Picking robot
By designing a picking robot that includes mobile components, support components, bracket components, sliding components and grab components, the problem that existing picking robots cannot adapt to the actual working conditions of facility agriculture is solved, and efficient movement in a narrow space is achieved and picking improves agricultural production efficiency.
Patent Information
- Application Number
- CN202421086673.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-19
- Publication Date
- 2025-02-14
- Estimated Expiration
- 2034-05-19
AI Technical Summary
Existing picking robots cannot be effectively used in facility agriculture with narrow ground space and rugged roads, and cannot adapt to the actual working conditions of facility agriculture.
A picking robot is designed, including moving components, support components, bracket components, sliding components and grab components. Through the combination and collaborative work of these components, the robot can move and pick the robot in a narrow space.
The picking robot can efficiently move and pick in a narrow space, adapt to a variety of working conditions, improve agricultural production efficiency and reduce labor intensity.
Smart Images
Figure CN222465398U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robots, and in particular relates to a picking robot. Background Art
[0002] With the development of society, mechanical equipment is used to replace manual labor in many occasions. Machines have many advantages in replacing humans, especially in agricultural scenarios. With the aging of the population and the acceleration of urbanization, the rural labor force has gradually decreased, resulting in a labor shortage in agricultural production. The use of picking robots can fill this gap and improve agricultural production efficiency.
[0003] Existing harvesting robots basically perform harvesting operations on spacious, hardened ground. Therefore, existing agricultural harvesting robots cannot be well used in facility agriculture with narrow ground space and rugged roads, and cannot adapt to the actual working conditions of facility agriculture.
[0004] Therefore, it is urgent to design a picking robot to solve the above-mentioned problems. Summary of the invention
[0005] The purpose of the utility model is to provide a picking robot, which has the advantages of being able to be used in a narrow space and adaptable to a variety of working conditions, and solves the problems mentioned in the background technology.
[0006] To achieve the above purpose, a specific technical solution of a picking robot of the utility model is as follows:
[0007] A picking robot comprises a moving component and a supporting component. The moving component is used for the movement of the robot. The supporting component is arranged above the moving component, and a picking frame can be placed on the supporting component. A bracket component is vertically arranged on the moving component, and the bracket component can rotate relative to the moving component. A vertical sliding component is arranged on the bracket component, and the vertical sliding component can slide relative to the bracket component. A transverse sliding component is arranged on the vertical sliding component, and the transverse sliding component can slide relative to the vertical sliding component. The sliding direction of the transverse sliding component is perpendicular to the sliding direction of the vertical sliding component. A grabbing component is arranged on the transverse sliding component, and the grabbing component can rotate relative to the transverse sliding component. The grabbing component can grab the picking frame and place it on the supporting component, or can grab the picked objects and place them in the picking frame located on the supporting component.
[0008] Furthermore, a first rotating motor is provided on the moving component, and the output end of the first rotating motor is fixedly connected to the first bevel gear, and the bottom end of the bracket component is fixedly connected to the second bevel gear through the gear shaft, and the first bevel gear is meshed with the second bevel gear. The first rotating motor can drive the bracket component to rotate relative to the moving component through the first bevel gear and the second bevel gear.
[0009] Furthermore, the vertical sliding assembly includes a first sliding assembly and a second sliding assembly. The first sliding assembly can slide relative to the bracket assembly, and the second sliding assembly can slide relative to the first sliding assembly. The sliding directions of the first sliding assembly and the second sliding assembly are located on the same axis. The transverse sliding assembly is arranged on the second sliding assembly to increase the effective working range of the grabbing assembly.
[0010] Furthermore, the first sliding assembly includes a first sliding frame and a first rack, the first sliding frame is slidably connected to the bracket assembly, the first sliding frame is fixedly connected to a first motor, an output end of the first motor is fixedly connected to a first gear, the first gear is meshed with the first rack, the first rack is fixedly connected to the bracket assembly, the first motor can drive the first sliding frame to slide vertically relative to the bracket assembly through the first gear and the first rack, and the first sliding frame is connected to the second sliding assembly.
[0011] Furthermore, the second sliding assembly includes a second rack and a second sliding frame, the second rack is fixedly connected to the first sliding frame, the second sliding frame is slidably connected to the second rack, the second sliding frame is fixedly connected to a second motor, the output end of the second motor is fixedly connected to a second gear, the second gear is meshed with the second rack, the second motor can drive the second sliding frame to slide vertically relative to the first sliding assembly through the second gear and the second rack, and the second sliding frame is connected to the horizontal sliding assembly.
