A multifunctional integrated experimental platform for crop picking room

Abstract

The application discloses a multifunctional integrated experiment platform for crop picking in a room, which comprises a rack, a crop conveying system arranged on the rack and a picking simulation system for picking simulation of a stem crop in the crop conveying system; the crop conveying system comprises a stem clamping device for clamping the stem crop and a stem conveying device for conveying the stem crop clamped in the stem clamping device to the picking simulation system; the picking simulation system comprises a mechanical hand picking simulation device and a reciprocating cutting simulation device, wherein the mechanical hand picking simulation device and the reciprocating cutting simulation device are respectively located on two sides of the stem conveying device. The multifunctional integrated experiment platform can imitate an outdoor environment to improve the accuracy of indoor experiments when outdoor picking experiments cannot be carried out, and the multifunctional integrated experiment platform can be suitable for simulated picking of various crops, and has a wider application range.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to a multifunctional integrated experiment platform for indoor crop picking. BACKGROUND

[0002] Based on the current complex and diverse outdoor farm environment, crop picking still faces many problems. With the development of agricultural technology, various types of harvesting and picking agricultural machines have become an important helper for outdoor crop harvesting at present. However, due to the lack of research and development of agricultural picking machines and the lack of consideration of various problems, a large amount of crops is wasted during actual operation. Therefore, in order to make the crop picking equipment more suitable for complex and variable outdoor environments, it is necessary to develop a platform for indoor crop picking experiments to improve the performance of agricultural picking equipment and reduce the cost of agricultural machine research and development.

[0003] However, the current crop picking experiment platform or equipment has many types and quantities, but the functions are relatively single and scattered. The picking experiment that can be realized by a single device is less and can only be used for a single type of crop. SUMMARY

[0004] The present application overcomes the deficiencies of the prior art and provides a multifunctional integrated experiment platform for indoor crop picking. The multifunctional integrated experiment platform can simulate outdoor environments to improve the accuracy of indoor experiments when outdoor picking experiments cannot be conducted. At the same time, the multifunctional integrated experiment platform can be used for simulated picking of multiple crops, and has a wider range of adaptation.

[0005] The technical solution of the present application to solve the above technical problems is:

[0006] A multifunctional integrated experiment platform for indoor crop picking includes a rack, a crop conveying system arranged on the rack, and a picking simulation system for simulating picking of stem crops in the crop conveying system. The crop conveying system includes a stem clamping device for clamping stem crops and a stem conveying device for conveying the clamped stem crops in the stem clamping device to the picking simulation system. The picking simulation system includes a mechanical hand picking simulation device and a reciprocating cutting simulation device. The mechanical hand picking simulation device and the reciprocating cutting simulation device are respectively located on both sides of the stem conveying device.

[0007] Preferably, the reciprocating cutting simulation device comprises a support arranged on a frame, two groups of cutting blades arranged on the support, and a cutting driving mechanism for driving the two groups of cutting blades to move relative to each other, wherein the two groups of cutting blades are arranged in an up-down manner and are respectively installed on a blade seat; the cutting blade on the left side is a left cutting blade, and the cutting blade on the right side is a right cutting blade; correspondingly, the blade seat installed on the left cutting blade is a left blade seat, and the blade seat installed on the right cutting blade is a right blade seat.

[0008] Preferably, the cutting driving mechanism is used for driving the two groups of blade seats to move in a reciprocating manner towards or reversely, and the cutting driving mechanism comprises a cutting power mechanism and a connecting rod mechanism for transmitting power of the cutting power mechanism to the two groups of blade seats, wherein,

[0009] The connecting rod mechanism comprises a left rocker and a right rocker, wherein the middle of the left rocker is rotationally connected to the support through a rotating shaft, one side of the left rocker is connected to the right blade seat through a first connecting rod, and the other side of the left rocker is provided with a left long circular groove; the two sides of the first connecting rod are respectively hingedly connected to the left rocker and the right blade seat; the middle of the right rocker is also rotationally connected to the support through a rotating shaft, one side of the right rocker is connected to the left blade seat through a second connecting rod, and the other side of the right rocker is provided with a right long circular groove; the two sides of the second connecting rod are respectively hingedly connected to the right rocker and the left blade seat.

[0010] The cutting power mechanism comprises a cutting motor, a shaft coupling, and a crank shaft mechanism, wherein the crank shaft mechanism comprises a crank shaft and bearing seats arranged on both sides of the crank shaft; the two ends of the crank shaft are rotationally connected to the bearing seats; the cutting motor is connected to the crank shaft through the shaft coupling; the crank shaft is connected to the left rocker and the right rocker through a double-headed connecting rod, wherein one end of the double-headed connecting rod is installed on the crank shaft, and the other end of the double-headed connecting rod is installed with a connecting shaft, the axis direction of the connecting shaft is perpendicular to the axis direction of the double-headed connecting rod, the upper end of the connecting shaft penetrates through the left long circular groove in the left rocker, and the lower end of the connecting shaft penetrates through the right long circular groove in the right rocker.

