CN109845491B

CN109845491B - Picking and grading method for picking circular grading and collecting robot by utilizing double-arm apples

Info

Publication number: CN109845491B
Application number: CN201910226844.0A
Authority: CN
Inventors: 王海燕; 高佳; 王晓红; 苏现征
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2019-03-25
Filing date: 2019-03-25
Publication date: 2021-08-31
Anticipated expiration: 2039-03-25
Also published as: CN109845491A

Abstract

The invention discloses a picking and grading method for picking circular grading and collecting robots by utilizing double-arm apples, 1) a central controller controls the robots to run to picking destinations; 2) picking operation; simulating the picking action of human beings to complete the picking task of the fruits; 3) grading fruits; the common fruit directly passes through the trapezoidal fruit automatic classifier through a conventional channel and enters a fruit collection box; larger fruits reach the automatic trapezoidal fruit classifier through a conventional channel, and enter another fruit collection box after being subjected to classification treatment by the classifier; 4) resetting the fruit classifier; 5) arranging and replacing the fruit collecting box; the central controller controls the three-coordinate system moving system assembly to act, so that fruits are placed in the fruit collecting boxes according to a set position, picking is stopped after one fruit collecting box is fully collected, and new picking operation is carried out after the fruit collecting boxes are replaced. The method has strong adaptability, flexible movement, safety and reliability.

Description

Picking and grading method for picking circular grading and collecting robot by utilizing double-arm apples

Technical Field

The invention relates to a robot technology, in particular to a picking and grading method of a circular grading and collecting robot for picking apples by utilizing double arms.

Background

The fruit is time-consuming and labor-consuming to pick, and timely picking is needed to ensure the fruit quality. At present, the fruit picking in China is mainly finished manually, a large amount of manpower and material resources are required to be invested in picking all fruits in a short time, and the picking labor intensity is high. With the progress of the robot technology and the continuous development of modern high-efficiency agriculture, the robot replaces the traditional agricultural machinery. The fruit picking robot is one of main means for developing modern agricultural production, and not only has the functions of accurately identifying mature fruits and accurately positioning, but also can quickly plan a proper picking path to realize quick and independent picking.

Chinese patent document 201410159419.1 discloses a double-arm fruit picking robot and a fruit picking method. The double-arm fruit picking robot comprises a fruit picking mechanical device and a control system. The fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left end effector, a right end effector, a moving platform and a fruit basket. The left mechanical arm and the right mechanical arm are identical in structure and are respectively installed on the left side and the right side of the moving platform. The left mechanical arm and the right mechanical arm respectively complete the work of sending the left end effector and the right end effector to the appointed picking point. The left end effector and the right end effector have the same structure and are respectively arranged at the front ends of the left mechanical arm and the right mechanical arm. Left end effector and right end effector accomplish robot advancing direction left side and right side fruit tree fruit respectively and obtain, retrieve work. The control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot, wherein the mechanical arms are used for picking in picking points, and one picking point can realize continuous and separate picking of a plurality of fruits. According to the technology, the two arms operate independently, and automatic grading collection of fruits cannot be achieved.

Chinese patent application 201810949753.5 discloses an intelligent picking robot, comprising: the lifting rod comprises a main body rod and a sliding rail, and the sliding rail is arranged on the main body rod; the fruit picking clamp assembly comprises a clamp body and a driving device, the clamp body is connected with the slide rail in a sliding mode, and the driving device is used for driving the clamp body to move along the extending direction of the slide rail; the fruit barrel comprises a barrel body, a movable plate, an elastic piece and a key block, the barrel body is connected with the slide rail in a sliding mode, the opening of the barrel body faces the pliers body, the movable plate is arranged in the barrel body, the elastic piece is elastically connected with the movable plate and the barrel body, the key block is fixedly arranged on the movable plate, and the movable plate covers the elastic piece and the key block; the automatic locking piece comprises a rotating piece, a rotating shaft, a supporting piece, a slideway structure, a clamping block, a spring and a locking block, wherein the rotating piece is rotatably connected with the main body rod through the rotating shaft, one end of the rotating piece is abutted against the barrel body, the supporting piece is positioned in the main body rod and is connected with the main body rod, the slideway structure is connected with the supporting piece, a locking channel is formed on the rotating piece, one end of the clamping block is inserted into the locking channel, the other end of the clamping block slides into the slideway structure and is abutted against the slideway structure, the spring is elastically connected with the other end of the clamping block and the supporting piece, the locking block penetrates through the barrel body and extends into the locking channel, and the locking block is arranged towards the key block; the length of the locking block is equal to that of the locking channel, and the length of the key block is larger than or equal to that of the clamping block. The patent application technology does not have a visual positioning function and cannot realize automatic grading collection of fruits.

Chinese patent application 201710857174.3 discloses an intelligent fruit picking robot based on machine vision, including control system and the running gear who connects rather than respectively, picking manipulator, visual system, electrical power generating system, control system, electrical power generating system and running gear fixed connection, picking manipulator is four degrees of freedom articulated type manipulators and passes through base and running gear fixed connection, visual system's vision sensor is fixed to be set up in the wrist top of picking manipulator, visual system's vision control module and control system integration and with vision sensor signal connection, vision control module is used for carrying out the target location discernment to visual sensor's image based on the full convolution network image processing technique of image segmentation, vision control module passes target location information to control system, control system control running gear removes and/or manipulator picking fruit. The vision sensor of the vision system in the patent application technology is fixedly arranged above the wrist of the picking manipulator, and the picking reachable area is limited due to the shielding of the branches and leaves; and this patent application technique does not have fruit transmission system, and is accomplished by single manipulator from picking to collecting, and picking efficiency is lower.

Chinese patent application 201611222939.8 discloses a fruit picking robot based on machine vision, and it includes frame, wide angle camera, gripper, the frame bottom is equipped with the battery, the frame left and right sides is equipped with left front wheel, left rear wheel, right rear wheel and right front wheel, be equipped with wide angle camera on the frame, be equipped with image processing apparatus under the wide angle camera, realize the automatic identification of fruit through machine vision, mutually support through wide angle camera and leading camera and realize the accurate of fruit and pick, solved the not enough of precision and the efficiency of the three-dimensional reconsitution of two mesh camera, realized real-time processing information, can pick fast fruit. The patent application technology solves the problems of accuracy and efficiency of binocular camera three-dimensional reconstruction, realizes real-time information processing, but due to the fact that branches and leaves are shielded, picking can be limited in reach area, and picking operation cannot be independently completed without a fruit collecting device.

Chinese patent application 201811099973.X discloses a fruit picking, grading and boxing robot, which comprises a rack, wherein crawler traveling wheels are mounted on two sides of the rack, and a driving device for driving the crawler traveling wheels to rotate is mounted in the rack; the packaging box conveying machine is characterized in that a left conveying belt and a right conveying belt for conveying packaging box bodies are respectively arranged at the outlets of the left cleaning mechanism and the right cleaning mechanism on the horizontal transverse plate along the length direction perpendicular to the machine frame, and a feeding opening for placing the packaging box bodies on the left conveying belt and the right conveying belt is respectively arranged on the left side plate and the right side plate; a grabbing mechanism for grabbing and placing the fruits into the packaging box body positioned on the left conveying belt from the outlet of the left cleaning mechanism and grabbing and placing the fruits into the packaging box body positioned on the right conveying belt from the outlet of the right cleaning mechanism is erected between the left side plate and the right side plate; a left rear conveying belt matched with the left conveying belt and a right rear conveying belt matched with the right conveying belt are arranged on the horizontal transverse plate close to the rear end of the horizontal transverse plate along the length direction of the rack; a left pushing mechanism used for pushing the packaging box bodies on the left conveying belt to the left rear conveying belt is arranged between the left cleaning mechanism and the left conveying belt on the horizontal transverse plate, and a right pushing mechanism used for pushing the packaging box bodies on the right conveying belt to the right rear conveying belt is arranged between the right cleaning mechanism and the right conveying belt; a packaging mechanism for sealing the packaging box body on the left rear conveyor belt and the packaging box body on the right rear conveyor belt is erected between the left side plate and the right side plate; the fruit picking mechanism is characterized in that the left side plate is provided with a picking mechanism which is used for picking fruits and placing the fruits into the left cleaning mechanism and the right cleaning mechanism according to the sizes of the fruits, and the picking mechanism is provided with an intelligent camera which is used for controlling the picking mechanism and the driving device. According to the patent application technology, the intelligent camera is installed on the picking mechanism, and due to the shielding of the branches and leaves, the picking reachable area is limited; moreover, the technology of the patent application has no fruit conveying system, the picking and the collecting are all completed by a single mechanical arm, and the picking efficiency is lower.

