A double-arm slewing robot for stereoscopic picking of spheroid crown layer crops

Abstract

This invention discloses a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops, relating to the field of mechanized agricultural harvesting. It includes a frame, a rotary drive device, a rotary truss robotic arm, and an underactuated manipulator connected in sequence. The rotary truss robotic arm comprises a chiral symmetrical arm. A rotary drive device is fixedly connected to the upper end of the robotic arm, and an underactuated manipulator is fixedly connected to the lower end of the robotic arm, forming an execution mechanism that can cover the spherical harvesting area. The underactuated manipulator is opened and closed by a cylinder. This invention provides a robotic solution for harvesting flowers, fruits, and other crops in the three-dimensional growth of spherical canopy crops. It can conveniently assist workers in three-dimensional harvesting of spherical canopy crops. The height and angle of the execution mechanism are adjustable, the structure is simple, and the cost is low. While simplifying manual control, it improves the efficiency and harvesting coverage of three-dimensional harvesting of spherical canopy crops.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting machinery, specifically to a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops. Background Technology

[0002] Agriculture is currently developing rapidly towards automation and intelligence. For traditional crop harvesting, due to its long history, many machines suitable for traditional agricultural crops are already in use to assist farmers in planting and harvesting. However, there is a lack of specialized harvesting equipment for spherical canopy plants, such as tea trees and Hangzhou white chrysanthemums, which are still mostly harvested manually, requiring a large amount of manpower for picking and transportation. Regarding manual harvesting, the irregular growth distribution of the parts to be harvested in large-scale planting environments makes it difficult for farmers to pick, resulting in low production efficiency and the risk of missed harvests. As for developing assisted harvesting robots, agricultural machinery and equipment developed by some universities and enterprises are limited by high cost and complexity, and have high requirements for the operating environment, limiting their application to highly structured agricultural scenarios. Most harvesting robots use expensive hardware such as motor-driven multi-degree-of-freedom robotic arms, and harvesting requires specific pruning of crop branches beforehand to ensure a regular distribution of mature harvested material, increasing the cost and complexity of planting and harvesting.

[0003] Chinese Patent 202310880550.6 discloses a dual-arm collaborative harvesting device for dragon fruit, including a mobile chassis on which a harvesting robotic arm and a shearing robotic arm are mounted. Both the harvesting and shearing robotic arms are multi-joint, six-degree-of-freedom robotic arms, with each joint driven by an independent servo motor. The harvesting robotic arm is equipped with an automatic gripping mechanism, and the shearing robotic arm is equipped with an automatic shearing mechanism.

[0004] Chinese Patent 202310795444.8 discloses a dual-arm collaborative fruit-picking robot, including: a mobile chassis, a frame, and two picking manipulators. The mobile chassis includes a box and tracked walking structures arranged on both sides of the box. The tracked walking structures are used for the robot to walk. The picking manipulators are installed on the frame and are used to pick fruits.

[0005] Chinese Patent 202320720791.X discloses a high-efficiency tea-picking device with dual-arm robotic arms, including a fixed plate. A track assembly is located on the left side of the fixed plate, and a positioning plate is fixedly mounted on the top of the track assembly. A fixed frame is fixedly mounted on the left side of the positioning plate, and a collection chamber is slidably connected to the front of the fixed frame. A positioning frame is fixedly mounted on the top of the fixed frame, and a sieve frame is slidably connected to the front of the positioning frame. By symmetrically positioning the two robotic arms on either side of the top of the positioning plate, the device can individually pick tea leaves from the tea trees on both sides of the field ridge.

[0006] Based on previous research and inventions, the dual-arm robotic harvesting robot in question has the following problems:

[0007] (1) Robots designed with dual robotic arms have higher costs and higher control complexity.

[0008] (2) The harvesting target area of ​​the dual robotic arm scheme is limited to both sides of the crop, and cannot take into account the entire range of spherical plants.

[0009] (3) The tracked low chassis with dual robotic arms has high requirements for ridge spacing, which limits the planting density of plants.

