A multi-robot arm cooperative picking robot

Abstract

The utility model discloses a kind of picking robots of multi-mechanical arm cooperative operation, design agricultural robot technical field, the robot includes tracked vehicle body, central controller, the tracked vehicle body inside electric connection the central controller, the top of tracked vehicle body is connected with multiple mechanical arms, the mechanical arm is respectively located the four corners opposite of tracked vehicle body, one end of the mechanical arm is connected with mechanical claw, identification device is connected on the mechanical arm, the identification device is used to provide the grabbing field of view for the mechanical claw, the tracked vehicle body opposite two ends electric connection sensing device, the sensing device is used to position the tracked vehicle body, the top of tracked vehicle body is connected with collection device, the collection device is used to load picking, the two sides of tracked vehicle body are connected with inverted trapezoidal track. The utility model can solve the problem of low picking efficiency of robot in high-density, complex-terrain orchard in prior art.

Description

Technical Field

[0001] This utility model relates to the field of agricultural robot technology, specifically to a harvesting robot with multiple robotic arms working collaboratively. Background Technology

[0002] With the advancement of global agricultural modernization, the demand for automation in fruit and vegetable harvesting, a crucial link in the agricultural production chain, is becoming increasingly urgent. Especially in complex terrain areas such as hills and mountains, traditional manual harvesting faces multiple challenges, including labor shortages, rising costs, and low operational efficiency. Taking the Gannan navel orange producing area in my country as an example, the region's undulating terrain and dense fruit tree planting necessitate frequent climbing of ladders for manual harvesting, which not only limits efficiency but also results in a high rate of fruit damage.

[0003] In recent years, although agricultural robot technology has made some progress, existing harvesting equipment still has significant limitations: single robotic arm systems are limited by working space and have difficulty covering the multi-layered fruit distribution in high-density orchards, especially the fruit missed in the top of the canopy and the area covered by branches and leaves; fixed harvesting devices rely on pre-laid tracks or fixed bases and cannot adapt to the rugged terrain of hilly areas, and lack mobility and environmental adaptability. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a multi-robotic arm collaborative harvesting robot, which aims to solve the problem of low harvesting efficiency of robots in high-density orchards with complex terrain.

[0005] To achieve the above objectives, the embodiments of this utility model are implemented through the following technical solution: a multi-arm collaborative harvesting robot, comprising: The tracked vehicle body and central controller are provided. The central controller is located inside the tracked vehicle body. Four robotic arms are connected to the top of the tracked vehicle body. The robotic arms are located at the four opposite corners of the tracked vehicle body. The robotic arms are connected to robotic claws at the ends facing away from the vehicle body. Identification devices are connected to the robotic arms to provide the robotic claws with a field of view for grasping. A collection device is connected to the top of the tracked vehicle body to load harvested materials. Moving mechanisms are connected to both sides of the tracked vehicle body. The central controller is communicatively connected to the robotic arms, the identification devices, and the robotic claws.

[0006] Compared with existing technologies, by fixing multiple robotic arms to the four opposite corners of the top of the tracked vehicle, mutual interference between the robotic arms is reduced, and the blind spots of the harvesting robot are significantly reduced. The recognition device on the robotic arm improves the harvesting robot's fruit recognition rate and obtains the position between adjacent robotic arms, further improving the collaborative work efficiency between the robotic arms and greatly increasing the fruit harvesting efficiency of the harvesting robot. By setting inverted trapezoidal tracks on the tracked vehicle, the robot can adapt to complex terrain areas such as hills and mountains. Compared with traditional fixed devices, the flexibility and environmental adaptability of the harvesting robot are greatly improved, solving the problem of low robot harvesting efficiency in high-density orchards with complex terrain in existing technologies.

[0007] Furthermore, the identification device includes a binocular vision camera, and the robotic arm includes a first base. One side of the first base is connected to the tracked vehicle body, and one side of the first base is connected to a first motor and a control box. The output end of the first motor is rotatably connected to an arm base. The end of the arm base facing away from the first base is hinged to a first arm body. The end of the first arm body facing the arm base is connected to a second motor. The output end of the second motor is rotatably connected to the first arm body. The end of the first arm body facing away from the arm base is connected to a third motor. One side of the first arm body is connected to a connecting rod, and the two opposite ends of the connecting rod are respectively hinged to the arm base and the third motor. The output end of the third motor is rotatably connected to a second arm body. The end of the second arm body facing away from the third motor is rotatably connected to a robotic claw, and the end of the second arm body near the robotic claw is connected to the binocular vision camera.

