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CN-121970608-A - Continuously-working grape picking robot with stacking system

CN121970608ACN 121970608 ACN121970608 ACN 121970608ACN-121970608-A

Abstract

The invention relates to the technical field of agricultural automation equipment, and discloses a continuously-working grape picking robot with a stacking system, which comprises a chassis, a turntable, a mechanical arm, a goods shelf and the stacking system, wherein the chassis comprises an aluminum profile frame, two steering wheels and two universal wheels, the two steering wheels are symmetrically arranged along one diagonal line of the chassis, the steering wheels have steering and driving functions, and the two universal wheels are symmetrically arranged along the other diagonal line of the chassis and are used for auxiliary support and flexible steering. The grape picking robot with the stacking system is high in space utilization rate, and can realize continuous operation, namely, grape frames are circularly transported and stored on the robot, empty frames are multiplexed with full frame storage positions, the system integrates automatic replacement and collection frames, automatic transportation and storage and automatic navigation and walking functions, a plurality of collection frames can be fully filled in one-time operation, long-time continuous automatic picking is realized, and the labor intensity and the production cost are greatly reduced.

Inventors

  • LIU XINGXING
  • LI JIEYUN
  • XUE SHAOHUA

Assignees

  • 山西知耘智农科技有限公司

Dates

Publication Date
20260505
Application Date
20260324

Claims (8)

