A tomato pruning robot, terminal manipulator, and use method

Abstract

The present invention relates to a tomato pruning robot, an end manipulator and a method of use. The end manipulator includes a shell cover, a U-shaped finger, a driving finger and two driving mechanisms installed on the shell cover. The two driving mechanisms are arranged side by side and respectively drive the U-shaped finger and the driving finger to swing side by side. One end of the U-shaped finger is connected to the driving mechanism. The driving finger is located in a notch of the U-shaped finger. The U-shaped finger is attached to one side of the main branch and the side branch of the tomato. The driving finger swings to apply lateral pressure to the tomato pruning between the main branch and the side branch, and swings through the notch of the U-shaped finger to achieve pruning. The present invention can achieve tomato pruning without using a knife, avoids the harm to the staff caused by changing the knife and pruning with bare hands, and effectively avoids the infection of the wound by bacteria and viruses of other plants. At the same time, the use of the pruning robot improves work efficiency, greatly reduces risks and labor costs.

Description

Technical Field

[0001] The present invention relates to the field of agricultural intelligent equipment, and in particular to a tomato pruning robot, a terminal manipulator and a use method thereof. Background Art

[0002] Pruning and pruning is an important part of high-yield cultivation management for fruits and vegetables such as tomatoes. By properly pruning and pruning, and removing excess side branches during the pruning process, you can reduce nutrient consumption, avoid excessive growth, and promote fruiting.

[0003] If tomato branches are broken off manually during the branch removal process, viruses and bacteria from other plants carried by the hands can infect the plant wounds, causing widespread plant disease. Furthermore, the burrs on the side branches can injure the worker's fingers during the large-scale branch removal operation. If the branches are removed with tools such as cutters, bacteria and viruses carried by the blades can also infect the wounds, and improper operation can cause injuries to the worker, compromising the economic and safe production of agricultural products.

[0004] Tomatoes have a short growth cycle and are generally planted repeatedly in greenhouses. From planting to harvesting, the number of times the tomato branches are pruned is at least twice, and both are done at noon when the temperature is highest to allow the plant wounds to heal quickly. This will increase the labor intensity, the manpower requirements, and the economic cost of planting. Summary of the Invention

[0005] In response to the deficiencies in the prior art, the present invention provides a tomato pruning robot, an end manipulator, and a method of use, which are used to solve the problem of large-scale crop diseases caused by bacterial and viral infections during manual tomato pruning, while also solving the problems of high labor costs and injuries to workers caused by improper operation of the cutter.

[0006] The present invention is achieved through the following technical solution, which provides an end manipulator, including a shell cover, a U-shaped finger, a driving finger and two driving mechanisms installed on the shell cover. The two driving mechanisms are arranged side by side and respectively drive the U-shaped finger and the driving finger to swing side by side. One end of the U-shaped finger is connected to the driving mechanism. The driving finger is located in the slot of the U-shaped finger. The U-shaped finger is attached to one side of the main branch and the side branch of the tomato. The driving finger swings to apply lateral pressure to the tomato branch between the main branch and the side branch, and swings through the slot of the U-shaped finger to achieve branch removal.

[0007] The two driving mechanisms of this solution respectively drive the U-shaped fingers and the driving fingers to swing side by side. The U-shaped fingers are fixed when the driving fingers are in motion, and play a limiting role to prevent the tomato branches from shaking, ensuring that the side branches that need to be pruned are completely broken. The driving fingers swing to apply lateral pressure to the tomato branches between the main branches and the side branches, and swing through the slots of the U-shaped fingers to achieve pruned branches.

[0008] As an optimization, the driving mechanism includes a transmission rod and a root finger with one end hinged to the shell, the U-shaped finger or driving finger is hinged to the other end of the root finger, one end of the transmission rod is hinged to the shell, and the other end is hinged to the U-shaped finger or driving finger. The driving mechanism also includes an electric telescopic rod that drives the root finger to swing. In this solution, the root finger can swing relative to the shell, and the U-shaped finger or driving finger can swing relative to the root finger, thereby realizing a double-section swinging structure. The electric telescopic rod drives the root finger to swing, and at the same time, through the connecting action of the transmission rod, the U-shaped finger or driving finger can swing in the same direction relative to the root finger, thereby realizing the swing of the U-shaped finger and the driving finger.

[0009] As an optimization, the driving mechanism further comprises a fixing frame fixedly connected to the housing, and the root finger and the transmission rod are both hinged to the fixing frame. The fixing frame provided in this solution is used to realize the connection between the root finger and the transmission rod and the housing.