[0008] Furthermore, the mechanical claw includes a second base with a through hole extending through it. A lead screw is slidably connected within the through hole. Three connecting blocks are evenly spaced along the outer periphery of the second base. A connecting rod is hinged to the end of each connecting block facing away from the second base, and a claw plate is hinged to the end of each connecting rod facing away from the connecting block. A transmission rod is provided between the connecting rod and the lead screw, with its opposite ends hinged to the connecting rod and the lead screw, respectively.

[0009] Furthermore, the claw is made of rubber.

[0010] Furthermore, the collection device includes a collection basket with a rectangular base plate fixedly connected to the top of the tracked vehicle body. Three side plates are connected to the outer periphery of the rectangular base plate, forming an obtuse angle with the rectangular base plate. Adjacent side plates are fixedly connected. An end plate is hinged to one side of the rectangular base plate, also forming an obtuse angle with the rectangular base plate. The end plate and the three side plates together form the collection basket. A buckle device is connected to the top of the collection basket, and the buckle device is detachably connected to the end of the end plate facing away from the bottom of the rectangle.

[0011] Furthermore, protective strips are connected to both opposite sides of the end cap.

[0012] Furthermore, ultrasonic radars are installed at both ends of the tracked vehicle body, and the ultrasonic radars are used to detect the terrain of the harvesting environment.

[0013] Furthermore, the moving mechanism includes drive wheels disposed on opposite sides of the tracked vehicle body, and tracks are disposed on the drive wheels.

[0014] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the harvesting robot with multiple robotic arms working collaboratively in an embodiment of the present invention, viewed from a first-person perspective.

[0016] Figure 2 This is a structural schematic diagram of a multi-arm collaborative harvesting robot in an embodiment of the present invention, viewed from a second perspective.

[0017] Figure 3 This is a structural schematic diagram of a multi-arm collaborative harvesting robot in an embodiment of this utility model from a third-person perspective.

[0018] Figure 4 This is a structural schematic diagram of a multi-arm collaborative harvesting robot in an embodiment of the present invention, viewed from a fourth-person perspective.

[0019] Figure 5 This is a schematic diagram of the structure of the robotic arm of the harvesting robot that operates in a multi-arm collaborative manner in this embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the collection device of a multi-robotic arm collaborative harvesting robot in an embodiment of this utility model.

[0021] Figure 7 This is a schematic diagram of the mechanical claw of a harvesting robot that operates in a multi-arm collaborative manner, as described in this utility model embodiment.

[0022] Explanation of key component symbols in the diagram: 1. Robotic arm; 11. Mechanical gripper; 111. Second base; 112. Connecting block; 113. Connecting rod; 114. Lead screw; 115. Claw plate; 116. Transmission rod; 12. Identification device; 121. Binocular vision camera; 13. First base; 131. First motor; 132. Control box; 14. Arm base; 15. First arm body; 151. Connecting rod; 16. Second motor; 17. Second arm body; 18. Third motor; 2. Collection device; 21. Collection basket; 211. Rectangular base plate; 212. Side plate; 22. End plate; 221. Protective strip; 23. Buckling device; 3. Tracked vehicle body; 31. Moving mechanism; 32. Sensing device; 321. Ultrasonic radar; 33. Control knob. Detailed Implementation

