary lifting base, and mounting frames are mounted on two sides of the top end of the rotary lifting base; an angle adjusting seat is mounted on the side face of the mounting frame, a composite telescopic frame is arranged in the angle adjusting seat, a rotary adjusting seat is mounted at the end of the composite telescopic frame, work of a rotary lifting base and the rotary adjusting seat of the angle adjusting seat can be controlled according to use requirements, and therefore the angle of the picking claw can be adjusted conveniently; according to the fruit picking device, the combined telescopic frame is arranged, so that fruits can be conveniently picked from different angles, the work of the combined telescopic frame is controlled, the picking claw can stretch out for a long distance, the fruits at the far position and the high position can be conveniently picked, and meanwhile fruit trees at the low position can also be picked.

Description

Technical Field

[0001] The invention discloses a portable dual-arm robot system, and belongs to the technical field of dual-arm robots, and in particular to the technical field of portable dual-arm robots. Background Art

[0002] The fruit planting industry has also gradually developed rapidly towards scale, but most of the picking is done manually. The picking operation is relatively complicated and highly seasonal. If manual picking is used, it is not only inefficient and labor-intensive, but also easy to cause damage to the fruit. If there are not enough people and the fruit cannot be picked in time, it will also lead to economic losses.

[0003] In order to improve the efficiency of picking, people have invented some picking robots to replace manual picking. Although they can perform picking operations, due to design reasons, they can only pick fruits at lower heights. Fruits at the top of the tree still need to be picked manually. In order to solve the above problems, we proposed a portable dual-arm robot system. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a portable dual-arm robot system, thereby solving the problem that it is inconvenient to pick fruits at higher positions.

[0005] To achieve the above object, the present invention provides the following technical solutions: A portable dual-arm robot system comprises a rotating lifting base and an electric control cabinet installed on the side thereof, mounting frames are installed on both sides of the top of the rotating lifting base, angle adjustment seats are installed on the sides of the mounting frames, a composite telescopic frame is arranged inside the angle adjustment seat, a rotating adjustment seat is installed at the end of the composite telescopic frame, a picking claw is installed on the side of the rotating adjustment seat, and an air blowing structure is arranged on the outer side of the picking claw.

[0006] As a preferred technical solution of the present invention, the rotating lifting base includes a base plate, a guide tube is installed on the surface of the base plate, an inner tube is slidably installed inside the guide tube, a bearing seat is installed on the side of the inner tube above the guide tube, the bottom end of the bearing seat is connected to the surface of the base plate through an electric push rod, and retaining rings are installed on the outside of the inner tube above and below the bearing seat.

[0007] As a preferred technical solution of the present invention, a servo motor is installed at the inner bottom end of the guide tube, the output shaft of the servo motor is connected to the connecting shaft through a coupling, a socket is installed in the inner tube, and a socket hole is opened inside the socket at the position corresponding to the connecting shaft.

[0008] As a preferred technical solution of the present invention, the mounting frame includes a fixed tube installed on the side of the inner tube, a pad is installed at the inner bottom end of the fixed tube, a servo motor 2 is installed on the surface of the pad, the output shaft of the servo motor 2 passes through and extends to the outside of the fixed tube, a beam tube is installed at the position of the fixed tube corresponding to the output shaft of the servo motor 2, and connecting holes are distributed on the side of the output shaft of the servo motor 2.

[0009] As a preferred technical solution of the present invention, the angle adjustment seat includes a mouth frame, the side of the mouth frame is connected to the outside of the bundle tube through a bearing, an opening is provided on the side of the mouth frame at the position corresponding to the connecting hole, a fixing bolt arranged inside the connecting hole is installed inside the opening, a limiting tube is installed inside the mouth frame, and a boss is installed on the side of the limiting tube.

[0010] As a preferred technical solution of the present invention, the composite telescopic frame includes a sliding tube slidably installed inside the limiting tube, a groove is provided on one side of the sliding tube at a position corresponding to the boss, a rack is provided on the other side of the sliding tube, a connecting groove is provided on the limiting tube at a position corresponding to the rack, a servo motor three is installed outside the mouth frame, an output shaft of the servo motor three passes through and extends to the inside of the mouth frame and is connected to a rotating shaft, a gear is installed on the side of the rotating shaft, the gear is meshed and connected to the rack, an electric push rod two is installed inside the sliding tube, an end of the electric push rod two passes through and extends to the outside of the sliding tube and is connected to a connecting box, and an auxiliary rod slidably installed in the wall of the sliding tube is installed on the connecting box.