The picking robot can be used for picking apples, and due to the fact that single-arm independent operation is adopted, shielding of the branches, the leaves and the like is not fully considered, and the picking reachable region is limited.

Disclosure of Invention

The invention aims to overcome the defects of the existing apple picking robot technology and provide a picking and grading method which is strong in adaptability, flexible in movement, safe and reliable and utilizes a double-arm apple picking circular grading and collecting robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a picking and grading method for picking circular grading and collecting robots by utilizing double-arm apples comprises an autonomous moving platform, a robot body is mounted at the center of the upper part of the autonomous moving platform, a binocular vision sensor mechanism is mounted at the top of the robot body, and a fruit conveying and grading and collecting system matched with the robot body is arranged in front of the robot body; the autonomous mobile platform is also provided with a storage battery pack, the upper part of the storage battery pack is provided with a central controller, and the storage battery pack provides power for the robot body, all motors, sensors and the central controller on the autonomous mobile platform; the central controller is a control center of the whole robot and controls all electrical components to work;

the fruit conveying, grading and collecting system comprises a fruit conveying channel consisting of an upper part and a lower part, a circular fruit automatic classifier corresponding to the fruit conveying channel is arranged between the upper part and the lower part, the upper ends of the upper part fruit conveying channel and the lower part fruit conveying channel are both arranged on the front side surface of the robot body through a supporting device, the circular fruit automatic classifier is arranged on the supporting device, the middle of the lower part fruit conveying channel is arranged on a three-coordinate moving system assembly, the tail end of the fruit conveying channel extends into a fruit collecting box arranged on the autonomous moving platform, the bottom of the three-coordinate moving system assembly is arranged on the autonomous moving platform, and the fruit collecting box is correspondingly arranged below a portal frame of the three-coordinate moving system assembly;

the automatic circular fruit grader comprises a base, wherein two groups of circular ring bodies are oppositely arranged on the base, each group of circular ring bodies consists of two opposite semicircular ring bodies, and the two semicircular ring bodies can be opened and closed through a driving steering engine arranged on the base;

the specific picking and grading steps are as follows:

1) the central controller controls the robot to move from the autonomous mobile platform according to the road surface information fed back by the binocular vision sensor mechanism, so that the robot automatically and stably runs to a picking destination;

the rotating speed and the angular displacement of a steering motor of the robot autonomous mobile platform are adjusted according to feedback information of a speed sensor and a rotary encoder, the running speed and the steering angle of the robot autonomous mobile platform are controlled, and the robot runs stably;

2) picking operation; when the robot reaches a designated picking destination, the double-arm picking robot body imitates the picking action of human beings to finish the picking task of fruits;

the picking mechanical arm and the picking paw on the left side of the double-arm picking robot body are matched with the picking mechanical arm and the pushing and blocking paw on the right side to complete a fruit picking task, the central controller plans the motion paths of the two mechanical arms according to position information of ripe fruits fed back by the binocular vision sensor, and controls the output torque of picking fingers according to feedback information of a picking finger touch sensor of the fingers of the three picking paws and a six-dimensional force sensor at the connecting position of the tail ends of the picking paws and the picking mechanical arms after the picking mechanical arms reach a target position, so that the picking paws generate proper picking force; according to feedback information of a six-dimensional force sensor at the joint of the pushing and blocking paw and the tail end of the picking mechanical arm, output torque of each joint of the picking mechanical arm connected with the pushing and blocking paw is adjusted to generate proper pushing and blocking force, and the picking action of the similar person is completed;

3) grading fruits; the common fruit directly passes through the trapezoidal fruit automatic classifier through a conventional channel and enters a corresponding fruit collection box; larger fruits reach the automatic trapezoidal fruit classifier through a conventional channel, and enter another fruit collection box after being subjected to classification treatment by the classifier;

the picking mechanical arm and the picking paw are used for placing picked fruits into a fruit conveying, grading and collecting system, and common fruits directly pass through the circular fruit automatic classifier through the first channel and enter a corresponding fruit collecting box through the third channel and the fifth channel; when the bigger fruit reaches the automatic circular fruit classifier through the first channel, the bigger fruit is clamped by the corresponding approximate circular ring under the first channel, under the action of fruit gravity, the light spring of the circular fruit automatic classifier is compressed, the base of the fruit classifier descends, the gear on the gear shaft of the base of the fruit classifier is meshed with the output gear of the driving motor of the circular fruit automatic classifier, the central controller controls the driving motor of the circular fruit automatic classifier to rotate, and after the fruit classifier is synchronously driven to rotate by 180 degrees, the central controller controls the fruit grader corresponding to the second channel to drive the output gear shaft of the steering engine to drive the gear of one semicircular ring of the corresponding fruit grader to rotate and drive the gear of the other semicircular ring which is meshed with the gear to synchronously rotate, so that the two semicircular rings of the approximate circular ring are opened, the fruit enters the second channel and enters the other fruit collecting box through the fourth channel;

4) resetting the fruit classifier; after the fruit leaves the fruit grader, the fruit grader returns to an initial state, and new fruits are not allowed to enter a fruit conveying first channel before the fruit grader is reset;

after the fruit leaves the fruit grader, the light spring is reset; simultaneously, a gear on a gear shaft of a base of the fruit grader is separated from an output gear of a driving motor of the round fruit automatic grader; then, the fruit grader corresponding to the second channel drives the output gear shaft of the steering engine to drive the corresponding gear of the fruit grader to rotate reversely, and drives the gear of the fruit grader meshed with the gear to rotate reversely, so that the two semicircular rings similar to the circular ring are closed and return to the initial state;

5) arranging and replacing the fruit collecting box; the central controller controls the three-coordinate system moving system assembly to act, so that fruits are placed in the fruit collecting boxes according to a set position, picking is stopped after one fruit collecting box is fully collected, and new picking operation is carried out after the fruit collecting boxes are replaced;

the central controller controls two Y-axis direction driving motors, two X-axis direction driving motors and two Z-axis direction driving motors in the three-coordinate moving system assembly according to feedback values of all built-in rotary encoders, and respectively pulls the third channel and the second channel to do telescopic reciprocating motion so as to realize multidirectional motion of the fifth channel and the fourth channel in the two fruit collecting boxes, so that fruits are placed according to a set position; as long as any one fruit collecting box is fully collected, the picking operation is stopped, the central controller controls the robot to automatically move the platform to convey the double-arm apple picking grading collecting robot to a fruit collecting box replacing point, the limiting baffle of the corresponding fruit collecting box is pulled out, after the fruit collecting box is replaced, the limiting baffle of the fruit collecting box is inserted, and new picking operation is carried out.

In the invention, the central controller is an industrial personal computer, a singlechip or a PLC.

The binocular vision sensor mechanism comprises a binocular vision sensor which is fixed at the top of the robot body through a vision sensor support.

The robot body comprises a base arranged on the autonomous mobile platform, a machine body driving motor longitudinally arranged is fixed in the base, an output shaft of the machine body driving motor is vertically upward and is fixedly connected with the lower end of the machine body to form a revolute pair, and the machine body is driven to rotate around the Z-axis direction in a three-dimensional Cartesian coordinate; two sides of the top of the machine body are respectively provided with a picking mechanical arm mechanism.

The two picking mechanical arm mechanisms comprise picking mechanical arms connected with the machine body, and picking paw mechanisms and pushing and blocking paws are installed at the front ends of the two picking mechanical arms through six-dimensional force sensors respectively.

The picking paw mechanism comprises a picking paw, and three picking fingers are symmetrically arranged on the picking paw through a picking finger base; each picking finger has two active degrees of freedom taking the X axial direction in a three-dimensional Cartesian coordinate as a rotating shaft, and the two active degrees of freedom are respectively a first picking finger rotating pair and a second picking finger rotating pair;

the picking finger specific structure comprises a picking finger base, a picking finger first connecting rod driving motor is fixed on the picking finger base, an output shaft of the first connecting rod driving motor is fixedly connected with the lower end of the picking finger first connecting rod to form a picking finger first rotating pair, a picking finger second connecting rod driving motor is fixed at the upper end of the picking finger first connecting rod, and an output shaft of the second connecting rod driving motor is fixedly connected with the lower end of the picking finger second connecting rod to form a picking finger second rotating pair; the inner side surfaces of the picking finger first connecting rod and the picking finger second connecting rod are respectively and correspondingly fixed with a picking finger first touch sensor and a picking finger second touch sensor.

