Strawberry picking device based on parallel robot

Abstract

The application discloses a strawberry picking device based on a parallel robot and relates to the technical field of agricultural machinery, which comprises a parallel robot, section bars, a walking element, a rack, a transmission element, a driving element and a flexible clamping claw, one end of each section bar is movably connected to the parallel robot, the other end of each section bar is connected to a walking element, the rack is movably installed at the lower end of the parallel robot, the driving element and the transmission element are both installed on the rack, the flexible clamping claw is connected to the transmission element, the driving element is used for driving the transmission element to move, and the transmission element drives the flexible clamping claw to envelop strawberries and realize picking. The application can reduce the labor cost, and better realize the green, high-quality and efficient picking of ridge-type strawberries.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a strawberry harvesting device based on a parallel robot. Background Technology

[0002] Strawberries are an important economic crop and one of the world's major fruits. According to statistics from the Food and Agriculture Organization of the United Nations, the global strawberry planting area and yield have shown a gradual upward trend in recent years. There are two main strawberry cultivation models both domestically and internationally: elevated cultivation (greenhouse) and ridge cultivation (field). Currently, strawberry harvesting under the ridge cultivation model still relies primarily on manual labor, due to factors such as the unstructured field environment and the slow development of harvesting machinery. However, manual harvesting has disadvantages such as high labor intensity, low efficiency, and high cost; existing mechanized and semi-mechanized strawberry harvesting devices have low robustness, poor versatility, bulky structures, and high costs, which to some extent limits the improvement of farmers' (especially smallholders') economic benefits and is detrimental to the green and sustainable development of the strawberry industry. Summary of the Invention

[0003] The purpose of this invention is to provide a strawberry harvesting device based on parallel robots to solve the problems existing in the prior art, reduce labor costs, and better achieve green, high-quality, and efficient harvesting of ridge-grown strawberries.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a strawberry harvesting device based on a parallel robot, comprising a parallel robot, profiles, a walking element, a frame, a transmission element, a drive element, and a flexible gripper. The parallel robot is movably connected to one end of each profile, and the other end of each profile is connected to a walking element. The frame is movably mounted on the lower end of the parallel robot. The drive element and the transmission element are both mounted on the frame. The flexible gripper is connected to the transmission element. The drive element drives the transmission element to move, and the transmission element drives the flexible gripper to enclose the strawberries and achieve harvesting.

[0006] Preferably, the transmission element includes a planetary gear set and a rotary lifting element. The drive element, the planetary gear set, the rotary lifting element and the flexible clamping claw are connected in sequence. The drive element is used to drive the planetary gear set to rotate and cause the planetary gear set to drive the rotary lifting element and the flexible clamping claw to rise and fall. The rotary lifting element can also drive the flexible clamping claw to rotate.

[0007] Preferably, the planetary gear set includes a central meshing gear, two external meshing gears, two sector gears, and a rack. The central meshing gear is coaxially connected to the output shaft of the drive element. The two external meshing gears are symmetrically meshed on both sides of the central meshing gear, and one end of the rotating shaft of each of the two external meshing gears is rotatably mounted on the frame. The other end of the rotating shaft of each of the two external meshing gears is connected to the rotating shaft of one of the sector gears. The rack is located between the two sector gears, and the two sector gears face the same direction. Each sector gear can rotate to mesh with the rack. The rotating lifting element is connected to the side of the rack away from the central meshing gear.

[0008] Preferably, the rotary lifting element includes a slider, a lead screw, a T-nut, and two guide rails. The two guide rails are symmetrically mounted on the frame. One side of the slider is connected to the rack, and the slider is slidably connected between the two guide rails. The lower end of the slider is rotatably connected to the upper end of the lead screw. The T-nut is fixed to the frame and rotatably mounted on the outer periphery of the lead screw. The lower end of the lead screw is connected to the flexible clamping claw.

[0009] Preferably, the cross-section of the guide rail is V-shaped.

