Wolfberry picking double-arm robot
By designing a dual-arm robot for harvesting goji berries, and utilizing components such as robotic arms, telescopic arms, and sensors, the robot achieves precise harvesting of fresh goji berries, solving the problem of poor force control in existing technologies and improving harvesting efficiency and fruit integrity.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANDONG ZHIYUN EQUIPMENT TECHNOLOGY CO LTD
- Filing Date
- 2025-05-12
- Publication Date
- 2026-04-10
AI Technical Summary
Existing goji berry harvesting equipment struggles to precisely control the harvesting force, resulting in fresh goji berries being easily flattened, leading to low harvesting efficiency and high costs, which hinders the development of the goji berry industry.
A dual-arm robot for picking goji berries was designed, which uses components such as a robotic arm, telescopic arm assembly, motor, infrared sensor and pressure sensor. Through multi-joint control and suction nozzle adsorption, combined with a vertical movement unit, it can achieve precise picking and force control.
It enables precise harvesting of fresh goji berries, avoids damage to the fruit, improves harvesting efficiency and flexibility, and is suitable for harvesting needs at different angles and vertical ranges.
Smart Images
Figure CN224098264U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent robots, in particular to a dual-arm robot for picking wolfberry. BACKGROUND
[0002] The content of this part only provides background information related to the present application, which may not constitute prior art.
[0003] Wolfberry picking is generally done manually. In recent years, some wolfberry picking devices have also been developed, but the picking effect is not ideal: the world's first wolfberry picking machine prototype was born in South Korea. This picking machine uses a vibration principle, and the fruit picking head has a large contact area with the tree. It belongs to extensive picking in terms of picking and classification. The development of the wolfberry picking machine is positioned on large-scale, fully automatic picking machines, which are in the concept machine state.
[0004] However, with the expansion of wolfberry planting scale, the mechanized picking of wolfberry has always been a problem. The picking of fresh fruit in mountainous areas planted with wolfberry has always relied on manual labor, with low picking efficiency and high picking cost. With the continuous expansion of wolfberry planting area, fruit picking workers will be in short supply, and the subsequent picking cost will continue to rise. The picking problem has become a bottleneck restricting the continuous development of the wolfberry industry.
[0005] The existing intelligent machines are difficult to control the picking force of fresh wolfberry. Fresh wolfberry is tender, and improper grabbing can easily crush the fruit flesh. Therefore, it is particularly important to design a robot for picking fresh wolfberry. Currently, there are few technologies for picking fresh wolfberry. Content of the utility model
[0006] Therefore, the purpose of the present application is to provide an intelligent mechanical arm that can reasonably ensure the picking force and accurately pick, in order to overcome the technical gap in the current picking of fresh wolfberry.
[0007] The purpose of the present application is achieved by the following technical solutions:
[0008] A dual-arm robot for picking wolfberry, comprising:
[0009] A manipulator, the manipulator is oppositely arranged, the manipulator comprises a mounting seat, a first swing arm, a second swing arm, a third swing arm and a servo motor, the mounting seat, the first swing arm, the second swing arm and the third swing arm are rotatably connected through a rotary joint, the servo motor is connected with the rotary joint, the third swing arm is provided with a suction nozzle at the end, the mounting seat is provided with a vacuum pumping device, and the vacuum pumping device is connected with the suction nozzle through a connecting pipe;
[0010] The telescopic arm assembly comprises a manipulator mounting arm, a sliding table front swing arm, a sliding table rear swing arm, and a fixed seat, wherein the mounting hole is arranged at the center of the manipulator mounting arm, at both sides of the sliding table front swing arm and the sliding table rear swing arm, and at the end of the fixed seat; the fixed seat is rotationally connected with the sliding table rear swing arm; the sliding table front swing arm is rotationally connected with the sliding table rear swing arm; and the sliding table front swing arm is rotationally connected with the manipulator mounting arm.
[0011] The motor is used to drive the mutual rotation of the manipulator mounting arm, the sliding table front swing arm, the sliding table rear swing arm, and the fixed seat.
[0012] In some possible embodiments, the manipulator mounting arm, the sliding table front swing arm, the sliding table rear swing arm, and the fixed seat are stacked two by two, and the connecting flange is arranged in the mounting hole below.