[0011] Preferably, the stalk conveying device includes a conveying frame mounted on a machine frame, sprockets mounted on the front and rear sides of the conveying frame, and a conveying drive mechanism for driving one side of the sprocket to rotate. The sprockets on the front and rear sides of the conveying frame are mounted on the conveying frame via drive shafts, and the left and right sides of the sprockets on the front and rear sides of the conveying frame are connected by chains. Multiple sets of chain drive trays are mounted on the chains, and these multiple sets of chain drive trays are equidistantly arranged along the extension direction of the chains. The left and right sides of each set of chain drive trays are mounted on links of the corresponding chains. The conveying drive mechanism includes a conveying motor and a belt drive mechanism. The conveying motor is mounted on the conveying frame. The belt drive mechanism includes a driving wheel, a driven wheel, and a drive belt wrapped around the driving wheel and the driven wheel. The driving wheel is mounted on the main shaft of the conveying motor, and the driven wheel is mounted on one of the drive shafts.

[0012] Preferably, the stem clamping device is in multiple sets, and the multiple sets of stem clamping devices are respectively arranged on multiple sets of chain drive trays and are equidistant along the length direction of the chain drive trays; the stem clamping device includes a pressing and rotating clamping mechanism and an angle adjusting mechanism for adjusting the angle of the pressing and rotating clamping mechanism.

[0013] Preferably, the angle adjustment mechanism includes a base, a universal wheel rod disposed on the base, and a micro-translation displacement stage for driving the universal wheel rod to swing. The base has a bearing hole that mates with the universal wheel rod, and the universal bearing portion at the lower end of the universal wheel rod is installed in the bearing hole. The micro-translation displacement stage is disposed at the lower end of the universal wheel rod, and the moving platform in the micro-translation displacement stage is connected to the bottom of the universal bearing portion of the universal wheel rod via a universal bearing structure.

[0014] Preferably, the pressing and rotating clamping mechanism is installed at the upper end of the universal wheel rod. The pressing and rotating clamping mechanism includes a fixed sleeve, a clamping assembly disposed on the fixed sleeve, and a clamping drive mechanism for driving the clamping assembly to open or close.

[0015] The lower end of the fixed sleeve is installed on the upper end of the universal wheel rod; the clamping assembly includes a cover plate, a turntable, and eight sets of clamping sliders disposed between the cover plate and the turntable, wherein the turntable has an octagonal groove on its upper side; the eight sets of clamping sliders are disposed above the turntable, and the lower end of each set of clamping sliders has a lower guide portion that mates with the groove on the turntable; the cover plate has eight sets of guide grooves arranged in a circle on its upper side, and the upper end of each set of clamping sliders has an upper guide portion that mates with each set of guide grooves;

[0016] The clamping drive mechanism is used to drive the turntable to perform both lifting and rotating movements.

[0017] Preferably, the clamping drive mechanism includes a limiting pin on the fixed sleeve and a drive groove on the turntable that cooperates with the limiting pin. The drive groove extends obliquely upward and has a slot at its highest point. The turntable has a support groove at its center and a support portion at the lower end of the support groove. The support portion extends into the interior of the fixed sleeve and is connected to the bottom of the fixed sleeve by a spring. The spring force causes the turntable to have an upward tendency. The two sides of the cover plate are connected to the fixed sleeve by a vertical guide mechanism, which ensures that the cover plate can only move up and down.

[0018] When clamping the stem crop is required, the stem crop is inserted into the center of multiple clamping sliders, so that the bottom of the stem crop contacts the support groove on the turntable and pushes the turntable downward. Under the limitation of the drive groove and the limiting pin, the turntable rotates while moving downward, so that the limiting pin moves from the bottom of the drive groove to the highest point of the drive groove. As the turntable rotates, it drives the eight clamping sliders to move along the extension direction of the guide groove on the cover plate to converge, thereby clamping the stem crop located in the center. Then, the force applied to the stem crop is released, and the turntable moves upward under the elastic force of the spring. At this time, the turntable moves upward and the locking part in its drive groove hooks the limiting pin to restrict the limiting pin from moving downward along the drive groove, thereby locking the eight clamping sliders on the turntable in the clamping state.

[0019] Preferably, a limiting buffer layer is provided between the bearing hole of the micro-translation stage and the universal bearing portion at the lower end of the universal wheel rod, and the limiting buffer layer covers the universal bearing portion at the lower end of the universal wheel rod.

[0020] Preferably, the robotic arm harvesting simulation device includes a support frame, a shearing robotic arm mounted on the support frame, a clamping robotic arm, an X-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the X-axis direction, a Y-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Y-axis direction, and a Z-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Z-axis direction.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] 1. The robotic arm harvesting simulation device, reciprocating cutting simulation device, and crop conveying system in the multifunctional integrated experimental platform of the present invention are matched, so that it can be used to simulate harvesting of a variety of crops and has a wider range of applications.

[0023] 2. The multifunctional integrated experimental platform of the present invention can simulate the outdoor environment to improve the accuracy of indoor experiments when conditions for conducting outdoor harvesting experiments are not available. This can reduce the waste of crops and the wear and tear on experimental equipment caused by agricultural harvesting equipment during outdoor experiments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the multifunctional integrated experimental platform for crop harvesting chambers according to the present invention.

