Multi-scene efficient automatic gardening pruning device

Abstract

The application discloses a kind of multi-scene efficient automated gardening pruning device, including: drive mechanism, parallel mechanical arm, telescopic spiral pruning knife, drive mechanism is fixedly installed mechanical arm lifting track, mechanical arm lifting track is installed mechanical arm motor, and mechanical arm motor is connected first gear mechanism;First gear mechanism connects left-right symmetrical parallel mechanical arm, the mechanical arm is connected with actuator platform, and actuator platform connects telescopic spiral pruning knife, and telescopic spiral pruning knife has second gear mechanism and spiral blade inside;The mechanical arm structure of the application is compact, lighter, smaller, easier to control and more widely applied than traditional manual operation method, gardening pruning efficiency is higher, and the applicability of high-specification gardening pruning work is improved by slender structure.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery technology, and more specifically, to a multi-scenario, high-efficiency, automated horticultural pruning device. Background Technology

[0002] With the continuous expansion of urban green areas and the increase in large parks and public spaces, the workload of garden pruning has become increasingly heavy. Traditional manual pruning methods suffer from low efficiency, high labor intensity, high noise, and high labor costs. Existing pruning devices are limited to single-function planar and arc-shaped harvesting, with very limited application scenarios. Therefore, there is an urgent need to develop a high-efficiency, intelligent garden pruning machine. Addressing the limitations of most existing gardening devices, which can only prune shrubs with regular shapes, have limited application scenarios for pruning blades, and are restricted in terms of freedom of movement, efficiency, and ability to bypass plants, resulting in an inability to achieve precise pruning, a highly efficient and automated garden pruning device has been designed. Summary of the Invention

[0003] This invention solves the problems of existing pruning devices being limited in scope and application.

[0004] To achieve the above objectives, the present invention provides a multi-scenario high-efficiency automated garden pruning device: including a drive mechanism, parallel robotic arms, and retractable spiral pruning shears, with three robotic arm lifting tracks arranged in a row fixedly installed on the drive mechanism;

[0005] Robotic arm motors are installed on the lifting rails of the robotic arm, and the robotic arm motors are respectively connected to the first gear mechanism, which consists of a second gear and a first gear that mesh perpendicularly with each other.

[0006] The first gear mechanism connects the left and right symmetrical parallel robotic arms. The left robotic arm includes a first main drive rod, which is connected to the tooth body of the first gear through a ring connector. The other end of the first main drive rod is connected to a first hinge structure. The first hinge structure is connected to the first ring connector to a first auxiliary drive rod. The first auxiliary drive rod is connected to the actuator platform through a second hinge structure.

[0007] The right robotic arm includes a second main drive rod, which is connected to the tooth body via a ring connector. The other end of the second main drive rod is connected to a third hinge structure. The third hinge structure is connected to a second auxiliary drive rod via a second ring connector. The second auxiliary drive rod is connected to the actuator platform via a fourth hinge structure.

[0008] The intermediate robotic arm of the parallel robotic arm includes a telescopic rod connected to the toothed body; the end of the telescopic rod is connected to the X-type torque converter, and the end of the torque converter is connected to a joint bearing on the surface of the micro DC motor.

[0009] The miniature DC motor, motor mounting plate, and actuator platform are connected sequentially by bolts.

[0010] The actuator platform is connected to the telescopic spiral trimmer, which includes a second gear structure and a blade structure. The blade structure is composed of short cylindrical outer blades spliced ​​together. Each short cylindrical outer blade has two rings of blades around its circumference, and the initial deflection angle of the first and last blades is the same.

[0011] The second gear structure includes two planar gears and a rack-and-tooth inner protective sleeve. The rack portion of the rack-and-tooth inner protective sleeve is embedded inside the rack-and-tooth inner protective sleeve. The wear-resistant sleeve is sandwiched between the handle structure and the rack-and-tooth inner protective sleeve. The two planar gears mesh with the two racks. The planar gears have inner holes to hold the inner blade of the retractable spiral trimmer.

[0012] The first hinge structure is a cylindrical short rod with disc-shaped ends and a concave groove for the main drive rod annular connector and a groove for the spherical bearing in the middle. The main drive rod annular connector is embedded on both sides of the cylindrical short rod, and the inner ball of the spherical bearing is embedded inside the main drive rod annular connector.