[0013] In some possible embodiments, the motor comprises a first motor, a second motor, and a third motor, the shroud of the motor is fixedly connected with the upper surface of the manipulator mounting arm, the sliding table front swing arm, and the sliding table rear swing arm respectively, and the output shaft of the motor is fixedly connected with the connecting flange.
[0014] In some possible embodiments, the shroud of the first motor is fixedly connected with the upper surface of the sliding table rear swing arm, the shroud of the second motor is fixedly connected with the upper surface of the sliding table front swing arm, and the shroud of the third motor is fixedly connected with the upper surface of the manipulator mounting arm.
[0015] In some possible embodiments, the infrared sensor and the pressure sensor are arranged at the suction nozzle.
[0016] In some possible embodiments, the bottom of the mounting seat is provided with a controller, and the controller is electrically connected with the servo motor, the motor, and the infrared sensor and the pressure sensor.
[0017] In some possible embodiments, the dual-arm robot further comprises a vertical movement unit, the vertical movement unit comprises a sliding rail, a sliding block, and a telescopic motor, the output shaft of the telescopic motor is fixedly connected with the sliding block, the sliding block is slidingly matched with the sliding rail, the fixed seat is provided with a threaded hole, and the fixed seat and the sliding block are fixedly connected through a screw.
[0018] In some possible embodiments, the dual-arm robot further comprises a power supply, and the power supply is electrically connected with the controller, the servo motor, the motor, and the infrared sensor and the pressure sensor.
[0019] The technical scheme of the embodiment has at least the following advantages and beneficial effects:
[0020] The telescopic arm assembly is utilized in the application, the telescopic arm assembly can flexibly regulate and control the telescopic length range of the mechanical hand, the working range of the mechanical hand is improved, and the mechanical hand is flexible and practical; through the multi-joint regulation and control of the mechanical hand, the mechanical hand can be completely operated at 360° in use, and the functional adaptability of the mechanical arm is indirectly enhanced, and the mechanical arm is suitable for picking fresh fruits at different angles; the suction nozzle can take the picked fresh fruits, the picked fresh fruits are guaranteed not to fall, the clamping force of the mechanical hand is controlled through the cooperation of the pressure sensor, and the picking operation of the fresh fruits is better satisfied; the vertical movement unit is arranged, the working range of the mechanical hand in the vertical distance is guaranteed, and the grabbing range of the fresh fruits is guaranteed. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 The overall structure schematic diagram of the goji picking dual-arm robot is provided for some embodiments of the application;
[0022] Figure 2 The left view of the goji picking dual-arm robot is provided for some embodiments of the application; Figure 1 The left view of the goji picking dual-arm robot is provided for some embodiments of the application;
[0023] Figure 3 The specific structure schematic diagram of the mechanical hand is provided for some embodiments of the application;
[0024] Figure 4 The specific structure schematic diagram of the mechanical hand is provided for some embodiments of the application; Figure 3 The specific structure schematic diagram of the mechanical hand is provided for some embodiments of the application;
[0025] Figure 5 The specific structure schematic diagram of the telescopic arm assembly is provided for some embodiments of the application;
[0026] Figure 6 The structure schematic diagram of the telescopic arm assembly from another perspective is provided for some embodiments of the application.
[0027] Figure legend: 1, mechanical hand; 11, mounting seat; 12, first swing arm; 13, second swing arm; 14, third swing arm; 15, suction nozzle; 16, infrared sensor; 17, pressure sensor; 2, telescopic arm assembly; 21, mechanical hand mounting arm; 22, front swing arm of sliding table; 23, rear swing arm of sliding table; 24, fixed seat; 3, motor; 31, first motor; 32, second motor; 33, third motor; 4, connecting flange. DETAILED DESCRIPTION
[0028] In order to make the purpose, technical scheme and advantages of the application more clear, the technical scheme of the application will be clearly and completely described below in combination with specific embodiments. The same reference signs in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the application, not all the embodiments. Based on the described embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the application.
[0029] Compared with the embodiments shown in the drawings, the feasible implementation solutions within the protection scope of the present application can have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, two or more components in the drawings can be implemented in a single component, or a single component shown in the drawings can be implemented as a plurality of separate components.