  1. 1. The continuously-working grape picking robot with the stacking system comprises a chassis (1), a turntable (4), a mechanical arm (3), a goods shelf (5) and the stacking system (2), and is characterized in that the chassis (1) comprises an aluminum profile frame (11), two steering wheels (12) and two universal wheels (13), the two steering wheels (12) are symmetrically arranged along one diagonal line of the chassis (1), and have steering and driving functions, and the two universal wheels (13) are symmetrically arranged along the other diagonal line of the chassis (1) and are used for auxiliary support and flexible steering; the rotary table (4) comprises an aluminum section support (41) and a rotary frame (421), wherein the rotary frame (421) is arranged above the aluminum section support (41), one fruit frame can be placed on the front side and the rear side of the rotary frame, a driving mechanism (422) is arranged below the rotary frame (421), and the rotary frame (421) can be driven to rotate so as to realize the position exchange of the two fruit frames; The mechanical arm (3) is a four-degree-of-freedom stacking mechanical arm which works cooperatively, the mechanical arm (3) comprises a base (31), a large arm (32), a small arm (33), a clamping jaw (34) and a clamping jaw rotating motor (35), the joint of the small arm (33) is driven by a servo motor through a small arm driving belt (36), and the clamping jaw (34) can be driven by the clamping jaw rotating motor (35) to rotate around a vertical shaft; the racks (5) are divided into front and rear rows, each row of racks (5) comprises a plurality of grid positions, and the grid positions are rectangular spaces matched with the shapes of the fruit frames and are used for storing the grape frames; The stacking system (2) is arranged in the middle of two rows of shelves (5), including sideslip mechanism (24), elevating system (23), X is to multistage expansion plate (22) and Y is to multistage expansion plate (21) that connect gradually, X is to multistage expansion plate (22) and Y is to multistage expansion plate (21) similar in structure, all include bottom plate (214) and expansion plate, the expansion plate passes through slider and guide rail sliding connection in bottom plate (214) top, the expansion plate includes one-level board (213), second grade board (212), tertiary board (211), divide between the board and pass through guide rail sliding connection between bottom plate (214) and the one-level board (213), all rotate on bottom plate (214), one-level board (213) and second grade board (212) and be connected with the hold-in range, the hold-in range is fixed with upper and lower branch board or bottom plate (214), the expansion plate side is equipped with actuating mechanism, can drive the expansion plate and stretch into or stretch out the check position.
  2. 2. The continuously operable grape picking robot with the stacking system according to claim 1, wherein the steering wheel (12) comprises an upper assembly, a lower assembly and a cross universal joint, the upper assembly is connected with the lower assembly through the cross universal joint, the upper assembly comprises a rotary support bearing, a connecting plate, a partition plate, a double-tube shock absorber (122), a hinge seat and a bottom plate, an outer ring of the rotary bearing (121) is fixedly connected with a chassis (1) frame, an inner ring is fixedly connected with the connecting plate, the partition plate is fixedly arranged on the lower side of the connecting plate, the double-tube shock absorber (122) is respectively connected with the front and rear directions of the lower side of the partition plate, the lower assembly comprises two hub motors (123), a motor support, the hinge seat and the baffle, the hub motors (123) are axially fixed in the motor support, the baffle plate and the hinge seat are fixedly connected with the cross universal joint, and the magnetic encoder is fixedly arranged above the rotary support (121).
  3. 3. The continuously operable grape picking robot with the stacking system according to claim 1, wherein the frame changing triggering condition of the turntable (4) is that the grape strings in the fruit frames reach five strings, the total frame changing time is about 14s, the frame changing time comprises 2.1s rotation and 11.9s average frame taking/placing of the stacking system (2), the turntable (4) performs position calibration through a photoelectric switch, a reset program is started after the turntable (4) is started, and the turntable (4) is stopped after the photoelectric switch is triggered.
  4. 4. The continuously operable grape picking robot with the stacking system according to claim 1, wherein the clamping jaw (34) is of a shearing and clamping integrated structure and comprises a steering engine (341), a front connecting rod (342), a rear connecting rod (343), a transmission gear (344), a cutting blade (345), a fixed clamping block (346), a floating clamping block (347) and a sliding clamping block guide shaft (348), the cutting and clamping part is connected up and down, the motor rotates to drive the two parts to be closed, a spring is arranged on the side face of the sliding clamping block, fruit stalks are clamped through spring force during cutting, the clamping jaw (34) positions the fruit stalks through a fruit stalk cutting point reasoning algorithm, and fruits are not pressed during clamping.
  5. 5. The continuously operable grape picking robot with the stacking system of claim 1, wherein a connecting block is fixedly connected above a three-stage plate (211) of the X-direction multi-stage telescopic plate (22), a base of the Y-direction multi-stage telescopic plate (21) is fixedly arranged above the connecting block, two sides of a synchronous belt on a first-stage plate (213) and a second-stage plate (212) of the Y-direction multi-stage telescopic plate (21) bypass a tensioning wheel module (2141), and the tensioning wheel module (2141) comprises a tensioning wheel, an inner tensioning wheel bracket, an outer tensioning wheel bracket, a double-end stud and a pair lock, and tightness of the synchronous belt can be adjusted.
  6. 6. The continuously operable grape picking robot with a stacking system according to claim 1, wherein the lifting mechanism (23) comprises an aluminum profile frame (231), a bottom plate (232), a servo motor (233), a worm gear reducer (234), a transmission shaft (235), a synchronous wheel support, a multi-stage expansion plate connecting module (2310), a toothed plate (2311), a guide rail (2312), a sliding block (2313) and a tensioning wheel module (2314), the servo motor (233) drives a synchronous belt to rotate through the worm gear reducer (234) and the transmission shaft (235), and the synchronous belt drives a synchronous belt fixing module and the multi-stage expansion plate connecting module (2310) to move up and down, and an X-direction multi-stage expansion plate (22) is fixed above the multi-stage expansion plate connecting module (2310).
  7. 7. The continuously working grape picking robot with the stacking system, which is disclosed by claim 1, is characterized by further comprising a control system and a vision system, wherein the control system comprises a RDKX controller which is connected with a USB-to-485 module, an SPI module, a CAN analyzer and the like through USB to control the operation of all parts, the vision system adopts an Orthosiphon Gemini335 binocular RGBD camera, and the positioning and tracking of grape clusters are realized through Yolov algorithm and Bytetrack library, and the average value of 2D positioning errors of the X-Z plane of the center point of a fruit stalk is 9.38mm.
  8. 8. The continuously operable grape picking robot with the stacking system of claim 1, wherein the driving system is controlled by double-ring PI, the steering angle tracking steady-state error is 0.5, the chassis (1) can stably pass through a 5-cement ramp, the grape garden is stably walked in a soft mud ground after rain, and the differential steering wheel (12) has a lower specific pressure to ground than a single-wheel steering wheel (12).

