A kind of human-simulated Chinese wolfberry picking manipulator, picking assembly and picking method

Abstract

The application discloses a kind of imitative human boxthorn picking mechanical hand, picking assembly and picking method, belongs to agricultural picking mechanical hand technical field.The present application solves the problems of high production and picking cost of existing boxthorn picking mechanical hand and cannot efficiently and gently realize boxthorn picking.It includes mechanical arm and the mechanical hand main body connected at the end of mechanical arm, the mechanical hand main body includes palm, comb tooth finger group, clamping finger and drive assembly, wherein the palm is grooved, the comb tooth finger group is fixed on the side wall of palm and the finger tip is curved to the inside of palm, the clamping finger is arranged side by side on one side of comb tooth finger group, and the drive assembly is fixed on the palm.The clamping finger is controlled to approach and separate from comb tooth finger by drive assembly.The comb tooth finger group and clamping finger realize pulling and clamping, realize the gentle clamping of boxthorn branch and the efficient picking of boxthorn fruit, solve the problems of labor shortage during peak period, high damage rate of boxthorn fruit during picking and insufficient stability of field operation.

Description

Technical Field

[0001] The invention relates to a humanoid wolfberry picking manipulator, a picking component and a picking method, and belongs to the technical field of agricultural picking manipulators. Background Art

[0002] With the continuous innovation of science and technology and the in-depth development of automated agricultural equipment, traditional agricultural production methods are undergoing revolutionary changes. In particular, in the planting and harvesting of cash crops, automated and intelligent machinery is gradually replacing traditional manual labor to improve production efficiency and reduce labor costs. As a crop with important medicinal and economic value, wolfberry enjoys a high reputation in domestic and international markets. In recent years, with the development of society and the economy, the market demand for wolfberry has been increasing. Therefore, in view of the current situation of wolfberry harvesting, it is necessary to consider both the picking of wolfberry fruits and the grasping of wolfberry branches based on the strategies and characteristics of manual harvesting. In the field of agricultural harvesting robots, especially in the field of precision harvesting, the delicate branches and densely packed fruits of wolfberry fruits are prone to damage. Existing robots cannot achieve gentle and efficient harvesting. Therefore, targeted mechanical design is needed to design a humanoid wolfberry harvesting robot that can not only achieve damage-free harvesting of wolfberry fruits, but also has multifunctional practicality to improve harvesting efficiency.

[0003] Currently, most harvesting robots on the market are single-function designs, making them difficult to adapt to the complex harvesting requirements of goji berry crops. These robots commonly suffer from the following issues: significant crop damage, low harvesting efficiency and automation, overly complex overall structures, and poor adaptability to complex field environments. Furthermore, existing robots are often bulky, making them unsuitable for operation in narrow or uneven fields. Their high maintenance costs hinder their widespread application.

[0004] Traditional robotic arms can damage the fruit during the harvesting process, affecting its quality and market value. Furthermore, many robotic arm designs lack sufficient flexibility and adaptability, making them unable to cope with the complex and changing field conditions and growth patterns of goji berries, resulting in insufficient picking efficiency and accuracy. In other words, existing technologies still cannot fully meet the demand for efficient, precise, and cost-effective goji berry harvesting. Therefore, to achieve intelligent goji berry harvesting, it is necessary to specifically design a new bionic goji berry harvesting robotic gripper. Summary of the Invention

[0005] The present invention aims to solve the problems of high production and picking costs of existing wolfberry picking robots and the inability to efficiently and gently pick wolfberries, and further provides a humanoid wolfberry picking robot, a picking component and a picking method.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] A humanoid wolfberry picking robot comprises a robot arm and a robot body connected to the end of the robot arm, wherein the robot body comprises a palm, a comb-tooth finger group, clamping fingers and a drive component, wherein the palm is groove-shaped, the comb-tooth finger group is fixedly mounted on a side wall of the palm with the fingertips bent toward the inside of the palm, the clamping fingers are arranged side by side on one side of the comb-tooth finger group, and the drive component is fixedly mounted on the palm, and the clamping fingers are controlled by the drive component to move toward and away from the comb-tooth fingers.

[0008] Furthermore, the drive assembly includes a telescopic drive element, a connecting lever and a pin, wherein the telescopic drive element is fixedly mounted on the back of the palm, the connecting lever is arranged on the same side as the clamping finger, and one end of the connecting lever is fixedly connected to the movable end of the telescopic drive element, and the other end of the connecting lever is fixedly connected to the clamping finger, and the pin is fixedly mounted on the palm and serves as a fulcrum of the connecting lever.