[0030] Please refer to Figures 1 to 6 , Figure 1 、 Figure 2 shows the overall structure schematic diagram of the goji picking double-arm robot provided by some embodiments of the present application, Figure 3 、 Figure 4 is a structure schematic diagram of a mechanical hand and a specific structure schematic diagram of a suction cup, Figure 5 、 Figure 6 is a specific structure schematic diagram of a telescopic arm assembly 2
[0031] The goji picking double-arm robot provided by the embodiments of the present application comprises: a mechanical hand 1, which is oppositely arranged. Referring to the drawings, Figure 1 The oppositely arranged mechanical hands 1 are arranged on the two sides of a mechanical hand mounting arm 21, and the two are symmetrically designed with respect to the central position of the mechanical hand mounting arm 21. The mechanical hand 1 comprises a mounting seat 11, a first swing arm 12, a second swing arm 13, a third swing arm 14, and a servo motor. The mounting seat 24, the first swing arm 12, the second swing arm 13, and the third swing arm 14 are rotationally connected through a rotary joint. The servo motor is connected with the rotary joint. The end of the third swing arm 14 is provided with a suction nozzle 15. A vacuumizing device is mounted in the mounting seat 11. The vacuumizing device is connected with the suction nozzle 15 through a connecting pipe. A telescopic arm assembly 2 comprises a mechanical hand mounting arm 21, a sliding table front swing arm 22, a sliding table rear swing arm 23, and a fixing seat 24. The central part of the mechanical hand mounting arm 21, the two sides of the sliding table front swing arm 22 and the sliding table rear swing arm 23, and the end of the fixing seat 24 are provided with mounting holes. The fixing seat 24 is rotationally connected with the sliding table rear swing arm 23. The sliding table front swing arm 22 is rotationally connected with the sliding table rear swing arm 23. The sliding table front swing arm 22 is rotationally connected with the mechanical hand mounting arm 21. A motor 3 is used to drive the mutual rotation between the mechanical hand mounting arm 21, the sliding table front swing arm 22, the sliding table rear swing arm 23, and the fixing seat 24. As shown in the drawings, the mechanical hand 1 of the goji picking double-arm robot provided by the embodiments of the present application is oppositely and side by side arranged on the two sides of the mechanical hand mounting arm 21, and the ends of the third swing arms 14 are oppositely arranged. The mechanical hand 1 has multiple degrees of freedom, and can realize the picking of goji of different dimensions under the control of the servo motor. The suction nozzle 15 can better adsorb fresh fruits under the working of the vacuumizing device, and ensure the stability during the movement. Under the holding of the double arms, the picked fresh goji is not easy to be crushed or flattened, and the integrity of the fruit flesh is ensured. Figure 1
[0032] Meanwhile, the mechanical arm mounting arm 21, the sliding table front swing arm 22, the sliding table rear swing arm 23 and the fixed seat 24 in the telescopic arm assembly 2 can be connected to each other for rotation, referring to the attached Figure 1 The rotation between the mechanical arm mounting arm 21 and the sliding table front swing arm 22 can help the mechanical arm rotate freely in 360° direction to meet the alignment requirements of fresh fruits at different positions, while the rotation between the sliding table front swing arm 22 and the sliding table rear swing arm 23 and the rotation between the sliding table rear swing arm 23 and the fixed seat 24 can adjust the stretching range of the mechanical arm 1 to meet the picking requirements in different ranges.
[0033] Specifically, the mechanical arm mounting arm 21, the sliding table front swing arm 22, the sliding table rear swing arm 23 and the fixed seat 24 are stacked two by two, referring to the attached Figure 1 In the above, the mechanical arm mounting arm 21, the sliding table front swing arm 22, the sliding table rear swing arm 23 and the fixed seat 24 are stacked from top to bottom, referring to the attached Figure 5 , the attached Figure 6 When the telescopic arm assembly 2 is stacked and discharged, the connecting flange 4 is arranged in the lower mounting hole thereof.