[0011] As a preferred technical solution of the present invention, the rotary adjustment seat includes a servo motor four installed inside the connecting box, the output shaft of the servo motor four passes through and extends to the outside of the connecting box and is connected to a U-shaped connecting seat, and the rear side of the U-shaped connecting seat is connected to the side of the connecting box through a bearing two.

[0012] As a preferred technical solution of the present invention, the picking claw includes a fixing box, which is connected to the U-shaped connecting seat through a connecting pin shaft, a partition is installed inside the fixing box, a gear connecting seat is installed inside one side of the partition, two meshing gears are fixed inside the gear connecting seat through two mounting shafts, grabbing teeth are installed at the bottom ends of the two gears, and one of the two mounting shafts passes through and extends to the top of the partition and is connected to a servo motor five.

[0013] As a preferred technical solution of the present invention, an extension plate is installed on the side of the fixing box inside the U-shaped connecting seat, and fixing plates are installed at the positions corresponding to the extension plates at the top and bottom ends of the U-shaped connecting seat, and a tension pressure sensor is installed on the surface of the fixing plate corresponding to the extension plate, and the tension pressure sensor is connected to the fixing plate through a spring; Soft balls are distributed on the corresponding surfaces of the two grabbing teeth.

[0014] As a preferred technical solution of the present invention, the blowing structure includes an air pump installed on the side of the U-shaped connecting seat, and air outlets are provided on the separated surfaces of the grabbing teeth, and the air outlets are connected to the air pump through a conduit.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the operation of the rotating lifting base and the rotating adjustment seat of the angle adjustment seat can be controlled according to the needs of use, thereby facilitating the adjustment of the angle of the picking claws, thereby facilitating the picking of fruits from different angles, and further by controlling the operation of the composite telescopic frame, the picking claws can be extended to a longer distance, thereby facilitating the picking of fruits at farther and higher positions, and also enabling the picking of fruit trees at lower positions, thereby meeting different picking needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the cross-sectional structure of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of the composite telescopic frame of the present invention; Figure 4 It is a schematic diagram of the picking claw structure of the present invention; Figure 5 This is a partial enlarged view of the A1 end of the present invention; Figure 6 This is a partial enlarged view of the A2 end of the present invention; 1-rotating lifting base; 11-guide tube; 12-inner tube; 13-bearing seat; 14-retaining ring; 15-electric push rod 1; 16-servo motor 1; 17-connecting shaft; 18-cage; 19-bottom plate; 2-electric control cabinet; 3-mounting frame; 31-fixed tube; 32-pad; 33-servo motor 2; 34-beam tube; 35-connecting hole; 4-angle adjustment seat; 41-mouth frame; 43-bearing 1; 44-opening; 45-fixing bolt; 46-limiting tube; 47-boss; 48-connecting groove; 5-compound telescopic frame; 51-sliding tube; 52-groove; 53 - rack; 54- servo motor three; 55- rotating shaft; 56- gear; 57- electric push rod two; 58- connecting box; 59- auxiliary rod; 6- rotating adjustment seat; 61- servo motor four; 62- U-shaped connecting seat; 63- bearing two; 64- image collector; 65- connecting pin; 7- picking claw; 71- fixing box; 72- partition; 73- gear connecting seat; 74- grabbing tooth; 75- servo motor five; 76- extension plate; 77- fixing plate; 78- spring; 79- pulling pressure sensor; 8- blowing structure; 81- air outlet; 82- catheter; 83- air pump. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-6 , the present invention provides a technical solution: A portable dual-arm robot system comprises a rotating lifting base 1 and an electric control cabinet 2 installed on the side thereof, mounting frames 3 are installed on both sides of the top of the rotating lifting base 1, angle adjustment seats 4 are installed on the sides of the mounting frames 3, a composite telescopic frame 5 is arranged inside the angle adjustment seat 4, a rotating adjustment seat 6 is installed at the end of the composite telescopic frame 5, a picking claw 7 is installed on the side of the rotating adjustment seat 6, and an air blowing structure 8 is arranged on the outer side of the picking claw 7, the electric control cabinet 2 controls the operation of the rotating lifting base 1, the angle adjustment seat 4, the composite telescopic frame 5, and the air blowing structure 8 of the rotating adjustment seat 6 according to the fruit position information collected by the image collector 64, thereby making the picking claw 7 reach the position of the fruit, and then controls the operation of the picking claw 7, thereby clamping the fruit, and finally makes the rotating adjustment seat 6 work, so that the fruit is picked by the picking claw 7.