[0012] Furthermore, the transverse sliding assembly includes a third rack and a third sliding frame, the third rack is fixedly connected to the second sliding frame, the third sliding frame is slidably connected to the third rack, the third sliding frame is fixedly connected to a third motor, the output end of the third motor is fixedly connected to a third gear, the third gear is meshed with the third rack, the third motor can drive the third sliding frame to slide transversely relative to the second sliding assembly through the third gear and the third rack, and the third sliding frame is connected to the grabbing assembly.
[0013] Furthermore, the third sliding frame is fixedly connected to a connecting frame, the connecting frame is fixedly connected to a second rotating motor, the output end of the second rotating motor is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to the connecting frame, the rotating shaft is fixedly connected to the grabbing assembly, and the second rotating motor can drive the grabbing assembly to rotate relative to the horizontal sliding assembly through the rotating shaft.
[0014] Furthermore, the grasping assembly includes a first jaw and a second jaw, and the inner sides of the first jaw and the second jaw are provided with a clamping groove, which can be engaged with the picking frame or the picked object. The first jaw and the second jaw can move toward or away from each other to change the distance between the first jaw and the second jaw, so as to achieve clamping of the picking frame or the picked object.
[0015] Furthermore, the supporting assembly includes a supporting frame, which is fixedly arranged above the moving assembly, and the picking frame can be accommodated in the supporting frame.
[0016] Furthermore, the moving component includes a first moving wheel and a second moving wheel. The first moving wheel is fixedly connected to the output end of the first moving motor, and the second moving wheel is fixedly connected to the output end of the second moving motor. When the robot is in a straight-moving state, the first moving wheel and the second moving wheel have the same rotation direction. When the robot is in a turning state, the first moving wheel and the second moving wheel have opposite rotation directions.
[0017] The utility model has the following advantages: a high degree of automation, which can replace manual handling of picking frames and manual picking of picked objects, thereby reducing the labor intensity of pickers; at the same time, by means of a supporting component arranged on the moving component, the picking robot can carry the picking frame, thereby greatly improving the picking efficiency and further reducing the labor intensity of the pickers. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 The overall structure of the picking robot of the utility model is shown in FIG. Figure 1 ;
[0019] Figure 2 The overall structure of the picking robot of the utility model is shown in FIG. Figure 2 ;
[0020] Figure 3 It is a structural schematic diagram of the first sliding assembly of the utility model;
[0021] Figure 4 It is a structural schematic diagram of the second sliding assembly of the utility model;
[0022] Figure 5 This is a schematic diagram of the structure of the transverse sliding assembly of the utility model;
[0023] Figure 6 This is a schematic diagram of the structure of the connecting frame and the rotating shaft of the utility model;
[0024] Figure 7 It is a structural schematic diagram of the grabbing assembly of the utility model;
[0025] Markings in the figure are as follows: 1. Moving assembly; 11. First moving wheel; 12. Second moving wheel; 2. Supporting assembly; 21. Supporting frame; 22. Bracket assembly; 3. First sliding assembly; 31. First rack; 32. First motor; 33. First sliding frame; 34. First gear; 4. Second sliding assembly; 41. Second rack; 42. Second motor; 43. Second sliding frame; 44. Second gear; 5. Horizontal sliding assembly; 51. Third rack; 52. Third motor; 53. Third sliding frame; 54. Third gear; 55. Connecting frame; 56. Rotating shaft; 6. Grasping assembly; 61. First clamp; 62. Second clamp; 63. Clamping groove; 7. Picking frame. DETAILED DESCRIPTION
[0026] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.
[0027] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.
[0028] Please refer to the attached Figure 1 To Attachment Figure 7 The utility model describes a picking robot.
[0029] At present, the existing harvesting robots basically perform harvesting operations on spacious and hardened ground. Therefore, the existing agricultural harvesting robots cannot be well used in facility agriculture with narrow ground space and rugged roads, and cannot adapt to the actual working conditions of facility agriculture.