[0013] The drive mechanism includes a four-wheeled trolley; the robotic arm lifting track is installed on the top of the four-wheeled trolley body, and the sides of the body are made of solar photovoltaic materials.

[0014] The second gear has a cylindrical tooth body with a keyway hole machined inside to fit the motor keyway.

[0015] The second hinge structure is a spherical bearing, which has an increased rotation angle compared to the first hinge structure.

[0016] The X-type torque converter is assembled from two S-shaped structures with different radii.

[0017] The actuator platform is made of 3D printed metal. Its front is square, and the upper part consists of four spherical bodies forming the inner ball of the joint bearing.

[0018] Both the second linkage mechanism and the gears are made of alloy steel.

[0019] The secondary drive rod is made of carbon fiber.

[0020] The beneficial effects of the present invention are as follows:

[0021] This invention provides efficient assistance for complex gardening tasks in various situations, reducing the heavy workload of gardeners; and the structure of the device has been optimized to ensure that its various performance characteristics are at their best.

[0022] 1. Online real-time calculation of robotic arms requires inverse kinematics calculation, which is very disadvantageous for serial robotic arms, but easy to achieve for parallel robotic arms. From the perspective of motion, parallel mechanisms can be divided into planar mechanisms and spatial mechanisms. Compared with serial robotic arms, parallel robotic arms have advantages such as strong load-bearing capacity, high rigidity and simple structure.

[0023] 2. Compared to a four-degree-of-freedom robotic arm, a three-degree-of-freedom robotic arm has a compact structure, lighter weight, smaller size, and is easier to control. Compared with traditional manual operation methods, this method can improve the efficiency and operability of trimming.

[0024] 3. Compared to garden pruning tools such as scissors and gears, it has a wider range of applications, higher efficiency, and its slender structure enhances its applicability for high-specification garden pruning work. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the front structure of the present invention.

[0027] Figure 3 This is a schematic diagram of the robotic arm drive structure of the present invention.

[0028] Figure 4 This is a schematic diagram of the first hinge structure of the present invention.

[0029] Figure 5 This is a schematic diagram of the connecting rod structure of the present invention.

[0030] Figure 6 This is a schematic diagram of the retractable spiral trimmer structure of the present invention.

[0031] Figure 7 Section A of the retractable spiral trimmer of the present invention

[0032] Figure 8 Partial view B of the retractable spiral trimmer of the present invention.

[0033] Figure 9 A partial view C of the retractable spiral trimmer of the present invention.

[0034] Figure 10 This is a partial application scenario of the present invention.

[0035] The labels in the diagram are as follows: Wheel 1, Body 4, Communication Module 5, Robotic Arm Lifting Rail 7, Robotic Arm Right Drive 11, Robotic Arm Motor 11.3, Motor Shaft 11.4, First Gear Fixing Support 11.5, Gear Body 11.6, First Gear 11.7, Second Gear 11.9, Vision Sensor 12, Robotic Arm Left Drive 14, First Main Drive Rod 15, First Hinge Structure 16, Joint Bearing Inner Ball 17, First Ring Connector 20, First Secondary Drive Rod 22, Second Hinge Structure 24, Second Main Drive Rod 26, Third Hinge Structure 28, Second Ring Connector 31 ， Second auxiliary transmission rod 33 ， Fourth hinge structure 35 ， 37. Telescopic rod; 39. X-type torque converter; 41. Spherical bearing; 43. Miniature DC motor; 44. Motor mounting plate; 45. Actuator platform; 46. Telescopic spiral trimmer; 46. Handle structure; 46.1. Inner protective sleeve with rack; 46.3. Planar gear; 46.4. Blade body; 46.6. Dustproof ring pressure plate; 46.7. Short cylindrical outer blade body; 46.8-46.19. Vehicle body solar photovoltaic material; 47. Detailed Implementation

[0036] like Figures 1 to 9 As shown, the high-efficiency automated garden pruning device includes: a drive mechanism, a parallel robotic arm, and a telescopic spiral pruning shear 46. The drive mechanism includes a four-wheeled trolley, a robotic arm lifting track 7, a robotic arm motor 11.3, and a micro DC motor 43. The parallel robotic arm includes a first linkage mechanism, a second linkage mechanism, a first gear mechanism, and a hinge structure. The robotic arm drive is divided into three parallel control parts: left, center, and right. The extension line of the robotic arm motor center is parallel to the robotic arm lifting track. The motor shaft transmits power, and the servo controller transmits step commands to the motor shaft. The motor keyway drives the first gear mechanism to rotate. The gear mechanism is connected to the linkage mechanism through a ring connector. The rotation of the gear body drives the first linkage mechanism to rotate, and the second linkage mechanism is driven in the same way.