The picking mechanical arm comprises a first picking mechanical arm revolute pair taking the Z-axis direction of a three-dimensional Cartesian coordinate system as a rotating shaft, two active degrees of freedom taking the Y-axis direction of the three-dimensional Cartesian coordinate system as the rotating shaft are respectively a second picking mechanical arm revolute pair, a fourth picking mechanical arm revolute pair and a third picking mechanical arm revolute pair taking the X-axis direction of the three-dimensional Cartesian coordinate system as the rotating shaft.

The picking mechanical arm comprises a first driving motor of the picking mechanical arm fixed on the side surface of the machine body, and an output shaft of the first driving motor is fixedly connected with a second driving motor base of the picking mechanical arm to form a first rotating pair of the picking mechanical arm;

a second driving motor of the picking mechanical arm is fixed on a base of the second driving motor of the picking mechanical arm, and an output shaft of the second driving motor of the picking mechanical arm is fixedly connected with a first connecting rod joint of the picking mechanical arm to form a second revolute pair of the picking mechanical arm;

two ends of the first connecting rod of the picking mechanical arm are fixedly connected with the first connecting rod joint of the picking mechanical arm and the third driving motor base of the picking mechanical arm respectively;

a third driving motor of the picking mechanical arm is fixed on a base of the third driving motor of the picking mechanical arm, and an output shaft of the third driving motor of the picking mechanical arm is fixedly connected with a second connecting rod joint of the picking mechanical arm to form a third revolute pair of the picking mechanical arm;

two ends of a second connecting rod of the picking mechanical arm are fixedly connected with a second connecting rod joint of the picking mechanical arm and a fourth driving motor base of the picking mechanical arm respectively;

the fourth driving motor of the picking mechanical arm is fixed on the fourth driving motor base of the picking mechanical arm, and an output shaft of the fourth driving motor is fixedly connected with a third connecting rod joint of the picking mechanical arm to form a fourth revolute pair of the picking mechanical arm;

one end of a third connecting rod of the picking mechanical arm is fixedly connected with a third connecting rod joint of the picking mechanical arm, and the other end of the third connecting rod of the picking mechanical arm is connected with the picking paw or the pushing and blocking paw through a six-dimensional force sensor.

Rotary encoders are arranged in the first driving motor, the second driving motor, the third driving motor and the fourth driving motor of the picking mechanical arm.

The second and fourth driving motor bases of the picking mechanical arm and the first and third connecting rod joints of the picking mechanical arm are all L-shaped structures, and two parts connected to two ends of each L-shaped structure are respectively connected to the horizontal part and the vertical part of each L-shaped structure.

The third driving motor base of the picking mechanical arm and the second connecting rod joint of the picking mechanical arm are both cylindrical structures.

The supporting device comprises a first channel outlet connecting and supporting ring, a second channel inlet connecting and supporting ring, a third channel inlet connecting and supporting ring, a first supporting frame, a second supporting frame and a third supporting frame which are arranged on the front side surface of the robot body, and a fourth channel inlet supporting ring and a fifth channel inlet supporting ring which are arranged on the three-coordinate moving system assembly.

The upper part fruit conveying channel is a first channel, the first channel is an inverted cone-shaped threaded pipe, the inlet end of the inverted cone-shaped threaded pipe is fixed on the front side face of the robot body through a first supporting frame, the outlet end of the inverted cone-shaped threaded pipe is fixed on a first channel outlet connection supporting ring, and the first channel outlet connection supporting ring is fixed on the front side face of the robot body through a second supporting frame.

The lower part of the fruit conveying channel is divided into two independent parts, wherein one part of the fruit conveying channel is a third channel of which the upper port corresponds to the outlet end of the first channel, the lower port of the third channel is communicated with the upper port of the fifth channel through a fifth channel inlet supporting ring, and the lower port of the fifth channel extends into one fruit collecting box; the other part comprises a second channel arranged on one side of the third channel, the lower port of the second channel is communicated with the upper port of the fourth channel through an inlet support ring of the fourth channel, and the lower port of the fourth channel extends into the other fruit collecting box.

The first channel, the second channel, the third channel, the fourth channel and the fifth channel are all formed by corrugated pipes.

The upper ports of the second channel and the third channel are respectively and correspondingly fixed on the second channel inlet connecting support ring and the third channel inlet connecting support ring, the second channel inlet connecting support ring and the third channel inlet connecting support ring are symmetrically arranged on a third support frame, and the third support frame is fixed on the front side surface of the robot body.

The length of the third channel is greater than the linear distance from the inlet of the third channel to the upper port of the fifth channel; the length of the second channel is greater than the linear distance from the inlet of the second channel to the upper port of the fourth channel; by increasing the lengths of the second and third channels, the second and third channels are always in a bent state, so that the fruits in the channels are buffered and decelerated, and the accessible positions of the second and third channels are increased.

A spring supporting device mounting hole is formed in the center of the base, four driven shaft mounting holes are symmetrically formed in the periphery of the spring supporting device mounting hole, and two driving steering engine mounting holes which are centrosymmetrically formed in the spring supporting device mounting hole are formed in the outer portion of the driven shaft mounting hole on the center line in the length direction of the base;

the lower part of the base is provided with a spring fixing and supporting device, the spring fixing and supporting device comprises a bottom flange plate and a vertical rod arranged on the flange plate, the flange plate is fixed on a cross beam of the third supporting frame, a light spring and a base gear shaft are sequentially sleeved on the vertical rod from bottom to top, and the upper end of the vertical rod penetrates through a mounting hole of the spring supporting device and is locked by a locking nut of the spring fixing and supporting device; the lower end of the light spring is fixed on the upper surface of the flange plate, the upper end of the light spring is fixedly connected with the lower surface of the base gear shaft, and the pre-tightening degree of the light spring is adjusted by adjusting the position of a locking nut of the spring fixing and supporting device; a cross beam of the third support frame is also provided with a round fruit automatic classifier driving motor, and an output gear which can be meshed with a gear on the base gear shaft is fixed on an output shaft of the round fruit automatic classifier driving motor through a jackscrew;

a driven shaft passes through each driven shaft mounting hole on the base, the upper end of each driven shaft is fixedly connected with a rotating shaft positioned on the upper surface of the base, a sleeve and a gear are sequentially sleeved on the driven shafts from top to bottom after the driven shafts pass through the base, and the tail ends of the driven shafts are locked by a locking nut of the fruit grader; each rotating shaft is fixedly connected with a semicircular ring, the two semicircular rings which are positioned on the same side of the center line of the length direction of the base are opposite to form an approximate circular ring, and gears on two driven shafts which form the approximate circular ring are meshed with each other;

on the lower surface of the base, the flange plates of the two driving steering engines are respectively and correspondingly fixed in the two driving steering engine mounting holes of the base, and the gear on the output gear shaft of the driving steering engine is meshed with the gear on one driven shaft forming the approximate ring, so that the opening and closing of the approximate ring are driven.

The three-coordinate moving system assembly comprises two groups of door type frames, each group of door type frames comprises three cross beams and two vertical beams which are arranged in parallel from top to bottom, two ends of the three cross beams are respectively installed on the two vertical beams, the three cross beams are jointly provided with a transverse moving system, the transverse moving system is provided with a vertical moving system, the bottoms of the vertical beams are fixed on a longitudinal moving system, and the longitudinal moving system is fixed on the autonomous moving platform of the robot; the transverse direction, the longitudinal direction and the vertical direction respectively correspond to an X axis, a Y axis and a Z axis in a three-dimensional Cartesian coordinate system.

The transverse moving system comprises X-axis direction linear guide rails arranged on the front side surfaces of the uppermost cross beam and the lowermost cross beam, and each X-axis direction linear guide rail is provided with an X-axis direction moving slide block to form a linear guide rail pair;

an X-axis direction driving motor is installed on the middle cross beam, an output shaft of the X-axis direction driving motor is connected with an X-axis direction lead screw through a coupler, two ends of the X-axis direction lead screw are supported on the middle cross beam through supporting assemblies respectively, and an X-axis direction nut is installed on the X-axis direction lead screw to form a lead screw nut pair.

The vertical moving system comprises an inverted L-shaped supporting plate, and the back of a side plate of the supporting plate is fixedly connected with two X-axis direction moving sliders and an X-axis direction nut respectively; the Z-axis direction driving motor is installed on the top plate of the supporting plate, an output shaft of the Z-axis direction driving motor penetrates through the top plate and is connected with a Z-axis direction lead screw through a coupler, two ends of the Z-axis direction lead screw are fixed to the front side of a supporting plate side plate through Z-axis direction supporting components respectively, Z-axis direction lead screw bilateral symmetry is provided with a Z-axis direction linear guide rail fixed on the supporting plate, a Z-axis direction sliding block is installed on each Z-axis direction linear guide rail to form a linear guide rail pair, Z-axis direction lead screws are installed on Z-axis direction lead screws and fixedly connected with the two Z-axis direction sliding blocks to form Z-axis direction nut pairs, and the Z-axis direction lead screws and the Z-axis direction nuts form lead screw nut pairs.