[0030] Therefore, the robot includes a moving component 1 and a supporting component 2. The moving component 1 is used for the movement of the robot. The supporting component 2 is arranged above the moving component 1, and the supporting component 2 can place a picking frame 7. A bracket component 22 is vertically arranged on the moving component 1, and the bracket component 22 can rotate relative to the moving component 1. A vertical sliding component is arranged on the bracket component 22, and the vertical sliding component can slide relative to the bracket component 22. A transverse sliding component 5 is arranged on the vertical sliding component, and the transverse sliding component 5 can slide relative to the vertical sliding component. The sliding direction of the transverse sliding component 5 is perpendicular to the sliding direction of the vertical sliding component. A grabbing component 6 is arranged on the transverse sliding component 5, and the grabbing component 6 can rotate relative to the transverse sliding component 5. The grabbing component 6 can grab the picking frame 7 and place it on the supporting component 2, or can grab the picked objects and place them in the picking frame 7 located on the supporting component 2.
[0031] By setting up the moving component 1, the robot can move straight and turn; by setting up the bracket component 22, the robot's vertical sliding component, transverse sliding component 5 and grabbing component 6 can rotate relative to the moving component 1; by setting up the vertical sliding component, the robot's transverse sliding component 5 and grabbing component 6 can slide relative to the bracket component 22; by setting up the transverse sliding component 5, the robot's grabbing component 6 can slide laterally relative to the vertical sliding component; by setting up the grabbing component 6 to be rotatable, the robot can adapt to different working conditions and can grab under different working conditions; by setting up the grabbing component 6, the robot can place the grabbing and picking frame 7 on the supporting component 2 or the grabbable picking object can be placed in the picking frame 7 located on the supporting component 2.
[0032] A first rotating motor is provided on the moving component 1, and the output end of the first rotating motor is fixedly connected to a first bevel gear. The bottom end of the bracket component 22 is fixedly connected to a second bevel gear through a gear shaft. The first bevel gear is meshed with the second bevel gear. The first rotating motor can drive the bracket component 22 to rotate relative to the moving component 1 through the first bevel gear and the second bevel gear.
[0033] When the first rotating motor is started, the first bevel gear thereon rotates. Since the first bevel gear is meshed with the second bevel gear, the second bevel gear drives the bracket assembly 22 to rotate, so that the bracket assembly 22 can rotate relative to the movable assembly 1, and the rotation direction of the bracket assembly 22 is controlled by the rotation direction of the first rotating motor.
[0034] The vertical sliding assembly includes a first sliding assembly 3 and a second sliding assembly 4. The first sliding assembly 3 can slide relative to the bracket assembly 22, and the second sliding assembly 4 can slide relative to the first sliding assembly 3. The sliding directions of the first sliding assembly 3 and the second sliding assembly 4 are located on the same axis. The transverse sliding assembly 5 is arranged on the second sliding assembly 4 to increase the effective working range of the grabbing assembly 6.
[0035] The first sliding assembly 3 includes a first sliding frame 33 and a first rack 31. The first sliding frame 33 is slidably connected to the bracket assembly 22. The first motor 32 is fixedly connected to the first sliding frame 33. The output end of the first motor 32 is fixedly connected to the first gear 34. The first gear 34 is meshed with the first rack 31. The first rack 31 is fixedly connected to the bracket assembly 22. The first motor 32 can drive the first sliding frame 33 to slide vertically relative to the bracket assembly 22 through the first gear 34 and the first rack 31. The first sliding frame 33 is connected to the second sliding assembly 4.
[0036] By starting the first motor 32, the first gear 34 thereon rotates. Since the first gear 34 is meshed with the first rack 31, and the first rack 31 is fixedly connected to the bracket assembly 22, the first gear 34 slides relative to the first rack 31 while rotating, so that the first sliding frame 33 can slide up and down relative to the first rack 31, and the sliding direction of the first sliding frame 33 is controlled by the rotation direction of the first motor 32.
[0037] The second sliding assembly 4 includes a second rack 41 and a second sliding frame 43. The second rack 41 is fixedly connected to the first sliding frame 33. The second sliding frame 43 is slidably connected to the second rack 41. A second motor 42 is fixedly connected to the second sliding frame 43. A second gear 44 is fixedly connected to the output end of the second motor 42. The second gear 44 is meshed with the second rack 41. The second motor 42 can drive the second sliding frame 43 to slide vertically relative to the first sliding assembly 3 through the second gear 44 and the second rack 41. The second sliding frame 43 is connected to the transverse sliding assembly 5.
