Telescopic apple picking robot

Abstract

The utility model provides a telescopic apple picking robot. The telescopic apple picking robot comprises a power chassis, a rotating platform, a lifting platform, a telescopic mechanical arm, an electric push rod, an end effector, a balancing weight, a depth camera and a control cabinet. The lifting platform is connected with the power chassis through a rotating platform; the telescopic mechanical arm is mounted at the upper end of the lifting platform; the electric push rod is mounted at the upper end of the telescopic mechanical arm; the end effector is mounted at the front end of the telescopic mechanical arm; the balancing weight is mounted at the tail end of the telescopic mechanical arm; the depth camera is mounted at the upper end of the balancing weight; the control cabinet and the rotating platform are installed on the power chassis side by side, and the control cabinet is composed of a battery pack and a controller. The telescopic linear motion structure is used for replacing a traditional six-axis industrial mechanical arm to conduct picking operation, the operation space of the robot is expanded, the occupied space of the robot when the robot is static is reduced, and the possibility that the robot collides with branches and trunks is reduced.

Description

Technical Field

[0001] The utility model relates to the field of orchard picking robots, in particular to a telescopic apple picking robot. Background Art

[0002] my country is the world's largest apple producer and consumer. Apple picking is mainly done manually, which is labor-intensive, inefficient and labor-intensive. Existing apple picking robots mostly use six-axis industrial robotic arms, which are complex in structure, expensive, and have limited working space. They are prone to collision with tree branches and trunks, causing damage to the fruit, thereby reducing the quality and efficiency of picking, which is not conducive to further promotion. Summary of the invention

[0003] In order to solve the above problems, the utility model provides a telescopic apple picking robot to improve the apple picking efficiency and reduce the cost.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A telescopic apple picking robot comprises: a power chassis, a rotating platform, a lifting platform, a telescopic mechanical arm, an end effector, a counterweight, a depth camera, and a control cabinet. The lifting platform is connected to the power chassis through the rotating platform, and can realize 180° rotation and lifting action; the telescopic mechanical arm is installed at the upper end of the lifting platform; the electric push rod is installed at the upper end of the telescopic mechanical arm, which is used to control the extension and retraction of the mechanical arm; the end effector is installed at the front end of the telescopic mechanical arm, which is used to pick apples; the counterweight is installed at the end of the telescopic mechanical arm, which is used to keep the robot balanced; the depth camera is installed at the upper end of the counterweight, which is used to identify and locate apples; the control cabinet is installed side by side with the rotating platform on the power chassis, and the control cabinet consists of a battery pack and a controller, which is responsible for controlling the picking robot and providing power.

[0006] The effective gain of the utility model is:

[0007] The utility model provides a telescopic apple picking robot, which is improved on the basis of a cylindrical coordinate robot and uses a telescopic linear motion structure instead of a traditional six-axis industrial robot arm to perform picking operations, thereby expanding the robot's working space, reducing the space occupied by the robot when it is stationary, reducing the possibility of collision between the robot and tree branches and trunks, and improving the picking quality and efficiency of the apple picking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The utility model is further described below in conjunction with the accompanying drawings:

[0009] Figure 1 This is a schematic diagram of the structure of a telescopic apple picking robot of the utility model;

[0010] Figure 2 This is a schematic diagram of a telescopic apple picking robot in a stationary state according to the utility model;

[0011] Figure 3 This is a schematic diagram of a telescopic apple picking robot of the utility model in working state;

[0012] Figure 4 The utility model is a schematic diagram of the picking space of a telescopic apple picking robot.

[0013] In the figure: 1. Power chassis; 2. Rotating platform; 3. Lifting platform; 4. Telescopic robotic arm; 5. Electric push rod; 6. End effector; 7. Counterweight; 8. Depth camera; 9. Control cabinet. DETAILED DESCRIPTION

[0014] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments:

[0015] like Figure 1 As shown, a telescopic apple picking robot is characterized by mainly comprising a power chassis (1), a rotating platform (2), a lifting platform (3), a telescopic mechanical arm (4), an electric push rod (5), an end effector (6), a counterweight (7), a depth camera (8), and a control cabinet (9).

[0016] like Figure 1 As shown, a telescopic apple picking robot is characterized in that: the lifting platform (3) is connected to the power chassis (1) via a rotating platform (2), and the rotating platform (2) drives the lifting platform (3) to achieve 180° rotation; the telescopic mechanical arm (4) is installed on the upper end of the lifting platform (3), and the lifting platform (3) drives the telescopic mechanical arm (4) to complete the lifting action; the electric push rod (5) is installed on the upper end of the telescopic mechanical arm (4) and is used to control the telescopic mechanical arm (4) to complete the telescopic action; the end effector (6) is installed at the front end of the telescopic mechanical arm (4) and can follow the telescopic mechanical arm ( 4) movement, and when the movement reaches the target position of the apple, the apple fruit is picked; the counterweight (7) is installed at the end of the telescopic mechanical arm (4) to maintain the overall balance of the robot and prevent the machine from tipping over; the depth camera (8) is installed on the upper end of the counterweight (7) and is mainly used for identifying and locating the apple fruit; the control cabinet (9) and the rotating platform (2) are installed side by side on the power chassis (1); the control cabinet (9) is composed of a battery pack and a controller, which are respectively connected to the rotating platform, the lifting platform, the electric push rod, the end effector and the depth camera, and is responsible for controlling the picking robot and providing overall power.

[0017] like Figure 2As shown, when the robot is stationary, the control cabinet (9) is closed, the lifting platform (3) and the telescopic mechanical arm (4) are retracted to the initial position and aligned with the power chassis (1).

[0018] The working principle of this utility model:

[0019] like Figure 3 As shown, when the robot is working, the control cabinet (9) is turned on to power on the robot as a whole, and the rotating platform (2) is controlled to drive the lifting platform and the like to rotate 90 degrees, so that the depth camera (8) is facing the apple tree. Then, the control cabinet (9) obtains the apple coordinate information (α, y, z) through the depth camera (8), and successively controls the rotation of the rotating platform (2), the lifting of the lifting platform (3), and the extension and retraction of the electric push rod (5), so that the telescopic mechanical arm (4) drives the end effector (6) to reach the apple coordinate position, and finally controls the end effector (6) to complete the apple picking action.

[0020] In addition, in all descriptions of the present utility model, unless otherwise specified, the terms "connected" and "connected" should be understood in a broad sense and may represent all connection methods in the prior art that do not affect normal operation. The directional words "up", "down", "left", "right", etc. only refer to the relative position relationship between adjacent components.

[0021] The structure and working principle of the utility model are explained above with specific embodiments. The technical scope of the utility model is not limited to the contents of the specification. Any modifications and equivalent substitutions made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A telescopic apple picking robot, characterized in that: The invention mainly comprises a power chassis (1), a rotating platform (2), a lifting platform (3), a telescopic mechanical arm (4), an electric push rod (5), an end effector (6), a counterweight (7), a depth camera (8), and a control cabinet (9). The lifting platform (3) is connected to the power chassis (1) via the rotating platform (2); the telescopic mechanical arm (4) is mounted on the upper end of the lifting platform (3); the electric push rod (5) is mounted on the upper end of the telescopic mechanical arm (4); the end effector (6) is mounted on the front end of the telescopic mechanical arm (4); the counterweight (7) is mounted at the end of the telescopic mechanical arm (4); the depth camera (8) is mounted on the upper end of the counterweight (7); and the control cabinet (9) and the rotating platform (2) are mounted side by side on the power chassis.

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