[0009] Furthermore, the comb-shaped finger group includes a plurality of flexible finger-like structures arranged in parallel along the width direction of the palm, and the flexible finger-like structures include a metal piece bent in an L-shape and a silicone layer wrapped around the outside of the metal piece.

[0010] Furthermore, the metal piece is an iron wire with a diameter of 8 mm, and the palm is made of polytetrafluoroethylene plastic.

[0011] Furthermore, the comb-shaped finger group is integrally formed and fixedly connected to the front outer wall of the palm.

[0012] Furthermore, the structural composition of the clamping fingers is arranged in the same manner as the structural composition of the flexible finger-like structure.

[0013] Furthermore, the number of the flexible finger structures is eight.

[0014] Furthermore, the robotic arm is a six-degree-of-freedom robotic arm.

[0015] A humanoid wolfberry picking component comprises two of the above-mentioned humanoid wolfberry picking manipulators.

[0016] A wolfberry picking method using the above-mentioned humanoid wolfberry picking component, wherein a robotic arm and a drive component are connected to a control center, and the control center realizes the control of the movement of the robotic arm and the drive component. In a wolfberry field environment, two humanoid wolfberry picking manipulators work together. The drive component of one humanoid wolfberry picking manipulator receives the spatial coordinate information of the branch with the most wolfberry fruits from the control center and determines the optimal clamping point on the spatial coordinate. The control center lifts one humanoid wolfberry picking manipulator to a suitable position and controls the clamping fingers to clamp the branch at the optimal clamping point through the drive component. The control center then controls another humanoid wolfberry picking manipulator to pick the wolfberries in the same way as manual operation. The wolfberry fruits fall into the groove of the palm for temporary storage, completing a complete operation.

[0017] Compared with the prior art, the present invention has the following effects:

[0018] The humanoid wolfberry picking robot of the present invention adopts the bionics principle to simulate the picking action of human hands. The specially designed comb-shaped finger group and clamping fingers realize stroking and clamping, thereby realizing the gentle clamping of wolfberry branches and the efficient picking of wolfberry fruits, effectively solving the problems of labor shortage during peak periods, high damage rate of wolfberry fruits during harvesting, and insufficient stability of field operations.

[0019] By using a pair of humanoid wolfberry picking robots, the picking range is expanded and the number and time of robot arm movements are reduced.

[0020] By coordinating the actions of two humanoid wolfberry picking robots, one robot clamps the end of the branch, and the other robot plucks the fruit, simulating human hands picking wolfberry fruits, the degree of automation is higher and the labor cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a humanoid wolfberry picking robot of the present invention;

[0022] Figure 2 Schematic diagram of the three-dimensional structure of the robot body;

[0023] Figure 3 Schematic diagram of the top view of the robot body;

[0024] Figure 4 This is a schematic diagram of the working state of a robot body holding a branch;

[0025] Figure 5 This is a schematic diagram of another robot arm picking up fruit;

[0026] Figure 6 A schematic diagram of a half-section of the palm;

[0027] Figure 7 is a schematic view of the top of the robot main body (part of the structure in the driving assembly is not shown);

[0028] Figure 8 is a schematic view of the left side of the robot main body; Figure 7

[0029] Figure 9 is a schematic view of the back of the robot main body; Figure 7

[0030] Figure 10 is a schematic view of the connection structure between the connecting lever and the clamping fingers;

[0031] Figure 11 is a schematic view of the top of the robot main body; Figure 10

[0032] In the figure:

[0033] 1, robot arm; 2, robot main body; 21, palm; 22, comb-shaped finger group; 22-1, flexible finger structure; 23, clamping finger; 25, circular flange; 24-1, telescopic driving element; 24-2, connecting lever; 24-3, pin; 24-4, nut; 100, fruit; 101, branch. DETAILED DESCRIPTION

[0034] Specific implementation one: in combination with Figures 1 to 11 The present embodiment is described to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] It should be noted that the descriptions of the present application with respect to "front", "back", "left", "right", "inner", "outer", "left side", "right side", "upper part", "lower part", "top", "bottom" and the like are defined based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0036] ​​​In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0037] A humanoid wolfberry picking robot comprises a robot arm 1 and a robot body 2 connected to the end of the robot arm 1, wherein the robot body 2 comprises a palm 21, a comb-tooth finger group 22, a clamping finger 23 and a drive component, wherein the palm 21 is groove-shaped, the comb-tooth finger group 22 is fixedly mounted on a side wall of the palm 21 with the fingertips bent toward the inside of the palm 21, the clamping fingers 23 are arranged side by side on one side of the comb-tooth finger group 22, and the drive component is fixedly mounted on the palm 21, and the clamping fingers 23 are controlled by the drive component to move toward and separate from the comb-tooth fingers.