[0010] Preferably, an electric push rod is also installed on one side of the slider. The lower end of the lead screw is connected to a disc. The telescopic rod of the electric push rod passes through the lead screw and the disc and is connected to the middle of a circular clamp. The circular clamp has multiple through holes. Each claw hook of the flexible clamping claw passes through a different through hole. The telescopic rod of the electric push rod can drive the circular clamp to reciprocate on the flexible clamping claw and adjust the clamping range of the flexible clamping claw.

[0011] Preferably, the traveling element is a swivel wheel.

[0012] Preferably, there are three profiles arranged circumferentially around the parallel robot and connected to the parallel robot by pins.

[0013] Preferably, the upper end of the frame is connected to the parallel robot via a pin.

[0014] Preferably, the driving element is a motor.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] The present invention provides a strawberry harvesting device based on a parallel robot. The parallel robot is movably connected to one end of each profile, allowing it to release spatial degrees of freedom to simulate manual harvesting behavior. This effectively replaces manual labor with a machine, operating gently without damaging the strawberry field environment or terrain. The other end of each profile is connected to a walking element, which enables the parallel robot-based strawberry harvesting device to better adapt to the impact of unstructured environments such as field terrain, improving robustness and operational flexibility. The frame is movably mounted on the lower end of the parallel robot, and both the drive and transmission components are mounted on the frame. The flexible gripper is connected to the transmission element, and the drive element is used to drive the transmission element to move, and the transmission element drives the flexible gripper to envelop the strawberry and achieve harvesting. Since the strawberry fruit is small in weight and volume, no large gripping or shearing force is required when harvesting. Therefore, except for the drive element and other components, the other main components in this invention can be manufactured and processed by 3D printing or using flexible and lightweight materials. The overall structure is simple, lightweight and easy to move, with high operational flexibility and strong robustness. It is inexpensive and easy for small farmers to accept. Compared with large harvesting machinery or semi-mechanized auxiliary harvesting tools, it is easier to promote and use. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the strawberry harvesting device based on parallel robots provided by the present invention;

[0019] Figure 2 yes Figure 1 A structural diagram showing the structure when the rack is removed.

[0020] Figure 3 This is a partial structural schematic diagram of the strawberry harvesting device based on parallel robots in this invention;

[0021] Figure 4 yes Figure 3 Schematic diagram of the internal structure of the mid-frame;

[0022] Figure 5 This is a schematic diagram of the structure of the driving element and the transmission element in this invention;

[0023] Figure 6 yes Figure 5 Top view;

[0024] In the diagram: 1-Parallel robot, 2-Profile, 3-Walking element, 4-Frame, 5-Transmission element, 6-Rotation and lifting element, 7-Flexible gripper, 8-Drive element, 9-Central meshing gear, 10-External meshing gear, 11-Sector gear, 12-Rack, 13-Slider, 14-Guide rail, 15-Electric push rod, 16-T-nut, 17-Lead screw, 18-Telescopic rod, 19-Disc, 20-Circular clamp, 21-Claw hook. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The purpose of this invention is to provide a strawberry harvesting device based on a parallel robot, in order to solve the technical problems of high manual labor costs, complex structure of semi-mechanized auxiliary tools, and poor versatility in the mechanized and intelligent harvesting of strawberries under the existing field ridge cultivation mode.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1-6As shown, this embodiment provides a strawberry harvesting device based on a parallel robot, including a parallel robot 1, profiles 2, a walking element 3, a frame 4, a transmission element 5, a drive element 8, and a flexible gripper 7. The parallel robot 1 is movably connected to one end of each profile 2. The parallel robot 1 can release spatial degrees of freedom to simulate manual harvesting behavior, thus effectively replacing human labor with machines. The operation is gentle and does not damage the environment or terrain of the strawberry field. The other end of each profile 2 is connected to a walking element 3. The walking element 3 enables the strawberry harvesting device based on the parallel robot to better adapt to the impact of unstructured environments such as field terrain on the machine, improving robustness and operational flexibility. The frame 4 is movably mounted on the parallel robot. At the lower end of the man 1, the driving element 8 and the transmission element 5 are both mounted on the frame 4. The flexible gripper 7 is connected to the transmission element 5. The driving element 8 is used to drive the transmission element 5 to move, and the transmission element 5 drives the flexible gripper 7 to envelop the strawberry and achieve harvesting. Since the strawberry fruit is small in weight and volume, it does not require a large gripping or shearing force during harvesting. Therefore, except for the driving element 8 and other components, the other main components in this invention can be manufactured and processed by 3D printing or using flexible and lightweight materials. The overall structure is simple, lightweight and easy to move, with high operational flexibility and strong robustness. It is inexpensive and easily accepted by small farmers. Compared with large harvesting machinery or semi-mechanized auxiliary harvesting tools, it is easier to promote and use.