And the fourth channel inlet support ring and the fifth channel inlet support ring are correspondingly fixed on the nut in the Z-axis direction.

The longitudinal moving system comprises a Y-axis direction sliding block fixedly connected with the bottom of the vertical beam, the Y-axis direction sliding block is arranged on the Y-axis direction linear guide rail to form a linear guide rail pair, a Y-axis direction driving motor is arranged on the outer side face of the bottom of one vertical beam of the portal frame, a rack parallel to the Y-axis direction linear guide rail is arranged on the outer side of the bottom of the vertical beam where the Y-axis direction driving motor is located, and a gear on an output gear shaft of the Y-axis direction driving motor is meshed with the rack; and the linear guide rail in the Y-axis direction and the rack are fixed on the robot autonomous mobile platform.

The robot autonomous moving platform comprises a plate-shaped support, and a steering system and a driving system are respectively installed at the front end and the rear end of the lower part of the plate-shaped support; a storage battery supporting platform is arranged on the upper part of the platy support corresponding to the steering system, a storage battery is arranged on the storage battery supporting platform, a heat insulation plate is arranged on the upper part of the storage battery, and a central controller is fixed on the heat insulation plate; and a fruit collecting box limiting baffle is arranged on the upper surface of the plate-shaped support corresponding to the driving system.

The steering system comprises a steering wheel arranged on a steering support frame, a steering shaft is fixedly arranged at the upper end of the steering support frame, a steering bearing and a steering driven gear are sequentially arranged on the steering shaft from top to bottom, the steering bearing is arranged on the lower surface of a plate-shaped support frame through a flange plate of a steering bearing seat, and the steering driven gear is meshed with a gear on an output gear shaft of a steering motor arranged on the plate-shaped support frame; and a rotary encoder is arranged on the steering motor.

The driving system comprises driving wheels arranged at two ends of a driving gear shaft, the driving gear shaft is provided with two driving bearings, the driving bearings are arranged in driving bearing seats, and the driving bearing seats are fixedly connected with bearing seat top covers fixed on the lower surfaces of the plate-shaped supports; the gear in the middle of the driving gear shaft is meshed with the gear on the output gear shaft of the driving motor arranged on the lower surface of the platy support; and a speed sensor is arranged on the driving wheel.

Compared with the prior art, the invention has the following characteristics:

(1) the picking efficiency is high due to the artificial picking mode of the double-arm cooperation operation;

(2) the pushing mechanical arm works, so that the visual sensor can be effectively prevented from being shielded by branches and leaves;

(3) the automatic fruit grading and collecting device can automatically grade fruits according to sizes, and the automation degree is high.

Drawings

FIG. 1 is a schematic view of the whole structure of a double-arm apple picking, grading and collecting robot of the invention;

FIG. 2 is a schematic structural diagram of a double-arm apple picking robot in the invention;

FIG. 3 is a schematic view of a picking paw of the present invention;

FIG. 4 is a schematic view of a picking arm configuration of the present invention;

FIG. 5 is a schematic diagram of a fruit conveying and grading collection system according to the present invention;

FIG. 6 is a schematic view of the support staging system assembly of the present invention;

FIG. 7a is a schematic perspective view of the automatic circular fruit classifier of the present invention;

FIG. 7b is a schematic exploded view of the automatic circular fruit classifier of the present invention;

FIG. 8 is a schematic view of the overall structure of the three-coordinate moving system assembly of the present invention;

FIG. 9 shows a three-coordinate moving system assembly X of the present invention₀A schematic structural diagram of a direction moving system;

FIG. 10 shows a three-coordinate moving system assembly Z of the present invention₀A schematic structural diagram of a direction moving system;

FIG. 11a is a schematic perspective view of the autonomous mobile platform of the robot of the present invention;

FIG. 11b is an exploded view of the autonomous mobile platform of the robot of the present invention;

the apple picking robot comprises a robot body 11, a double-arm apple picking robot body 12, a storage battery pack 13, a heat insulation board 14, a central controller 15, a visual sensor support 16, a binocular visual sensor 17, a fruit transmission grading collection system 18 and an autonomous robot moving platform 18, wherein the robot body is connected with the robot body through a power supply;

21. picking paw fingers, 22 picking paws, 23, two six-dimensional force sensors, 24, picking mechanical arms, 25, a double-arm apple picking robot body, 26, a first driving motor (namely a machine body driving motor) of the picking robot, 27, a machine base of the double-arm apple picking robot, 28, pushing and blocking paws;

31. picking finger base, 32 picking finger first connecting rod, 33 picking finger first touch sensor, 34 picking finger second connecting rod driving motor, 35 picking finger second connecting rod, 36 picking finger second touch sensor, 37 picking finger second rotating pair, 38 picking finger first rotating pair, 39 picking finger first connecting rod driving motor;

41. picking arm first drive motor, 42 picking arm second drive motor base, 43 picking arm second drive motor, 44 picking arm first link joint, 45 picking arm first link, 46 picking arm third drive motor base, 47 picking arm third drive motor, 48 picking arm second link joint, 49 picking arm second link, 410 picking arm fourth drive motor base, 411 picking arm fourth drive motor, 412 picking arm third link joint, 413 picking arm third link, 414 picking arm fourth rotor, 415 picking arm third rotor, 416 picking arm second rotor, 417 picking arm first rotor;

51. the fruit conveying and grading collection system comprises a first support frame, a fruit conveying and grading collection system, a first channel, a three-coordinate moving system assembly, a support and grading system assembly, a fruit conveying second channel, a fruit conveying third channel, a fruit conveying fourth channel, a fruit collecting box, a fruit conveying fifth channel and a fruit conveying third channel, wherein the fruit conveying third channel is provided with a first support frame, a fruit conveying first channel, a fruit conveying third channel, a fruit conveying fourth channel, a fruit collecting box and a fruit conveying fifth channel;

61. the inlet of a fruit conveying third channel is connected with a supporting device (or a supporting ring), 62. a circular fruit automatic classifier, 63. the outlet of the fruit conveying first channel is connected with the supporting device (or the supporting ring), 64. a fruit conveying grading and collecting system second supporting frame, 65. a fruit conveying grading and collecting system third supporting frame, 66. the inlet of the fruit conveying second channel is connected with the supporting device (or the supporting ring), 67. a driving motor of the circular fruit automatic classifier;

71. spring fixed support means, 72 light spring, 73 fruit classifier base, 74 round fruit automatic classifier first rotation axis, 75 fruit bearing first half ring, 76 fruit bearing second half ring, 77 round fruit automatic classifier second rotation axis, 78 spring fixed support means locknut, 79 fruit classifier third rotation axis, 710 fruit bearing third half ring, 711 fruit bearing fourth half ring, 712 fruit classifier fourth rotation axis, 713 fruit classifier locknut, 714 fruit classifier first gear, 715 fruit classifier drive steering engine, 716 fruit classifier first driven shaft, 717 fruit classifier fourth driven shaft, 718 fruit classifier second driven shaft, 719 fruit classifier third driven shaft, 720 fruit classifier driven shaft mounting hole, 721 spring support means mounting hole, 722. the fruit grader drives the mounting hole of the steering engine, 723. the base gear shaft of the fruit grader, 724. the third gear of the fruit grader, 725. the second gear of the fruit grader, 726. the sleeve of the fruit grader, 727. the fourth gear of the fruit grader;

81.Y₀direction moving System drive Motor, 82.Y₀Direction moving system driving motor mounting base, 83.Z₀Direction moving system, 84.X₀Directional movement system, 85. portal frame first beam, 86. portal frame second beam, 87. portal frame third beam, 88. portal first frame, 89. rack, 810.Y₀Linear guide rail of direction moving system 811.Y₀Direction movement system slider, 812. door type second frame, 813. door type frame base;

91.X₀directional movement system linear guide, 92.X₀Direction moving System slider, 93.X₀Direction moving System lead screw second support Assembly, 94.X₀Directional movement system nut, 95.X₀Direction moving System lead screw, 96.X₀First support assembly of direction moving system screw, 97.X₀Directional motion system coupling, 98.X₀A direction movement system drive motor;

101.Z₀linear guide of directional movement system, 102.Z₀Direction moving System slide, 103.Z₀Direction moving System support plate, 104.Z₀Direction moving System drive Motor, 105.Z₀Direction movementSystem coupling, 106.Z₀Direction moving System lead screw first support Assembly, 107.Z₀Direction moving System screw, 108.Z₀Direction moving system nut, 109 corrugated pipe connecting device, 1010.Z₀The direction moving system screw rod second supporting component;