[0038] By setting the clamping fingers 23, it is possible to adaptively open different angles to clamp wolfberry branches 101 of different diameters. The clamping force of the clamping fingers 23 is achieved by the drive assembly, ensuring stable grasping of the wolfberry branches 101 without damage.

[0039] The palm 21 is groove-shaped, which is convenient for collecting and temporarily storing the picked wolfberry fruits 100.

[0040] The comb-shaped finger group 22 simulates the finger structure of a human hand to perform a stroking action.

[0041] As needed, a sensor system such as a visual recognition module that can identify the position of the wolfberry branch box beam and the fruit 100 can be set on the robotic arm 1.

[0042] The manipulator body 2 and the robotic arm 1 are tightly connected via six M3 threaded holes on the circular flange 25, ensuring that they can receive control signals from the robotic arm 1 and the host computer. The specific connection structure between the manipulator body 2 and the robotic arm 1 and the control structure of the robotic arm 1 are both existing mature technologies and will not be detailed here.

[0043] The humanoid wolfberry picking robot of the present invention adopts the bionic principle to simulate the picking action of human hands. The specially designed comb-shaped finger group 22 and clamping fingers 23 realize stroking and clamping, thereby achieving the gentle clamping of wolfberry branches 101 and the efficient picking of wolfberry fruits 100, effectively solving the problems of labor shortage during peak periods, high damage rate of wolfberry fruits during harvesting, and insufficient stability of field operations.

[0044] By fixing the manipulator body 2 on the manipulator arm 1, the conversion of various positions and postures is realized, thereby improving the adaptability of the automated equipment to the complex wolfberry environment and achieving flexible, non-destructive and efficient picking.

[0045] The drive assembly includes a telescopic drive element 24-1, a connecting lever 24-2, and a pin 24-3. The telescopic drive element 24-1 is fixedly mounted on the rear portion of the palm 21. The connecting lever 24-2 is located on the same side as the gripping fingers 23. One end of the connecting lever 24-2 is fixedly connected to the movable end of the telescopic drive element 24-1, and the other end of the connecting lever 24-2 is fixedly connected to the gripping fingers 23. The pin 24-3 is fixedly mounted on the palm 21 and serves as a fulcrum for the connecting lever 24-2. With this design, the telescopic movement of the telescopic drive element 24-1 drives the connecting lever 24-2 to rotate about the pin 24-3, thereby achieving gripping and releasing between the gripping fingers 23 and the comb-shaped finger group 22. The telescopic drive element 24-1 can be a device capable of telescopic movement, such as a micro-cylinder or an electric push rod. When a micro-cylinder is selected as the telescopic drive element 24-1, it is considered that a stroke that is too large is inconvenient to use, while a stroke that is too small would require too high a precision for gripping the branches 101. Therefore, after calculation, a CDJ2B10-10 small pen-shaped cylinder with a maximum stroke of 10mm for the cylinder extension rod is selected. The cylinder body is made entirely of stainless steel, and the inner wall is carefully polished, making it wear-resistant and rust-resistant, with good airtightness, suitable for field operation. As the sole power source of the manipulator body 2, the micro-cylinder is connected to the air inlet and outlet pipes via two air pipe connectors at the top of the cylinder body, thereby driving the connecting lever 24-2. To facilitate the installation of the telescopic drive element 24-1, a receiving slot is provided at the rear of the palm 21. The size of this receiving slot is slightly larger than that of the telescopic drive element 24-1, and the extended end of the telescopic drive element 24-1 passes through the side wall of the receiving slot. The extended end of the telescopic drive element 24-1 is threadedly connected to one end of the connecting lever 24-2 and is restrained by a nut 24-4. The pin 24-3 is preferably integrated with the palm 21 and made of aluminum alloy. The connecting lever 24-2 has a circular through-hole, and the end of the pin 24-3 facing away from the palm 21 is rotatably mounted within the circular through-hole, forming a lever fulcrum. The other end of the connecting lever 24-2 is preferably threadedly connected to the clamping finger 23. The clamping force of the clamping finger 23 can be adjusted by adjusting the stroke of the telescopic drive element 24-1 and the amplification effect of the lever. The pin 24-3, serving as the lever fulcrum, is preferably located near the telescopic drive element 24-1. More preferably, the pin 24-3 is located at a position 1 / 3 of the length of the palm 21. The length of the connecting lever 24-2 and the position of the pin 24-3 must be precisely calculated to ensure sufficient clamping force at an air pressure of 0.5 MPa.

