CN110537419A - A self-propelled self-balancing picking robot - Google Patents
A self-propelled self-balancing picking robot Download PDFInfo
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- CN110537419A CN110537419A CN201910834229.8A CN201910834229A CN110537419A CN 110537419 A CN110537419 A CN 110537419A CN 201910834229 A CN201910834229 A CN 201910834229A CN 110537419 A CN110537419 A CN 110537419A
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- 210000001624 hip Anatomy 0.000 claims abstract description 135
- 210000000629 knee joint Anatomy 0.000 claims abstract description 51
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 210000004394 hip joint Anatomy 0.000 claims abstract description 34
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 23
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 23
- 230000008859 change Effects 0.000 claims abstract description 10
- 210000002414 leg Anatomy 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 64
- 210000003127 knee Anatomy 0.000 claims description 30
- 210000001145 finger joint Anatomy 0.000 claims description 12
- 210000001503 joint Anatomy 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000004806 packaging method and process Methods 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 abstract description 23
- 238000009434 installation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开了一种自走式自平衡采摘机器人，包括机器人主体（8），其特征在于：在机器人主体（8）的顶部设有机械臂总成（5）且机械臂总成（5）的执行端设有机械爪总成（6），机器人主体（8）的前端设有螺栓固定的的挂篮（7），在机器人主体（8）的下部设有皆具备三自由度的四组行走部件，该行走部件包括腰部关节（4）、髋部关节（3）、膝部关节（2）和足部（1），腰部关节（4）驱动髋部关节（3）、髋部关节（3）上的髋部电机（35）驱动上肢（30）、膝部关节（2）驱动下肢（20）。本发明的行走部件能够通过电机旋转角度的变化来改变其腿部的角度和伸长量，使得机器人能够在复杂山地、丘陵等地域进行稳定的果实采摘作业。
The invention discloses a self-propelled self-balancing picking robot, comprising a robot main body (8), characterized in that a mechanical arm assembly (5) is arranged on the top of the robot main body (8), and the mechanical arm assembly (5) The execution end of the robot is provided with a mechanical claw assembly (6), the front end of the robot main body (8) is provided with a bolt-fixed hanging basket (7), and the lower part of the robot main body (8) is provided with four groups of three degrees of freedom. Walking parts, the walking parts include waist joints (4), hip joints (3), knee joints (2) and feet (1), waist joints (4) drive hip joints (3), hip joints ( 3) The upper hip motor (35) drives the upper limbs (30), and the knee joint (2) drives the lower limbs (20). The walking part of the present invention can change the angle and elongation of its legs through the change of the rotation angle of the motor, so that the robot can perform stable fruit picking operations in areas such as complex mountains and hills.
Description
技术领域technical field
本发明属于果实采摘技术领域，具体地说是一种通过腿足式机器人在丘陵地带行进、通过机械臂控制机械爪的运动以实现对果实采摘功能的自走式自平衡采摘机器人。The invention belongs to the technical field of fruit picking, and specifically relates to a self-propelled self-balancing picking robot that uses a leg-footed robot to advance in hilly areas and controls the movement of mechanical claws through a mechanical arm to achieve the fruit picking function.
背景技术Background technique
目前我国的农林行业工作强度大，传统的人工作业需要大量劳动力，与之相对的是农林业从业人员日益减少，劳动力缺口增大，现阶段需要一种自动化程度高的果实采摘机械来弥补这一缺口。而我国的人工果林较多的位于丘陵地形，目前适用于地形复杂的丘陵地形的果实采摘机械较少，而适用于种植在平原地形的果林采摘设备无法在丘陵地形下进行作业，所以，开发一种可以适用于丘陵地带果林的果实采摘设备显得尤为重要。At present, my country's agriculture and forestry industry has a high work intensity, and traditional manual operations require a large amount of labor. In contrast, the number of agricultural and forestry employees is decreasing day by day, and the labor gap is increasing. At this stage, a fruit picking machine with a high degree of automation is needed to make up for this. a gap. However, most of the artificial fruit forests in our country are located in hilly terrains. At present, there are few fruit picking machines suitable for complex hilly terrains, and the fruit forest picking equipment suitable for planting in plain terrains cannot operate under hilly terrains. Therefore, the development of a A kind of fruit picking equipment that can be applicable to fruit forests in hilly areas is particularly important.
发明内容Contents of the invention
本发明的目的是针对现有自动化果实采摘设备不适应丘陵地形的问题，提供一种通过腿足式机器人在丘陵地带行进、通过机械臂控制机械爪的运动以实现对果实采摘功能的自走式自平衡采摘机器人；该机器人具有较高的自动化程度、节省人力资源，能够提高农林业机械的机械化程度。The purpose of the present invention is to solve the problem that the existing automatic fruit picking equipment is not suitable for the hilly terrain, and to provide a self-propelled fruit picking function by using a leg-footed robot to travel in the hilly area and controlling the movement of the mechanical claws through the mechanical arm. Self-balancing picking robot; the robot has a high degree of automation, saves human resources, and can improve the mechanization of agricultural and forestry machinery.
本发明的目的是通过以下技术方案解决的：The purpose of the present invention is solved by the following technical solutions:
一种自走式自平衡采摘机器人，包括机器人主体，其特征在于：在机器人主体的顶部设有机械臂总成且机械臂总成的执行端设有机械爪总成，机器人主体的前端设有螺栓固定的的挂篮，在机器人主体的下部设有皆具备三自由度的四组行走部件，该行走部件包括腰部关节、髋部关节、膝部关节和足部，安装在机器人主体内部的腰部关节的腰部电机驱动髋部关节的转动，髋部关节的髋部电机驱动上肢的转动，设置在上肢下端的膝部关节的膝部电机驱动下肢的转动，下肢的底端通过螺栓固定机器人的足部，上肢和下肢构成机器人的腿；该机器人的行走部件能够通过上述电机的转动改变各个腿的伸长量和角度，使得机器人主体能在复杂路面行走并维持平衡。A self-propelled self-balancing picking robot, including a robot main body, is characterized in that: a mechanical arm assembly is provided on the top of the robot main body and a mechanical claw assembly is provided at the execution end of the mechanical arm assembly, and a mechanical claw assembly is provided at the front end of the robot main body. The hanging basket fixed by bolts is equipped with four sets of walking parts with three degrees of freedom at the lower part of the robot body. The walking parts include waist joints, hip joints, knee joints and feet. The waist motor of the joint drives the rotation of the hip joint, the hip motor of the hip joint drives the rotation of the upper limb, and the knee motor of the knee joint at the lower end of the upper limb drives the rotation of the lower limb. The upper limbs and lower limbs constitute the legs of the robot; the walking parts of the robot can change the elongation and angle of each leg through the rotation of the above motor, so that the main body of the robot can walk on complex roads and maintain balance.