[0010] Therefore, in order to address the above problems, there is an urgent need to propose a dual-arm rotary robot with a simple structure and high working efficiency for three-dimensional harvesting of spherical canopy crops. Summary of the Invention

[0011] To address the shortcomings of existing technologies, the present invention aims to provide a rationally structured and reliably operating dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops. This robot solution enables the harvesting of flowers, fruits, and other parts of spherical canopy crops under three-dimensional growth conditions. It can conveniently assist workers in three-dimensional harvesting of spherical canopy crops. The height and angle of the harvesting actuator are adjustable, the structure is simple, and the cost is low. It simplifies manual control while improving the efficiency and harvesting coverage of three-dimensional harvesting of spherical canopy crops.

[0012] To achieve the above solution, the technical solution adopted by the present invention is as follows:

[0013] A dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops includes an actuator and a moving mechanism. The actuator is mounted on the moving mechanism and includes a rotary drive device, a rotary gantry robotic arm, and an underactuated manipulator. The moving mechanism includes a frame. The working height of the actuator is adjustable.

[0014] The rotary truss robotic arm includes a first guide rail, a vertical connector, a second guide rail, a third guide rail, and a slider mechanism that can slide along the guide rails. The first guide rail, the second guide rail, and the third guide rail are arranged perpendicularly to each other, forming two left- and right-handed symmetrical three-degree-of-freedom robotic arms. A rotary drive device is fixedly connected to the upper end of the robotic arm, and the three-degree-of-freedom robotic arm can rotate in the horizontal plane under the drive of the rotary drive device. An underactuated manipulator is fixedly connected to the lower end of the robotic arm, forming a picking execution mechanism that can cover a spherical working area.

[0015] The first guide rail is fixedly connected to the rotating platform in the rotary drive device via a flange connector. The head of the second guide rail is fixedly connected to the slider of the first guide rail via a vertical connector. The side end of the third guide rail is fixedly connected to the slider of the second guide rail. The underdriven manipulator is mounted on the slider of the third guide rail via a connecting pad. The tails of the first, second, and third guide rails are respectively equipped with motors for controlling the sliders. The upper and lower fixing surfaces of the flange connector form an acute angle. The upper fixing surface of the flange connector is mounted on the lower surface of the rotating platform in the rotary drive device. The first guide rails of the two left-handed symmetrical three-degree-of-freedom manipulators are respectively mounted on the lower fixing surfaces of a pair of flange connectors and arranged in parallel to form a parallelogram-like structure. The heads of the two first guide rails are located on the diagonals of the parallelogram. The two left-handed symmetrical three-degree-of-freedom manipulators are located within the picking area of ​​the frame and are inclined inward.

[0016] As a preferred embodiment of the present invention, the rotary drive device includes a base, a rotary platform, a connecting flange, a cover, a cover connector, and a base connector;

[0017] The rotary drive device is fixedly connected to the frame, specifically: the base of the rotary drive device and the rotation center of the rotary platform are fixedly connected by a connecting flange. The cover and the base of the rotary drive device are important components for tail protection and head fixation of a typical high-power rotary drive device. The cover and base assembly are located at the tail and head ends of the rotary drive device. The base and the lifting mechanism in the frame are horizontally fixedly connected by a base connector. The cover and the lifting mechanism in the frame are horizontally fixedly connected by a cover connector. The rotation axis of the rotary platform is located on the central axis of the frame, and the rotary platform can rotate in the horizontal plane under the drive of the base turn.

[0018] As a preferred embodiment of the present invention, the frame is composed of a lifting mechanism and a steering and traveling mechanism. The lifting mechanism includes a lifting adjustment plate, a screw, a fixed bearing, and a lifting motor. The steering and traveling mechanism includes casters.

[0019] The frame is a hollow box-shaped frame structure spanning multiple ridges, forming a harvesting area that allows spherical crops to pass through. The lower edge of the frame, facing forward and backward, has profiled frames that allow passage through the ridges. A set of lifting mechanisms is installed on the inner side walls at each of the four corners of the frame. The lifting motors are installed at the four bottom corners of the frame, with one end of the screw connected to the drive shaft of the lifting motor and the other end pointing vertically upward. The four corners of the lifting adjustment plate are fixed to nuts that match the screws. The upper and lower ends of the screws are height-limited by fixed bearings. The casters are installed at the bottom of the four corners of the frame.

[0020] As a preferred embodiment of the present invention, the long side and the short side of the box-shaped frame structure of the frame are both longer than the diameter of the rotating platform.