[0046] The comb-shaped finger group 22 includes a plurality of flexible finger-like structures 22-1 arranged in parallel along the width direction of the palm 21, and the flexible finger-like structure 22-1 includes a metal part bent in an L shape and a silicone layer wrapped around the outside of the metal part. The root of each flexible finger-like structure 22-1 is fixed on the palm 21, preferably fixed on the front outer wall of the palm 21. The side of the palm 21 close to the robotic arm 1 is the back side, and the side away from the robotic arm 1 is the front side. The metal part is an L-shaped human-like finger, and is arranged in an array to adapt to the size and shape of the wolfberry fruit 100, so as to achieve effective picking. By wrapping the silicone layer on the outside of the metal part, sufficient strength and durability are guaranteed during the application process, while increasing the friction coefficient of the surface of the finger-like structure, making it easier to pick and effectively reducing damage to the wolfberry fruit 100.

[0047] The metal piece is an iron wire with a diameter of 8 mm, and the material of the palm 21 is polytetrafluoroethylene plastic. Such a design realizes a lightweight design of the manipulator body 2 and greatly reduces the load of the manipulator 1.

[0048] The comb-shaped finger group 22 is integrally formed and fixed to the front outer wall of the palm 21. With this design, the comb-shaped finger group 22 and the front outer wall of the palm 21 are integrally formed and fixed tightly using an injection molding process, ensuring the stability and consistency of the comb-shaped finger group 22 and the palm 21 structure, and reducing production costs.

[0049] The structural composition of the clamping finger 23 is the same as that of the flexible finger structure 22 - 1 .

[0050] The number of the flexible finger structures 22 - 1 is eight.

[0051] The robotic arm 1 is a six-degree-of-freedom robotic arm. With this design, the motion of the comb-shaped finger group 22 is controlled by the servo joint motors within the six-degree-of-freedom robotic arm 1. The six degrees of freedom of the robotic arm 1 allow the manipulator to be precisely positioned at any spatial location on the wolfberry branch 101. The rotational and translational motions of the robotic arm 1 drive the comb-shaped finger group 22 to change positions, combing the wolfberry branch 101 and harvesting the wolfberry fruits 100.

[0052] Specific implementation method 2: Combination Figures 1 to 11This embodiment describes a humanoid wolfberry picking component, comprising two humanoid wolfberry picking manipulators as described in the first embodiment above. The dual humanoid wolfberry picking manipulators expand the picking range, reduce the number and time of movement of the manipulator arm 1, greatly improve the picking efficiency, and further realize the conversion of various positions and postures, thereby further improving the adaptability of the automated equipment to the complex wolfberry environment, achieving flexible, non-destructive and efficient picking. The humanoid wolfberry picking component of the present invention is mainly used for the automated harvesting of wolfberries in a natural environment, and is suitable for: 1. The design of the manipulator body 2 takes into account the dense planting characteristics of wolfberry plants. It can effectively shuttle between branches 101 and is suitable for wolfberry gardens with a high planting density. 2. In periods of agricultural labor shortage or high costs, the present invention can be used as an effective solution to reduce reliance on manual picking. 3. The manipulator body 2, as an end effector, can gently handle the fruit 100 and is suitable for picking work that requires delicate operations to avoid damaging the fruit 100, thereby ensuring product quality. 4 For regions undergoing agricultural modernization, this invention can serve as an important technological breakthrough, promoting the development of traditional agriculture towards automation and intelligence. Other components and connections are the same as those in the first embodiment.