Description

Continuously-working grape picking robot with stacking system Technical Field The invention relates to the technical field of agricultural automation equipment, in particular to a continuously-working grape picking robot with a stacking system. Background Grape picking is a key link in the grape planting industry, and the traditional picking mode mainly depends on manual operation, and has the problems of high labor intensity, low picking efficiency and high labor cost. Especially in a large-scale grape plantation, manual picking requires a large amount of labor force, and grape fruit damage is easily caused by improper manual operation in the picking process, so that the fruit quality and the subsequent economic benefit are seriously affected. In the prior art, partial automatic picking equipment tries to realize grape picking automation by carrying a mechanical arm and a fruit frame on a travelling mechanism, but has the obvious defect that the equipped storage frame is of an independent single structure, so that automatic replacement and transportation of the storage frame cannot be realized in large-scale picking operation, the picking process is frequently interrupted, the actual requirement of efficient picking is difficult to meet, and popularization and application of the automatic picking equipment are limited. Disclosure of Invention The invention aims to provide a grape picking robot with a stacking system, which can work continuously, so as to solve the problems in the background art. The technical scheme is that the continuously-working grape picking robot with the stacking system comprises a chassis, a turntable, a mechanical arm, a goods shelf and the stacking system, wherein the chassis comprises an aluminum profile frame, two steering wheels and two universal wheels, the two steering wheels are symmetrically arranged along one diagonal line of the chassis and have steering and driving functions, and the two universal wheels are symmetrically arranged along the other diagonal line of the chassis and are used for auxiliary support and flexible steering; the rotary table comprises an aluminum section support and a rotary frame, wherein the rotary frame is arranged above the aluminum section support, one fruit frame can be placed on each of the front side and the rear side of the rotary frame, and a driving mechanism is arranged below the rotary frame and can drive the rotary frame to rotate so as to realize the position exchange of the two fruit frames; The mechanical arm is a four-degree-of-freedom stacking mechanical arm, and the two mechanical arms are in cooperative work, and comprise a base, a large arm, a small arm, clamping jaws and a clamping jaw rotating motor, wherein the small arm joint is driven by a servo motor through a small arm driving belt, and the clamping jaws can be driven by the clamping jaw rotating motor to rotate around a vertical shaft; the racks are divided into front and rear rows, each row of racks comprises a plurality of grid positions, and each grid position is a rectangular space matched with the appearance of the fruit frame and is used for storing the grape frames; The stacking system is arranged between two rows of shelves and comprises a traversing mechanism, a lifting mechanism, an X-direction multistage expansion plate and a Y-direction multistage expansion plate which are sequentially connected, wherein the X-direction multistage expansion plate is similar to the Y-direction multistage expansion plate in structure and comprises a bottom plate and an expansion plate, the expansion plate is connected above the bottom plate through a sliding block and a guide rail in a sliding manner, the expansion plate comprises a first-stage plate, a second-stage plate and a third-stage plate, the bottom plate and the first-stage plate are connected in a sliding manner through the guide rail, a synchronous belt is rotationally connected on the bottom plate, the first-stage plate and the second-stage plate, the synchronous belt is fixed with the upper and lower sub-plates or the bottom plate, and a driving mechanism is arranged on the side face of the expansion plate and can drive the expansion plate to stretch into or stretch out of a lattice position. The steering wheel comprises an upper assembly, a lower assembly and a cross universal joint, wherein the upper assembly is connected with the lower assembly through the cross universal joint, the upper assembly comprises a rotary support bearing, a connecting plate, a partition plate, a double-tube shock absorber, a hinge seat and a bottom plate, an outer ring of the rotary bearing is fixedly connected with a chassis frame, an inner ring is fixedly connected with the connecting plate, the partition plate is fixedly arranged at the lower side of the connecting plate, the double-tube shock absorber is respectively connected with the front and rear direction of the lower side of the partition plate, the connecting plate and t