[0021] As a preferred embodiment of the present invention, the underactuated manipulator, as an end effector, comprises a drive mechanism and a gripping mechanism. The drive mechanism includes a fixed cylinder, a hollow flange, a push rod, a connecting pad, and a cylinder. The gripping mechanism includes a moving base, a fixed claw wrist, a head connecting rod, a short hinge pin, a clamp, a slotted cap, and a long hinge pin. The underactuated manipulator is driven by the cylinder to extend and retract the push rod, which in turn drives the moving base to extend and retract, as well as the clamp to open and close.

[0022] The connecting pad in the drive mechanism is connected to the slider of the third guide rail. The fixed cylinder is installed at the bottom of the connecting pad through a hollow flange. The cylinder is installed at the top of the connecting pad. One end of the push rod is connected to the cylinder drive shaft, and the other end of the push rod passes through the hollow flange and the fixed cylinder and is connected to the gripping mechanism.

[0023] The fixed claw of the gripping mechanism is installed at the bottom of the fixed cylinder, and the moving base is located at the inner center of the fixed claw. The top of the moving base is connected to a push rod, and the bottom of the moving base is connected to five slotted caps through five head connecting rods. The five slotted caps are fixedly fitted onto the ends of the five clamps. The upper side of the slotted cap connecting part is connected to the fixed claw via a long hinge pin and a screw, and the lower side of the slotted cap connecting part is connected to the head connecting rod via a short hinge pin and a screw. When the moving base moves downward under the action of the push rod, the head connecting rod pushes the slotted cap to expand outward, thereby causing the clamps to open. When the moving base moves upward under the action of the push rod, the head connecting rod pushes the slotted cap to contract inward, thereby causing the clamps to close.

[0024] As a preferred embodiment of the present invention, a pair of T-shaped connecting plates are provided on both sides of the connecting pad as auxiliary connecting members.

[0025] The above-mentioned harvesting method for a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops includes the following steps:

[0026] S1. Start the dual-arm rotary robot. In the initial state, adjust the actuator to the highest working position. After determining the harvesting target, drive the frame to move until the actuator is directly above the spherical canopy crop.

[0027] S2. Activate the rotary drive device to rotate the rotary truss robotic arm to an angle directly above the spherical canopy crop harvesting target;

[0028] S3. The motors of the first, second, and third guide rails in the symmetrical rotary truss robotic arm are individually controlled, so that the pair of robotic arms open towards the outside of the spherical canopy crop, avoiding interference during subsequent harvesting.

[0029] S4. Adjust the working position height of the actuator so that the rotary gantry robotic arm moves to the vicinity of the horizontal plane of the spherical canopy crop harvesting target;

[0030] S5. Control the underactuated robotic arm to open;

[0031] S6. The motors of the first, second and third guide rails are controlled separately, so that the underdriven manipulator at the end of the rotary truss robotic arm can wrap around the spherical canopy crop picking target.

[0032] S7. Control the underactuated robotic arm to close and complete the grasping of the picking target;

[0033] S8, the rotary gantry robot arm and the underactuated robot return to the initial position along the original path, and then transport the harvested target to the storage location according to the predetermined placement operation;

[0034] S9. Repeat steps S2-S8 until it is confirmed that there are no remaining picking targets in the current picking area. Then, control the moving mechanism to continue moving to the next picking area and repeat steps S2-S8.

[0035] Furthermore, the underactuated manipulators (3) at the ends of a pair of robotic arms are controlled independently and do not interfere with each other.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] (1) The present invention sets up an execution mechanism (rotary drive device, rotary truss robotic arm, underactuated manipulator) and a moving mechanism (frame) to form a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops. The two sets of robotic arms are truss structures, which are low cost. The execution mechanism can adjust the rotation angle and extend and retract in three degrees of freedom, and the harvesting coverage is wide.