[0019] The rotary lifting base 1 includes a base plate 19, on the surface of which a guide tube 11 is installed, inside which an inner tube 12 is slidably installed, and a bearing seat 13 is installed on the side of the inner tube 12 above the guide tube 11. The bottom end of the bearing seat 13 is connected to the surface of the base plate 19 through an electric push rod 15, and retaining rings 14 are installed on the outside of the inner tube 12 above and below the bearing seat 13. By controlling the operation of the electric push rod 15, the height of the mounting frame 3 can be adjusted so that the picking claw 7 can reach the corresponding position.

[0020] A servo motor 16 is installed at the inner bottom end of the guide tube 11, and the output shaft of the servo motor 16 is connected to the connecting shaft 17 through a coupling. A clamping seat 18 is installed in the inner tube 12, and a clamping hole is opened at the position of the connecting shaft 17 in the clamping seat 18. When the servo motor 16 works, it can drive the inner tube 12 to rotate under the transmission of the connecting shaft 17 and the clamping seat 18, so as to facilitate the adjustment of the direction of the picking claw 7.

[0021] The mounting frame 3 includes a fixed tube 31 installed on the side of the inner tube 12, a pad 32 is installed at the inner bottom end of the fixed tube 31, a servo motor 33 is installed on the surface of the pad 32, the output shaft of the servo motor 33 passes through and extends to the outside of the fixed tube 31, a beam tube 34 is installed at the position of the fixed tube 31 corresponding to the output shaft of the servo motor 33, and connecting holes 35 are distributed on the side of the output shaft of the servo motor 33. The servo motor 33 drives the mouth frame 41 to rotate when it works, so as to facilitate the adjustment of the pitch angle of the picking claw 7, thereby facilitating the picking claw 7 to pick fruits at ultra-low, low, medium, high and ultra-high positions.

[0022] The angle adjustment seat 4 includes a mouth frame 41, the side of the mouth frame 41 is connected to the outside of the bundle tube 34 through a bearing 43, an opening 44 is opened on the side of the mouth frame 41 at the position corresponding to the connecting hole 35, a fixing bolt 45 arranged inside the connecting hole 35 is installed inside the opening 44, a limiting tube 46 is installed inside the mouth frame 41, and a boss 47 is installed on the side of the limiting tube 46.

[0023] The composite telescopic frame 5 includes a sliding tube 51 slidably installed inside the limiting tube 46, a groove 52 is provided on one side of the sliding tube 51 at a position corresponding to the boss 47, a rack 53 is provided on the other side of the sliding tube 51, a connecting groove 48 is provided on the limiting tube 46 at a position corresponding to the rack 53, a servo motor 3 54 is installed outside the mouth frame 41, the output shaft of the servo motor 3 54 passes through and extends to the inside of the mouth frame 41 and is connected to a rotating shaft 55, a gear 56 is installed on the side of the rotating shaft 55, and the gear 56 is meshed with the rack 53, so that when the servo motor 3 54 is working, the sliding tube 51 can be driven in the limiting tube 46 under the transmission of the rotating shaft 55, the gear 56 and the rack 53. The second electric push rod 57 is installed inside the sliding tube 51, and the end of the second electric push rod 57 passes through and extends to the outside of the sliding tube 51 and is connected to a connecting box 58. The connecting box 58 is provided with an auxiliary rod 59 which is slidably installed in the wall of the sliding tube 51. By controlling the operation of the second electric push rod 57, it is convenient to perform a secondary adjustment on the extension amount of the picking claw 7, thereby facilitating the picking operation of the picking claw 7 at ultra-low and ultra-high positions. The auxiliary rod 59 is set so that the force at the position of the connecting box 58 acts on it, thereby reducing the force on the second electric push rod 57 and extending its service life.