[0010] As an optimization, the telescopic end of the electric telescopic rod is connected to the base finger via a chain structure. In this solution, the telescopic end of the electric telescopic rod is connected to the base finger via a chain structure. The chain structure can have a certain articulated swing amplitude, so that the swing path of the base finger can cooperate with the telescopic end of the electric telescopic rod without interference.

[0011] As an optimization, the electric telescopic rod includes a linkage sleeve, a screw axially connected to the linkage sleeve, a linkage rod slidably connected to one end of the linkage sleeve, and a drive motor for driving the screw to rotate. The linkage rod is threadedly connected to the screw. In this solution, the rotation of the screw drives the linkage rod to move axially to achieve telescoping.

[0012] As an optimization, a driving gear is fixedly connected to the rotating shaft of the driving motor, and a driven gear meshing with the driving gear is fixedly connected to the screw. In this solution, the driving motor realizes power transmission through the driving gear and the driven gear.

[0013] As an optimization, the U-shaped fingers and the driving fingers are covered with rubber sleeves. The rubber sleeves in this solution are used to increase friction, fix the branches, and reduce damage to the tomato branches.

[0014] As an optimization, the end manipulator is mounted on a rotating mechanism. In this solution, the end manipulator is mounted on a rotating mechanism, which drives the end manipulator to rotate, and the U-shaped fingers are attached to the main and side branches of the tomato at the optimal angle.

[0015] A method for using an end-user robot comprises the following steps:

[0016] a. The manipulator is in the ready state. At this time, the manipulator adjusts the working angle of the manipulator based on the growth angle of the tomato fork and the position of the tomato fork relative to the main and side branches of the tomato through the rotating mechanism located at the tail of the manipulator, so that the U-shaped fingers are attached to the main and side branches of the tomato at the optimal angle;

[0017] b. The two drive mechanisms drive the U-shaped fingers and the driving fingers to swing separately, so that the U-shaped fingers and the driving fingers are at the maximum angle, which is the first state of the manipulator. At this time, the attachment surface of the U-shaped fingers is close to the main branch of the pre-branched tomato, and the tomato branches on the pre-branched tomato are located between the driving fingers and the U-shaped fingers;

[0018] c. By adjusting the position and angle of the manipulator, the front end of the driving finger aligns with the base of the tomato fork. At this point, the U-shaped finger is attached to the main and side branches of the tomato. The driving mechanism associated with the driving finger is activated, causing the driving finger to rotate and swing downward. The angle between the two fingers gradually decreases, and the driving finger makes contact with the tomato fork.

[0019] d. As the driving finger continues to rotate, the angle between the driving finger and the plane where the U-shaped finger is located continues to decrease, gradually pressing on the side of the tomato branch. Since the main branch and side branches are limited by the U-shaped finger and cannot move, the tomato branch is separated from the main branch. The robot is in the second state, thus realizing the branch-wiping operation of the pre-branched tomato branch.

[0020] A tomato-branching robot includes an end-manipulator, a robotic arm, an image recognition mechanism, and a control system. The end-manipulator is mounted on a mechanical rocker arm via a rotation mechanism. The image recognition mechanism in this solution locates the branches of pre-branched tomatoes and transmits the detected positioning information to the tomato-branching robot's control system. The control system then uses this information to send control instructions to the robotic arm, control it to move the end-manipulator to the target position, and adjust the end-manipulator's posture accordingly.

[0021] The beneficial effects of the present invention are as follows: the tomato pruning robot, the terminal manipulator and the use method of the present invention can realize pruning of tomatoes without using knives, thus avoiding the harm to workers caused by changing knives and pruning by hand, and effectively avoiding the infection of wounds by bacteria and viruses from other plants. At the same time, the application of the pruning robot improves work efficiency, greatly reduces risks and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the driving mechanism of the present invention;

[0024] Figure 3 It is a schematic diagram of the internal structure of the present invention;

[0025] Figure 4 This invention Figure 3 A partial enlarged view of

[0026] Figure 5 It is a structural schematic diagram of the linkage device and the linkage rod of the present invention;

[0027] Figure 6 It is a connection diagram of the transmission rod of the present invention;

[0028] Figure 7 Schematic diagram of the structure of the present invention in a preparation state relative to a pre-branched tomato;

[0029] Figure 8 2 is a schematic diagram of the structure of the present invention relative to a pre-branched tomato in a first state;