[0025] Figure 2 This is a schematic diagram of the reciprocating cutting simulation device.

[0026] Figure 3 This is a schematic diagram of the stalk conveying device.

[0027] Figures 4-5 These are schematic diagrams of the stem clamping device from two different perspectives.

[0028] Figure 6 This is a cross-sectional schematic diagram of the stem clamping device.

[0029] Figures 7-8 This is a schematic diagram of the pressing and rotating clamping mechanism, in which... Figure 7 This is a schematic diagram of the structure in the released state. Figure 8 This is a schematic diagram of the structure in the clamped state.

[0030] Figure 9 This is a schematic diagram of the micro-translation stage.

[0031] Figure 10 This is a schematic diagram of a robotic arm harvesting simulation device.

[0032] Figure 11 This is a schematic diagram of the shearing robot.

[0033] Figure 12 This is a schematic diagram of the gripper arm.

[0034] Figure 13 This is a schematic diagram of a finger-type end effector.

[0035] Figure 14 This is a schematic diagram of the first harvesting mode of the robotic arm harvesting simulation device.

[0036] Figure 15 This is a schematic diagram of the second harvesting mode of the robotic arm harvesting simulation device. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0038] See Figures 1-13 The multifunctional integrated experimental platform for crop harvesting chambers of the present invention includes a frame 6, a crop conveying system mounted on the frame 6, a harvesting simulation system for harvesting crops in the crop conveying system, and a data acquisition system 5. The frame 6 includes a bracket, a conveying frame, and a support frame as described below. The crop conveying system includes a stem clamping device 3 for clamping the stem crops and a stem conveying device 2 for conveying the stem crops clamped in the stem clamping device 3 to the harvesting simulation system. The harvesting simulation system includes a robotic arm harvesting simulation device 4 and a reciprocating cutting simulation device 1, wherein the robotic arm harvesting simulation device 4 and the reciprocating cutting simulation device 1 are located on both sides of the stem conveying device 2.

[0039] See Figures 1-13 The reciprocating cutting simulation device 1 includes a support mounted on a frame 6, two sets of cutting blades 11 mounted on the support, and a cutting drive mechanism for driving the two sets of cutting blades 11 to move relative to each other.

[0040] Two sets of cutting blades 11 are arranged vertically and mounted on the blade holders 13 respectively; the cutting blade on the left is the left cutting blade 11a, and the cutting blade on the right is the right cutting blade 11b; correspondingly, the blade holder mounted on the left cutting blade 11a is the left blade holder, and the blade holder mounted on the right cutting blade 11b is the right blade holder; in addition, in this embodiment, a blade guard 12 is also provided at the bottom of the cutting blade 11.

[0041] The cutting drive mechanism is used to drive two sets of tool holders to perform reciprocating motion in opposite directions. The cutting drive mechanism includes a cutting power mechanism and a linkage mechanism for transmitting power from the cutting power mechanism to the two sets of tool holders. The linkage mechanism includes two rocker arms 19, a left rocker arm 19a and a right rocker arm 19b. The middle of the left rocker arm 19a is rotatably connected to the bracket via a pivot. One side of the left rocker arm 19a is connected to the right tool holder via a first connecting rod, and the other side has a left elongated groove. The two sides of the first connecting rod are hinged to the left rocker arm 19a and the right tool holder, respectively. The middle of the right rocker arm 19b is also rotatably connected to the bracket via a pivot. One side of the right rocker arm 19b is connected to the left tool holder via a second connecting rod, and the other side has a right elongated groove. The two sides of the second connecting rod are hinged to the right rocker arm 19b and the left tool holder, respectively. The cutting power mechanism includes a cutting motor 14. The system comprises a coupling 15 and a crankshaft mechanism 17, wherein the crankshaft mechanism 17 includes a crankshaft and bearing seats disposed on both sides of the crankshaft, wherein both ends of the crankshaft are rotatably connected to the bearing seats; the cutting motor 14 is connected to the crankshaft via the coupling 15; wherein the coupling 15 consists of two sets, both of which are roller chain couplings; a torque sensor 16 is disposed between the two sets of roller chain couplings, the torque sensor 16 being used to detect the output torque of the cutting motor 14; the crankshaft is connected to the left rocker arm 19a and the right rocker arm 19b via a double-ended connecting rod 18, wherein one end of the double-ended connecting rod 18 is mounted on the crankshaft, and the other end is mounted with a connecting shaft, the axial direction of the connecting shaft being perpendicular to the axial direction of the double-ended connecting rod 18, the upper end of the connecting shaft passing through the left elongated groove in the left rocker arm 19a, and the lower end passing through the right elongated groove in the right rocker arm 19b.