[0038] (2) The frame of this invention is a hollow box structure, which has low requirements for the working environment. At the same time, the height of the actuator can be adjusted by the lifting mechanism of the frame. Based on simple operation control, the two robotic arms move in parallel without interfering with each other, ensuring the flexibility of the actuator and greatly expanding the working space and picking range. With the help of the pneumatic underactuated robotic arm, the target can be easily grasped, which improves the efficiency of three-dimensional picking of spherical canopy crops. Compared with the existing dual-arm picking scheme, it has lower cost, simpler structure and higher work efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0041] Figure 2 for Figure 1 A top-down view;

[0042] Figure 3 for Figure 1 A diagram showing the view from below;

[0043] Figure 4 This is a schematic diagram of the actuator of the present invention;

[0044] Figure 5 This is a schematic diagram of the driving structure of the present invention;

[0045] Figure 6 This is a schematic diagram of the underactuated manipulator of the present invention;

[0046] Figure 7 for Figure 5 Enlarged view of point A in the image;

[0047] Figure 8 This is a schematic diagram of an embodiment of the present invention;

[0048] In the diagram: Rotary drive device 1, base 101, rotating platform 102, flange head connector 103, connecting flange 104, cover 105, cover connector 106, base connector 107, rotary truss robotic arm 2, first guide rail 201, vertical connector 202, second guide rail 203, third guide rail 204, slider 205, motor 206, underdriven robotic arm 3, fixed cylinder 301, hollow flange 302, push rod 303, connecting pad 304, cylinder 305, moving base 306, fixed claw wrist 307, head connecting rod 308, short hinge pin 309, clamp 310, groove cap 311, long hinge pin 312, frame 4, lifting adjustment plate 401, universal wheel 402, screw 403, fixed bearing 404, lifting motor 405, spherical canopy crop 5. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0051] In the description of this invention, it should be noted that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0052] like Figure 1 As shown, a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops mainly includes an actuator (rotary drive device 1, rotary truss robotic arm 2, and underactuated manipulator 3) and a moving mechanism (frame 4).

[0053] like Figure 3 and Figure 4 As shown, in this embodiment, the rotary truss robotic arm 2 includes a first guide rail 201, a vertical connector 202, a second guide rail 203, a third guide rail 204, and a slider 205. The first guide rail, the second guide rail, and the third guide rail are connected in sequence to form the robotic arm. The two robotic arms are arranged symmetrically on the lower surface of the rotating platform 102 and can work simultaneously. A rotary drive device 1 is fixedly connected to the upper end of the robotic arm, and an underdriven robotic hand 3 is fixedly connected to the lower end of the robotic arm. The actuator covers a working range with three linear degrees of freedom and one rotational degree of freedom. At the same time, the moving mechanism is provided with a degree of freedom to carry the actuator up and down, forming a picking actuator that can cover a spherical working area.

[0054] In one specific embodiment of the present invention, the robotic arm is a three-degree-of-freedom truss structure, the first guide rail 201, the second guide rail 203 and the third guide rail 204 are arranged perpendicularly to each other, and motors are respectively provided at the tail of the first guide rail 201, the second guide rail 203 and the third guide rail 204. The motors are servo motors with good accuracy and positioning performance. The first guide rail 201 is fixedly connected to the lower surface of the rotating platform 102 in the rotating drive device 1 via a flange head connector 103. The flange head connector 103 consists of a pair of disc flange heads at the upper end and a triangular prism at the lower end. The upper fixed surface of the triangular prism is fixedly connected to the disc flange head, and the upper fixed surface of the triangular prism and the lower fixed surface form a 30° acute angle, ensuring that the two robotic arms are tilted downward and inward in a convergent shape. The first guide rails 201 of the two robotic arms are respectively installed on the lower fixed surfaces of the triangular prisms of the pair of flange head connectors and are arranged in parallel to form a parallelogram-like structure. The heads of the first guide rails 201 of the two robotic arms are located on the diagonal of the parallelogram, and the motors at the tails of the first guide rails 201 are also staggered to both sides to avoid collisions between the robotic arms. The first guide rail 201, the second guide rail 203, and the third guide rail 204 are each provided with a slider 205 that can slide along the guide rail direction. The head of the second guide rail 203 is fixedly connected to the slider of the first guide rail 201 through a vertical connector 202. The side end of the third guide rail 204 is fixedly connected to the slider of the second guide rail 203. The underactuated manipulator 3 is mounted on the slider of the third guide rail 204 through a connecting pad to form a three-degree-of-freedom manipulator structure. A T-shaped connecting plate is used on each side of the connecting pad as an auxiliary connecting member to enhance the stability of the connection. The top of the outer T-shaped connecting plate has a square hole for the cylinder to pass through and to reinforce the connection with the underactuated manipulator 3. The inner T-shaped connecting plate is connected to the slider of the third guide rail 204.