[0029] Specifically, the transmission element 5 includes a planetary gear set and a rotary lifting element 6. The drive element 8, the planetary gear set, the rotary lifting element 6 and the flexible clamping claw 7 are connected in sequence. The drive element 8 is used to drive the planetary gear set to rotate, and the planetary gear set drives the rotary lifting element 6 and the flexible clamping claw 7 to rise and fall. The rotary lifting element 6 can also drive the flexible clamping claw 7 to rotate. Thus, the rotary lifting element 6 ensures that the clamping claw provides torque while clamping the strawberry, thereby breaking the fruit stem and completing the harvest.

[0030] The planetary gear set includes a central meshing gear 9, two external meshing gears 10, two sector gears 11, and a rack 12. The central meshing gear 9 and the two external meshing gears 10 are all spur gears. The central meshing gear 9 is coaxially connected to the output shaft of the drive element 8. The two external meshing gears 10 are symmetrically meshed on both sides of the central meshing gear 9, and one end of the shaft of each external meshing gear 10 is rotatably mounted on the frame 4. The other end of the shaft of each external meshing gear 10 is connected to the shaft of a sector gear 11. The rack 12 is located between the two sector gears 11, and the two sector gears 11 face the same direction. Both can rotate to mesh with rack 12. A rotating lifting element 6 is connected to the side of rack 12 away from the central meshing gear 9. The central meshing gear 9 is driven to rotate by the driving element 8. The central meshing gear 9 drives two external meshing gears 10 to rotate synchronously. One external meshing gear 10 drives a sector gear 11 to rotate. Since the two sector gears 11 face the same direction, they alternately mesh with rack 12 when rotating synchronously, and drive rack 12 to move. At the same time, since the two sector gears 11 rotate in the same direction, they can drive rack 12 to rise and fall respectively to realize subsequent operations.

[0031] The rotary lifting element 6 includes a slider 13, a lead screw 17, a T-nut 16, and two guide rails 14. The two guide rails 14 are symmetrically mounted on the frame 4. One side of the slider 13 is connected to the rack 12, and the slider 13 is slidably connected between the two guide rails 14. The lower end of the slider 13 is rotatably connected to the upper end of the lead screw 17. The T-nut 16 is fixed on the frame 4 and is rotatably mounted on the outer periphery of the lead screw 17. The lower end of the lead screw 17 is connected to the flexible clamping claw 7. The slider 13 can rise and fall with the rack 12. At the same time, due to the cooperation between the lead screw 17 and the T-nut 16, the up-and-down reciprocating movement of the slider 13 is converted into the rotation of the lead screw 17, realizing the operation of twisting off the fruit stem.

[0032] The cross-section of guide rail 14 is V-shaped.