[0023] To make the objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0025] In this utility model, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0026] Please see Figures 1 to 7This utility model provides a multi-arm collaborative harvesting robot, including a tracked vehicle body 3 and a central controller. The central controller is located inside the tracked vehicle body 3. A moving mechanism 31 is installed on the tracked vehicle body 3. The moving mechanism 31 includes drive wheels located on opposite sides of the tracked vehicle body 3, with tracks mounted on the drive wheels. Four robotic arms 1 are connected to the top of the tracked vehicle body 3. The robotic arms 1 are bolted to the four opposite corners of the tracked vehicle body 3, significantly reducing the robot's blind spots during harvesting. The end of each robotic arm 1 facing away from the tracked vehicle body is connected to a robotic claw 11. The robotic arms 1 are assigned tasks by the central controller to prevent interference between them. To reduce interference between robotic arms and improve harvesting efficiency, a recognition device 12 is connected to the robotic arm 1. The recognition device 12 includes a binocular vision camera 121, which provides the robotic claw 11 with a grasping field of view and the position of adjacent robotic arms 11, further reducing mutual interference between robotic arms 1 and improving the collaborative work efficiency between robotic arms 1. The robotic arm 1 includes a first base 13, one side of which is connected to the tracked vehicle body 3, and another side of which is connected to a first motor 131 and a control box 132. The output end of the first motor 131 is rotatably connected to an arm base 14, and the first motor 131 controls the arm base 14 to rotate on the first base 13. The arm base 14 is hinged to a first arm body 15 at one end facing away from the first base 13. A second motor 16 is connected to the end of the first arm body 15 facing the arm base 14. The output end of the second motor 16 is rotatably connected to the first arm body 15. A third motor 18 is connected to the end of the first arm body 15 facing away from the arm base 14. A connecting rod 151 is connected to one side of the first arm body 15, and the two opposite ends of the connecting rod 151 are respectively hinged to the arm base 14 and the third motor 18. The output end of the third motor 18 is rotatably connected to a second arm body 17. A mechanical gripper 11 is rotatably connected to the end of the second arm body 17 facing away from the third motor 16. The second motor 16 controls the first arm body 15 and the connecting rod 151 to rotate around the arm base. This controls the raising or lowering of the third motor 18 to control the bending and extending of the second arm 17. The third motor 18 controls the mechanical claw 11 to grasp the fruit and separate the fruit from the branch by rotation. The mechanical claw 11 includes a second base 111 with a through hole. A lead screw 114 is slidably connected in the through hole. Three connecting blocks 112 are evenly spaced around the outer periphery of the second base 111. A connecting rod 113 is hinged to the end of each connecting block 112 facing away from the second base 111. A claw piece 115 is hinged to the end of each connecting rod 113 facing away from the connecting block 112. A transmission rod 116 is provided between the connecting rod 113 and the lead screw 114.The two ends of the transmission rod 116 are hinged to the connecting rod 113 and the lead screw 114, respectively. The claw 115 is made of rubber to reduce pressure on the fruit peel and lower the damage rate of the fruit peel. The lead screw 114 is controlled by the third motor 16 to slide back and forth in the through hole, which drives the transmission rod 116 to control the connecting rod 113 to retract or extend, thereby causing the claw 115 to retract or extend, realizing the gripping and releasing of the fruit by the mechanical claw 11. Through the standardized universal design interface at the end of the second arm 17 opposite to the third motor 18, support... The robotic gripper 11, equipped with interchangeable gripper, shearing, and suction modules, ensures the robot can handle complex harvesting environments. Both ends of the tracked vehicle body 3 are electrically connected to sensing devices 32, and one end of the tracked vehicle body 3 is electrically connected to a control knob 33. The control knob 33 controls the operation and stop of the harvesting robot. The sensing devices 32 are ultrasonic radars 321, with two ultrasonic radars 321 fixed to opposite ends of the tracked vehicle body 3. The ultrasonic radars 321 are used to locate the tracked vehicle body 3. A collection device 2 is fixedly connected to the top. The collection device 2 includes a collection basket 21, which includes a rectangular base plate 211. The rectangular base plate 211 is fixedly connected to the top of the tracked vehicle body 3. Three side plates 212 are connected to the outer periphery of the rectangular base plate 211. The side plates 212 form an obtuse angle with the rectangular base plate 211, and adjacent side plates 212 are fixedly connected to each other. An end plate 22 is hinged to one side of the rectangular base plate 211. The end plate 22 forms an obtuse angle with the rectangular base plate 211, and protective strips 221 are connected to opposite sides of the end plate 22. The top of the collection basket 21 is connected to a latching device 23. The end plate 22, facing away from the rectangular base plate, is detachably connected to the latching device 23. The collection basket 21, formed by the rectangular base plate 211, the side plate 212, and the end plate 22, has an inverted trapezoidal structure. This structure increases the entrance area and reduces interference between the collection basket 21 and the movement of the robotic arm 1. The end plate 22 is locked by the latching device 221. The end plate 22 opens unidirectionally from top to bottom. The protective strip 221 ensures that the collected items will not roll to the sides when the end plate 22 is opened.