所述的足部包括橡胶制成的橡胶足垫、刚性足和足套，足垫包裹在刚性足外且刚性足的顶部设置足套，刚性足通过螺栓固定安装下肢的底端；足部的刚性足保证了机器人行走的稳定，橡胶足垫能减缓震动。The foot includes a rubber foot pad made of rubber, a rigid foot and a foot cover. The foot pad is wrapped outside the rigid foot and the top of the rigid foot is provided with a foot cover. The rigid foot is fixed to the bottom of the lower limb by bolts; The rigid foot ensures the stability of the robot's walking, and the rubber foot pad can slow down the vibration.
所述膝部关节包括下肢、膝部关节内端盖、膝部谐波减速器、膝部关节环、膝部关节外端盖、膝部电机和膝部关节连接环，所述的膝部关节连接环固定在上肢的底端且膝部关节连接环的内弧固定安装膝部关节环，膝部关节环的外端侧封装有膝部关节外端盖且膝部电机通过螺钉紧固在膝部关节环内部，膝部电机的输出端与膝部膝部谐波减速器的输入端相连接以传递动力、且膝部谐波减速器的固定端通过螺钉与膝部关节环固定连接，膝部关节内端盖将膝部谐波减速器的输出端与下肢的周向固定；通过膝部电机产生动力并传递到膝部谐波减速器，再由膝部谐波减速器的输出端将动力传递到下肢，实现了下肢绕膝部关节环的转动，实现机器人的下肢相对于上肢的相对摆动。The knee joint includes lower limbs, knee joint inner end cover, knee harmonic reducer, knee joint ring, knee joint outer end cover, knee motor and knee joint connection ring, and the knee joint The connecting ring is fixed on the bottom of the upper limb and the inner arc of the knee joint connecting ring is fixedly installed with the knee joint ring. Inside the knee joint ring, the output end of the knee motor is connected to the input end of the knee harmonic reducer to transmit power, and the fixed end of the knee harmonic reducer is fixedly connected to the knee joint ring through screws, and the knee The inner end cover of the knee joint fixes the output end of the knee harmonic reducer with the circumference of the lower limbs; the power is generated by the knee motor and transmitted to the knee harmonic reducer, and then the output end of the knee harmonic reducer The power is transmitted to the lower limbs, which realizes the rotation of the lower limbs around the knee joint ring, and realizes the relative swing of the lower limbs of the robot relative to the upper limbs.
所述髋部关节包括上肢、髋部关节连接环、髋部关节环、髋部谐波减速器、髋部端盖和髋部电机，所述的髋部电机固定安装在腰部关节的腰部主体内且采用髋部端盖封装，髋部电机的输出端连接髋部谐波减速器的输入端且髋部谐波减速器的固定端亦通过螺钉固定在髋部端盖的外侧，髋部谐波减速器的输出端通过螺钉固定在髋部关节环的内侧以传递动力，髋部关节环的圆周面上通过髋部关节连接环固定上肢的顶端；使用时，位于腰部主体内部的髋部电机将动力传递到髋部谐波减速器，再通过髋部谐波减速器的输出端将动力传递到髋部关节环，实现机器人上肢相对于腰部主体的相对摆动。The hip joint includes an upper limb, a hip joint connection ring, a hip joint ring, a hip harmonic reducer, a hip end cover and a hip motor, and the hip motor is fixedly installed in the waist body of the lumbar joint And it is encapsulated by the hip end cover, the output end of the hip motor is connected to the input end of the hip harmonic reducer and the fixed end of the hip harmonic reducer is also fixed on the outside of the hip end cover by screws, the hip harmonic The output end of the reducer is fixed on the inner side of the hip joint ring by screws to transmit power, and the top of the upper limb is fixed on the circumferential surface of the hip joint ring through the hip joint connection ring; when in use, the hip motor located inside the waist body will The power is transmitted to the hip harmonic reducer, and then the power is transmitted to the hip joint ring through the output end of the hip harmonic reducer, so as to realize the relative swing of the upper limb of the robot relative to the waist main body.
所述的腰部关包括腰部主体、箍套、传动轴、腰部端盖、腰部谐波减速器、腰部电机支座和腰部电机；所述的腰部电机通过螺钉紧固在腰部电机支座上且腰部电机支座固定在机器人主体的内部，腰部电机的输出端与腰部谐波减速器的输入端相连接且腰部谐波减速器的固定端亦固定在腰部电机支座上，腰部谐波减速器的输出端与腰部端盖连接，固定在腰部端盖上的传动轴通过箍套与腰部主体固定连接；使用时，位于腰部电机支座上的腰部电机将动力传递到腰部谐波减速器，再通过腰部谐波减速器将动力传递到和腰部谐波减速器相连接的腰部端盖，通过腰部端盖将动力传递到传动轴，通过传动轴将动力再传递到腰部主体，实现腰部主体相对腰部电机支座的摆动。The waist closure includes a waist body, a hoop, a transmission shaft, a waist end cover, a waist harmonic reducer, a waist motor support and a waist motor; the waist motor is fastened on the waist motor support by screws and the waist The motor support is fixed inside the main body of the robot, the output end of the waist motor is connected to the input end of the waist harmonic reducer and the fixed end of the waist harmonic reducer is also fixed on the waist motor support, the waist harmonic reducer The output end is connected to the waist end cover, and the transmission shaft fixed on the waist end cover is fixedly connected to the waist body through a hoop; when in use, the waist motor located on the waist motor support transmits power to the waist harmonic reducer, and then through The waist harmonic reducer transmits the power to the waist end cover connected with the waist harmonic reducer, the power is transmitted to the transmission shaft through the waist end cover, and then the power is transmitted to the waist main body through the transmission shaft, so that the waist main body is relative to the waist motor. The swing of the support.