111. robot autonomous mobile platform steering system, 112, storage battery supporting platform, 113, robot autonomous mobile platform support, 114, fruit collecting box X₀Direction limit baffle, 115, fruit collecting box Y₀The robot automatic moving platform comprises a direction limiting baffle plate 116, a robot automatic moving platform driving system 117, a robot automatic moving platform steering system wheel 118, a steering wheel axle 119, a steering wheel hub bearing 1110, a steering system support frame 1111, a steering driven gear 1112, a steering bearing seat 1113, a first bearing 1114, a robot automatic moving platform steering system mounting hole 1115, a steering driving motor mounting hole 1116, a steering shaft 1117, a bearing seat top cover 1118, a fruit collecting box Y₀The robot autonomous moving platform comprises a direction limiting baffle installation groove, 1119 driving wheel hub bearings, 1120 bearing seats, 1121 second bearings, 1122 robot autonomous moving platform gear shafts, 1123 speed sensors, 1124 robot autonomous moving platform driving system wheels, 1125 steering driving motors, 1126 rotary encoders, 1127 robot autonomous moving platform driving motors.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

X in the invention₀、Y₀、Z₀The three-dimensional coordinate system is characterized by comprising a horizontal axis direction, a vertical axis direction and a vertical axis direction.

As shown in fig. 1, the double-arm apple picking circular grading and collecting robot of the invention comprises a double-arm apple picking robot body 11, a storage battery pack 12, a heat insulation board 13, a central controller 14, a vision sensor support 15, a binocular vision sensor 16, a fruit conveying grading and collecting system 17 and a robot autonomous moving platform 18.

The double-arm apple picking robot body 11 is arranged at the central position of the robot autonomous moving platform 18; the battery pack is fixed on the battery pack support platform 112 of the robot autonomous moving platform 18; the heat insulation board is fixed above the storage battery pack 12; the central controller 14 is fixed above the heat insulation board; the vision sensor support 15 is fixed above the double-arm apple picking robot body 23 of the double-arm apple picking robot body 11; the binocular vision sensor 16 is mounted on the vision sensor bracket 15.

The storage battery pack 12 provides power for all motors, sensors and a controller of the double-arm apple picking and grading collecting robot; the central controller 14 is the control center of the entire robot.

As shown in fig. 2, the dual-arm apple picking robot body 11 of the present invention comprises three picking fingers 21, a picking paw 22, two six-dimensional force sensors 23, two picking robot arms 24, a dual-arm apple picking robot body 25, a picking robot first driving motor 26, a dual-arm apple picking robot base 27, and a pushing-blocking paw 28. Picking finger bases 31 of the three picking fingers 21 are symmetrically arranged on the picking paw 22, the picking paw 22 and the pushing and blocking paw 28 are respectively fixed at the tail ends of the two picking mechanical arms 24, and six-dimensional force sensors 23 are arranged at the joints; the two picking mechanical arms 24 are respectively fixed on two sides of the machine body 25 of the double-arm apple picking robot; picking machineThe first drive motor 26 of the robot is arranged on the base 27 of the double-arm apple picking robot, the output shaft of the first drive motor is fixedly connected with the lower end of the machine body 25 of the double-arm apple picking robot to form a revolute pair, and the machine body 25 of the double-arm apple picking robot is driven to wind Z₀And (4) rotating the direction.

Picking fingers 21 have two X' s₀The directions are the active degrees of freedom of the rotating shaft and are respectively a picking finger first rotating pair 39 and a picking finger second rotating pair 37. The structure of the picking finger base is shown in fig. 3, and comprises a picking finger base 31, a picking finger first connecting rod 32, a picking finger first tactile sensor 33, a picking finger second connecting rod driving motor 34, a picking finger second connecting rod 35, a picking finger second tactile sensor 36 and a picking finger first connecting rod driving motor 38. The picking finger first connecting rod driving motor 38 is fixed on the picking finger base 31, and an output shaft of the picking finger first connecting rod driving motor is fixedly connected with the picking finger first connecting rod 32 to form a picking finger first rotating pair 39; the picking finger second connecting rod driving motor 34 is fixed on the picking finger first connecting rod 32, and an output shaft of the picking finger second connecting rod driving motor is fixedly connected with the picking finger second connecting rod 35 to form a picking finger second rotating pair 37; the picking finger first tactile sensor 33 is fixed on the picking finger first connecting rod 32, and the picking finger second tactile sensor 36 is fixed on the picking finger second connecting rod 35.

The picking arm 22 has one or more Z₀First revolute pair 417 of the picking arm with direction of rotation axis, two in Y₀The active degrees of freedom with the direction as the rotation axis are respectively the second revolute pair 416 of the picking mechanical arm and the fourth revolute pair 414 of the picking mechanical arm, one with X₀And a third revolute pair 415 of the picking arm with the direction of the rotation axis. The structure of the picking arm driving mechanism is shown in fig. 4, and comprises a picking arm first driving motor 41, a picking arm second driving motor base 42, a picking arm second driving motor 43, a picking arm first link joint 44, a picking arm first link 45, a picking arm third driving motor base 46, a picking arm third driving motor 47, a picking arm second link joint 48, a picking arm second link 49, a picking arm fourth driving motor base 46A motor base 410, a fourth drive motor 411 for the picking arm, a third link joint 412 for the picking arm, and a third link 413 for the picking arm. Rotary encoders are arranged in the picking mechanical arm first driving motor 41, the picking mechanical arm second driving motor 43, the picking mechanical arm third driving motor 47 and the picking mechanical arm fourth driving motor 411; the first driving motor 41 of the picking mechanical arm is fixed on the side surface of the double-arm apple picking robot body 25, and an output shaft of the first driving motor 41 of the picking mechanical arm is fixedly connected with the base 42 of the second driving motor of the picking mechanical arm to form a first rotating pair 417 of the picking mechanical arm; the second driving motor 43 of the picking mechanical arm is fixed on the base 42 of the second driving motor of the picking mechanical arm, and an output shaft of the second driving motor is fixedly connected with the first connecting rod joint 44 of the picking mechanical arm to form a second rotating pair 416 of the picking mechanical arm; two ends of the first connecting rod 45 of the picking mechanical arm are fixedly connected with the first connecting rod joint 44 of the picking mechanical arm and the third driving motor base 46 of the picking mechanical arm respectively; the third driving motor 47 of the picking mechanical arm is fixed on the base 46 of the third driving motor of the picking mechanical arm, and an output shaft of the third driving motor is fixedly connected with the second connecting rod joint 48 of the picking mechanical arm to form a third revolute pair 415 of the picking mechanical arm; two ends of the second connecting rod 49 of the picking mechanical arm are fixedly connected with the second connecting rod joint 48 of the picking mechanical arm and the fourth driving motor base 410 of the picking mechanical arm respectively; the fourth driving motor 411 of the picking mechanical arm is fixed on the fourth driving motor base 410 of the picking mechanical arm, and an output shaft of the fourth driving motor is fixedly connected with the third connecting rod joint 412 of the picking mechanical arm to form a fourth revolute pair 414 of the picking mechanical arm; one end of the third link 413 of the picking mechanical arm is fixedly connected with the third link joint 412 of the picking mechanical arm, and the other end of the third link is connected with the picking paw 22 or the pushing and blocking paw 28 through the six-dimensional force sensor 23.

As shown in fig. 5, the fruit conveying, grading and collecting system 17 of the present invention comprises a fruit conveying, grading and collecting system first support frame 51, a fruit conveying first channel 52, a three-coordinate moving system assembly 53, a supporting and grading system assembly 54, a fruit conveying second channel 55, a fruit conveying third channel 56, a fruit conveying fourth channel 57, two fruit collecting boxes 58, and a fruit conveying fifth channel 59. The fruit conveying and grading collecting system comprises a first supportThe frame 51 is fixed on the forward plane of the double-arm apple picking robot body 25; the fruit conveying first channel 52 is an inverted cone-shaped threaded pipe, the fruit inlet end of the fruit conveying first channel is fixed on a first support frame 51 of the fruit conveying grading and collecting system, and the fruit outlet end of the fruit conveying first channel is fixed on a fruit conveying first channel outlet connecting and supporting device 63; the fruit conveying first channel 52, the fruit conveying second channel 55, the fruit conveying third channel 56, the fruit conveying fourth channel 57 and the fruit conveying fifth channel 59 are all formed by corrugated pipes. The length of the fruit conveying third channel 55 is larger than that of the fruit conveying third channel inlet connecting and supporting device 66 to Z₀Distance between bellows joints 109 in directional translation system 83; the fruit conveying second channel 55 has a length greater than the fruit conveying second channel inlet connecting support device 61 to Z₀Distance between bellows joints 109 in directional translation system 83; by increasing the length of the fruit conveying second channel 55 and the fruit conveying third channel 56, the fruit in the channels can be buffered and decelerated, and the accessible positions of the fruit conveying second channel 55 and the fruit conveying third channel 56 are increased.