[0027] By fixing the four robotic arms 1 to the four opposite corners of the top of the tracked vehicle body 3, the mutual interference between the robotic arms 1 is reduced, and the blind spots of the harvesting robot are significantly reduced. The recognition device set on the robotic arms 1 improves the harvesting robot's fruit recognition rate and obtains the position between adjacent robotic arms 1, further improving the collaborative work efficiency between the robotic arms 1, thus greatly improving the fruit harvesting efficiency of the harvesting robot. By setting the inverted trapezoidal tracks 31 on the tracked vehicle body 3, the robot can adapt to complex terrain areas such as hills and mountains. Compared with traditional fixed devices, the flexibility and environmental adaptability of the harvesting robot are greatly improved, solving the problem of low robot harvesting efficiency in high-density orchards with complex terrain in the existing technology.

[0028] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0029] The above-described embodiments are merely one implementation of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A harvesting robot with multiple robotic arms working collaboratively, characterized in that, include: The tracked vehicle body and central controller are included. The central controller is located inside the tracked vehicle body. Four robotic arms are connected to the top of the tracked vehicle body, and the robotic arms are located at the four opposite corners of the tracked vehicle body. The ends of the robotic arms facing away from the tracked vehicle body are connected to robotic claws. Identification devices are connected to the robotic arms to provide the robotic claws with a field of view for grasping. A collection device is connected to the top of the tracked vehicle body to load harvested materials. Moving mechanisms are connected to both sides of the tracked vehicle body. The central controller is communicatively connected to the robotic arms, the identification devices, and the robotic claws.

2. The multi-arm collaborative harvesting robot according to claim 1, characterized in that, The identification device includes a binocular vision camera. The robotic arm includes a first base, one side of which is connected to the tracked vehicle body. A first motor and a control box are connected to one side of the first base. The output end of the first motor is rotatably connected to an arm base. A first arm body is hinged to the end of the arm base facing away from the first base. A second motor is connected to the end of the first arm body facing the arm base. The output end of the second motor is rotatably connected to the first arm body. A third motor is connected to the end of the first arm body facing away from the arm base. A connecting rod is connected to one side of the first arm body, and the two opposite ends of the connecting rod are respectively hinged to the arm base and the third motor. The output end of the third motor is rotatably connected to a second arm body. A robotic gripper is rotatably connected to the end of the second arm body facing away from the third motor. The binocular vision camera is connected to the end of the second arm body near the robotic gripper.

3. The multi-arm collaborative harvesting robot according to claim 2, characterized in that, The mechanical claw includes a second base with a through hole extending through it. A lead screw is slidably connected within the through hole. Three connecting blocks are evenly spaced around the outer periphery of the second base. A connecting rod is hinged to the end of each connecting block facing away from the second base, and a claw plate is hinged to the end of each connecting rod facing away from the connecting block. A transmission rod is provided between the connecting rod and the lead screw, with its opposite ends hinged to the connecting rod and the lead screw, respectively.

4. The multi-arm collaborative harvesting robot according to claim 3, characterized in that, The claws are made of rubber.

5. The multi-arm collaborative harvesting robot according to claim 1, characterized in that, The collection device includes a collection basket with a rectangular base plate fixedly connected to the top of the tracked vehicle body. Three side plates are connected to the outer periphery of the rectangular base plate, forming an obtuse angle with the rectangular base plate. Adjacent side plates are fixedly connected to each other. An end plate is hinged to one side of the rectangular base plate, also forming an obtuse angle with the rectangular base plate. The end plate and the three side plates together form the collection basket. A buckle device is connected to the top of the collection basket, and the buckle device is detachably connected to the end of the end plate facing away from the rectangular base plate.

6. The multi-arm collaborative harvesting robot according to claim 5, characterized in that, Protective strips are connected to both opposite sides of the end plate.

7. The multi-arm collaborative harvesting robot according to claim 1, characterized in that, Ultrasonic radars are installed at both ends of the tracked vehicle body, and the ultrasonic radars are used to locate the tracked vehicle body.

8. The multi-arm collaborative harvesting robot according to claim 1, characterized in that, The moving mechanism includes drive wheels disposed on opposite sides of the tracked vehicle body, and tracks are disposed on the drive wheels.

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