Eggplant picking robot

Abstract

The present invention discloses an eggplant picking robot, belonging to the field of agricultural machinery. The robot comprises a walking module, a posture adjustment module and a vegetable storage basket provided on the walking module, and a picking module provided on the posture adjustment module. The present invention solves the problems of high labor intensity and low efficiency in the existing manual eggplant picking work.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to an eggplant picking robot. Background Art

[0002] Eggplant is a healthy vegetable that's essential to our daily diet. China, the world's largest eggplant producer, consistently accounts for over 42% of the global eggplant planting area. Eggplants should be harvested promptly when ripe to avoid delays that can cause the fruit to age, become loose, and deteriorate in quality. Because eggplant stems are highly lignified and thicker than other fruits and vegetables, they require greater shearing strength. Currently, eggplants are primarily harvested manually, using scissors to cut the fruit from the stem and place it in a basket. This method is labor-intensive and inefficient. Summary of the Invention

[0003] The purpose of the present invention is to provide an eggplant picking robot to solve the problems of high labor intensity and low efficiency in the existing manual eggplant picking work.

[0004] The technical solution adopted by the present invention is that the eggplant picking robot includes a walking module, the walking module is provided with a posture adjustment module and a vegetable storage basket, and the posture adjustment module is provided with a picking module.

[0005] The present invention is also characterized in that:

[0006] The walking module includes a base plate, connecting frames are respectively provided at both ends of the base plate, and each connecting frame is connected to a suspension wheel group at both ends. A vegetable storage basket is provided on the base plate and between the two connecting frames, a front cross beam support frame is provided on the base plate and between the connecting frame located at the front side and the vegetable storage basket, and a rear cross beam support frame is provided on the base plate and between the connecting frame located at the rear side and the vegetable storage basket. The front cross beam support frame and the rear cross beam support frame are connected at one end away from the base plate through a posture adjustment module, and the two suspension wheel groups located at the front side are connected to a front wheel steering mechanism.

[0007] A weighing scale is arranged at the bottom of the vegetable storage basket, an inclined bracket is arranged at the bottom of the weighing scale, and the bottom of the inclined bracket is connected with the bottom plate.

[0008] The posture adjustment module includes a front beam plate and a rear beam plate, which are connected by two beams. The two beams are symmetrically arranged along the axis of the front beam plate. The ends of the two beams on the same side are connected with bearing connection blocks, one of the bearing connection blocks is provided with a coupling connection block, and the other bearing connection block is provided with a posture adjustment module coupling. The coupling connection block is rotatably connected to the side wall of the front beam support frame, and the posture adjustment module coupling passes through the side wall of the rear beam support frame and is connected to the worm gear reducer. The worm gear reducer is connected to the second motor. Circular guide rails are provided on the opposite side walls of the two beams, and each circular guide rail is provided with a circular guide rail slider. Each circular guide rail slider is connected to a slider plate on the side wall away from the beam. The ends of the slider plates on the same side are connected through the slide plate, and a first linear guide is provided on the rear plate of the crossbeam and along its axial direction, a linear guide slider is provided on the first linear guide slider, and the linear guide slider is connected to the slide plate close to it, one end of the rear plate of the crossbeam is embedded in the first motor, the first motor is connected to a reduction gear, the output shaft of the reduction gear passes through the front plate of the crossbeam and is connected to a synchronous pulley, the end of the front plate of the crossbeam away from the first motor is connected to a pin shaft, a bearing is sleeved on the pin shaft, and a synchronous pulley is sleeved on the bearing, the two synchronous pulleys are connected through a synchronous belt, and the end face of the synchronous belt close to the other slide plate is set as a toothed end face, the toothed end face of the synchronous belt is meshed with the synchronous belt fixing plate provided with a toothed end face, and the end of the synchronous belt fixing plate away from the toothed end face is connected to the other slide plate.