[0024] The rotary adjustment seat 6 includes a servo motor 4 61 installed inside the connecting box 58. The output shaft of the servo motor 4 61 passes through and extends to the outside of the connecting box 58 and is connected to a U-shaped connecting seat 62. The rear side of the U-shaped connecting seat 62 is connected to the side of the connecting box 58 through a bearing 2 63. By controlling the operation of the servo motor 4 61, it is convenient to rotate the picking claw 7, that is, the angle of the picking claw 7 can be adjusted, and it is also convenient to take the fruit from the fruit tree.

[0025] The picking claw 7 includes a fixing box 71, which is connected to the U-shaped connecting seat 62 through a connecting pin 65. A partition 72 is installed inside the fixing box 71, and a gear connecting seat 73 is installed inside one side of the partition 72. Two meshing gears are fixed inside the gear connecting seat 73 through two mounting shafts. Grabbing teeth 74 are installed at the bottom ends of the two gears. One of the two mounting shafts passes through and extends to the top of the partition 72 and is connected to a servo motor 5 75. The servo motor 5 75 works under the action of the gear connecting seat 73 to close and open the two grabbing teeth 74, thereby facilitating the picking and putting down of fruit trees.

[0026] An extension plate 76 is installed on the side of the fixed box 71 inside the U-shaped connecting seat 62, and a fixing plate 77 is installed at the position of the top and bottom of the U-shaped connecting seat 62 corresponding to the extension plate 76. A tension pressure sensor 79 is installed on the surface of the fixing plate 77 corresponding to the extension plate 76, and the tension pressure sensor 79 is connected to the fixing plate 77 through a spring 78; thereby, after picking, the operation of the servo motor 4 61 is controlled to make the grabbing teeth 74 horizontal. At this time, since the fruit is fixed inside the grabbing teeth 74, the grabbing teeth 74 can be driven to rotate with the connecting pin shaft 65 as the axis, thereby changing the measurement data of the tension pressure sensor 79, thereby facilitating the detection of the weight of the fruit, thereby facilitating the classification and processing of fruits of different weights.

[0027] Soft balls 710 are distributed on the corresponding surfaces of the two grabbing teeth 74, thereby avoiding rigid contact with the fruit, so that the fruit is not easily crushed when picking.

[0028] The air blowing structure 8 includes an air pump 83 installed on the side of the U-shaped connecting seat 62, and air outlets 81 are provided on the separated surfaces of the grab teeth 74. The air outlets 81 are connected to the air pump 83 through a conduit 82. By controlling the operation of the air blowing structure 8, wind is blown out at the position of the air outlet 81, thereby blowing the leaves around the fruit trees, thereby facilitating the image collector 64 to collect more accurate information.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A portable dual-arm robot system, comprising a rotating lifting base (1) and an electric control cabinet (2) mounted on the side thereof, characterized in that: Mounting frames (3) are installed on both sides of the top of the rotary lifting base (1); an angle adjustment seat (4) is installed on the side of the mounting frame (3); a composite telescopic frame (5) is arranged inside the angle adjustment seat (4); a rotary adjustment seat (6) is installed at the end of the composite telescopic frame (5); a picking claw (7) is installed on the side of the rotary adjustment seat (6); and an air blowing structure (8) is arranged on the outer side of the picking claw (7).

2. A portable dual-arm robot system according to claim 1, characterized in that: The rotary lifting base (1) comprises a base plate (19), a guide tube (11) is installed on the surface of the base plate (19), an inner tube (12) is slidably installed inside the guide tube (11), a bearing seat (13) is installed on the side of the inner tube (12) above the guide tube (11), the bottom end of the bearing seat (13) is connected to the surface of the base plate (19) through an electric push rod (15), and retaining rings (14) are installed on the outside of the inner tube (12) above and below the bearing seat (13).

3. A portable dual-arm robot system according to claim 2, characterized in that: A servo motor 1 (16) is installed at the bottom end of the guide tube (11); the output shaft of the servo motor 1 (16) is connected to a connecting shaft (17) via a coupling; a clamping seat (18) is installed in the inner tube (12); a clamping hole is provided inside the clamping seat (18) at a position corresponding to the connecting shaft (17).