[0055] In this embodiment, the guide rail is a ball screw guide rail, which is easy and simple to assemble and has stable performance. The specific technical details and component composition of the guide rail can refer to existing mature products, or it can be replaced with other types of linear guide rails. The included angle between the upper and lower fixed surfaces of the triangular prism in the flange connector can be adjusted according to the structure and installation position of the robotic arm, and is not limited to 30°.

[0056] like Figure 2 , Figure 3 and Figure 4 The rotary drive device 1 includes a base 101, a rotary platform 102, a flange head connector 103, a connecting flange 104, a cover 105, a cover connector 106, and a base connector 107.

[0057] The rotary drive device 1 is fixedly connected to the frame 4, specifically as follows: the lower rotating head of the base 101 of the rotary drive device 1 is concentrically fixedly connected to the rotation center of the rotary platform 102 through a connecting flange 104, enabling the rotary platform 102 to rotate in the horizontal plane under the drive of the rotating head of the base 101, thereby driving a pair of rotary gantry robotic arms fixedly installed on the lower surface of the rotary platform 102 to rotate in the horizontal plane. The cover 105 and the base 101 of the rotary drive device 1 are important components for tail protection and head fixation of a typical high-power rotary drive device 1, respectively. The cover 105 and the base 101 assembly are located at the tail and head ends of the rotary drive device. The base 101 and the upper surface of the lifting adjustment plate 401 in the frame 4 are horizontally fixedly connected by a base connector 107. The lower side of the base connector 107 is a cubic structure that covers the base and is securely connected, while the upper side is a flat plate structure that is securely connected to the lifting adjustment plate by screws. The cover 105 and the upper surface of the lifting adjustment plate 401 are horizontally fixedly connected by a cover connector 106. The upper side of the cover connector 106 is a cylindrical structure that covers the cover and is securely connected, while the lower side is a flat plate structure that is securely connected to the lifting adjustment plate by screws. This connects the actuator and the moving mechanism, enabling the actuator to rotate and lift.

[0058] In this embodiment, the high-power rotary motor of the rotary drive device 1 is a worm geared motor, which has a large output torque and stable operation. The specific technical details and component composition of the motor can refer to existing mature products, or it can be replaced with other types of high-power rotary motors.

[0059] like Figure 5 and Figure 7 As shown, the frame 4 serves as a moving mechanism, comprising a lifting mechanism and a steering and walking mechanism. The lifting mechanism includes 401, a screw 403, a fixed bearing 404, and a lifting motor 405. The steering and walking mechanism includes casters 402. The frame 4 is a hollow box-shaped frame structure spanning multiple ridges, forming a harvesting area for spherical crops. The profile frame at the front and rear of the lower edge of the frame is cut off to leave space for passage through the ridges. The long and short sides of the box-shaped frame structure are both longer than the diameter of the rotating platform 102 to avoid interference between the underdriven manipulator 3 at the end of the rotary truss robotic arm and the frame. A set of lifting mechanisms is installed on the inner wall of the frame at each of the four corners of the frame 4, such as... Figure 7The enlarged detail of point A shows four screws passing through the four corners of the lifting adjustment plate. Lifting motors are installed at the four bottom corners of the frame. These motors are concentrically connected to the screws via fixed bearings at the four bottom corners of the frame. Synchronous driving of the lifting motors rotates the screws, causing the lifting adjustment plate to move vertically in parallel. The lower sides of the lifting motors are fixedly connected to profile support plates at the bottom of the four corners of the frame. The casters are installed at the bottom of the wheel assembly frame at the four corners. The screws are height-limited via fixed bearings fixed to the inside of the eight right-angled sides of the frame.

[0060] In this embodiment, the box-shaped frame can be constructed by fixing aluminum profiles with angle brackets or screws in various ways. The casters can realize the movement control of the frame. AGV drive wheels can be selected. The specific technical details and component composition of the caster drive can refer to existing mature products, or other types of drive wheel sets can be replaced. The height and width parameters of the frame can be specifically set according to other component mechanisms and actual implementation environment requirements, and no specific restrictions are made in this application.