[0009] The picking module includes a left frame and a right frame arranged in parallel, the bottoms of the left frame and the right frame are connected by a frame, and a protrusion is provided on the top and in the middle of the left frame and the right frame, the protrusion on the right frame is connected to the third motor, the third motor is connected to a reduction gearbox, the output shaft of the reduction gearbox is connected to one end of the first cutting arm through a coupling, the protrusion on the left frame is rotatably connected to one end of the second cutting arm, the other end of the first cutting arm is rotatably connected to one end of the U-shaped cutting rotating head, the other end of the second cutting arm is sleeved on the output shaft of the reduction gearbox, the reduction gearbox is connected to the fourth motor, and the output shaft of the reduction gearbox is connected to the other end of the U-shaped cutting rotating head through a coupling. The closed end of the U-shaped cutting rotating head is connected to a telescopic scissors, a tension spring hanging shaft is connected between the top of the left frame and the right frame, two bayonet holes are provided on the tension spring hanging shaft, each bayonet hole is connected to one end of the first tension spring, and the other ends of the two first tension springs are respectively connected to the first cutting arm and the second cutting arm, a second linear guide is provided on the frame and along its axial direction, a through slot is provided on the frame and on both sides of the second linear guide, a slider module is provided on the second linear guide and the slider module passes through the through slot and is connected to the slide plate near the synchronous belt, and the second linear guide is provided at the end away from the tension spring hanging shaft The driven pulley support frame is rotatably connected to the driven synchronous pulley of the robot arm. The right frame is provided with a fifth motor at one end away from the driven pulley support frame, and the fifth motor is connected to the reduction gear box. The output shaft of the reduction gear box is connected to the active synchronous pulley of the robot arm through a coupling. The active synchronous pulley of the robot arm and the driven synchronous pulley of the robot arm are connected through the robot arm synchronous belt, and the robot arm synchronous belt is connected to the slider module. The right frame is provided with a sixth motor at one end away from the driven pulley support frame, and the sixth motor is connected to the reduction gear box. The output shaft of the reduction gear box is connected to one end of the U-shaped hand claw rotating head through a coupling, and the other end of the U-shaped hand claw rotating head is rotatably connected to the end of the left frame. The U-shaped hand claw rotating head is connected to one end of the second tension spring, and the other end of the second tension spring is connected to the left frame. The closed end of the U-shaped hand claw rotating head is connected to a flexible under-driven hand claw.

[0010] The slider module includes a slider arranged on the second linear guide rail, a synchronous belt slot is arranged on the top of the slider, a groove is arranged on the upper surface of the synchronous belt slot, a pressure plate is arranged on the synchronous belt slot, and a first tooth-shaped protrusion is arranged on the lower surface of the pressure plate, the first tooth-shaped protrusion corresponds to the groove, the first tooth-shaped protrusion and the groove are respectively arranged on both sides of the synchronous belt of the robotic arm, the first tooth-shaped protrusion is engaged with the tooth-shaped protrusion arranged on the synchronous belt of the robotic arm, the four corners of the synchronous belt slot are connected with copper pillars, the ends of the four copper pillars away from the synchronous belt slot are connected to the slider bottom plate through the through groove, and the slider bottom plate is connected to the slide plate close to the synchronous belt.

[0011] The telescopic scissors bracket cutting bracket, one end of the cutting bracket is connected to the closed end of the U-shaped cutting rotating head, the bottom of the cutting bracket is connected to the cutting frame, and the cutting frame is symmetrically provided with two cutting frame guide grooves at one end away from the cutting bracket. A copper sleeve is provided in the guide groove of each cutting frame, and a plug screw is provided in each copper sleeve. The threaded end of the plug screw passes through the guide groove of the cutting frame and is connected with a nut. The outer diameter of the nut is larger than the width of the guide groove of the cutting frame. One of the copper sleeves is connected to one end of the right blade through a flange bearing, and the other copper sleeve is connected to one end of the left blade through a flange bearing. The centers of the right blade and the left blade are connected by a pin shaft, and the bottom end of the pin shaft is connected to the telescopic end of the electric cylinder, and the fixed end of the electric cylinder is connected to the bottom of the cutting frame.