[0038] By starting the second motor 42, the second gear 44 thereon rotates. Since the second gear 44 is meshed with the second rack 41, and the second rack 41 is fixedly connected to the first sliding frame 33, the second gear 44 slides relative to the second rack 41 while rotating, so that the second sliding frame 43 can slide up and down relative to the second rack 41, and the sliding direction of the second sliding frame 43 is controlled by the rotation direction of the second motor 42.
[0039] The transverse sliding assembly 5 includes a third rack 51 and a third sliding frame 53. The third rack 51 is fixedly connected to the second sliding frame 43. The third sliding frame 53 is slidably connected to the third rack 51. The third sliding frame 53 is fixedly connected to the third motor 52. The output end of the third motor 52 is fixedly connected to the third gear 54. The third gear 54 is meshed with the third rack 51. The third motor 52 can drive the third sliding frame 53 to slide transversely relative to the second sliding assembly 4 through the third gear 54 and the third rack 51. The third sliding frame 53 is connected to the grabbing assembly 6.
[0040] By starting the third motor 52, the third gear 54 thereon rotates. Since the third gear 54 is meshed with the third rack 51, and the third rack 51 is fixedly connected to the second sliding frame 43, the third gear 54 slides relative to the third rack 51 while rotating, so that the third sliding frame 53 can slide laterally relative to the third rack 51, and the sliding direction of the third sliding frame 53 is controlled by the rotation direction of the third motor 52.
[0041] The third sliding frame 53 is fixedly connected to a connecting frame 55, and a second rotating motor is fixedly connected to the connecting frame 55. A rotating shaft 56 is fixedly connected to the output end of the second rotating motor. The rotating shaft 56 is rotatably connected to the connecting frame 55, and the rotating shaft 56 is fixedly connected to the grabbing assembly 6. The second rotating motor can drive the grabbing assembly 6 to rotate relative to the transverse sliding assembly 5 via the rotating shaft 56.
[0042] By starting the second rotating motor, the rotating shaft 56 can drive the grabbing assembly 6 to rotate relative to the connecting frame 55 to change the angle of the grabbing assembly 6 .
[0043] The grabbing assembly 6 includes a first clamping jaw 61 and a second clamping jaw 62. The inner sides of the first clamping jaw 61 and the second clamping jaw 62 are provided with a clamping groove 63. The clamping groove 63 can be clamped with the picking frame 7 or the picked object. The first clamping jaw 61 and the second clamping jaw 62 can move toward or away from each other to change the distance between the first clamping jaw 61 and the second clamping jaw 62, so as to clamp the picking frame 7 or the picked object.
[0044] The first clamping jaw 61 and the second clamping jaw 62 are both provided with teeth, and a gear is provided between the first clamping jaw 61 and the second clamping jaw 62. The gear is meshed with the teeth on the first clamping jaw 61 and the second clamping jaw 62. The gear is connected to an external power source, and a motor can be selected, so that when the motor rotates, the first clamping jaw 61 and the second clamping jaw 62 can move toward or away from each other.
[0045] The supporting assembly 2 includes a supporting frame 21 , which is fixedly disposed above the moving assembly 1 , and the picking frame 7 can be accommodated in the supporting frame 21 .
[0046] Preferably, the specific number of the support brackets 21 is three, the central support bracket 21 is in a straight state, and the other two support brackets 21 are in an inclined state. In other embodiments of the utility model, the specific number of the support brackets 21 may also be multiple.
[0047] The moving component 1 includes a first moving wheel 11 and a second moving wheel 12. The first moving wheel 11 is fixedly connected to the output end of the first moving motor, and the second moving wheel 12 is fixedly connected to the output end of the second moving motor. When the robot is in a straight-moving state, the first moving wheel 11 and the second moving wheel 12 have the same rotation direction. When the robot is in a turning state, the first moving wheel 11 and the second moving wheel 12 have opposite rotation directions.
[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.