[0053] Specific implementation method three: Combination Figures 1 to 11 This embodiment describes a wolfberry picking method using the humanoid wolfberry picking component described in the second specific embodiment above. The robot arm 1 and the drive component are connected to the control center, and the control center realizes the control of the movement of the robot arm 1 and the drive component. In the wolfberry field environment, two humanoid wolfberry picking manipulators work together. The drive component of one humanoid wolfberry picking manipulator receives the spatial coordinate information of the branch with the most wolfberry fruits from the control center, and determines the best clamping point on the spatial coordinate (usually the end clamping effect is the best). The control center lifts one humanoid wolfberry picking manipulator to a suitable position and controls the clamping fingers 23 to clamp the branch 101 at the best clamping point position through the drive component. The control center then controls another humanoid wolfberry picking manipulator to pick the wolfberries in the same way as manual operation. The wolfberry fruits 100 fall into the groove of the palm 21 for temporary storage, completing a complete operation. By cooperating with two humanoid wolfberry picking robots, one robot clamps the end of the branch 101, and the other robot plucks the fruit 100, simulating human hands picking wolfberry fruits 100, with a higher degree of automation and lower labor costs.

[0054] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A humanoid wolfberry picking robot, characterized by: The invention comprises a robot arm (1) and a robot body (2) connected to the end of the robot arm (1), wherein the robot body (2) comprises a palm (21), a comb-tooth finger group (22), a gripping finger (23) and a drive assembly, wherein the palm (21) is groove-shaped, the comb-tooth finger group (22) is fixed on a side wall of the palm (21) and the fingertips are bent toward the inside of the palm (21), the gripping fingers (23) are arranged side by side on one side of the comb-tooth finger group (22), and the drive assembly is fixed on the palm (21), and the gripping fingers (23) are controlled by the drive assembly to move toward and away from the comb-tooth fingers; The drive assembly comprises a telescopic drive element (24-1), a connecting lever (24-2) and a pin (24-3), wherein the telescopic drive element (24-1) is fixedly mounted on the rear of the palm (21), the connecting lever (24-2) is arranged on the same side as the clamping finger (23), one end of the connecting lever (24-2) is fixedly connected to the movable end of the telescopic drive element (24-1), and the other end of the connecting lever (24-2) is fixedly connected to the clamping finger (23), and the pin (24-3) is fixedly mounted on the palm (21) and serves as a fulcrum for the connecting lever (24-2); The comb-shaped finger group (22) comprises a plurality of flexible finger-shaped structures (22-1) arranged in parallel along the width direction of the palm (21), and the flexible finger-shaped structure (22-1) comprises an L-shaped bent metal piece and a silicone layer wrapped around the outside of the metal piece; The structural composition of the clamping finger (23) is arranged in the same manner as the structural composition of the flexible finger-like structure (22-1).

2. The humanoid wolfberry picking robot according to claim 1, characterized in that: The metal piece is an iron wire with a diameter of 8 mm, and the material of the palm (21) is polytetrafluoroethylene plastic.

3. The humanoid wolfberry picking robot according to claim 1, characterized in that: The comb-tooth-shaped finger group (22) is integrally formed and fixedly connected to the front outer wall of the palm (21).

4. The humanoid wolfberry picking robot according to claim 1, characterized in that: The number of the flexible finger-like structures (22-1) is eight.

5. The humanoid wolfberry picking robot according to claim 1, characterized in that: The robotic arm (1) is a six-degree-of-freedom robotic arm.

6. A humanoid wolfberry picking component, characterized by: The invention comprises two humanoid wolfberry picking manipulators as described in any one of claims 1 to 5.

7. A wolfberry picking method using the humanoid wolfberry picking assembly of claim 6, characterized in that: The robot arm (1) and the driving component are connected to the control center, and the control center realizes the control of the movement of the robot arm (1) and the driving component. In the wolfberry field environment, two humanoid wolfberry picking manipulators work together. The driving component of one humanoid wolfberry picking manipulator receives the spatial coordinate information of the branch with the most wolfberry fruits from the control center and determines the best clamping point on the spatial coordinate. The control center lifts one humanoid wolfberry picking manipulator to a suitable position and controls the clamping fingers (23) to clamp the branch (101) at the best clamping point position through the driving component. The control center then controls another humanoid wolfberry picking manipulator to pick the wolfberries in the same way as manual operation. The wolfberry fruits (100) fall into the groove of the palm (21) for temporary storage, completing a complete operation.

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