所述的机器人主体包括躯干壳、封装躯干壳底部的躯干底座、位于躯干壳顶部前端的摄像头和位于躯干底座底部的超声波避障传感器和激光测距传感器，摄像头、超声波避障传感器和激光测距传感器分别通过相应的线路与中央处理器相连接。The main body of the robot includes a trunk shell, a trunk base encapsulating the bottom of the trunk shell, a camera positioned at the top front end of the trunk shell, an ultrasonic obstacle avoidance sensor and a laser rangefinder located at the bottom of the trunk base, the camera, the ultrasonic obstacle avoidance sensor and the laser rangefinder The sensors are respectively connected with the central processing unit through corresponding lines.
所述的机械臂总成包括第一机械臂、第二机械臂、机械臂基座、机械臂液压缸、双耳环支座和机械臂末端视觉模块，上述的机械臂基座安装在机器人主体的上部并能够相对机器人主体旋转，第一机械臂的尾端通过铰链和机械臂基座相连、另一端通过铰链和第二机械臂的尾端相连，第二机械臂的另一端通过铰链和机械臂末端视觉模块相连；所述的机械臂液压缸包括机械臂第一液压缸、机械臂第二液压缸和机械臂第三液压缸，其中机械臂第一液压缸的尾端铰接在机械臂基座上、驱动端铰接在第一机械臂上，机械臂第二液压缸的尾端铰接在第一机械臂上、驱动端铰接在第二机械臂上，机械臂第三液压缸的尾端铰接在第二机械臂上、驱动端铰接双耳环支座。The mechanical arm assembly includes a first mechanical arm, a second mechanical arm, a mechanical arm base, a mechanical arm hydraulic cylinder, a double clevis support and a vision module at the end of the mechanical arm. The above-mentioned mechanical arm base is installed on the main body of the robot. The upper part can rotate relative to the main body of the robot. The tail end of the first mechanical arm is connected to the base of the mechanical arm through a hinge, the other end is connected to the tail end of the second mechanical arm through a hinge, and the other end of the second mechanical arm is connected to the mechanical arm through a hinge. The terminal vision module is connected; the hydraulic cylinder of the mechanical arm includes the first hydraulic cylinder of the mechanical arm, the second hydraulic cylinder of the mechanical arm and the third hydraulic cylinder of the mechanical arm, wherein the tail end of the first hydraulic cylinder of the mechanical arm is hinged on the base of the mechanical arm The upper and driving ends are hinged on the first mechanical arm, the tail end of the second hydraulic cylinder of the mechanical arm is hinged on the first mechanical arm, the driving end is hinged on the second mechanical arm, and the tail end of the third hydraulic cylinder of the mechanical arm is hinged on the On the second mechanical arm, the driving end is hinged to the double clevis support.
所述的机械臂总成还包括机械臂电机、机械臂电机支座、机械臂谐波减速器和机械臂底部端盖，其中机械臂电机通过螺钉与机械臂电机支座相连接，机械臂电机支座通过螺钉和机器人主体固定连接，机械臂谐波减速器的固定端和机械臂电机支座紧固、输出端和机械臂底部端盖相互紧固，械臂底部端盖和机械臂基座相互固定，机械臂电机工作时通过机械臂谐波减速器输出动力至机械臂底部端盖和机械臂基座，以驱动机械臂基座转动。The mechanical arm assembly also includes a mechanical arm motor, a mechanical arm motor support, a mechanical arm harmonic reducer and a bottom end cover of the mechanical arm, wherein the mechanical arm motor is connected to the mechanical arm motor support through screws, and the mechanical arm motor The support is fixedly connected to the main body of the robot through screws, the fixed end of the harmonic reducer of the mechanical arm is fastened to the motor support of the mechanical arm, the output end is fastened to the bottom end cover of the mechanical arm, and the bottom end cover of the mechanical arm is connected to the base of the mechanical arm Fixed to each other, the motor of the robotic arm outputs power through the harmonic reducer of the robotic arm to the end cover of the bottom of the robotic arm and the base of the robotic arm to drive the base of the robotic arm to rotate.
所述的机械爪总成包括安装平台、过渡指关节、伸缩软管、铰链关节、橡胶指和末端指关节，其中安装平台安装在机械臂总成末端的机械臂末端视觉模块上，三个过渡指关节依次通过铰链关节相连且三个过渡指关节的起始端铰接在安装平台上、最末端通过铰链关节铰接末端指关节，过渡指关节和末端指关节的内部嵌有柔性橡胶指，用于在摘果的过程中避免对果子表皮造成压伤；三个过渡指关节和一个末端指关节构成机械爪总成的一个机械爪且该机械爪与连通液压系统的伸缩软管相连接，液压系统通过改变伸缩软管内的液体体积的变化来改变伸缩软管的长度，进而改变机械爪内各个指关节之间的角度，实现机械爪的伸直与弯曲。The mechanical gripper assembly includes a mounting platform, a transition knuckle, a telescopic hose, a hinge joint, a rubber finger and an end knuckle, wherein the installation platform is installed on the vision module at the end of the mechanical arm assembly at the end of the mechanical arm assembly, and the three transition The knuckles are connected sequentially through hinge joints, and the starting ends of the three transitional knuckles are hinged on the installation platform, and the ends are hinged to the terminal knuckles through hinge joints. Flexible rubber fingers are embedded inside the transitional knuckles and terminal knuckles for Avoid crushing the fruit skin during the fruit picking process; three transition knuckles and one end knuckle constitute a mechanical claw of the mechanical claw assembly and the mechanical claw is connected to the telescopic hose connected to the hydraulic system. The change of the volume of the liquid in the telescopic hose changes the length of the telescopic hose, and then changes the angle between the knuckles in the gripper to realize the straightening and bending of the gripper.
所述的安装平台上设有三组机械爪，且三个机械爪的末端指关节能够相互靠拢和张开。The installation platform is provided with three sets of mechanical claws, and the terminal knuckles of the three mechanical claws can be moved closer to each other and spread apart.