Referring to fig. 6, the supporting and grading system assembly 54 of the present invention comprises a fruit conveying third channel inlet connecting supporting device 61, a circular fruit automatic grader 62, a fruit conveying first channel outlet connecting supporting device 63, a fruit conveying grading and collecting system second supporting frame 64, a fruit conveying grading and collecting system third supporting frame 65, a fruit conveying second channel inlet connecting supporting device 66 and a circular fruit automatic grader driving motor 67.

One end of the fruit conveying third channel 55 and one end of the fruit conveying second channel 56 are respectively fixed on the fruit conveying second channel inlet connecting and supporting device 66 and the fruit conveying third channel inlet connecting and supporting device 61, and the other ends are respectively fixed on the Z-shaped channel₀Two bellows are connected to the device 109 in the direction-shifting system 83.

The outlet of the first fruit conveying channel is connected with a supporting device 63 and is fixed on a beam of a second supporting frame 64 of the fruit conveying grading and collecting system; the fruit conveying third channel inlet connecting and supporting device 61 and the fruit conveying second channel inlet connecting and supporting device 66 are respectively fixed on the inner side and the outer side of a third supporting frame 65 crossbeam of the fruit conveying grading and collecting system; the circular fruit automatic classifier 62 and the circular fruit automatic classifier driving motor 67 are both fixed on a beam of a third support frame 65 of the fruit conveying, classifying and collecting system; the second support frame 64 and the third support frame 65 of the fruit conveying, grading and collecting system are both fixed on the forward plane of the double-arm apple picking robot body 25.

The automatic circular fruit sizer 62 of the present invention, as shown in fig. 7a and 7b, comprises a spring fixed support 71, a light spring 72, a fruit sizer base 73, a first circular fruit sizer rotating shaft 74, a first fruit carrying half ring 75, a second fruit carrying half ring 76, a second circular fruit sizer rotating shaft 77, a spring fixed support lock nut 78, a third fruit sizer rotating shaft 79, a third fruit carrying half ring 710, a fourth fruit carrying half ring 711, a fourth fruit sizer rotating shaft 712, four fruit sizer lock nuts 713, a first fruit sizer gear 714, two fruit sizer drive actuator 715, a first fruit sizer driven shaft 716, a fourth fruit sizer driven shaft 717, a second fruit sizer driven shaft 718, a fruit classifier third driven shaft 719, four fruit classifier driven shaft mounting holes 720, a spring support mounting hole 721, two fruit classifier drive steering engine mounting holes 722, a fruit classifier base gear shaft 723, a fruit classifier third gear 724, a fruit classifier second gear 725, four fruit classifier sleeves 726, a fruit classifier fourth gear 727.

The fruit classifier base gear shaft 723 is fixed on the fruit classifier base 73; the flange of the spring fixing and supporting device 71 is fixed on a beam of a third supporting frame 65 of the fruit conveying, grading and collecting system, and the upper end of the spring fixing and supporting device passes through a fruit grader base gear shaft 723 and a fruit grader base 73 to be connected with a spring fixing and supporting device locking nut 78; the first rotating shaft 74 of the circular fruit automatic classifier, the second rotating shaft 77 of the circular fruit automatic classifier, the third rotating shaft 79 of the fruit classifier and the fourth rotating shaft 712 of the fruit classifier are fixed on the upper surface of the base 73 of the fruit classifier, and are respectively fixedly connected with the first half ring 75 of the fruit, the second half ring 76 of the fruit, the third half ring 710 of the fruit classifier and the fourth half ring 711 of the fruit classifier; one end of the light spring 72 is fixedly connected with the upper surface of the spring fixing and supporting device 71, the other end of the light spring is fixedly connected with the lower surface of the fruit grader base gear shaft 723, and the pre-tightening degree of the light spring 72 is adjusted by adjusting the position of the spring fixing and supporting device locking nut 78;

the first driven shaft 716 of the fruit grader, the second driven shaft 718 of the fruit grader, the third driven shaft 719 of the fruit grader and the fourth driven shaft 717 of the fruit grader are completely the same in structure, the upper ends of the first driven shaft 716 of the fruit grader, the second driven shaft 718 of the fruit grader, the third driven shaft 719 of the fruit grader and the fourth driven shaft 717 of the fruit grader are respectively fixed on the first rotating shaft 74 of the circular fruit grader, the second rotating shaft 77 of the circular fruit grader, the third rotating shaft 79 of the fruit grader and the fourth rotating shaft 712 of the fruit grader, the lower ends of the third driven shaft of the fruit grader and the fourth rotating shaft of the fruit grader respectively penetrate through the four driven shaft mounting holes 720 of the fruit grader and the four fruit grader sleeves 726, and are respectively connected with the first gear 714 of the fruit grader, the second gear 725 of the fruit grader, the third gear 724 of the fruit grader and the fourth gear 727 of the fruit grader, and the tail ends of the third driven shaft of the fruit grader are locked by four locking nuts 713 of the fruit grader; the first gear 714 of the fruit grader is meshed with the second gear 725 of the fruit grader, and the third gear 724 of the fruit grader is meshed with the fourth gear 727 of the fruit grader; the two fruit grader drive steering gear 715 flanges are fixed in the two fruit grader drive steering gear mounting holes 722 of the fruit grader base 73, respectively, output gear shafts of the two fruit grader drive steering gear mounting holes are meshed with a fruit grader first gear 714 and a fruit grader third gear 724 respectively, the two fruit grader drive half rings 75 and 76 are driven to bear fruits, and the two fruit grader third half rings 710 and the fruit grader fourth half ring 711 are opened and closed respectively.

As shown in FIG. 8, the three-coordinate moving system assembly 53 of the present invention includes two Y-coordinate moving systems₀Direction moving System drive Motor 81, two Y₀Direction moving System drive Motor mounting base 82, two Z₀ Directional movement system 83, two xs₀ Directional movement system 84, two doorsA first frame beam 85, two second portal frame beams 86, two third portal frame beams 87, a first portal frame 88, two racks 89, four Y-shaped beams₀ Linear guide rail 810 of directional movement system, eight Y₀A direction moving system block 811, a gate type second frame 812, and four gate type frame bases 813.

Four Y₀Four fruit collecting boxes X with direction moving system linear guide rails 810 respectively fixed on robot autonomous moving platform support 113₀Outboard of the direction limiting baffle 114; the eight Y₀The direction moving system blocks 811 are equally divided into four groups and mounted on four Y-shaped blocks₀Four linear guide rail pairs are formed on the linear guide rail 810 of the direction moving system; the gate-type first frame 88 and the gate-type second frame 812 are respectively provided with a gate-type frame first beam 85, a gate-type frame second beam 86, a gate-type frame third beam 87 and two gate-type frame bases 813; four portal frame bases 813 are respectively fixed at four Y₀Four groups of Y corresponding to linear guide rails 810 of direction moving system₀A direction movement system slider 811; the two Y₀The direction moving system driving motor mounting bases 82 are respectively arranged on the portal frame bases 813 on the left side of the portal first frame 88 and on the right side of the portal second frame 812; the two racks 89 and four Y₀The linear guide rail 810 of the direction moving system is fixed on the robot autonomous moving platform bracket 113 in parallel and is respectively positioned on two Y₀The direction moving system driving motor is installed outside the base 82; the two Y₀The driving motors 81 of the direction moving system are respectively installed at two Y₀The driving motor of the direction moving system is arranged on the base 82, and gears on the output gear shafts of the driving motor are respectively meshed with the two racks 89;

two X₀The direction moving system 84 is completely fixed on the door-type first frame 88 and the door-type second frame 812 respectively;

two Z₀The direction moving systems 83 have the same structure and are respectively fixed on two X₀Two xs of the directional movement system 84₀The direction movement system slider 92.

As shown in FIG. 9, the present inventionThree-coordinate moving system assembly 53X₀ Directional movement system 84, comprising two xs₀Directional movement system linear guide 91, two X₀Direction moving System slider 92, one X₀Direction moving System lead screw second support Assembly 93, an X₀Direction moving system nut 94, one X₀Direction moving System lead screw 95, one X₀Direction moving System lead screw first support Assembly 96, an X₀Direction moving System coupling 97, an X₀The directional movement system drives a motor 98.