[0030] Figure 9 It is a schematic diagram of the structure of the present invention relative to a pre-branched tomato in one of the intermediate states between the first state and the second state;

[0031] Figure 10 is a schematic diagram of the structure of the present invention in the second state relative to the pre-branched tomato;

[0032] As shown in the figure:

[0033] 1. Driving finger; 2. U-shaped finger; 3. Rotating mechanism; 4. Shell; 5. Driving motor; 6. Driving gear; 7. Driven gear; 8. Linkage sleeve; 9. Linkage rod; 10. Fixing frame; 11. Chain structure; 12. First positioning hole; 13. Rubber sleeve; 14. Pre-branched tomato branch; 15. Second positioning hole; 16. Transmission rod; 17. Third positioning hole. DETAILED DESCRIPTION

[0034] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0035] like Figures 1 to 10As shown, an end manipulator of the present invention includes a shell cover 4, a U-shaped finger 2, a driving finger 1 and two driving mechanisms installed on the shell cover 4. The shell cover 4 is a cylindrical shell. Some parts of the end manipulator are installed in the cover 4 to avoid the device from hurting people and to ensure the aesthetics of the manipulator.

[0036] The end manipulator is installed on the rotating mechanism 3. Specifically, the end of the shell cover 4 in this embodiment is installed on the rotating mechanism 3. The structure of the rotating mechanism is not limited. It can drive the shell cover 4 to rotate around the axis, adjust the working angle of the manipulator, and reduce the contact area between the manipulator and the branches and leaves.

[0037] The two driving mechanisms are arranged side by side and respectively drive the U-shaped finger 2 and the driving finger 1 to swing side by side.

[0038] The U-shaped fingers 2 are U-shaped and connected to the drive mechanism at one end. The opening of the U-shaped fingers 2 faces the housing 4. The U-shaped fingers 2 are used to attach to the main and side branches of a tomato plant undergoing branch removal. The so-called drive fingers 1 are the drivable fingers inside the U-shaped fingers 2 and are used to remove tomato branches. The drive fingers 1 can rotate up and down within the U-shaped grooves of the U-shaped fingers 2, leaving a certain gap.

[0039] The driving finger 1 is located in the slot of the U-shaped finger 2. The U-shaped finger 2 is attached to one side of the main branch and the side branch of the tomato. The driving finger 1 swings to apply lateral pressure to the tomato branch between the main branch and the side branch, and swings through the slot of the U-shaped finger 2 to achieve branch removal.

[0040] Specifically, the U-shaped finger 2 is used to separate the remaining branches and leaves, and the front end of the U-shaped finger 2 is attached to one side of the main branch and the side branch, and the entire branch-removing robot forms a certain angle with the branch growth direction, and the driving finger 1 applies pressure to the tomato branch from the side from top to bottom; wherein, the U-shaped finger 2 forms a first angle with the driving finger 1 when they are in the first state, and forms a second angle when the driving finger 1 is in the second state; the angles between the driving finger 1 and the U-shaped finger are different in the first state and the second state, and the second angle is smaller than the first angle, so that the driving finger 1 applies a pressing force to the tomato branch, thereby forming a pressing force on the branch of the pre-removed tomato and a thrust away from the branch.

[0041] The U-shaped fingers 2 and the driving fingers 1 are both covered with rubber sleeves 13 . The surface of the rubber sleeves 13 is rough, which is used to increase friction, fix the branches, and reduce damage to the tomato branches.

[0042] like Figure 3 、 4As shown, the driving mechanism includes a transmission rod 16 and a root finger whose one end is hinged to the shell cover 4. The root finger is a tubular long strip structure, and the rear end of the root finger is hinged to the front end of the shell cover 4. The U-shaped finger 2 and the driving finger 1 are respectively connected to the shell cover 4 through the root finger.

[0043] The rear end of the root finger is hinged to the housing 4 via a first locating hole 12 and a pin. The U-shaped finger 2 or the driving finger 1 is hinged to the other end of the root finger. Specifically, due to the presence of two drive mechanisms, the root finger of one drive mechanism is hinged to the U-shaped finger 2, while the root finger of the other drive mechanism is hinged to the driving finger 1. The front end of the root finger is hinged to the U-shaped finger 2 or the driving finger 1 via a third locating hole 17, with the hinge axis parallel to the hinge axis between the root finger and the housing 4, thus forming a double-section finger structure.