本发明相比现有技术有如下优点：Compared with the prior art, the present invention has the following advantages:
本发明通过设置仿生大腿的腿足式机器人替代传统的轨道式、轮式机械，搭载机械臂和机械爪，配合超声波避障传感器和激光测距传感器对地形的扫描以及中央处理器的分析，能够适应地貌复杂地形，并且保证机器人主体的相对水平，保证了机械臂总成能够始终保持平稳运行；能够解决现有丘陵地带作业过程中大型机械行动不便、履带式或轮式机械面对复杂地形越障能力不足的问题，能够在复杂山地、丘陵等地域进行稳定的果实采摘作业，且该机器人的设备体型较小，更易于在丘陵地带森林中作业可代替人员进行摘果作业，提高丘陵地形下作业的自动化程度。The invention replaces the traditional rail-type and wheel-type machines with a leg-foot robot with bionic thighs, equipped with a mechanical arm and a mechanical claw, and cooperates with an ultrasonic obstacle avoidance sensor and a laser ranging sensor to scan the terrain and analyze the central processor. It adapts to the complex terrain and ensures the relative level of the main body of the robot, which ensures that the mechanical arm assembly can always run smoothly; it can solve the problem of inconvenient movement of large machinery in the process of operation in existing hilly areas, and the crawler or wheeled machinery faces complex terrain. Insufficient obstacle capacity, it can carry out stable fruit picking operations in complex mountains, hills and other areas, and the robot has a smaller equipment size, which is easier to work in forests in hilly areas. degree of automation.
附图说明Description of drawings
附图1为本发明的自走式自平衡采摘机器人的立体结构示意图；Accompanying drawing 1 is the three-dimensional structure schematic diagram of self-propelled self-balancing picking robot of the present invention;
附图2为本发明的行走部件的结构示意图；Accompanying drawing 2 is the structural representation of walking part of the present invention;
附图3为本发明的足部结构示意图；Accompanying drawing 3 is a schematic diagram of the foot structure of the present invention;
附图4为本发明的膝部关节结构示意图；Accompanying drawing 4 is the structural representation of knee joint of the present invention;
附图5为本发明的髋部关节结构示意图；Accompanying drawing 5 is the hip joint structure schematic diagram of the present invention;
附图6为本发明的腰部关节结构示意图；Accompanying drawing 6 is the schematic diagram of the waist joint structure of the present invention;
附图7为本发明的机器人主体结构示意图；Accompanying drawing 7 is the structural representation of robot main body of the present invention;
附图8为本发明的机械臂总成结构示意图；Accompanying drawing 8 is the mechanical arm assembly structure schematic diagram of the present invention;
附图9为本发明的末端机械爪总成结构示意；Accompanying drawing 9 is the structural representation of the terminal mechanical gripper assembly of the present invention;
附图10为本发明的机械爪的伸缩量和转动角度示意图；Accompanying drawing 10 is the telescoping amount and the rotation angle schematic diagram of mechanical claw of the present invention;
附图11为本发明的自走式自平衡采摘机器人的控制原理图。Accompanying drawing 11 is the control schematic diagram of the self-propelled self-balancing picking robot of the present invention.
其中：1—足部；11—橡胶足垫；12—刚性足；13—足套；2—膝部关节；20—下肢；21—膝部关节内端盖；22—膝部谐波减速器；23—膝部关节环；24—膝部关节外端盖；25—膝部关节电机；26—膝部关节连接环；3—髋部关节；30—上肢；31—髋部关节连接环；32—髋部关节环；33—髋部谐波减速器；34—髋部关节端盖；35—髋部电机；4—腰部关节；40—腰部关节；41—箍套；42—传动轴；43—腰部端盖；44—腰部谐波减速器；45—腰部关节支座；46—腰部电机；5—机械臂总成；501—第一机械臂；502—第二机械臂；51机械臂电机；52—机械臂电机支座；53—谐波减速器；54—机械臂端盖；55—机械臂基座；56—机械臂液压缸；561—机械臂第一液压缸；562—机械臂第二液压缸；563—机械臂第三液压缸；57—双耳环支座；58—机械臂末端视觉模块；6—机械爪总成；60—安装平台；61—过渡指关节；62—伸缩软管；63—铰链关节；64—柔性橡胶指；65—末端指关节；7—挂篮；8—机器人主体；80—躯干壳；81—摄像头；82—超声波避障传感器和激光测距传感器；83—躯干底座。Among them: 1—foot; 11—rubber foot pad; 12—rigid foot; 13—foot cover; 2—knee joint; 20—lower limb; 21—knee joint inner end cover; 22—knee harmonic reducer ; 23—knee joint ring; 24—knee joint outer end cover; 25—knee joint motor; 26—knee joint connection ring; 3—hip joint; 30—upper limb; 31—hip joint connection ring; 32—hip joint ring; 33—hip harmonic reducer; 34—hip joint end cover; 35—hip motor; 4—lumbar joint; 40—lumbar joint; 41—cuff; 42—transmission shaft; 43—waist end cover; 44—waist harmonic reducer; 45—waist joint support; 46—waist motor; 5—mechanical arm assembly; 501—first mechanical arm; 502—second mechanical arm; 51 mechanical arm Motor; 52—motor support of the mechanical arm; 53—harmonic reducer; 54—end cover of the mechanical arm; 55—base of the mechanical arm; 56—hydraulic cylinder of the mechanical arm; 561—first hydraulic cylinder of the mechanical arm; 562—mechanical 563—the third hydraulic cylinder of the mechanical arm; 57—double clevis support; 58—visual module at the end of the mechanical arm; 6—mechanical claw assembly; 60—installation platform; 61—transition knuckle; 62— Telescopic hose; 63—hinge joint; 64—flexible rubber finger; 65—end finger joint; 7—hanging basket; 8—robot main body; 80—trunk shell; 81—camera; 82—ultrasonic obstacle avoidance sensor and laser ranging sensor; 83—torso base.