[0037] The first linkage mechanism is connected to the actuator platform 45 via a spherical bearing. The actuator platform 45 is made of 3D printed metal. The second linkage mechanism is connected to the micro DC motor 43 via a spherical bearing. The micro DC motor 43 and the retractable spiral trimmer 46 are mounted on the actuator platform 45. The micro DC motor 43, the motor mounting plate 44, and the actuator platform 45 are connected together by bolts. The handle structure 46.1 of the retractable spiral trimmer 46 is nested at the end of the actuator platform 45. The shaft of the micro DC motor 43 is connected to the end of the handle structure 46.1 for rotational transmission. The retractable spiral trimmer 46 performs trimming at high speed. The retractable spiral trimmer 46 has a second gear mechanism and a spiral blade inside, which improves the efficiency of garden trimming.

[0038] The first gear mechanism consists of two bevel gears, 11.7 and 11.9, which mesh perpendicularly with each other. The gears are made of alloy steel and include a gear body and a cylindrical tooth body. The tooth body of gear 11.9 is cylindrical and has a keyway hole machined inside to fit with the motor keyway. The tooth body of gear 11.7 is cylindrical 11.6, and the two ends of the tooth body are disc-shaped and fixed to the plane bearing bracket. The gear meshing transmission is smooth and highly reliable.

[0039] The first linkage mechanism includes a main drive rod 15 and a secondary drive rod 22. The main drive rod 15 is made of alloy steel and is fixed to the tooth body 11.6 of the gear 11.7 through a ring connector. The other side is connected to the first hinge structure 16. The first hinge structure 16 is connected to the secondary drive rod 22 through the ring connector 20. The secondary drive rod 22 is connected to the actuator platform 45 through the second hinge structure 24. The secondary drive rod 22 is made of carbon fiber.

[0040] Among them, the first hinge structure 16 is a cylindrical short rod with disc-shaped ends and a concave groove for the main drive rod 15 annular connector and a groove for the joint bearing in the middle. The main drive rod 15 annular connector is embedded on both sides of the cylindrical short rod, and the inner ball 17 of the joint bearing is embedded on the inner side of the main drive rod annular connector.

[0041] Among them, the second hinge structure 24 is a joint bearing that connects the actuator platform 45 made of 3D printed metal material to the end of the auxiliary transmission rod 22. This joint bearing is different from the first hinge structure 16 in that its rotation angle is increased. The actuator platform 45 is square in general, and the upper part is composed of four spherical bodies forming the inner ball of the joint bearing.

[0042] The second linkage mechanism includes a telescopic rod 37 and an X-type torque converter 39. The second linkage mechanism is made of alloy steel and is fixed to the tooth body 11.6 of the gear 11.7 via a ring connector. The other side is connected to the telescopic rod 37. The end of the telescopic rod 37 is connected to the X-type torque converter 39. The X-type torque converter 39 is assembled from two S-shaped structures with different radii. The purpose is to reduce the torque during the transmission of the telescopic rod and reduce the mechanical fatigue of the telescopic rod. More importantly, the end of the torque converter 39 is connected to the surface of the micro DC motor 43 by a spherical bearing 41, which can realize the movement on the X and Z axes of the motor.

[0043] The retractable spiral trimmer 46 includes a second gear structure and a blade structure. The second gear structure completes the extension and retraction process of the blade, while the blade part is spliced ​​together from short cylindrical outer blades 46.8-46.19. Each short cylindrical outer blade 46.8-46.19 is an independent component, with two rings of blades around its perimeter. The initial deflection angle of the first and last blades is the same, which can achieve seamless splicing of the short cylindrical outer blades 46.8-46.19. The purpose of this is twofold: firstly, any component of the short cylindrical outer blade 46.8-46.19 with a damaged blade can be replaced individually, preventing waste of blade materials; secondly, the total length of the retractable spiral trimmer 46 can be determined by the number of components spliced ​​together from the short cylindrical outer blades 46.8-46.19, and the retractable blade length ranges from 8cm to 15cm.