4. A portable dual-arm robot system according to claim 1, characterized in that: The mounting frame (3) comprises a fixed tube (31) mounted on the side of the inner tube (12); a pad (32) is mounted on the bottom end of the fixed tube (31); a servo motor 2 (33) is mounted on the surface of the pad (32); an output shaft of the servo motor 2 (33) passes through and extends to the outside of the fixed tube (31); a beam tube (34) is mounted on the fixed tube (31) at a position corresponding to the output shaft of the servo motor 2 (33); and connection holes (35) are distributed on the side of the output shaft of the servo motor 2 (33).

5. A portable dual-arm robot system according to claim 4, characterized in that: The angle adjustment seat (4) comprises a mouth frame (41), the side of the mouth frame (41) being connected to the outside of the bundle tube (34) via a bearing 1 (43), an opening (44) being provided on the side of the mouth frame (41) at a position corresponding to the connection hole (35), a fixing bolt (45) arranged inside the connection hole (35) being installed inside the opening (44), a limiting tube (46) being installed inside the mouth frame (41), and a boss (47) being installed on the side of the limiting tube (46).

6. A portable dual-arm robot system according to claim 5, characterized in that: The composite telescopic frame (5) comprises a sliding tube (51) slidably mounted inside a limiting tube (46); a groove (52) is provided on one side of the sliding tube (51) at a position corresponding to the boss (47); a rack (53) is provided on the other side of the sliding tube (51); a connecting groove (48) is provided on the limiting tube (46) at a position corresponding to the rack (53); a servo motor (54) is installed outside the mouth frame (41); an output shaft of the servo motor (54) penetrates and extends The sliding tube (51) is provided with a second electric push rod (57), and the second electric push rod (57) extends to the inside of the mouth frame (41) and is connected to a rotating shaft (55). A gear (56) is installed on the side of the rotating shaft (55). The gear (56) is meshingly connected with the rack (53). The sliding tube (51) is provided with a second electric push rod (57). The end of the second electric push rod (57) passes through and extends to the outside of the sliding tube (51) and is connected to a connecting box (58). The connecting box (58) is provided with an auxiliary rod (59) which is slidably installed in the tube wall of the sliding tube (51).

7. A portable dual-arm robot system according to claim 6, characterized in that: The rotary adjustment seat (6) comprises a servo motor four (61) installed inside the connection box (58), the output shaft of the servo motor four (61) passes through and extends to the outside of the connection box (58) and is connected to a U-shaped connection seat (62), and the rear side of the U-shaped connection seat (62) is connected to the side of the connection box (58) via a bearing two (63).

8. A portable dual-arm robot system according to claim 7, characterized in that: The picking claw (7) comprises a fixing box (71), the fixing box (71) being connected to the U-shaped connecting seat (62) via a connecting pin (65), a partition (72) being installed inside the fixing box (71), a gear connecting seat (73) being installed inside one side of the partition (72), two meshing gears being fixed inside the gear connecting seat (73) via two mounting shafts, grabbing teeth (74) being installed at the bottom ends of the two gears, and one of the two mounting shafts passing through and extending to the top of the partition (72) and being connected to a servo motor five (75).

9. A portable dual-arm robot system according to claim 8, characterized in that: An extension plate (76) is installed on the side of the fixing box (71) inside the U-shaped connecting seat (62), and fixing plates (77) are installed at the top and bottom of the U-shaped connecting seat (62) at positions corresponding to the extension plate (76). A tension pressure sensor (79) is installed on the surface of the fixing plate (77) corresponding to the extension plate (76), and the tension pressure sensor (79) is connected to the fixing plate (77) via a spring (78); Soft balls (710) are distributed on corresponding surfaces of the two grabbing teeth (74).

10. A portable dual-arm robot system according to claim 8, characterized in that: The air blowing structure (8) comprises an air pump (83) mounted on the side of the U-shaped connecting seat (62), and air outlets (81) are provided on the separated surfaces of the grab teeth (74), and the air outlets (81) are connected to the air pump (83) via a conduit (82).

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