具体实施方式Detailed ways
下面结合附图与实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-2所示：一种自走式自平衡采摘机器人，包括机器人主体8，在机器人主体8的顶部设有机械臂总成5且机械臂总成5的执行端设有机械爪总成6，机器人主体8的前端设有螺栓固定的的挂篮7，在机器人主体8的下部设有皆具备三自由度的四组行走部件，该行走部件包括腰部关节4、髋部关节3、膝部关节2和足部1，安装在机器人主体4内部的腰部关节4的腰部电机46驱动髋部关节3的转动，髋部关节3的髋部电机35驱动上肢30的转动，设置在上肢30下端的膝部关节2的膝部电机25驱动下肢20的转动，下肢20的底端通过螺栓固定机器人的足部1，上肢30和下肢20构成机器人的腿；该机器人的行走部件能够通过上述电机的转动改变各个腿的伸长量和角度，使得机器人主体8能在复杂路面行走并维持平衡，让机器人能够在复杂山地、丘陵等地域进行稳定的果实采摘作业。As shown in Figure 1-2: a self-propelled self-balancing picking robot, including a robot main body 8, a mechanical arm assembly 5 is provided on the top of the robot main body 8 and a mechanical claw assembly is provided at the execution end of the mechanical arm assembly 5. 6, the front end of the robot main body 8 is provided with a hanging basket 7 fixed by bolts, and four groups of walking parts with three degrees of freedom are arranged at the bottom of the robot main body 8. The walking parts include a waist joint 4, a hip joint 3, Knee joint 2 and foot 1, the waist motor 46 of the waist joint 4 installed in the robot main body 4 drives the rotation of the hip joint 3, and the hip motor 35 of the hip joint 3 drives the rotation of the upper limb 30, which is arranged on the upper limb 30 The knee motor 25 of the knee joint 2 at the lower end drives the rotation of the lower limb 20, and the bottom end of the lower limb 20 fixes the foot 1 of the robot by bolts, and the upper limb 30 and the lower limb 20 constitute the legs of the robot; The rotation changes the elongation and angle of each leg, so that the robot main body 8 can walk and maintain balance on complex road surfaces, and the robot can perform stable fruit picking operations in complex mountains, hills and other areas.
如图1、2、3所示，腰部关4包括腰部主体40、箍套41、传动轴42、腰部端盖43、腰部谐波减速器44、腰部电机支座45和腰部电机46；所述的腰部电机46通过螺钉紧固在腰部电机支座45上且腰部电机支座45固定在机器人主体4的内部，腰部电机46的输出端与腰部谐波减速器44的输入端相连接且腰部谐波减速器44的固定端亦固定在腰部电机支座45上，腰部谐波减速器44的输出端与腰部端盖43连接，固定在腰部端盖43上的传动轴42通过箍套41与腰部主体40固定连接；使用时，位于腰部电机支座45上的腰部电机46将动力传递到腰部谐波减速器44，再通过腰部谐波减速器44将动力传递到和腰部谐波减速器44相连接的腰部端盖43，通过腰部端盖43将动力传递到传动轴42，通过传动轴42将动力再传递到腰部主体40，实现腰部主体40相对腰部电机支座45的摆动。As shown in Figures 1, 2 and 3, the waist closure 4 includes a waist main body 40, a hoop 41, a drive shaft 42, a waist end cover 43, a waist harmonic reducer 44, a waist motor support 45 and a waist motor 46; The waist motor 46 is fastened on the waist motor support 45 by screws and the waist motor support 45 is fixed inside the robot main body 4, the output end of the waist motor 46 is connected with the input end of the waist harmonic reducer 44 and the waist harmonic The fixed end of the wave reducer 44 is also fixed on the waist motor support 45, the output end of the waist harmonic reducer 44 is connected with the waist end cover 43, and the transmission shaft 42 fixed on the waist end cover 43 is connected to the waist through the hoop 41. The main body 40 is fixedly connected; when in use, the waist motor 46 on the waist motor support 45 transmits power to the waist harmonic reducer 44, and then the waist harmonic reducer 44 transmits power to the waist harmonic reducer 44. The connected waist end cap 43 transmits power to the transmission shaft 42 through the waist end cap 43, and then transmits the power to the waist main body 40 through the transmission shaft 42 to realize the swing of the waist main body 40 relative to the waist motor support 45.
如图1、2、4所示，髋部关节3包括上肢30、髋部关节连接环31、髋部关节环32、髋部谐波减速器33、髋部端盖34和髋部电机35，所述的髋部电机35固定安装在腰部关节4的腰部主体40内且采用髋部端盖34封装，髋部电机35的输出端连接髋部谐波减速器33的输入端且髋部谐波减速器33的固定端亦通过螺钉固定在髋部端盖34的外侧，髋部谐波减速器33的输出端通过螺钉固定在髋部关节环32的内侧以传递动力，髋部关节环32的圆周面上通过髋部关节连接环31固定上肢30的顶端；使用时，位于腰部主体40内部的髋部电机35将动力传递到髋部谐波减速器33，再通过髋部谐波减速器33的输出端将动力传递到髋部关节环32，实现机器人上肢30相对于腰部主体40的相对摆动。As shown in Figures 1, 2 and 4, the hip joint 3 includes an upper limb 30, a hip joint connecting ring 31, a hip joint ring 32, a hip harmonic reducer 33, a hip end cover 34 and a hip motor 35, The hip motor 35 is fixedly installed in the waist body 40 of the waist joint 4 and encapsulated by the hip end cover 34, the output end of the hip motor 35 is connected to the input end of the hip harmonic reducer 33 and the hip harmonic The fixed end of the speed reducer 33 is also fixed on the outside of the hip end cover 34 by screws, and the output end of the hip harmonic speed reducer 33 is fixed on the inside of the hip joint ring 32 by screws to transmit power. The top of the upper limb 30 is fixed by the hip joint connection ring 31 on the circumferential surface; when in use, the hip motor 35 located inside the waist body 40 transmits power to the hip harmonic reducer 33, and then through the hip harmonic reducer 33 The output end of the robot transmits power to the hip joint ring 32 to realize the relative swing of the upper limb 30 of the robot relative to the waist main body 40 .