[0044] The second gear structure includes two planar gears 46.4 and a rack-and-pinion inner protective sleeve 46.3. The rack portion is embedded inside the rack-and-pinion inner protective sleeve 46.3. The wear-resistant sleeve 46.2 is sandwiched between the handle structure 46.1 and the rack-and-pinion inner protective sleeve 46.3. The two planar gears 46.4 mesh with the two racks. The planar gears 46.4 have an inner hole to hold the inner blade 46.6 of the retractable spiral trimmer. The second gear transmission is manually adjusted by the operator according to the required blade length.

[0045] The drive mechanism consists of a four-wheeled trolley, a robotic arm lifting track 7, a robotic arm motor 11.3, and a micro DC motor 43. The robotic arm is driven by a servo motor. The robotic arm motor encoder and power source are fixed to the four-wheeled trolley body, maintaining a distance from the garden pruning robotic arm to avoid interfering with its positioning accuracy. The robotic arm motor is fixed to the robotic arm base by a motor bracket, and the robotic arm base is fixed to the robotic arm lifting track. The motor keyway engages with gear 11.9 to drive the gear structure to rotate, resulting in high movement speed and high positioning accuracy.

[0046] Preferably, it also includes a vision sensor 12 and a communication module 5, and the operator's manual is simple and convenient.

[0047] The working process of this invention is as follows:

[0048] Simultaneously, three robotic arm motors are activated. The robotic arm motors on the left and right sides drive the first linkage mechanism to rotate left and right, while the robotic arm motor in the middle drives the second linkage mechanism to rotate vertically, thus determining the spatial position of the retractable spiral trimmer 46. The operator manually stretches and adjusts the length of the inner blade 46.6 of the retractable spiral trimmer, and the micro DC motor 43 drives the retractable spiral trimmer 46 to rotate for garden pruning.

[0049] The working principle of this invention is as follows:

[0050] This invention discloses a highly efficient automated garden pruning device equipped with parallel robotic arms. The attitude determination principle of the parallel robotic arms is as follows: when the coordinates of the motion center of the actuator plane are known, its input angle is calculated inversely, which is called inverse kinematics analysis. In contrast, given the input angle of the main drive rod, the spatial coordinates of the motion center of the end effector platform are solved in the forward direction, which is called forward kinematics analysis. Because the spatial position coordinates of the shrubs are transmitted to the host computer, which then transforms the spatial position coordinates to obtain the rotation angle of the active arm, inverse kinematics calculation is used.

[0051] Inverse pose estimation refers to solving for the input pose (X, Y, θ) given the output pose (x, y, θ). Let N... i Available vector n i =[N ix N iy ] T Let (i = 1, 2, 3) represent a moving coordinate system x′oy′ with point o as the origin, where the x′ axis makes an angle θ with the horizontal. The coordinates of point o in the fixed coordinate system are (x, y). Oi is represented by the vector Oi′ = [Oix′, Oiy′] in the moving coordinate system. T , The rotation matrix of the pointing coordinate system relative to the global coordinate system can be used to obtain:

[0052] The position of oi in the global coordinate system: oi = [oix, oiy] T Finally, the position coordinates are obtained. The distance from Oi to ni is equal to ;

[0053] The rotation angle of the first linkage determines the position, velocity, and acceleration of the actuator platform along the X-axis, while the rotation angle of the second linkage determines the position, velocity, and acceleration of the actuator platform along the Z-axis. The control precision of the robotic arm's linkage structure directly determines the task completion capability of the robotic arm system. To meet various performance indicators of the robotic arm, several optimization goals, including joint weight, structural layout, and modularity, are comprehensively considered in the design of the robotic arm joint structure to achieve the overall optimal effect in trajectory planning. To ensure that the robotic arm can complete its work tasks without failure for a long period of time and that the cantilever robotic arm chassis remains stable without tilting, it is crucial to minimize the travel of the robotic arm base on the robotic arm guide rail. This is essential for improving the robotic arm's performance. The trimming height can be adjusted by the operator according to the trimming environment.