[0061] like Figure 4 and Figure 6 As shown, the underactuated manipulator 3, as an end effector, consists of a drive mechanism and a gripping mechanism. The drive mechanism includes a fixed cylinder 301, a hollow flange 302, a push rod 303, a connecting pad 304, and a cylinder 305. The gripping mechanism includes a moving base 306, a fixed claw wrist 307, a head connecting rod 308, a short hinge pin 309, a clamp 310, a slotted cap 311, and a long hinge pin 312. The underactuated manipulator 3 is fixedly connected to the slider of the third guide rail 204 via the connecting pad 304. The moving base 306 at the end of the underactuated manipulator 3 is connected to the cylinder 305 via the push rod 303. The five head connecting rods 308 are fixedly connected to the five clamps 310. The five slotted caps 311 are fixedly sleeved on the ends of the five clamps 310. The five slotted caps 311 are connected to the head connecting rods 308 through short hinge pins 309 and screws. The moving base 306 is driven by the cylinder 305. The five slotted caps 311 are connected to the fixed claw wrist 307 through long hinge pins 312 and screws. The fixed claw wrist 307 is fixedly connected to the hollow flange 302 through the fixed cylinder 301. The hollow flange 302 is fixedly connected to the connecting pad 304. The push rod 303 passes through the hollow flange 302 and is fixedly connected to the moving base 306. The underactuated manipulator 3 is driven by the cylinder 305 to extend and retract the push rod 303, which in turn drives the moving base 306 to extend and retract and the clamps 310 to open and close. This method achieves the grasping of the harvested target by controlling the negative and positive pressure of the cylinder.

[0062] like Figure 8 As shown, the above-described harvesting method for three-dimensional harvesting of spherical canopy crops using a dual-arm rotary robot includes the following implementation steps:

[0063] S1. Start the dual-arm rotary robot for cross-row three-dimensional harvesting. In the initial state, the lifting adjustment plate is at its highest position. After the target crop is determined by human eyes or other means, the drive frame moves to move the entire system, carrying the actuators, directly above the spherical canopy crop.

[0064] S2. The rotary drive device is used to rotate the rotary truss robotic arm to a suitable angle directly above the target flower in the spherical canopy.

[0065] S3. The motors controlling the symmetrical rotary truss robotic arm on the first, second, and third guide rails respectively make the robotic arm open towards the outside of the spherical canopy crop to avoid interference during subsequent harvesting.

[0066] S4. The lifting motor of the operating lifting mechanism causes the lifting adjustment plate to move the rotary truss robotic arm to the vicinity of the horizontal plane of the spherical canopy crop harvesting target;

[0067] S5. The running cylinder extends the push rod to open the underactuated manipulator.

[0068] S6. The motors running the first, second, and third guide rails cause the underactuated manipulator gripper at the end of the rotary truss robotic arm to wrap around the target flower of the spherical canopy crop for picking.

[0069] S7. The running cylinder retracts the push rod, causing the underdriven manipulator to close and complete the picking of the target flower.

[0070] S8, the rotary gantry robotic arm and underactuated robotic hand return to the starting position along the original path, and then transport the harvested target flowers to the top of the storage basket according to the predetermined placement operation. The fingertips of the end effector open and close to harvest the flowers, and then the actuator returns to the default position.

[0071] S9. Repeat steps S2-S8 until it is confirmed that there are no remaining target flowers in the current picking area. Then, control the moving mechanism to continue moving to the next picking area and repeat steps S2-S8.

[0072] As described above, during the harvesting process, after the moving mechanism moves to the appropriate position via the casters, the two robotic arms of the actuator harvest in parallel on opposite sides. The robotic arms transport the underdriven robotic arms to the flowers by the lifting and lowering of the frame lifting adjustment plate, the rotation of the rotating platform, and the radial movement of the three guide rails. The opening and closing of the end effector is controlled by the cylinder, and the orderly coordination of each motor can realize the three-dimensional harvesting of spherical canopy crops.