如图1、2、5所示，膝部关节2包括下肢20、膝部关节内端盖21、膝部谐波减速器22、膝部关节环23、膝部关节外端盖24、膝部电机25和膝部关节连接环26，所述的膝部关节连接环26固定在上肢30的底端且膝部关节连接环26的内弧固定安装膝部关节环23，膝部关节环23的外端侧封装有膝部关节外端盖24且膝部电机25通过螺钉紧固在膝部关节环23内部，膝部电机25的输出端与膝部谐波减速器22的输入端相连接以传递动力、且膝部谐波减速器22的固定端通过螺钉与膝部关节环23固定连接，膝部关节内端盖21将膝部谐波减速器22的输出端与下肢20的周向固定；通过膝部电机25产生动力并传递到膝部谐波减速器22，再由膝部谐波减速器22的输出端将动力传递到下肢20，实现了下肢22绕膝部关节环23的转动，实现机器人的下肢20相对于上肢30的相对摆动。As shown in Figures 1, 2, and 5, the knee joint 2 includes a lower limb 20, an inner end cover 21 of the knee joint, a knee harmonic reducer 22, a knee joint ring 23, an outer end cover 24 of the knee joint, a knee joint Motor 25 and knee joint ring 26, described knee joint ring 26 is fixed on the bottom of upper limb 30 and the inner arc of knee joint ring 26 is fixedly installed knee joint ring 23, and knee joint ring 23 The outer end side is packaged with the knee joint outer end cap 24 and the knee motor 25 is fastened inside the knee joint ring 23 by screws, and the output end of the knee motor 25 is connected with the input end of the knee harmonic reducer 22 to The power is transmitted, and the fixed end of the knee harmonic reducer 22 is fixedly connected with the knee joint ring 23 through screws, and the inner end cover 21 of the knee joint fixes the output end of the knee harmonic reducer 22 and the circumference of the lower limb 20 The power is generated by the knee motor 25 and transmitted to the knee harmonic reducer 22, and then the power is transmitted to the lower limbs 20 by the output end of the knee harmonic reducer 22, realizing the rotation of the lower limbs 22 around the knee joint ring 23 , to realize the relative swing of the lower limb 20 of the robot relative to the upper limb 30 .
如图1、2、6所示，足部1包括橡胶制成的橡胶足垫11、刚性足12和足套13，足垫11包裹在刚性足12外且刚性足12的顶部设置足套13，刚性足12通过螺栓固定安装下肢20的底端；足部的刚性足12保证了机器人行走的稳定，橡胶足垫11能减缓震动。As shown in Figures 1, 2 and 6, the foot 1 includes a rubber foot pad 11 made of rubber, a rigid foot 12 and a foot cover 13, the foot pad 11 is wrapped outside the rigid foot 12 and the top of the rigid foot 12 is provided with a foot cover 13 , the rigid foot 12 is fixedly installed at the bottom of the lower limb 20 by bolts; the rigid foot 12 of the foot ensures the stability of the robot's walking, and the rubber foot pad 11 can slow down the vibration.
如图1、7所示，机器人主体8包括躯干壳80、封装躯干壳80底部的躯干底座83、位于躯干壳80顶部前端的摄像头81和位于躯干底座83底部的超声波避障传感器和激光测距传感器82，其中躯干壳80内封装有各种动力机构和控制机构，摄像头81用于进行路线选择和工作对象的判断；超声波避障传感器和激光测距传感器82包括超声波避障传感器、激光测距传感器，两者用来对机器人足部1的下一次落地点进行扫描、预测，判断地面是否存在凹凸不平的状况，通过距离的测算判断当前状态下足垫11落地后，能否保证机器人处于相对水平的状态，若不满足则对各电机的转动角度进行调整；摄像头81、超声波避障传感器和激光测距传感器82分别通过相应的线路与中央处理器相连接。As shown in Figures 1 and 7, the robot main body 8 includes a torso shell 80, a torso base 83 encapsulating the bottom of the torso shell 80, a camera 81 positioned at the front end of the top of the torso shell 80, and an ultrasonic obstacle avoidance sensor and a laser distance measuring sensor located at the bottom of the torso base 83 Sensor 82, wherein the torso shell 80 is packaged with various power mechanisms and control mechanisms, and the camera 81 is used for route selection and judgment of work objects; ultrasonic obstacle avoidance sensor and laser ranging sensor 82 include ultrasonic obstacle avoidance sensor, laser ranging sensor Sensors, the two are used to scan and predict the next landing point of the robot foot 1, determine whether there is unevenness on the ground, and judge whether the robot is in a relative position after the foot pad 11 lands in the current state by measuring the distance. If the horizontal state is not satisfied, the rotation angles of the motors are adjusted; the camera 81, the ultrasonic obstacle avoidance sensor and the laser ranging sensor 82 are respectively connected with the central processing unit through corresponding lines.