[0044] The transmission rod 16 is located inside the root finger, one end of the transmission rod 16 is hinged to the shell cover 4, and the other end is hinged to the U-shaped finger 2 or the driving finger 1, and the hinge axes at both ends are parallel to the hinge axes of the root finger and the shell cover 4. The driving mechanism also includes a fixing frame 10 fixed to the shell cover 4, and the root finger and the transmission rod 16 are both hinged to the fixing frame 10.

[0045] like Figure 6 As shown, the left end of the transmission rod 16 is hinged to the upper part of the fixing frame 10, the lower position of the hinged upper part of the fixing frame 10 is hinged to the root finger, the right end of the transmission rod 16 is hinged to the lower end position of the driving finger 1, and the upper end position of the driving finger 1 is hinged to the root finger, so that when the root finger swings downward, the driving finger 1 will also swing downward relative to the root finger.

[0046] The driving mechanism also includes an electric telescopic rod that drives the root finger to swing. The telescopic end of the electric telescopic rod is connected to the root finger through a chain structure 11. Figure 4 As shown, the chain structure 11 includes two chain links hinged in sequence. The root finger can be swung through the chain structure by moving the telescopic end. One end of the chain structure 11 is connected to the telescopic end of the electric telescopic rod, and the other end is connected to the root finger through the second positioning hole and the pin shaft.

[0047] like Figure 5 As shown, the electric telescopic rod includes a linkage sleeve 8, a screw axially connected in the linkage sleeve 8, a linkage rod 9 slidably connected to one end of the linkage sleeve 8, and a drive motor 5 for driving the screw to rotate. The linkage rod 9 is the telescopic end of the electric telescopic rod, and the linkage sleeve 8 is fixed inside the shell cover 4.

[0048] The linkage rod 9 is threadedly connected to the screw rod. Specifically, a threaded hole is opened at the root of the linkage rod 9, and the screw rod is threadedly connected in the threaded hole.

[0049] The driving motor 5 is fixedly connected to the outside of the linkage sleeve 8 . A driving gear 6 is fixedly connected to the rotating shaft of the driving motor 5 , and a driven gear 7 meshing with the driving gear 6 is fixedly connected to the screw.

[0050] A method for using an end-user robot comprises the following steps:

[0051] a、The robot is in Figure 7 In the preparation state shown, the manipulator adjusts the working angle of the manipulator based on the growth angle of the tomato fork and the position of the tomato fork relative to the main and side branches of the tomato through the rotation mechanism 3 located at the rear of the manipulator, so that the U-shaped fingers 2 are attached to the main and side branches of the tomato at the optimal angle, completing the transition from the preparation state to the first state;

[0052] b. Use two sets of driving mechanisms to drive the U-shaped finger 2 and the driving finger 1 to swing separately, so that the U-shaped finger 2 and the driving finger 1 are at the maximum angle, and the manipulator is in the following position: Figure 8 In the first state shown, the attachment surface of the U-shaped finger 2 is close to the main branch of the pre-branched tomato 14, and the tomato branch on the pre-branched tomato 14 is located between the driving finger 1 and the U-shaped finger 2;

[0053] c. By adjusting the state and angle of the manipulator, the front end of the driving finger 1 is aligned with the root of the tomato fork. At this time, the U-shaped finger 2 has been attached to the main branch and side branches of the tomato. The driving mechanism associated with the driving finger 1 is activated, and the driving finger 1 rotates and swings downward. The angle between the two fingers gradually decreases. When the driving finger 1 rotates to Figure 9 In the state shown, the driving finger 1 is brought into contact with the tomato fork;

[0054] d. As the driving finger 1 continues to rotate, the angle between the driving finger 1 and the plane where the U-shaped finger 2 is located continues to decrease, gradually achieving pressure on the side of the tomato fork. After the driving finger 1 contacts the tomato fork, as the driving finger 1 continues to rotate and swing, it can drive the tomato fork to move away from the main branch and the side branch. Since the main branch and the side branch are limited by the U-shaped finger 2 and cannot move, a pressing force is formed at the junction of the tomato fork, the main branch and the side branch. When the thrust is greater than the binding force, the tomato fork is separated from the main branch, and the manipulator is in a state as follows: Figure 10 In the second state shown, the pre-branched tomato branches 14 are thus debridemented.