Claims
1. A picking robot, characterized in that: It includes a moving component and a supporting component. The moving component is used for the movement of the robot. The supporting component is arranged above the moving component, and the supporting component can place a picking frame. A bracket component is vertically arranged on the moving component, and the bracket component can rotate relative to the moving component. A vertical sliding component is arranged on the bracket component, and the vertical sliding component can slide relative to the bracket component. A transverse sliding component is arranged on the vertical sliding component, and the transverse sliding component can slide relative to the vertical sliding component. The sliding direction of the transverse sliding component is perpendicular to the sliding direction of the vertical sliding component. A grabbing component is arranged on the transverse sliding component, and the grabbing component can rotate relative to the transverse sliding component. The grabbing component can grab the picking frame and place it on the supporting component, or can grab the picked objects and place them in the picking frame located on the supporting component.
2. The harvesting robot according to claim 1, characterized in that: A first rotating motor is provided on the moving component, and the output end of the first rotating motor is fixedly connected to the first bevel gear. The bottom end of the bracket component is fixedly connected to the second bevel gear through a gear shaft. The first bevel gear is meshed with the second bevel gear. The first rotating motor can drive the bracket component to rotate relative to the moving component through the first bevel gear and the second bevel gear.
3. The harvesting robot according to claim 1, characterized in that: The vertical sliding assembly includes a first sliding assembly and a second sliding assembly. The first sliding assembly can slide relative to the bracket assembly, and the second sliding assembly can slide relative to the first sliding assembly. The sliding directions of the first sliding assembly and the second sliding assembly are located on the same axis. The transverse sliding assembly is arranged on the second sliding assembly to increase the effective working range of the grabbing assembly.
4. The harvesting robot according to claim 3, characterized in that: The first sliding assembly includes a first sliding frame and a first rack. The first sliding frame is slidably connected to the bracket assembly. The first sliding frame is fixedly connected to the first motor. The output end of the first motor is fixedly connected to the first gear. The first gear is meshed with the first rack. The first rack is fixedly connected to the bracket assembly. The first motor can drive the first sliding frame to slide vertically relative to the bracket assembly through the first gear and the first rack. The first sliding frame is connected to the second sliding assembly.
5. The harvesting robot according to claim 3 or 4, characterized in that: The second sliding assembly includes a second rack and a second sliding frame, the second rack is fixedly connected to the first sliding frame, the second sliding frame is slidably connected to the second rack, the second sliding frame is fixedly connected to a second motor, the output end of the second motor is fixedly connected to a second gear, the second gear is meshed with the second rack, the second motor can drive the second sliding frame to slide vertically relative to the first sliding assembly through the second gear and the second rack, and the second sliding frame is connected to the transverse sliding assembly.
6. The harvesting robot according to claim 5, characterized in that: The transverse sliding assembly includes a third rack and a third sliding frame. The third rack is fixedly connected to the second sliding frame. The third sliding frame is slidably connected to the third rack. The third sliding frame is fixedly connected to a third motor. The output end of the third motor is fixedly connected to a third gear. The third gear is meshed with the third rack. The third motor can drive the third sliding frame to slide transversely relative to the second sliding assembly through the third gear and the third rack. The third sliding frame is connected to the grabbing assembly.
7. The harvesting robot according to claim 6, characterized in that: The third sliding frame is fixedly connected to a connecting frame, and the connecting frame is fixedly connected to a second rotating motor. The output end of the second rotating motor is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to the connecting frame, and the rotating shaft is fixedly connected to the grabbing assembly. The second rotating motor can drive the grabbing assembly to rotate relative to the horizontal sliding assembly through the rotating shaft.
8. The harvesting robot according to claim 7, characterized in that: The grabbing assembly includes a first clamping jaw and a second clamping jaw, and the inner sides of the first clamping jaw and the second clamping jaw are provided with clamping grooves, which can be engaged with a picking frame or a picked object. The first clamping jaw and the second clamping jaw can move toward or away from each other to change the distance between the first clamping jaw and the second clamping jaw, so as to clamp the picking frame or the picked object.
9. The harvesting robot according to claim 1, characterized in that: The supporting component comprises a supporting frame, which is fixedly arranged above the moving component, and the picking frame can be accommodated in the supporting frame.
10. The harvesting robot according to claim 1, characterized in that: The moving component includes a first moving wheel and a second moving wheel. The first moving wheel is fixedly connected to the output end of the first moving motor, and the second moving wheel is fixedly connected to the output end of the second moving motor. When the robot is in a straight-moving state, the first moving wheel and the second moving wheel have the same rotation direction. When the robot is in a turning state, the first moving wheel and the second moving wheel have opposite rotation directions.