[0042] With the above settings, when it is necessary to simulate reciprocating cutting of stalk crops, the stalk crops are transported to the reciprocating cutting simulation device 1 through the crop conveying system. At this time, the cutting motor 14 drives the crankshaft to rotate, thereby driving the double-headed connecting rod 18 to swing back and forth, which in turn drives the left rocker arm 19a and the right rocker arm 19b to perform reciprocating motion in opposite directions around their respective rotation fulcrums (i.e., the rotating shaft), thereby driving the left cutting blade 11a and the right cutting blade 11b to move in opposite directions, thus realizing the reciprocating cutting of the stalk crops. In the above process, in order to ensure cutting accuracy, a sliding guide mechanism can be set between the left blade holder and the support, and between the right blade holder and the support. For example, a corresponding sliding groove is set on the support to cooperate with the left blade holder and the right blade holder. The sliding groove limits and guides the movement of the left blade holder and the right blade holder, thereby ensuring cutting accuracy. In summary, the reciprocating cutting simulation device 1 can be used to conduct conventional reciprocating cutting experiments, such as cutting speed, blade type (different blade structural parameters, such as bionic blades), and sliding angle, to collect parameters such as cutting force, cutting power, and shear modulus.

[0043] See Figures 1-13 Both the first link and the second link are equipped with tension sensors 110, which are used to detect the force between the left rocker arm 19a and the right tool holder, as well as between the right rocker arm 19b and the left tool holder.

[0044] See Figures 1-13The stalk conveying device 2 includes a conveying frame mounted on a machine frame, sprockets 26 mounted on the front and rear sides of the conveying frame, and a conveying drive mechanism for driving one side of the sprockets 26 to rotate. The sprockets 26 on the front and rear sides of the conveying frame are mounted on the conveying frame via drive shafts 24, and the left and right sides of the sprockets 26 on the front and rear sides of the conveying frame are connected by chains 27. Multiple sets of chain drive plates 28 are mounted on the chains 27, and these multiple sets of chain drive plates 28 are equidistantly arranged along the extension direction of the chains 27. The left and right sides of each set of chain drive plates 28 are mounted on links of the chains 27. The conveying drive mechanism includes a conveying motor 21 and a belt drive mechanism. The conveying motor 21 is mounted on the conveying frame. The belt drive mechanism includes a driving wheel 22, a driven wheel 25, and a drive belt 23 surrounding the driving wheel 22 and the driven wheel 25. The driving wheel 22 is mounted on the main shaft of the conveying motor 21, and the driven wheel 25 is mounted on one set of drive shafts 24. The conveyor motor 21 drives the belt drive mechanism, which in turn drives one set of drive shafts 24 to rotate, and then drives two sets of sprockets 26 to rotate via the chain 27. During the cyclical movement of the chain 27, the chain drive plate 28 mounted on the chain 27 also rotates, which drives the stem clamping device 3 mounted on the chain drive plate 28 to move. By changing the rotation direction of the conveyor motor 21, the conveying direction of the stem conveying device 2 is changed, thereby conveying the stem crop clamped by the stem clamping device 3 to the robotic arm harvesting simulation device 4 or the reciprocating cutting simulation device 1, thus completing the harvesting simulation experiment of dual-arm collaborative harvesting or reciprocating cutting.

[0045] See Figures 1-13 The stem clamping device 3 consists of multiple sets, each set of which is disposed on multiple sets of chain drive trays 28 and arranged equidistantly along the length of the chain drive trays 28. In this embodiment, each set of chain drive trays 28 has eight sets of stem clamping devices 3. The stem clamping device 3 includes a pressing and rotating clamping mechanism 32 and an angle adjusting mechanism 31 for adjusting the angle of the pressing and rotating clamping mechanism 32. The angle adjusting mechanism 31 includes a base 311 and casters disposed within the base 311. The system includes a universal wheel rod 314 and a micro-translation stage 312 for driving the universal wheel rod 314 to swing. The base 311 has a bearing hole that mates with the universal wheel rod 314, and the universal bearing portion at the lower end of the universal wheel rod 314 is installed in the bearing hole. The micro-translation stage 312 is located at the lower end of the universal wheel rod 314, and the moving platform 3121 in the micro-translation stage 312 is connected to the bottom of the universal bearing portion of the universal wheel rod 314 through a universal bearing structure.

[0046] When the angle of the pressing and rotating clamping mechanism 32 needs to be adjusted, the micro-translation stage 312 drives the moving platform 3121 to move. Since the bottom of the universal bearing portion of the universal wheel rod 314 is connected through a universal bearing structure, the linear movement of the moving platform 3121 will cause the bottom of the universal bearing portion of the universal wheel rod 314 to swing, thereby causing the universal wheel rod 314 to swing, thus adjusting the angle of the pressing and rotating clamping mechanism 32. Furthermore, the micro-translation stage 312 can be implemented with reference to existing devices. The micro-translation stage 312 can drive the moving platform 3121 to move not only along the X-axis but also along the Y-axis, thus enabling multi-angle adjustment of the pressing and rotating clamping mechanism 32. Figure 9 The diagram shows a specific embodiment of the micro-translation stage 312, which includes a moving platform 3121, a drive device for driving the moving platform 3121 to move along the X-axis and Y-axis, and a control terminal 3122.