[0073] like Figure 4 , Figure 6As shown, in this embodiment, the underactuated manipulators at the ends of a pair of robotic arms serve as end effectors and can be controlled independently without interfering with each other. When the dual-arm rotary robot system is operated using the above-mentioned picking method, the picking targets of the two underactuated manipulators are independent, realizing the grasping of the two picking targets in a time-sharing and zone-sharing manner.

[0074] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Unless otherwise expressly specified and limited, the terms "installed" and "connected" should be interpreted broadly, for example, referring to a fixed or integral connection, or a mechanical connection. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0075] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed in this invention.

Claims

1. A dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops, characterized in that, It includes an actuator and a moving mechanism. The actuator is mounted on the moving mechanism. The actuator includes a rotary drive device (1), a rotary gantry robot arm (2), and an underactuated robot arm (3). The moving mechanism includes a frame (4). The working height of the actuator is adjustable. The rotary truss robotic arm (2) includes a first guide rail (201), a vertical connector (202), a second guide rail (203), a third guide rail (204), and a slider (205) mechanism that can slide along the guide rails. The first guide rail (201), the second guide rail (203), and the third guide rail (204) are arranged perpendicularly to each other to form two left-right symmetrical three-degree-of-freedom robotic arms. A rotary drive device (1) is fixedly connected to the upper end of the robotic arm, and the three-degree-of-freedom robotic arm can rotate in the horizontal plane under the drive of the rotary drive device (1). An underdriven robotic hand (3) is fixedly connected to the lower end of the robotic arm to form a picking execution mechanism that can cover the spherical working area. The first guide rail (201) is fixedly connected to the rotating platform (102) in the rotary drive device (1) via a flange connector (103). The head of the second guide rail (203) is fixedly connected to the slider of the first guide rail (201) via a vertical connector (202). The side end of the third guide rail (204) is fixedly connected to the slider of the second guide rail. The underdriven manipulator (3) is mounted on the slider of the third guide rail (204) via a connecting pad (304). The tails of the first guide rail (201), the second guide rail (203), and the third guide rail (204) are respectively provided with control sliders. (205) motor (206); the upper fixed surface and the lower fixed surface of the flange head connector (103) are at an acute angle. The upper fixed surface of the flange head connector is installed on the lower surface of the rotating platform (102) in the rotary drive device (1). The first guide rail (201) of the two left-handed symmetrical three-degree-of-freedom robotic arms is respectively installed on the lower fixed surface of a pair of flange head connectors and arranged in parallel to form a parallelogram structure. The heads of the two first guide rails (201) are located on the diagonal of the parallelogram. The two left-handed symmetrical three-degree-of-freedom robotic arms are located in the picking area of ​​the frame and are inclined inward. The underactuated manipulator (3) is an end effector consisting of a drive mechanism and a gripping mechanism. The drive mechanism includes a fixed cylinder (301), a hollow flange (302), a push rod (303), a connecting pad (304), and a cylinder (305). The gripping mechanism includes a moving base (306), a fixed claw wrist (307), a head connecting rod (308), a short hinge pin (309), a clamp (310), a slotted cap (311), and a long hinge pin (312). The underactuated manipulator (3) is driven by the cylinder (305) to extend and retract the push rod (303), which in turn drives the moving base (306) to extend and retract, and the clamp (310) to open and close. The connecting pad (304) in the drive mechanism is connected to the slider (205) of the third guide rail (204). The fixed cylinder (301) is installed at the bottom of the connecting pad (304) through the hollow flange (302). The cylinder (305) is installed at the top of the connecting pad (304). One end of the push rod (303) is connected to the drive shaft of the cylinder (305), and the other end of the push rod (303) passes through the hollow flange (302) and the fixed cylinder (301) and is connected to the gripping mechanism. The fixed claw wrist (307) of the gripping mechanism is installed at the bottom of the fixed cylinder (301), and the moving base (306) is located at the internal center of the fixed claw wrist (307). The top of the moving base (306) is connected to the push rod (303), and the bottom of the moving base (306) is connected to five slotted caps (311) through five head connecting rods (308). The five slotted caps (311) are fixedly sleeved on the ends of five clamps (310). The upper side of the connecting part of the slotted cap (311) is connected to the fixed claw wrist (307) through a long hinge pin (312) and screws. 07) Connection: The lower side of the connecting part of the groove cap (311) is connected to the head connecting rod (308) by a short hinge pin (309) and a screw; when the moving base (306) moves downward under the action of the push rod (303), the head connecting rod (308) pushes the groove cap (311) to expand outward, thereby driving the clamp (310) to open; when the moving base (306) moves upward under the action of the push rod (303), the head connecting rod (308) pushes the groove cap (311) to contract inward, thereby driving the clamp (310) to close; The frame (4) consists of a lifting mechanism and a steering and walking mechanism. The lifting mechanism includes a lifting adjustment plate (401), a screw (403), a fixed bearing (404), and a lifting motor (405). The steering and walking mechanism includes casters (402). The frame is a hollow box-shaped frame structure spanning ridges, which forms a harvesting area that allows spherical crops to pass through. The lower edge of the frame has a profile frame that leaves space for passing through the ridges. A set of lifting mechanisms is installed on the inner side wall of the four corners of the frame. The lifting motor (405) is installed at the four bottom corners of the frame. One end of the screw (403) is connected to the drive shaft of the lifting motor (405), and the other end is vertically upward. The four corners of the lifting adjustment plate (401) are fixed to nuts that match the screw (403). The upper and lower ends of the screw (403) are both height-limited by fixed bearings (404). The casters (402) are installed at the bottom of the four corners of the frame.