The two X₀The direction moving system linear guide rails 91 are respectively installed on the forward planes of the portal frame first beam 85 and the portal frame third beam 87 in parallel; the two X₀The direction moving system sliders 92 are respectively installed at two xs₀A linear guide rail pair is formed on the linear guide rail 91 of the direction moving system;

said X₀Direction moving system drive motor 98, X₀Direction moving System lead screw first support Assembly 96 and X₀The direction moving system lead screw second supporting assembly 93 is sequentially fixed on the portal frame second cross beam 86 from left to right; said X₀The output shaft of the directional movement system drive motor 98 passes through X₀Direction moving system coupling 97 and X₀The directional movement system screw 95 is connected; said X₀Two ends of the screw 95 of the direction moving system are respectively made of X₀Direction moving System lead screw first support Assembly 96 and X₀The direction moving system lead screw second supporting component 93; said X₀The directional movement system nut 94 is mounted at X₀The direction-shifting system screw 95 forms a screw-nut pair.

As shown in FIG. 10, a three-coordinate moving system assembly 53Z of the present invention₀ Directional movement system 84, comprising two Z₀Linear guide 101 of direction moving system, two Z₀Direction moving System slider 102, one Z₀Directional movement system support plate 103, one Z₀The directional movement system drives a motor 104, one Z₀Directional movement system coupling 105, one Z₀Direction moving system lead screw first support assembly 106, oneZ₀Direction moving system lead screw 107, one Z₀Directional movement system nut 108, a bellows connection 109, a Z₀The directional movement system leads to a second support assembly 1010.

Z is₀The direction moving system support plate 103 is of an inverted L shape, and the back of the bottom plate thereof is fixed to two X' s₀On the direction-moving system slider 92 and X₀The directional movement system nut 94; two Z₀The linear guide 101 of the direction moving system is fixed in parallel at Z₀A bottom plate of the direction movement system support plate 103; two Z₀The direction moving system sliders 102 are respectively installed at two Z₀A linear guide rail pair is formed on the linear guide rail 101 of the direction moving system; z is₀The direction moving system driving motor 104 is fixed on the inverted L-shaped Z₀On the side plate of the direction moving system support plate 103, the output shaft thereof passes through Z₀Directional movement system coupling 105 and Z₀The direction moving system lead screw 107 is connected; z₀Two ends of a screw 107 of the direction moving system are respectively fixed on Z₀Directional movement system lead screw first support assembly 106 and Z₀The direction-shifting system leads to a second support assembly 1010; z is₀The directional translation system nut 108 is fixed at both Z₀On the direction-moving system slider 102, and is connected with Z₀The lead screws 107 of the direction moving system are connected to form a lead screw nut pair; the bellows connection 109 is fixed to Z₀The direction moves system nut 108.

As shown in fig. 11a and 11b, the robot autonomous moving platform 18 of the present invention comprises a robot autonomous moving platform steering system 111, a battery supporting platform 112, a robot autonomous moving platform support 113, and four fruit collecting boxes X₀A direction limit baffle 114 and four fruit collecting boxes Y₀A direction limit baffle 115, a robot autonomous mobile platform driving system 116; a robot autonomous mobile platform steering system wheel 117, a steering wheel axle 118, a steering wheel hub bearing 119, a steering system support frame 1110, a steering driven gear 1111, a steering bearing seat 1112, a first bearing 1113, a machineA mounting hole 1114 for a steering system of the autonomous mobile platform, a mounting hole 1115 for a steering driving motor, a steering shaft 1116, two bearing seat top covers 1117 and four fruit collecting boxes Y₀The direction limiting baffle mounting groove 1118, two driving wheel hub bearings 1119, two bearing seats 1120, two second bearings 1121, a robot autonomous moving platform gear shaft 1122, a speed sensor 1123, two robot autonomous moving platform driving system wheels 1124, a steering driving motor 1125, a rotary encoder 1126 and a robot autonomous moving platform driving motor 1127.

The robot autonomous moving platform bracket 113 is provided with a robot autonomous moving platform steering system mounting hole 1114, a steering driving motor mounting hole 1115 and four fruit collecting boxes Y₀A direction limit baffle mounting groove 1118; the storage battery supporting platform 112 and four fruit collecting boxes X₀The direction limiting baffles 114 are all fixed on the upper surface of the robot autonomous moving platform support 113;

the robot autonomous mobile platform steering system 111 and the robot autonomous mobile platform driving system 116 are respectively connected with the robot autonomous mobile platform support 113 through a flange plate of a steering bearing seat 1112 and two bearing seat top covers 1117; the four fruit collecting boxes Y₀The direction limiting baffles 115 are respectively arranged on the four fruit collecting boxes Y₀The direction limiting baffle mounting groove 1118 can be freely drawn out;

two opposite surface angular contact ball bearings (namely, first bearings) 1113 are installed inside the steering bearing seat 1112, and a circular flange thereof is concentric with a mounting hole 1114 of a steering system of the robot autonomous mobile platform and is installed on the lower surface of the robot autonomous mobile platform support 113; the steering shaft 1116 passes through a first bearing 1113 and is fixed to the upper surface of the steering system support 1110; the steering driven gear 1111 is in interference fit with the steering shaft 1116, is arranged between the steering bearing seat 1112 and the steering system support frame 1110, and is meshed with an output gear shaft of the steering driving motor 1125; the steering driving motor 1125 is provided with a rotary encoder 1126, the circular flange of which is concentric with the steering driving motor mounting hole 1115 and is fixed on the upper surface of the robot autonomous moving platform support 113; the steering system support 1110 is fixed on the steering wheel axle 118; the steering wheel axle 118 is connected with the steering system wheel 117 of the robot autonomous mobile platform through a steering wheel hub bearing 119;

one end of each of the two bearing seat top covers 1117 is fixed on the lower surface of the robot autonomous moving platform support 113, and the other end of each of the two bearing seat top covers is connected with the two bearing seats 1120; two second bearings 1121 are arranged in the two bearing seats 1120; two ends of the robot autonomous moving platform gear shaft 1122 respectively penetrate through two second bearings 1121, are in interference fit with two driving wheel hub bearings 1119, and are installed on two robot autonomous moving platform driving system wheels 1124, and speed sensors 1123 are installed on the robot autonomous moving platform driving system wheels 1124; the robot autonomous moving platform driving motor 1127 is fixed on the lower surface of the robot autonomous moving platform support 113, and an output gear shaft thereof is engaged with a gear of the robot autonomous moving platform gear shaft 1122.

A picking and grading operation method using a double-arm picking circular grading robot comprises the following steps:

firstly, the automatic stable operation. The central controller 14 controls the motion of the robot autonomous mobile platform 18 according to the road surface information fed back by the binocular vision sensor 16, adjusts the rotating speed of the robot autonomous mobile platform driving motor 1127 and the angular displacement of the steering driving motor 1125 according to the feedback information of the speed sensor 1123 and the rotary encoder 1126, controls the running speed and the steering angle of the robot autonomous mobile platform, and realizes the smooth running of the robot.

And II, picking operation. When the picking robot reaches a designated picking destination, the double-arm picking robot body 11, the picking mechanical arm 26 and the picking paw 22 on the left side and the picking mechanical arm 26 and the pushing and blocking paw 27 on the right side cooperate to complete a fruit picking task, the central controller 14 plans the motion paths of the two mechanical arms 26 according to the position information of the ripe fruits fed back by the binocular vision sensor 16, and controls the output torque of the picking finger second connecting rod driving motor 34 and the picking finger first connecting rod driving motor 39 according to the feedback information of the picking finger first tactile sensor 33 and the picking finger second tactile sensor 36 of the three picking paw fingers 21 and the six-dimensional force sensor 23 at the connection part of the picking paw 22 and the tail end of the picking mechanical arm 26 after reaching the target position, so that the picking paw 22 generates a proper grabbing force; according to feedback information of a six-dimensional force sensor 23 at the joint of the pushing and blocking paw 27 and the tail end of the picking mechanical arm, adjusting output torque of each joint of the picking mechanical arm 26 connected with the pushing and blocking paw 27 to generate proper pushing and blocking force; thereby simulating the picking action of human beings to complete the picking task of the fruits.