[0047] In addition, a limiting buffer layer 313 is provided between the bearing hole of the micro-translation stage 312 and the universal bearing portion at the lower end of the universal wheel rod 314. The limiting buffer layer 313 covers the universal bearing portion at the lower end of the universal wheel rod 314. The limiting buffer layer 313 is used to protect the universal wheel rod 314 and to limit the movement of the universal wheel rod 314 in the vertical direction.

[0048] In this embodiment, the micro-translation stage 312 is controlled by a development board, thereby pulling the omnidirectional wheel rod 314 to change angles in any direction within the limiting buffer layer 313, thus causing the pressing and rotating clamping mechanism 32 and the clamped stem crop to change angles in any direction. By controlling the overall stem clamping device 3 through the development board, the stem crop clamped by the stem clamping device 3 can swing in any direction, thus mimicking the swaying of crops in a windy outdoor environment.

[0049] See Figures 1-13 The pressing and rotating clamping mechanism 32 is installed on the upper end of the universal wheel rod 314. The pressing and rotating clamping mechanism 32 includes a fixed sleeve 321, a clamping assembly disposed on the fixed sleeve 321, and a clamping drive mechanism for driving the clamping assembly to open or close.

[0050] The lower end of the fixed sleeve 321 is installed on the upper end of the universal wheel rod 314; the clamping assembly includes a cover plate 324, a turntable 322, and eight sets of clamping sliders 325 disposed between the cover plate 324 and the turntable 322, wherein the turntable 322 has a regular octagonal groove on its upper surface; the eight sets of clamping sliders 325 are disposed above the turntable 322, and the lower end of each set of clamping sliders 325 has a lower guide portion that cooperates with the groove on the turntable 322 (in this embodiment, the lower guide portion is a regular quadrilateral rounded corner boss); the cover plate 324 has multiple sets of guide grooves arranged in a circle on its upper surface, and the upper end of the clamping slider 325 has an upper guide portion that cooperates with the guide groove (in this embodiment, the upper guide portion is a cylindrical boss).

[0051] The clamping drive mechanism is used to drive the turntable 322 to perform both lifting and rotating movements. The clamping drive mechanism includes a limiting pin 323 mounted on the fixed sleeve 321 and a drive groove on the turntable 322 that cooperates with the limiting pin 323. The drive groove extends upwards at an angle and has a slot at its highest point. The turntable 322 has a support groove at its center, and a support portion is provided at the lower end of the support groove. The support portion extends into the interior of the fixed sleeve 321 and is connected to the bottom of the fixed sleeve 321 by a spring 326. The elastic force of the spring 326 causes the turntable 322 to tend to move upward; a vertical guide mechanism is provided between the two sides of the cover plate 324 and the fixed sleeve 321. The vertical guide mechanism is used to ensure that the cover plate 324 can only move up and down, that is, to restrict its rotational movement. In this embodiment, the vertical guide mechanism includes limiting grooves provided on both sides of the cover plate 324. The limiting grooves extend vertically downward. The fixed sleeve 321 is also provided with a limiting pin 323 at a position corresponding to the limiting groove. The limiting pin 323 extends into the limiting groove to restrict the cover plate 324 from rotating.

[0052] When clamping the stem crop is required, the stem crop is inserted through the through hole in the center of the multiple sets of clamping sliders 325, so that the bottom of the stem crop contacts the support groove on the turntable 322 and pushes the turntable 322 downward. Under the limitation of the drive groove and the limiting pin 323, the turntable 322 rotates while moving downward, so that the limiting pin 323 moves from the bottom of the drive groove to the highest point of the drive groove; as the turntable 322 rotates, it drives eight sets of clamps. The clamping sliders 325 move along the extension direction of the guide groove on the cover plate 324 to achieve convergence, thereby clamping the stem crop at the center position; then the force applied to the stem crop is released, causing the turntable 322 to move upward under the elastic force of the spring 326. At this time, the slot in the drive groove on the turntable 322 moves upward and hooks the limiting pin 323, thereby restricting the limiting pin 323 from moving downward along the drive groove, thereby locking the eight sets of clamping sliders 325 on the turntable 322 in the clamping state. When it is necessary to release this locked state, simply apply a downward force to the turntable 322 again to cause it to move downward, so that the limiting pin 323 disengages from the slot of the drive groove. Then, rotate the turntable 322 in the opposite direction to cause the limiting pin 323 to move downward along the drive groove until it is above the slot. Then, release the turntable 322. The elastic force of the spring 326 causes the turntable 322 to move upward. At the same time, guided by the limiting pin 323 and the drive groove, the turntable 322 also rotates. This drives the eight sets of clamping sliders 325 to move away from each other, thereby releasing the clamped stem crop.