如图1、8所示，机械臂总成5包括第一机械臂501、第二机械臂502、机械臂电机51、机械臂电机支座52、机械臂谐波减速器53、机械臂底部端盖54、机械臂基座55、机械臂液压缸56、双耳环支座57和机械臂末端视觉模块58，机械臂电机51通过螺钉与机械臂电机支座52相连接，机械臂电机支座52通过螺钉和机器人主体8固定连接，机械臂谐波减速器53的固定端和机械臂电机支座52紧固、输出端和机械臂底部端盖54相互紧固，械臂底部端盖54和机械臂基座55相互固定，机械臂电机51工作时通过机械臂谐波减速器53输出动力至机械臂底部端盖54和机械臂基座55，以驱动机械臂基座55转动；第一机械臂501的尾端通过铰链和机械臂基座55相连、另一端通过铰链和第二机械臂502的尾端相连，第二机械臂502的另一端通过铰链和机械臂末端视觉模块58相连，能够对采摘目标进行精确定位的机械臂末端视觉模块58通过线路与中央处理器相连接以提供采摘目标的定位结果；其中机械臂液压缸56包括机械臂第一液压缸561、机械臂第二液压缸562和机械臂第三液压缸563，其中机械臂第一液压缸561的尾端铰接在机械臂基座55上、驱动端铰接在第一机械臂501上，机械臂第二液压缸562的尾端铰接在第一机械臂501上、驱动端铰接在第二机械臂502上，机械臂第三液压缸563的尾端铰接在第二机械臂502上、驱动端铰接双耳环支座57，双耳环支座57用于固定机械爪总成6的安装平台；As shown in Figures 1 and 8, the mechanical arm assembly 5 includes a first mechanical arm 501, a second mechanical arm 502, a mechanical arm motor 51, a mechanical arm motor support 52, a mechanical arm harmonic reducer 53, and a bottom end of the mechanical arm. Cover 54, mechanical arm base 55, mechanical arm hydraulic cylinder 56, double clevis support 57 and mechanical arm end visual module 58, mechanical arm motor 51 is connected with mechanical arm motor support 52 by screws, mechanical arm motor support 52 Fixedly connected with the robot main body 8 by screws, the fixed end of the mechanical arm harmonic reducer 53 is fastened to the mechanical arm motor support 52, the output end and the bottom end cover 54 of the mechanical arm are fastened to each other, and the bottom end cover 54 of the mechanical arm is connected to the mechanical arm. The arm bases 55 are fixed to each other, and the mechanical arm motor 51 outputs power to the end cover 54 at the bottom of the mechanical arm and the mechanical arm base 55 through the mechanical arm harmonic reducer 53 to drive the mechanical arm base 55 to rotate; the first mechanical arm The tail end of 501 is connected to the base 55 of the mechanical arm through a hinge, the other end is connected to the tail end of the second mechanical arm 502 through a hinge, and the other end of the second mechanical arm 502 is connected to the vision module 58 at the end of the mechanical arm through a hinge, so The vision module 58 at the end of the mechanical arm for precise positioning of the picking target is connected to the central processing unit to provide the positioning result of the picking target; wherein the mechanical arm hydraulic cylinder 56 includes the first hydraulic cylinder 561 of the mechanical arm and the second hydraulic cylinder 562 of the mechanical arm and the third hydraulic cylinder 563 of the mechanical arm, wherein the tail end of the first hydraulic cylinder 561 of the mechanical arm is hinged on the base 55 of the mechanical arm, the driving end is hinged on the first mechanical arm 501, and the tail end of the second hydraulic cylinder 562 of the mechanical arm Hinged on the first mechanical arm 501, the driving end is hinged on the second mechanical arm 502, the tail end of the third hydraulic cylinder 563 of the mechanical arm is hinged on the second mechanical arm 502, the driving end is hinged on the double clevis support 57, the double clevis The support 57 is used to fix the installation platform of the mechanical claw assembly 6;
如图1、9所示，机械爪总成6包括安装平台60、过渡指关节61、伸缩软管62、铰链关节63、橡胶指64和末端指关节65，其中安装平台60安装在机械臂总成5末端的机械臂末端视觉模块58上，三个过渡指关节61依次通过铰链关节63相连且三个过渡指关节61的起始端铰接在安装平台60上、最末端通过铰链关节63铰接末端指关节65，过渡指关节61和末端指关节65的内部嵌有柔性橡胶指64，用于在摘果的过程中避免对果子表皮造成压伤；三个过渡指关节61和一个末端指关节65构成机械爪总成6的一个机械爪且该机械爪与连通液压系统的伸缩软管62相连接，液压系统通过改变伸缩软管62内的液体体积的变化来改变伸缩软管62的长度，进而改变机械爪内各个指关节之间的角度，实现机械爪的伸直与弯曲。在安装平台60上设有三组机械爪，且三个机械爪的末端指关节65能够相互靠拢和张开。As shown in Figures 1 and 9, the mechanical gripper assembly 6 includes an installation platform 60, a transition knuckle 61, a flexible hose 62, a hinge joint 63, a rubber finger 64 and an end knuckle 65, wherein the installation platform 60 is installed on the mechanical arm assembly. On the vision module 58 at the end of the robotic arm with 5 ends, the three transitional knuckles 61 are sequentially connected by hinge joints 63, and the initial ends of the three transitional knuckles 61 are hinged on the installation platform 60, and the ends are hinged by the hinge joints 63. Joint 65, transition knuckle 61 and terminal knuckle 65 are embedded with flexible rubber fingers 64, which are used to avoid crushing the fruit skin during fruit picking; three transition knuckles 61 and one terminal knuckle 65 form a mechanical A mechanical claw of the claw assembly 6 and the mechanical claw is connected with the telescopic hose 62 communicating with the hydraulic system, and the hydraulic system changes the length of the telescopic hose 62 by changing the liquid volume in the telescopic hose 62, thereby changing the mechanical The angle between the knuckles in the claw realizes the straightening and bending of the mechanical claw. Three groups of mechanical claws are provided on the installation platform 60 , and the terminal knuckles 65 of the three mechanical claws can move closer to each other and spread apart.
如图10所示的机械爪的伸缩量和转动角度示意图，机械爪总成6的各个机械爪的弯曲可以视作相邻两个指关节之间角度的变化，据此原理，进行简化即可得到图10中的关节结构，图中a可以视作单个机械爪长度的一半；b可以视作伸缩软管63的中心到机械爪关节中心的距离；c可以视作柔性橡胶指64与果实接触点到机械爪关节中心的距离；X1可视作伸缩软管63的长度、X2和X3可视作伸缩软管63弯曲时的外缘和内缘的长度。2α可以视作相邻两个指关节所夹的角度。其中a、b和c的长度固定且已知，通过几何关系，可以得出X和α、a、b、c的关系如公式(1)，可见，伸缩软管63的伸缩量仅与指关节的转动角度有关。所以，利用此方式对机械爪电磁阀的开关进行控制，进而改变机械爪各个指关节的弯曲角度来采摘果实。As shown in Figure 10, the schematic diagram of the expansion and contraction amount and rotation angle of the mechanical claw, the bending of each mechanical claw of the mechanical claw assembly 6 can be regarded as the change of the angle between two adjacent knuckles. According to this principle, it can be simplified The joint structure in Figure 10 is obtained, in which a can be regarded as half the length of a single mechanical claw; b can be regarded as the distance from the center of the telescopic hose 63 to the center of the mechanical claw joint; c can be regarded as the contact between the flexible rubber finger 64 and the fruit The distance from the point to the center of the mechanical claw joint; X1 can be regarded as the length of the telescopic hose 63, and X2 and X3 can be regarded as the length of the outer edge and the inner edge of the telescopic hose 63 when it is bent. 2α can be regarded as the angle between two adjacent knuckles. Wherein the length of a, b and c is fixed and known, through the geometric relationship, the relationship between X and α, a, b, c can be drawn as formula (1), it can be seen that the expansion and contraction of the flexible hose 63 is only related to the knuckle related to the rotation angle. Therefore, use this method to control the switch of the mechanical claw solenoid valve, and then change the bending angle of each knuckle of the mechanical claw to pick fruits.