[0034] The motor includes a first motor 31, a second motor 32 and a third motor 33, the shields of the motors 3 are fixedly connected to the upper surfaces of the mechanical arm mounting arm 21, the sliding table front swing arm 22 and the sliding table rear swing arm 23 respectively, and the output shafts of the motors 3 are fixedly connected to the connecting flange 4, referring to the attached Figure 1 , the attached Figure 5 The shield of the first motor 31 is fixedly connected to the upper surface of the sliding table rear swing arm 23, and the output shaft of the corresponding first motor 31 is fixedly connected to the connecting flange 4 in the mounting hole of the fixed seat 24, when the first motor 31 works, the included angle between the fixed seat 24 and the sliding table rear swing arm 23 changes, similarly, the shield of the second motor 32 is fixedly connected to the upper surface of the sliding table front swing arm 22, and the output shaft of the corresponding second motor 32 is fixedly connected to the connecting flange 4 in the mounting hole of the sliding table rear swing arm 23, when the second motor 32 works, the included angle between the sliding table front swing arm 22 and the sliding table rear swing arm 23 changes, the shield of the third motor 33 is fixedly connected to the upper surface of the mechanical arm mounting arm 21, and the output shaft of the corresponding third motor 33 is fixedly connected to the connecting flange 4 in the mounting hole of the sliding table front swing arm 22, when the second motor 32 works, the included angle between the sliding table front swing arm 22 and the mechanical arm mounting arm 21 changes.
[0035] Furthermore, the device is provided with an infrared sensor 16 and a pressure sensor 17 at the suction nozzle 15, the infrared sensor 16 helps to lock the position of the fresh Chinese wolfberry, and the pressure sensor 17 can better control the clamping force of the mechanical arm to achieve accurate control and avoid damage to the fresh Chinese wolfberry due to poor force control during picking.
[0036] The bottom of the mounting seat 11 is provided with a controller, which is electrically connected with the servo motor, the motor 3, the infrared sensor 16 and the pressure sensor 17. The cooperation of the controller and the servo motor and the motor can better realize the position control of the mechanical hand. At the same time, the controller can better lock the position of the fresh fruit by means of the infrared sensor 16, so as to control and adjust the position of the mechanical hand and the telescopic arm assembly 2. The pressure sensor 17 can better transmit signals to the controller, so as to realize the force control of the double-arm by the controller, and avoid crushing the fresh fruit.
[0037] In some embodiments of the present application, the double-arm robot further comprises a vertical movement unit, which comprises a sliding rail, a sliding block and a telescopic motor. The output shaft of the telescopic motor is fixedly connected with the sliding block. The sliding block is in sliding cooperation with the sliding rail. The fixing seat 24 is provided with a threaded hole. The fixing seat 24 and the sliding block are fixedly connected through a screw. The vertical movement unit can ensure the movement distance of the mechanical hand in the vertical range, so as to improve the range of fresh fruit picking and better meet the actual demand.
[0038] Further, the telescopic motor is used to drive the sliding block to adjust the position in the vertical direction. The conventional ball screw can meet the demand of fixing and moving the sliding block. The moving end of the ball screw is fixed with the sliding block. The sliding block and the fixing seat 24 are fixedly connected through a screw, so as to meet the movement of the fixing seat 24 in the Z-axis direction.
[0039] In some possible embodiments, the double-arm robot further comprises a power supply, which is electrically connected with the controller, the servo motor, the motor and the infrared sensor 16 and the pressure sensor 17. The power supply can be a storage battery, which can enhance the flexibility of the device as a whole and be more suitable for picking demand in mountainous areas and other sections.
[0040] In some possible embodiments, in order to make the motors between the mechanical hands not occupy space, the motors are arranged below the telescopic arm assembly 2. In this way, the space above the telescopic arm assembly 2 can be saved, the branches of the wolfberry can pass through conveniently, and the picking work is more flexible. At this time, the connecting flange 4 is arranged in the mounting hole above the telescopic arm assembly 2 when it is stacked and discharged.
[0041] In use, the telescopic arm assembly 2 can flexibly regulate the telescopic length range of the mechanical arm, improve the operation range of the mechanical arm, and be flexible and practical; through the multi-joint regulation of the mechanical arm 1, the mechanical arm 1 can be completely operated at 360° in use, and the functional adaptability of the mechanical arm is indirectly enhanced, and the mechanical arm is suitable for picking fresh fruits at different angles; the suction nozzle 15 can pick up the picked fresh fruits, ensure that the fresh fruits are not dropped, the clamping force of the mechanical arm 1 is controlled through the cooperation of the pressure sensor 17, and the picking operation of the fresh fruits can be better satisfied; the vertical movement unit is arranged, the operation range of the mechanical arm 1 in the vertical distance is ensured, and the picking range of the fresh fruits is ensured.