[0053] See Figures 1-13The robotic arm harvesting simulation device 4 includes a support frame, a shearing robotic arm mounted on the support frame, a clamping robotic arm, an X-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the X-axis, a Y-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Y-axis, and a Z-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Z-axis; wherein, In this embodiment, the robotic arm harvesting simulation device 4 includes a shearing robotic arm 41, a clamping robotic arm 42, left and right horizontal translation guide rails 43 (i.e., X-axis drive mechanism), front and rear horizontal translation guide rails 44 (Y-axis drive mechanism), a vertical lifting guide rail 45 (i.e., Z-axis drive mechanism), and a depth camera 46. The left and right horizontal translation guide rails 43 are mounted on the vertical lifting guide rail 45, and the vertical lifting guide rail 45 is mounted on the front and rear horizontal translation guide rails 44. The depth camera 46 is mounted in the support frame near the stalk crop conveying system. The left and right horizontal translation guide rails 43 (i.e., X-axis drive mechanism), the front and rear horizontal translation guide rails 44 (Y-axis drive mechanism), and the vertical lifting guide rail 45 can all be driven by a combination of a motor and a lead screw transmission mechanism, or directly by an electric cylinder or a hydraulic cylinder.

[0054] See Figures 1-13 The shearing manipulator 41 includes a cutting end effector 47 and a shearing manipulator arm 411 for driving the cutting end effector 47 to move in multiple degrees of freedom. The shearing manipulator arm 411 is mounted on a left and right horizontal translation guide rail 43 via a guide block 49. A rotary motor 412 is mounted on the guide block 49. The rotary motor is used to drive the shearing manipulator arm 411 to rotate, thereby coordinating with the movement of the shearing manipulator arm 411 itself, thereby driving the cutting end effector 47 to move in multiple degrees of freedom.

[0055] In this embodiment, the cutting end effector 47 includes a fixed blade 471, a moving blade 472, a miniature DC motor 473, a micro-torque sensor 474, a transmission gear 475, a blade connecting plate 476, and a connector 477. The fixed blade 471 is fixedly mounted on the shearing robot arm 411 via the blade connecting plate 476 and the connector 477. The micro-torque sensor 474 is disposed between the miniature DC motor 473 and the transmission gear 475 to record the torque data of the miniature DC motor 473 when the moving blade 472 and the fixed blade 471 perform shearing motion. The miniature DC motor 473 drives the transmission gear 475 to rotate, thereby driving the moving blade 472 to rotate. The fixed blade 471 and the moving blade 472 cooperate with each other to complete the shearing action.

[0056] See Figures 1-13The gripping manipulator 42 includes a claw-type end effector 48 and a gripping manipulator arm 421 for driving the claw-type end effector 48 to move in multiple degrees of freedom. The gripping manipulator 42 is also mounted on a left-right horizontal translation guide rail 43 via a guide block 49. Similarly, a rotary motor is mounted on the guide block 49, which drives the gripping manipulator arm 421 to rotate, thereby coordinating the movement of the gripping manipulator arm 421 to drive the claw-type end effector 48 to move in multiple degrees of freedom.

[0057] In this embodiment, the finger-type end effector 48 includes a telescopic piston mechanism 481, an upper connector 482, a lower connector 483, a finger-type rod 484, a pressure sensor 485, and a support rod 486; wherein, the structure of the finger-type rod 484 is as follows: Figure 13 As shown, the lower end of the claw-shaped rod 484 is driven to move up and down by the telescopic piston mechanism 481, thereby driving multiple grippers at the upper end of the claw-shaped rod 484 to open or close simultaneously through the lever principle, thus completing the gripping action. Then, with the cooperation of the gripping robotic arm 421, it performs stretching and bending movements to complete the harvesting operation.

[0058] In addition, the surface of the claw-shaped rod 484 that contacts the stem crop is equipped with a pressure sensor 485, which is used to record relevant pressure data of the gripper 42 during the harvesting experiment.

[0059] See Figures 1-13 The stem clamping device 3, in conjunction with the reciprocating cutting simulation device 1, can conduct experiments on the cutting angle and stem cutting position. The stem clamping device 3 and the robotic arm harvesting simulation device 4 can conduct quasi-static and dynamic tensile experiments, bending experiments, torsion experiments, and collect parameters such as cutting force, cutting power, shear modulus, tensile strength, bending strength, and elastic modulus. They can also improve the positioning accuracy of the cutting robotic arm 41 and the clamping robotic arm 42.

[0060] like Figure 14 As shown, Figure 14 Harvesting mode 1 for robotic arm harvesting simulation device 4:

[0061] When the shearing robot 41 and the clamping robot 42 rise to the highest point of the vertical lifting guide rail 45, they harvest the stem crops held by the upper stem clamping device 3a on the upper chain drive pallet 28. Specifically, they perform autonomous or coordinated harvesting of upward-growing stem crops 38 (such as tea leaves, wild chrysanthemums, broccoli, etc.). In harvesting mode one, the transmission direction of the stem conveying device 2 is as follows: Figure 14The transmission direction arrow of chain 27 is shown in the diagram. After being visually identified and positioned by the depth camera 46, the shearing robot 41 autonomously shears and harvests the stems of each upward-growing stalk crop. Meanwhile, after being visually identified and positioned by the depth camera 46, the gripping robot 42 autonomously performs "picking finger"-like stretching, bending, and twisting operations on the stems of each upward-growing stalk crop to achieve harvesting. Alternatively, after being visually identified and positioned by the depth camera 46, the gripping robot 42 wraps and fixes the fruit of the upward-growing target stalk crop 38, the shearing robot 41 cuts the stem of the upward-growing target stalk crop 38, and the gripping robot 42 harvests the fruit, thus completing the collaborative harvesting operation.

