The invention discloses a multi-mechanical-arm fruit picking robot with a reconfigurable chassis, which comprises a wheel-track composite reconfigurable chassis, and a picking mechanism, a control system and a sorting mechanism which are arranged on the wheel-track composite reconfigurable chassis, the reconfigurable chassis is characterized by mainly comprising supporting wheels, driving wheel driving shafts, a variable crawler belt, a driving mechanism and a control mechanism, the picking mechanism is composed of a mechanical arm, a flexible clamping jaw, a binocular camera, a rotating shaft, a displacement sensor, a mechanical arm control box and a flexible clamping jaw controller. The control system is composed of a displayer, an industrial personal computer, a motor, a motion driver and a GPS antenna. The sorting mechanism comprises a plurality of different collecting boxes. The apple picking machine has the following advantages that multiple mechanical arms are arranged, apples at different heights on the two sides of an orchard road can be picked, and the picking efficiency is improved; meanwhile, due to the reconfigurable chassis design, the robot can be transformed, and the transportation box is additionally arranged so as to be used for transporting objects such as saplings and the like in non-picking seasons; the picking hand is optimally designed, a displacement sensor is additionally arranged on a common three-finger type mechanical finger, and the moving distance of the finger can be calculated through a computer, so that the size of apples is determined, the apples are put into different collecting boxes for preliminary classification, and the picking efficiency of fruits is improved.

    本发明公开了一种可重构底盘多机械臂的果品采摘机器人,包括轮履复合式可重构底盘以及设置在所述轮履复合式可重构底盘上的采摘机构、控制系统和分拣机构,其特征在于:可重构底盘主要由支撑轮、驱动轮驱动轴、可变式履带、驱动机构及控制机构组成;采摘机构由机械臂、柔性夹爪、双目摄像头、旋转轴、位移传感器、机械臂控制箱及柔性夹爪控制器组成;控制系统由显示器、工控机、电机、运动驱动器以及GPS天线组成;分拣机构包括几个不同的收集箱。本发明具有以下优点:具有多机械臂,可以做到对果园道路两侧不同高度的苹果进行采摘,提高了采摘效率;同时,具有可重构的底盘设计,可以对机器人进行改造,通过加装运输箱以达到在非采摘季节用于树苗等东西的运输;对采摘手进行了优化设计,在普通的三指式机械手指上加装了位移传感器,可以通过电脑计算手指移动的距离,从而确定苹果的尺寸大小,并将其放入不同的收集箱中,进行初步的分类,有利于提高果实的采摘效率。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Fruit picking robot with reconfigurable chassis and multiple mechanical arms


    Weitere Titelangaben:

    一种可重构底盘多机械臂的果品采摘机器人


    Beteiligte:
    CHEN GUANGMING (Autor:in) / CHEN YUAN (Autor:in) / FAN YUNHAN (Autor:in)

    Erscheinungsdatum :

    2023-11-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    A01D Ernten , HARVESTING / B07C Sortieren von Postgut , POSTAL SORTING / B62D MOTOR VEHICLES , Motorfahrzeuge



    Chassis-reconfigurable four-swing-arm wheel-tracked robot

    ZOU YUPENG / LAI XIAOJING / SONG GE et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Chassis and robot with chassis

    ZHANG SHIPENG / LI YUCHENG | Europäisches Patentamt | 2020

    Freier Zugriff

    Reconfigurable electric vehicle chassis

    CHRISTENSEN JOHN / KLEIN REINHARDT | Europäisches Patentamt | 2024

    Freier Zugriff

    RECONFIGURABLE ELECTRIC VEHICLE CHASSIS

    CHRISTENSEN JOHN / KLEIN REINHARDT | Europäisches Patentamt | 2022

    Freier Zugriff

    MOBILE ROBOT WITH MULTIPLE ARMS

    KAMEZAKI MITSUHIRO / ISHIDA KENZO / HASHIMOTO KENJI et al. | Europäisches Patentamt | 2017

    Freier Zugriff