[0033] An electric push rod 15 is also installed on one side of the slider 13. The lower end of the lead screw 17 is connected to a disc 19. The telescopic rod 18 of the electric push rod 15 passes through the lead screw 17 and the disc 19 and is connected to the middle of a circular clamp 20. The telescopic rod 18 of the electric push rod 15 and the lead screw 17 are movably connected to ensure that their relative rotation and relative movement do not affect each other. The circular clamp 20 has multiple through holes. Each claw hook 21 of the flexible clamping claw 7 passes through a different through hole. The telescopic rod 18 of the electric push rod 15 can drive the circular clamp 20 to move back and forth on the flexible clamping claw 7, thereby moving the circular clamp 20 closer to or away from the disc 19 to adjust the clamping range of the flexible clamping claw 7. It has good robustness and universality for picking strawberry fruits of different geometric sizes.

[0034] The walking component 3 is a universal wheel, which has a simple structure and low cost.

[0035] There are three profiles 2, which are arranged around the parallel robot 1 in a circumferential manner and connected to the parallel robot 1 by pins.

[0036] The upper end of the frame 4 is connected to the parallel robot 1 by a pin.

[0037] The driving element 8 is a motor.

[0038] The working process of the strawberry harvesting device based on parallel robots in this embodiment is as follows:

[0039] Before harvesting, the strawberry harvesting device based on the parallel robot in this embodiment is moved to the ridge-grown strawberry field. The parallel robot 1 can move the flexible gripper 7 to a suitable working area.

[0040] During operation, the motor is started, and the central meshing gear 9 rotates, simultaneously driving the two external meshing gears 10 on both sides to rotate. These gears, through their respective shafts, drive their respective sector gears 11 to rotate synchronously. Simultaneously, they intermittently mesh with the rack 12, causing the slider 13 on the rack 12 to reciprocate up and down within the guide rail 14. The slider 13 drives the lead screw 17, which passes through the T-nut 16, thus converting the linear motion of the slider 13 into the helical motion of the lead screw 17. The end of the lead screw 17 is connected to the flexible clamping claw 7 via a disc 19, thereby completing the actions of enveloping, clamping, rotating, and twisting off the strawberry stem. This completes one cycle of harvesting. However, this embodiment is not limited to strawberry picking.

[0041] The strawberry harvesting device based on parallel robots in this embodiment has the following advantages:

[0042] 1. This embodiment is mainly applied to strawberry harvesting operations in ridge-cultivated planting. The design combining omnidirectional wheels with the parallel robot 1 has advantages such as simple structure and ease of manufacturing. The operation is gentle and will not damage the environment or terrain of the strawberry field. This embodiment can also carry a portable collection box for storing harvested strawberries, reducing the number of times to travel back and forth to the field to unload during the harvesting process, reducing non-productive time costs, and improving work efficiency;

[0043] 2. Due to the small size and weight of strawberry fruits, minimal clamping or shearing force is required during harvesting. Therefore, in this embodiment, apart from components such as the motor, all other major components can be manufactured and processed using 3D printing or flexible, lightweight materials. The overall structure is simple, lightweight, and easy to move, exhibiting high operational flexibility and robustness. These characteristics also reflect its low cost, making it easily acceptable to small farmers and easier to promote and use compared to large-scale harvesting machinery or semi-mechanized auxiliary harvesting tools.

[0044] 3. In this embodiment, the two external meshing gears 10 in the planetary gear set and the sector gears 11 on their shafts are all powered by a motor connected to the central meshing gear 9 in the planetary gear set. By initially setting the position of the sector gears 11, it can be ensured that the two remain synchronized during operation. In short, this embodiment only requires one motor to provide power to drive the two sector gears 11 to rotate. In addition, their meshing operation with the rack 12 realizes the up-and-down reciprocating motion of the slider 13. The structural design is novel, the principle is simple, and it is easy to understand.

[0045] 4. While the slider 13 moves up and down, its end is connected to the lead screw 17. Since the T-nut 16 is fixed on the frame 4, the up and down reciprocating motion of the slider 13 is converted into the helical reciprocating motion of the lead screw 17. Three flexible clamping claws 7 are evenly distributed in the circumferential direction on the disc 19. The above functions can ensure that the flexible clamping claws 7 provide torque while clamping the strawberry, thereby breaking the fruit stem and completing the harvest.