[0062] like Figure 15 As shown, Figure 15 Harvesting mode two for robotic arm harvesting simulation device 4:

[0063] After the shearing robot 41 and the clamping robot 42 descend to a certain position via the vertical lifting guide rail 45, they harvest the stalk crops held by the stalk clamping device 3b on the lower chain-driven pallet 28. Specifically, they perform autonomous or coordinated harvesting of downward-growing stalk crops 39 (such as apples, strawberries, citrus, etc.). In harvesting mode two, the transmission direction of the stalk conveying device 2 is opposite to that in harvesting mode one, as shown below. Figure 15 The transmission direction arrow of chain 27 is shown. After being visually identified and positioned by the depth camera 46, the shearing robot 41 autonomously cuts and harvests the stems of the downward-growing stalk crops one by one; after being visually identified and positioned by the depth camera 46, the gripping robot 42 autonomously performs "picking finger"-like stretching, bending, and twisting operations on the stems of the downward-growing stalk crops one by one. Alternatively, after being visually identified and positioned by the depth camera 46, the gripping robot 42 wraps and fixes the fruit of the downward-growing stalk crop 39, the shearing robot 41 cuts the stem of the downward-growing stalk crop 39, and the gripping robot 42 harvests the fruit, thus completing the collaborative harvesting operation.

[0064] Therefore, in situations where outdoor harvesting experiments are not feasible, this invention designs a stem clamping device 3 to mimic the outdoor environment and improve the accuracy of indoor experiments. The micro-translation stage 312 of the entire stem clamping device 3, controlled by the development board, allows the clamped stem crop to swing in any direction, thus mimicking the swaying of crops in a windy outdoor environment. Furthermore, the stem clamping device 3 is equipped with a pressing and rotating clamping mechanism 32. One end of the stem crop can be manually inserted into the pressing and rotating clamping mechanism 32, causing the clamping slider 325 of the mechanism to rotate and slide, thereby clamping the stem crop. This greatly simplifies the steps of fixing the stem crop before harvesting experiments. In addition, to improve the overall capabilities of current experimental platforms and equipment, this invention integrates a reciprocating cutting simulation device 1 and a robotic arm harvesting simulation device 4, enabling a single device to conduct more comprehensive harvesting simulation experiments. Furthermore, the robotic arm harvesting simulation device 4 designed in this invention has autonomous or collaborative operation capabilities, allowing for harvesting experiments on a wider range of crop types, including dual harvesting modes for upward-growing crops (such as tea, wild chrysanthemum, broccoli, etc.) and downward-growing crops (such as apples, strawberries, citrus, etc.).

[0065] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A multifunctional integrated experimental platform for use in crop harvesting chambers, characterized in that, The system includes a frame, a crop conveying system mounted on the frame, and a harvesting simulation system for simulating the harvesting of stalk crops in the crop conveying system. The crop conveying system includes a stalk clamping device for clamping the stalk crops and a stalk conveying device for conveying the stalk crops clamped in the stalk clamping device to the harvesting simulation system. The harvesting simulation system includes a robotic arm harvesting simulation device and a reciprocating cutting simulation device, wherein the robotic arm harvesting simulation device and the reciprocating cutting simulation device are located on opposite sides of the stalk conveying device. The stem clamping device is in multiple sets, and the multiple sets of stem clamping devices are respectively set on multiple sets of chain drive trays and are equidistant along the length direction of the chain drive trays; the stem clamping device includes a pressing and rotating clamping mechanism and an angle adjusting mechanism for adjusting the angle of the pressing and rotating clamping mechanism. The angle adjustment mechanism includes a base, a universal wheel rod mounted on the base, and a micro-translation stage for driving the universal wheel rod to swing. The base has a bearing hole that mates with the universal wheel rod, and the universal bearing portion at the lower end of the universal wheel rod is installed in the bearing hole. The micro-translation stage is located at the lower end of the universal wheel rod, and the moving platform in the micro-translation stage is connected to the bottom of the universal bearing portion of the universal wheel rod via a universal bearing structure. The pressing and rotating clamping mechanism is installed at the upper end of the universal wheel rod. This pressing and rotating clamping mechanism includes a fixed sleeve, a clamping assembly disposed on the fixed sleeve, and a clamping drive mechanism for driving the clamping assembly to open or close. The lower end of the fixed sleeve is installed on the upper end of the universal wheel rod; the clamping assembly includes a cover plate, a turntable, and eight sets of clamping sliders disposed between the cover plate and the turntable, wherein the turntable has an octagonal groove on its upper side; the eight sets of clamping sliders are disposed above the turntable, and the lower end of each set of clamping sliders has a lower guide portion that mates with the groove on the turntable; the cover plate has eight sets of guide grooves arranged in a circle on its upper side, and the upper end of each set of clamping sliders has an upper guide portion that mates with each set of guide grooves; The clamping drive mechanism is used to drive the turntable to perform both lifting and rotating movements.

2. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 1, characterized in that, The reciprocating cutting simulation device includes a support mounted on a frame, two sets of cutting blades mounted on the support, and a cutting drive mechanism for driving the two sets of cutting blades to move relative to each other. The two sets of cutting blades are arranged vertically and mounted on tool holders respectively. The cutting blade located on the left side is the left cutting blade, and the cutting blade located on the right side is the right cutting blade. Correspondingly, the tool holder mounted on the left cutting blade is the left tool holder, and the tool holder mounted on the right cutting blade is the right tool holder.

3. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 2, characterized in that, The cutting drive mechanism is used to drive two sets of tool holders to perform reciprocating motion in opposite directions. The cutting drive mechanism includes a cutting power mechanism and a linkage mechanism for transmitting power from the cutting power mechanism to the two sets of tool holders. The linkage mechanism includes a left rocker arm and a right rocker arm. The middle of the left rocker arm is rotatably connected to the bracket via a pivot. One side of the left rocker arm is connected to the right tool holder via a first connecting rod, and the other side is provided with a left elongated groove. The two sides of the first connecting rod are hinged to the left rocker arm and the right tool holder, respectively. The middle of the right rocker arm is also rotatably connected to the bracket via a pivot. One side of the right rocker arm is connected to the left tool holder via a second connecting rod, and the other side is provided with a right elongated groove. The two sides of the second connecting rod are hinged to the right rocker arm and the left tool holder, respectively. The cutting power mechanism includes a cutting motor, a coupling, and a crankshaft mechanism. The crankshaft mechanism includes a crankshaft and bearing seats disposed on both sides of the crankshaft. Both ends of the crankshaft are rotatably connected to the bearing seats. The cutting motor is connected to the crankshaft via a coupling. The crankshaft is connected to the left rocker arm and the right rocker arm via a double-ended connecting rod. One end of the double-ended connecting rod is mounted on the crankshaft, and the other end is mounted with a connecting shaft. The axial direction of the connecting shaft is perpendicular to the axial direction of the double-ended connecting rod. The upper end of the connecting shaft passes through the left elongated groove in the left rocker arm, and the lower end passes through the right elongated groove in the right rocker arm.

4. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 3, characterized in that, The stalk conveying device includes a conveying frame mounted on a machine frame, sprockets on the front and rear sides of the conveying frame, and a conveying drive mechanism for driving one side of the sprocket to rotate. The sprockets on the front and rear sides of the conveying frame are mounted on the conveying frame via drive shafts, and the left and right sides of the sprockets on the front and rear sides of the conveying frame are connected by chains. Multiple sets of chain drive trays are provided on the chains, and these multiple sets of chain drive trays are arranged equidistantly along the extension direction of the chains. The left and right sides of each set of chain drive trays are mounted on the corresponding chain links. The conveying drive mechanism includes a conveying motor and a belt drive mechanism. The conveying motor is mounted on the conveying frame. The belt drive mechanism includes a driving wheel, a driven wheel, and a drive belt wrapped around the driving wheel and the driven wheel. The driving wheel is mounted on the main shaft of the conveying motor, and the driven wheel is mounted on one of the drive shafts.

5. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 4, characterized in that, The clamping drive mechanism includes a limiting pin on the fixed sleeve and a drive groove on the turntable that cooperates with the limiting pin. The drive groove extends obliquely upward and has a slot at its highest point. The turntable has a support groove at its center and a support portion at the lower end of the support groove. The support portion extends into the interior of the fixed sleeve and is connected to the bottom of the fixed sleeve by a spring. The spring force causes the turntable to have an upward tendency. The two sides of the cover plate are connected to the fixed sleeve by a vertical guide mechanism, which ensures that the cover plate can only move up and down. When clamping the stem crop is required, the stem crop is inserted into the center of multiple clamping sliders, so that the bottom of the stem crop contacts the support groove on the turntable and pushes the turntable downward. Under the limitation of the drive groove and the limiting pin, the turntable rotates while moving downward, so that the limiting pin moves from the bottom of the drive groove to the highest point of the drive groove. As the turntable rotates, it drives the eight clamping sliders to move along the extension direction of the guide groove on the cover plate to converge, thereby clamping the stem crop located in the center. Then, the force applied to the stem crop is released, and the turntable moves upward under the elastic force of the spring. At this time, the turntable moves upward and the locking part in its drive groove hooks the limiting pin to restrict the limiting pin from moving downward along the drive groove, thereby locking the eight clamping sliders on the turntable in the clamping state.

6. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 5, characterized in that, A limiting buffer layer is provided between the bearing hole of the micro-translation stage and the universal bearing portion at the lower end of the universal wheel rod, and the limiting buffer layer covers the universal bearing portion at the lower end of the universal wheel rod.

7. The multifunctional integrated experimental platform for crop harvesting chambers according to claim 1, characterized in that, The robotic arm harvesting simulation device includes a support frame, a shearing robotic arm and a clamping robotic arm mounted on the support frame, an X-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the X-axis direction, a Y-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Y-axis direction, and a Z-axis drive mechanism for driving the shearing robotic arm and the clamping robotic arm to move along the Z-axis direction.

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