[0054] The purpose of this invention, a telescopic spiral trimmer mechanism, is to address the issue that different trimming tasks require different sized trimmers. A single type of trimmer cannot guarantee the completion of complex gardening trimming tasks, reducing trimming efficiency. Through comparative analysis of different shaped trimmers, a novel trimmer structure has been innovated. The length of the telescopic spiral trimmer is adjusted according to the trimming environment. The length of the exposed inner blade of the telescopic spiral trimmer is adjusted by the movement of the extension gear. The overall length of the trimmer is determined by the number of short cylindrical outer blades. If a blade is damaged, the entire trimmer does not need to be replaced, reducing waste of tool processing resources. Furthermore, tool replacement is very convenient for operators; after installation, it can be secured with a hexagonal nut. Even without a multi-robot structure, this improves the applicability of trimming work.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-scenario, high-efficiency, automated garden pruning device, characterized in that, Includes a drive mechanism, parallel robotic arms, and retractable spiral trimmers, with three robotic arm lifting rails (7) arranged in a straight line fixedly installed on the drive mechanism; Robotic arm motors (11.3) are installed on the lifting rails (7) of the robotic arm. The robotic arm motors (11.3) are respectively connected to the first gear mechanism composed of the second gear (11.9) and the first gear (11.7) that mesh perpendicularly with each other. The first gear mechanism connects to the left and right symmetrical parallel robotic arms. The left robotic arm includes a first main drive rod (15). The first main drive rod (15) is connected to the tooth body (11.6) of the first gear (11.7) through a ring connector. The other end of the first main drive rod (15) is connected to the first hinge structure (16). The first hinge structure (16) is connected to the first auxiliary drive rod (22) through the first ring connector (20). The first auxiliary drive rod (22) is connected to the actuator platform (45) through the second hinge structure (24). The right robotic arm includes a second main drive rod (26), which is connected to the tooth body (11.6) via a ring connector. The other end of the second main drive rod (26) is connected to a third hinge structure (28). The third hinge structure (28) is connected to a second auxiliary drive rod (33) via a second ring connector (31). The second auxiliary drive rod (33) is connected to the actuator platform (45) via a fourth hinge structure (35). The intermediate robotic arm of the parallel robotic arm includes a telescopic rod (37) connected to the tooth body (11.6); the end of the telescopic rod (37) is connected to an X-type torque converter (39), and the end of the X-type torque converter (39) is connected to a joint bearing (41) on the surface of a micro DC motor (43). The micro DC motor (43), the motor mounting plate (44), and the actuator platform (45) are connected sequentially by bolts. The handle structure (46.1) of the retractable spiral trimmer (46) is nested in the actuator platform (45). The retractable spiral trimmer (46) includes a second gear structure and a blade structure. The blade structure is composed of short cylindrical outer blades (46.8) spliced ​​together. The short cylindrical outer blades (46.8) have two rings of blades around their circumference, and the initial deflection angles of the first and last blades are the same. The second gear structure includes two planar gears (46.4) and a rack-type inner protective sleeve (46.3). The rack portion of the rack-type inner protective sleeve (46.3) is embedded inside the rack-type inner protective sleeve (46.3). A wear-resistant sleeve (46.2) is sandwiched between the handle structure (46.1) and the rack-type inner protective sleeve (46.3). The two planar gears (46.4) mesh with the two racks. The planar gears (46.4) have an inner hole to hold the inner blade (46.6) of the retractable spiral trimmer.

2. The multi-scenario high-efficiency automated garden pruning device according to claim 1, characterized in that, The first hinge structure (16) is a cylindrical short rod with disc-shaped ends and a concave groove for the main drive rod annular connector and a groove for the joint bearing in the middle. The main drive rod annular connector is embedded on both sides of the cylindrical short rod, and the inner ball (17) of the joint bearing is embedded on the inner side of the main drive rod annular connector.

3. The multi-scenario high-efficiency automated garden pruning device according to claim 1, characterized in that, The drive mechanism includes a four-wheeled vehicle; the robotic arm lifting track (7) is installed on the top of the four-wheeled vehicle body (4), and the side of the body (4) is made of solar photovoltaic material (47).

4. The multi-scenario high-efficiency automated garden pruning device according to claim 1, characterized in that, The tooth body of the second gear (11.9) is cylindrical, and the inside is machined with keyway holes and motor keyways to fit.

5. The multi-scenario high-efficiency automated garden pruning device according to claim 1, characterized in that, The X-type torque converter (39) is assembled from two S-shaped structures with different radii.

6. The multi-scenario high-efficiency automated garden pruning device according to claim 1, characterized in that, The first auxiliary transmission rod (22) is made of carbon fiber.

Images