如图11所示，在机器人主体8内设有中央处理器和用以供电的蓄电池，中央处理器通过线路与中间继电器相连接以控制中间继电器并接收中间继电器的信息反馈，中间继电器通过一个接线端子排分别与相对应的膝部电机25、髋部电机35和腰部电机46以及机械臂电机51相连接控制，中间继电器通过另一个接线端子排分别与相对应的机械臂液压缸电磁阀以及机械爪电磁阀相连接控制；另外中央处理器分别通过线路与超声波避障传感器、激光测距传感器、摄像头81、机械臂末端视觉模块58相连接以接收信号。As shown in Figure 11, a central processing unit and a storage battery for power supply are arranged in the robot main body 8, the central processing unit is connected with the intermediate relay through a line to control the intermediate relay and receive the information feedback of the intermediate relay, and the intermediate relay passes a wiring The terminal block is respectively connected and controlled with the corresponding knee motor 25, hip motor 35, waist motor 46 and mechanical arm motor 51, and the intermediate relay is respectively connected with the corresponding mechanical arm hydraulic cylinder solenoid valve and mechanical arm through another terminal block. The claw electromagnetic valve is connected and controlled; in addition, the central processing unit is respectively connected to the ultrasonic obstacle avoidance sensor, the laser ranging sensor, the camera 81, and the vision module 58 at the end of the mechanical arm through lines to receive signals.
下面通过具体实施例来进一步说明本发明提供的自走式自平衡采摘机器人。The self-propelled self-balancing picking robot provided by the present invention will be further described below through specific embodiments.
如图1-11所示，一种自走式自平衡采摘机器人，包括具备三自由度的四组行走部件、机器人主体8、四自由度的机械臂总成5以及机械爪总成6，每组行走部件皆包括足部1、膝部关节2、髋部关节3和腰部关节4。该机器人的行走部件能够通过上述电机的转动改变各个腿的伸长量和角度，实现机器人的前进、后退及转向，使得机器人主体8能在复杂路面行走并维持平衡，让机器人能够在复杂山地、丘陵等地域进行稳定的果实采摘作业；为了该机器人能够更平稳的行进，还可配置超声波避障传感器和激光测距传感器82，在机器人的运动过程中，位于躯干底座83下的超声波避障传感器和激光测距传感器82用来对机器人足部1的下一次落地点进行扫描、预测，判断地面是否存在凹凸不平的状况，通过距离的测算判断当前状态下足垫11落地后，能否保证机器人处于相对水平的状态，若不满足，则调整行走部件中的膝部关节电机25、髋部35和腰部46的相对转动角度，以改变腿的伸长量，确保机器人下一步落足后，机器人主体8能够保持平衡，机器人的四条腿协调运动，可实现机器人在各种路况的路面的前进、后退及转向。设置在四自由度机械臂总成5上的机械臂末端视觉模块58能够对采摘目标进行精确定位，通过位于机械臂总成5底部的机械臂电机51和三个机械臂液压缸56行程的变化，可使机器人完成类似于人挥动的动作。当机器人将要开始采摘果实时，机械臂总成5根据机械臂末端视觉模块58的信息传导将机械爪总成6对准合适位置，再由机械爪电磁阀控制机械爪各个指的弯曲，实现对果实的抓取，再由机械臂总成5拖拽将果实采摘下来。As shown in Figure 1-11, a self-propelled self-balancing picking robot includes four sets of walking parts with three degrees of freedom, a robot body 8, a four-degree-of-freedom mechanical arm assembly 5 and a mechanical claw assembly 6, each The walking parts of the group all include foot 1 , knee joint 2 , hip joint 3 and waist joint 4 . The walking part of the robot can change the elongation and angle of each leg through the rotation of the above-mentioned motor, so as to realize the forward, backward and turning of the robot, so that the main body of the robot 8 can walk and maintain balance on complex road surfaces, and the robot can walk in complex mountains, Stable fruit picking operations in areas such as hills; in order for the robot to travel more smoothly, an ultrasonic obstacle avoidance sensor and a laser ranging sensor 82 can also be configured. During the movement of the robot, the ultrasonic obstacle avoidance sensor located under the trunk base 83 And the laser ranging sensor 82 is used to scan and predict the next landing point of the robot foot 1, judge whether there is unevenness on the ground, and judge whether the foot pad 11 in the current state can guarantee the robot's safety by measuring and calculating the distance. Be in a relatively horizontal state, if not satisfied, then adjust the relative rotation angles of the knee joint motor 25, hip 35 and waist 46 in the walking parts, to change the elongation of the legs, to ensure that after the next step of the robot, the robot The main body 8 can maintain balance, and the four legs of the robot move in coordination, which can realize the forward, backward and turning of the robot on roads in various road conditions. The vision module 58 at the end of the mechanical arm installed on the four-degree-of-freedom mechanical arm assembly 5 can accurately locate the picking target, through the change of the stroke of the mechanical arm motor 51 and the three mechanical arm hydraulic cylinders 56 located at the bottom of the mechanical arm assembly 5 , allowing the robot to perform movements similar to human waving. When the robot is about to start picking fruit, the mechanical arm assembly 5 aligns the mechanical claw assembly 6 at the appropriate position according to the information transmission of the vision module 58 at the end of the mechanical arm, and then the mechanical claw solenoid valve controls the bending of each finger of the mechanical claw to realize the correct position. The grasping of fruit is dragged by the mechanical arm assembly 5 to pick the fruit.
以上实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内；本发明未涉及的技术均可通过现有技术加以实现。The above embodiments are only to illustrate the technical ideas of the present invention, and can not limit the protection scope of the present invention with this. All technical ideas proposed in accordance with the present invention, any changes made on the basis of technical solutions, all fall within the protection scope of the present invention. In; technologies not involved in the present invention can be realized by existing technologies.
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