And thirdly, grading the fruits. The picking mechanical arm 26 and the picking paw 22 put the picked fruits into the fruit conveying and grading collection system 17, the general fruits directly pass through the circular fruit automatic grader 62 and the fruit conveying third channel 56 through the fruit conveying first channel 52, and the fruits conveying fifth channel 59 enter one corresponding fruit collection box 58; when a larger fruit reaches the circular fruit automatic classifier 62 through the fruit conveying first channel 52, the fruit is clamped by a sorting mechanism consisting of a fruit bearing first half ring 75 and a fruit bearing second half ring 76 or a fruit bearing third half ring 710 and a fruit bearing fourth half ring 711 (taking the fruit bearing first half ring 75 and the fruit bearing second half ring 76 as an example), under the action of the fruit gravity, the light spring 72 of the circular fruit automatic classifier 62 is compressed, the fruit classifier base 73 descends, the gear on the fruit classifier base gear shaft 723 is meshed with the output gear of the circular fruit automatic classifier driving motor 67, after the fruit classifier 62 rotates 180 degrees, the fruit classifier drives the steering engine 715 output gear shaft to drive the fruit classifier first gear 714 to rotate, the fruit classifier second gear 725 rotates, so that the fruit bearing first half ring 75 and the fruit bearing second half ring 76 are opened, the fruit enters the fruit transport second channel 55 and passes via the fruit transport fourth channel 57 into the further fruit collection bin 58.

And fourthly, resetting the fruit grader. After the fruit leaves the fruit sorting machine 62, the light spring 72 is reset; meanwhile, the gear on the base gear shaft 723 of the fruit classifier is separated from the output gear of the driving motor 67 of the circular fruit automatic classifier; then, the fruit classifier drives the steering engine 715 to output a gear shaft to drive the first gear 714 of the fruit classifier to rotate in the reverse direction, and drives the second gear 725 of the fruit classifier to rotate in the reverse direction, so that the first half fruit ring 75 and the second half fruit ring 76 are closed. No new fruit is allowed to enter the fruit transport first channel 52 until the fruit grader is reset.

Fifthly, arranging and replacing the fruit collecting box. The central controller 14 controls two Y-coordinates in the three-coordinate moving system 53 according to the feedback values of the respective built-in rotary encoders₀Direction moving System drive Motor 81, two X₀Direction moving System drive Motor 98, two Z₀The direction moving system drives the motor 104 to rotate, so that the two bellows connecting devices 109 respectively pull the fruit to transmit the third channel 55 and the fruit to transmit the second channel 56 to do telescopic reciprocating motion, the fruit transmission fifth channel 59 and the fruit transmission fourth channel 57 move in multiple directions in the two fruit collection boxes 58, and the fruits are placed according to the set positions. When any one fruit collecting box 58 is full, the picking operation stops, the robot self-moving platform 18 conveys the double-arm apple picking grading and collecting robot to the replacement point of the fruit collecting box 58, and the corresponding fruit collecting box Y is conveyed₀The direction limiting baffle 115 is drawn out, and after the fruit collecting box 58 is replaced, the fruit collecting box Y is arranged₀The direction limit baffle is inserted to carry out new picking operation.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. A picking and grading method for picking circular grading and collecting robots by utilizing double-arm apples is characterized in that each double-arm apple picking circular grading and collecting robot comprises an autonomous moving platform, a robot body is mounted at the center of the upper portion of the autonomous moving platform, a binocular vision sensor mechanism is mounted at the top of the robot body, and a fruit conveying and grading and collecting system matched with the robot body is arranged in front of the robot body; the autonomous mobile platform is also provided with a storage battery pack, the upper part of the storage battery pack is provided with a central controller, and the storage battery pack provides power for the robot body, all motors, sensors and the central controller on the autonomous mobile platform; the central controller is a control center of the whole robot and controls all electrical components to work;

the specific picking and grading steps are as follows:

3) grading fruits; the general fruit directly passes through the circular fruit automatic classifier through a conventional channel and enters a corresponding fruit collection box; the bigger fruits reach the round fruit automatic classifier through a conventional channel, and enter another fruit collection box after being classified and processed by the round fruit automatic classifier;

when a larger fruit reaches the circular fruit automatic classifier through the first channel, the larger fruit is clamped by the corresponding approximate circular ring below the first channel, under the action of fruit gravity, a light spring of the circular fruit automatic classifier is compressed, the circular fruit automatic classifier base descends, a gear on a gear shaft of the circular fruit automatic classifier base is meshed with an output gear of a driving motor of the circular fruit automatic classifier, the central controller controls the driving motor of the circular fruit automatic classifier to rotate, after the circular fruit automatic classifier is synchronously driven to rotate for 180 degrees, the central controller controls the circular fruit automatic classifier corresponding to the second channel to drive an output gear shaft of a steering engine to drive a gear of one semicircular ring of the corresponding circular fruit automatic classifier to rotate, and drives a gear of the other meshed semicircular ring to synchronously rotate, so that the two semicircular rings of the circular ring are opened, the fruit enters a second channel and enters another fruit collecting box through a fourth channel;

4) resetting the automatic circular fruit classifier; after the fruits leave the circular fruit automatic classifier, the circular fruit automatic classifier is restored to the initial state, and new fruits are not allowed to enter a fruit transmission first channel before the circular fruit automatic classifier is reset;

5) arranging and replacing the fruit collecting box; the central controller controls the three-coordinate system moving system assembly to act, so that fruits are placed in the fruit collecting boxes according to the set positions, picking is stopped after one fruit collecting box is fully collected, and new picking operation is carried out after the fruit collecting boxes are replaced.

2. The picking and grading method for picking circular grading and collecting robot by using double-arm apples according to claim 1, wherein in the step 1), the rotating speed and the angular displacement of a steering motor of a driving motor of the robot autonomous moving platform are adjusted according to feedback information of a speed sensor and a rotary encoder, so that the running speed and the steering angle of the robot autonomous moving platform are controlled, and the robot runs stably.

3. The picking and grading method for picking circular grading and collecting robot by using double-arm apples according to claim 1, wherein in the step 2), the picking mechanical arm and the picking paw at the left side of the double-arm picking robot body are matched with the picking mechanical arm and the pushing and blocking paw at the right side to complete the fruit grabbing task.

4. The picking and grading method for picking circular grading and collecting robot by using double-arm apples according to claim 3, wherein in the step 2), the central controller plans the motion paths of the two mechanical arms according to the position information of the ripe fruits fed back by the binocular vision sensor mechanism.

5. The picking and grading method using the double-arm apple picking circular grading and collecting robot as claimed in claim 3, wherein in the step 2), after reaching the target position, the output torque of the picking fingers is controlled according to the feedback information of the picking finger touch sensors of the three picking paw fingers and the six-dimensional force sensor at the joint of the picking paw and the tail end of the picking mechanical arm, so that the picking paw generates the proper gripping force; according to feedback information of a six-dimensional force sensor at the joint of the pushing and blocking paw and the tail end of the picking mechanical arm, output torque of each joint of the picking mechanical arm connected with the pushing and blocking paw is adjusted to generate proper pushing and blocking force, and the picking action of the similar person is completed.

6. The picking and grading method using the double-arm apple picking circular grading and collecting robot as claimed in claim 1, wherein in the step 3), the picking mechanical arm and the picking paw put the picked fruit into the fruit conveying and grading and collecting system, and the general fruit directly passes through the circular fruit automatic grader via the first channel and the third channel and the fifth channel to enter into the corresponding fruit collecting box.

7. The picking and grading method by using the double-arm apple picking circular grading and collecting robot as claimed in claim 1, wherein in the step 4), the light spring is reset after the fruit leaves the circular fruit automatic grader; simultaneously, a gear on a base gear shaft of the round fruit automatic classifier is separated from an output gear of a driving motor of the round fruit automatic classifier; then, the circular fruit automatic classifier corresponding to the second channel drives the steering engine output gear shaft to drive the corresponding circular fruit automatic classifier gear to rotate reversely, and the circular fruit automatic classifier gear meshed with the steering engine output gear shaft is driven to rotate reversely, so that the two semi-circular rings of the circular rings are closed and return to the initial state.

8. The picking and grading method using the double-arm apple picking circular grading and collecting robot as claimed in claim 1, wherein in the step 5), the central controller controls the two Y-axis direction driving motors, the two X-axis direction driving motors and the two Z-axis direction driving motors in the three-coordinate moving system assembly according to the feedback values of the built-in rotary encoders, respectively, to pull the third channel and the second channel to reciprocate in a telescopic manner, respectively, so as to realize the multi-directional movement of the fifth channel and the fourth channel in the two fruit collecting boxes, thereby placing the fruits at the predetermined positions.

9. The picking and grading method using the double-arm apple picking circular grading and collecting robot as claimed in claim 1, wherein in the step 5), the picking operation is stopped as long as any one of the fruit collecting boxes is fully collected, the central controller controls the robot autonomous moving platform to transport the double-arm apple picking and grading and collecting robot to the fruit collecting box replacing point, and a new picking operation is performed after the fruit collecting box is replaced.