[0042] The above is only a preferred embodiment of the present application and is not used to limit the present application. The present application can have various changes and variations for those skilled in the art. Specifically, the mechanical arm 1 can be composed of two to three swing arms, the telescopic arm assembly 2 can be composed of different numbers of swing arms according to the telescopic length requirement, and all are flexible deformation under the present application and belong to the protection range of the present application. Any modification, equivalent replacement, improvement, etc. made in the spirit and principle of the present application shall be included in the protection range of the present application.
Claims
1. A goji picking dual-arm robot, characterized in that, The utility model relates to a kind of double-arm robot, including: Mechanical hand (1), the mechanical hand (1) is oppositely arranged, the mechanical hand (1) includes mounting seat (11), first swing arm (12), second swing arm (13), third swing arm (14) and servo motor, the mounting seat (11), first swing arm (12), second swing arm (13) and third swing arm (14) are rotatably connected by rotating joint, the servo motor is connected with rotating joint, the third swing arm (14) end is equipped with suction nozzle (15), vacuumizing device is installed in the mounting seat (11), and the vacuumizing device is connected with suction nozzle (15) by connecting pipe; Telescopic arm assembly (2), the telescopic arm assembly (2) includes mechanical hand mounting arm (21), slide table front swing arm (22), slide table rear swing arm (23), fixed seat (24), the mechanical hand mounting arm (21) center, slide table front swing arm (22) and slide table rear swing arm (23) both sides, fixed seat (24) end is equipped with mounting hole, the fixed seat (24) is rotatably connected with slide table rear swing arm (23), and slide table front swing arm (22) is rotatably connected with slide table rear swing arm (23), and slide table front swing arm (22) is rotatably connected with mechanical hand mounting arm (21); Motor (3), the motor (3) is used to drive mechanical hand mounting arm (21), slide table front swing arm (22), slide table rear swing arm (23), fixed seat (24) between each other rotation.
2. The dual-arm robot for picking goji according to claim 1, characterized in that, The mechanical hand mounting arm (21), slide table front swing arm (22), slide table rear swing arm (23), fixed seat (24) are stacked two by two, and the mounting hole below is equipped with connecting flange (4).
3. The dual-arm robot for picking goji according to claim 2, characterized in that, The motor (3) includes first motor (31), second motor (32), third motor (33), the shield of the motor (3) is fixedly connected with the upper surface of mechanical hand mounting arm (21), slide table front swing arm (22), slide table rear swing arm (23) respectively, and the output shaft of the motor (3) is fixedly connected with connecting flange (4).
4. The dual-arm robot for picking goji according to claim 3, characterized in that, The shield of the first motor (31) is fixedly connected with the upper surface of slide table rear swing arm (23), the shield of the second motor (32) is fixedly connected with the upper surface of slide table front swing arm (22), and the shield of the third motor (33) is fixedly connected with the upper surface of mechanical hand mounting arm (21).
5. The dual-arm robot for picking goji according to claim 1, characterized in that, Infrared sensor (16) and pressure sensor (17) are arranged at the suction nozzle (15).
6. The dual-arm robot for picking goji according to claim 5, characterized in that, The bottom of the mounting seat (11) is equipped with controller, and the controller is electrically connected with servo motor, motor and infrared sensor (16), pressure sensor (17).
7. The dual-arm robot for picking goji according to claim 1, characterized in that, The double-arm robot further includes a vertical movement unit, the vertical movement unit includes a slide rail, a slide block and a telescopic motor, the output shaft of the telescopic motor is fixedly connected with the slide block, the slide block is slidingly connected with the slide rail, the fixed seat (24) is provided with a threaded hole, and the fixed seat (24) and the slide block are fixedly connected by a screw.
8. The dual-arm robot for picking goji according to claim 6, characterized in that, The double-arm robot further includes a power supply, and the power supply is electrically connected with the controller, the servo motor, the motor (3) and the infrared sensor (16) and the pressure sensor (17).