2. The dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops according to claim 1, characterized in that, The rotary drive device (1) includes a base (101), a rotary platform (102), a connecting flange (104), a cover (105), a cover connector (106), and a base connector (107). The rotary drive device (1) is fixedly connected to the frame (4), specifically: the base (101) of the rotary drive device (1) is fixedly connected to the rotation center of the rotary platform (102) through the connecting flange (104), the cover (105) is located at the tail of the rotary drive device, the base (101) is located at the head of the rotary drive device, the base (101) is horizontally fixedly connected to the lifting mechanism in the frame (4) through the base connector (107), the cover (105) is horizontally fixedly connected to the lifting mechanism in the frame (4) through the cover connector (106), the rotation axis of the rotary platform (102) is located on the central axis of the frame (4), and the rotary platform (102) can rotate in the horizontal plane under the drive of the base (101) turn head.

3. The dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops according to claim 1, characterized in that, The long and short sides of the box-shaped frame structure of the frame are both longer than the diameter of the rotating platform (102).

4. The dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops according to claim 3, characterized in that, The connecting pad (304) is also provided with a pair of T-shaped connecting plates on both sides as auxiliary connecting parts.

5. The harvesting method of a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops according to any one of claims 1-4, characterized in that, Includes the following steps: S1. Start the dual-arm rotary robot. In the initial state, adjust the actuator to the highest working position. After determining the picking target, drive the frame (4) to move until the actuator is directly above the spherical canopy crop (5). S2. Run the rotary drive device (1) to rotate the rotary truss robotic arm (2) to the angle directly above the spherical canopy crop (5) harvesting target; S3. Motors (206) that individually control the first guide rail (201), second guide rail (203) and third guide rail (204) of the symmetrical rotary truss robotic arm (2) so that the pair of robotic arms open towards the outside of the spherical canopy crop to avoid interference during subsequent harvesting; S4. Adjust the working position height of the actuator so that the rotary gantry robot arm (2) moves to the vicinity of the horizontal plane of the spherical canopy crop (5) to be harvested; S5. Control the underactuated manipulator (3) to open; S6. The motors (206) that individually control the first guide rail (201), the second guide rail (203) and the third guide rail (204) enable the underdriven manipulator (3) at the end of the rotary truss manipulator (2) to wrap around the spherical canopy crop (5) to pick the target. S7. Control the underactuated manipulator (3) to close and complete the picking target grasping; S8, the rotary gantry robot arm (2) and the underactuated robot (3) return to the initial position along the original path, and then transport the harvested target to the storage position according to the predetermined placement operation; S9. Repeat steps S2-S8 until it is confirmed that there are no remaining picking targets in the current picking area. Then, control the moving mechanism to continue moving to the next picking area and repeat steps S2-S8.

6. The harvesting method of the dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops according to claim 5, characterized in that, The underactuated manipulators (3) at the ends of a pair of robotic arms are controlled independently and do not interfere with each other.

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