[0046] 5. Due to the differences in morphological characteristics among strawberry fruits, in this embodiment, the flexible clamping claw 7 passes through the circular clamp 20, which is connected to the end of the electric push rod 15. By changing the stroke of the electric push rod 15, the circular clamp 20 can be driven to move up and down on the flexible clamping claw 7, thereby changing the overall opening area of ​​the flexible clamping claw 7, so as to better envelop the strawberry fruit and prevent the strawberry from falling out of the enveloping area during the twisting process of harvesting.

[0047] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A strawberry harvesting device based on a parallel robot, characterized in that: The system includes a parallel robot, profiles, a walking element, a frame, a transmission element, a drive element, and a flexible gripper. The parallel robot is movably connected to one end of each profile, and the other end of each profile is connected to a walking element. The frame is movably mounted on the lower end of the parallel robot. The drive element and the transmission element are both mounted on the frame. The flexible gripper is connected to the transmission element. The drive element drives the transmission element to move, and the transmission element drives the flexible gripper to envelop the strawberries and achieve harvesting. The transmission element includes a planetary gear set and a rotary lifting element. The drive element, the planetary gear set, the rotary lifting element and the flexible clamping claw are connected in sequence. The drive element is used to drive the planetary gear set to rotate and cause the planetary gear set to drive the rotary lifting element and the flexible clamping claw to rise and fall. The rotary lifting element can also drive the flexible clamping claw to rotate. The planetary gear set includes a central meshing gear, two external meshing gears, two sector gears, and a rack. The central meshing gear is coaxially connected to the output shaft of the drive element. The two external meshing gears are symmetrically meshed on both sides of the central meshing gear, and one end of the rotating shaft of each of the two external meshing gears is rotatably mounted on the frame. The other end of the rotating shaft of each of the two external meshing gears is connected to the rotating shaft of one of the sector gears. The rack is located between the two sector gears, and the two sector gears face the same direction. Each sector gear can rotate to mesh with the rack. The rotating lifting element is connected to the side of the rack away from the central meshing gear.

2. The strawberry harvesting device based on a parallel robot according to claim 1, characterized in that: The rotary lifting element includes a slider, a lead screw, a T-nut, and two guide rails. The two guide rails are symmetrically mounted on the frame. One side of the slider is connected to the rack, and the slider is slidably connected between the two guide rails. The lower end of the slider is rotatably connected to the upper end of the lead screw. The T-nut is fixed to the frame and rotatably mounted on the outer periphery of the lead screw. The lower end of the lead screw is connected to the flexible clamping claw.

3. The strawberry harvesting device based on a parallel robot according to claim 2, characterized in that: The cross-section of the guide rail is V-shaped.

4. The strawberry harvesting device based on a parallel robot according to claim 2, characterized in that: An electric push rod is also installed on one side of the slider. The lower end of the lead screw is connected to a disc. The telescopic rod of the electric push rod passes through the lead screw and the disc and is connected to the middle of a circular clamp. The circular clamp has multiple through holes. Each claw hook of the flexible clamping claw passes through a different through hole. The telescopic rod of the electric push rod can drive the circular clamp to move back and forth on the flexible clamping claw and adjust the clamping range of the flexible clamping claw.

5. The strawberry harvesting device based on a parallel robot according to claim 1, characterized in that: The traveling element is a swivel wheel.

6. The strawberry harvesting device based on a parallel robot according to claim 1, characterized in that: There are three profiles, which are arranged circumferentially around the parallel robot and connected to the parallel robot by pins.

7. The strawberry harvesting device based on a parallel robot according to claim 1, characterized in that: The upper end of the frame is connected to the parallel robot via a pin.

8. The strawberry harvesting device based on a parallel robot according to claim 1, characterized in that: The driving element is a motor.

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