[0055] A tomato-branching robot includes an end-manipulator, a robotic arm, an image recognition mechanism, and a control system. The end-manipulator is mounted on a mechanical rocker arm via a rotating mechanism 3. The image recognition mechanism utilizes a binocular vision mechanism, also known as a binocular recognition camera, which locates the branches of a tomato being braised and transmits the detected positioning information to the robot's control system. The control system then uses this information to send control instructions, control the robotic arm to move the end-manipulator to a target position, and adjust the end-manipulator's posture accordingly.

[0056] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A terminal manipulator, characterized in that: The invention comprises a shell cover (4), a U-shaped finger (2), a driving finger (1), and two driving mechanisms installed on the shell cover (4). The two driving mechanisms are arranged side by side and respectively drive the U-shaped finger (2) and the driving finger (1) to swing side by side. One end of the U-shaped finger (2) is connected to the driving mechanism. The driving finger (1) is located in a notch of the U-shaped finger (2). The U-shaped finger (2) is attached to one side of a main branch and a side branch of a tomato. The driving finger (1) swings to apply lateral pressure to a tomato branch between the main branch and the side branch, and swings through the notch of the U-shaped finger (2) to achieve branch removal.

2. The end manipulator according to claim 1, characterized in that: The driving mechanism comprises a transmission rod (16) and a root finger whose one end is hinged to the shell (4); the U-shaped finger (2) or the driving finger (1) is hinged to the other end of the root finger; one end of the transmission rod (16) is hinged to the shell (4); the other end is hinged to the U-shaped finger (2) or the driving finger (1); and the driving mechanism further comprises an electric telescopic rod for driving the root finger to swing.

3. The end manipulator according to claim 2, characterized in that: The driving mechanism further comprises a fixing frame (10) fixedly connected to the housing (4), and the root finger and the transmission rod (16) are both hingedly connected to the fixing frame (10).

4. The end manipulator according to claim 2, characterized in that: The telescopic end of the electric telescopic rod is connected to the root finger through a chain structure (11).

5. The end manipulator according to claim 2, characterized in that: The electric telescopic rod comprises a linkage sleeve (8), a screw axially connected in the linkage sleeve (8), a linkage rod (9) slidably connected to one end of the linkage sleeve (8), and a drive motor (5) for driving the screw to rotate, wherein the linkage rod (9) is threadedly connected to the screw.

6. The end manipulator according to claim 5, characterized in that: A driving gear (6) is fixedly connected to the rotating shaft of the driving motor (5), and a driven gear (7) meshing with the driving gear (6) is fixedly connected to the screw.

7. The end manipulator according to claim 1, characterized in that: The U-shaped finger (2) and the driving finger (1) are both covered with a rubber sleeve (13).

8. The end manipulator according to any one of claims 1 to 7, characterized in that: The end manipulator is mounted on the rotating mechanism (3).

9. A method for using the end manipulator according to claim 8, characterized in that: The steps include: a. The manipulator is in the ready state. At this time, the manipulator adjusts the working angle of the manipulator based on the growth angle of the tomato fork and the position of the tomato fork relative to the main and side branches of the tomato through the rotating mechanism located at the tail of the manipulator, so that the U-shaped fingers are attached to the main and side branches of the tomato at the optimal angle; b. The two drive mechanisms drive the U-shaped fingers and the driving fingers to swing separately, so that the U-shaped fingers and the driving fingers are at the maximum angle, which is the first state of the manipulator. At this time, the attachment surface of the U-shaped fingers is close to the main branch of the pre-branched tomato, and the tomato branches on the pre-branched tomato are located between the driving fingers and the U-shaped fingers; c. By adjusting the position and angle of the manipulator, the front end of the driving finger aligns with the base of the tomato fork. At this point, the U-shaped finger is attached to the main and side branches of the tomato. The driving mechanism associated with the driving finger is activated, causing the driving finger to rotate and swing downward. The angle between the two fingers gradually decreases, and the driving finger makes contact with the tomato fork. d. As the driving finger continues to rotate, the angle between the driving finger and the plane where the U-shaped finger is located continues to decrease, gradually pressing on the side of the tomato branch. Since the main branch and the side branch are limited by the U-shaped finger and cannot move, the tomato branch is separated from the main branch. The robot is in the second state, thus realizing the branch-wiping operation of the pre-branched tomato branch.

10. A tomato-cleaning robot, characterized by: The end manipulator according to claim 8 also includes a manipulator arm, an image judgment mechanism and a control system, wherein the end manipulator is mounted on a mechanical rocker arm via a rotating mechanism (3).

Images