[0012] The flexible under-actuated gripper includes a gripper bracket connected to the closed end of the U-shaped gripper rotating head, the top of the gripper bracket is connected to a cylinder mounting plate, the bottom of the cylinder mounting plate is connected to a rotating cylinder, the bottom of the gripper bracket is rotatably connected to a second gear through a rotating shaft, the second gear is meshed with the first gear, the first gear is connected to the rotating cylinder, the first gear and the second gear are both connected to one end of a first connecting rod, the other end of each first connecting rod is hinged with an under-actuated finger, the inner side of each under-actuated finger is hinged to one end of a second connecting rod, and the other end of each second connecting rod is rotatably connected to the bottom of the gripper bracket through a rotating shaft.

[0013] A silicone pad is placed on the inside of each underactuated finger.

[0014] A depth camera is provided at one end of the frame close to the U-shaped hand claw rotating head, and limit switches are provided on one end of the first cutting arm close to the U-shaped cutting rotating head, on the protrusion of the left frame, on one end of the left frame close to the U-shaped hand claw rotating head, on the upper surface of one end of the frame close to the fifth motor, on the side of the rear beam support frame away from the second motor, and on the lower surface of the rear plate of the beam.

[0015] The beneficial effects of the present invention are:

[0016] (1) The eggplant picking robot of the present invention can be equipped with two sets of picking mechanisms at the same time, which can simultaneously pick eggplants on both sides, greatly improving the picking efficiency;

[0017] (2) The eggplant picking robot of the present invention has a total of 6 motors in the posture adjustment module and the picking module, with 6 degrees of freedom, which can flexibly pick all eggplants within the spatial coverage range;

[0018] (3) The eggplant picking robot of the present invention is equipped with a worm gear reducer, which can be mechanically self-locked after power failure. The picking module will not fall due to gravity, and has high safety.

[0019] (4) The eggplant picking robot of the present invention can balance the gravity of the first cutting arm 38 and the flexible under-actuated gripper 5 by providing the first tension spring and the second tension spring, so that the motor can maintain the original posture of the robot arm when the power is off, without being affected by gravity, and achieve autonomous force balance;

[0020] (5) The eggplant picking robot of the present invention can grasp eggplants with flexible underactuated grippers, ensuring stable grasping of eggplants of various shapes while minimizing damage to the eggplants, thus completing the eggplant picking process.

[0021] (6) The eggplant picking robot of the present invention shears the eggplant vines by extending and retracting the electric cylinder. The movement trajectory of the blade is determined by the optimized track. It has the characteristics of fast shearing speed and large shearing force. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of the eggplant picking robot of the present invention;

[0023] Figure 2 This is a schematic structural diagram of the walking module in the eggplant picking robot of the present invention;

[0024] Figure 3 This is a schematic structural diagram of the front wheel steering mechanism of the eggplant picking robot of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the suspension wheel assembly in the eggplant picking robot of the present invention;

[0026] Figure 5 This is a front structural diagram of the posture adjustment module of the eggplant picking robot of the present invention;

[0027] Figure 6 This is a schematic diagram of the reverse structure of the posture adjustment module of the eggplant picking robot of the present invention;

[0028] Figure 7 This is a schematic structural diagram of the picking module in the eggplant picking robot of the present invention;

[0029] Figure 8 This is a partial structural diagram of the picking module in the eggplant picking robot of the present invention;

[0030] Figure 9 This is a schematic diagram of a partial structure of the picking module of the eggplant picking robot of the present invention from another angle;

[0031] Figure 10 Schematic diagram of the connection structure between the driving screw and the flange bearing in the eggplant picking robot of the present invention;

[0032] Figure 11 This is a structural diagram of the slider module in the eggplant picking robot of the present invention;

[0033] Figure 12 This is a schematic structural diagram of the telescopic scissors in the eggplant picking robot of the present invention;

[0034] Figure 13 This is a schematic diagram of the structure of the flexible under-actuated gripper in the eggplant picking robot of the present invention;

[0035] Figure 14 This is a diagram showing the connection between the rear crossbeam support frame and the limit switch of the eggplant picking robot of the present invention;

[0036] Figure 15 This is a diagram showing the connection between the rear plate of the crossbeam and the limit switch in the eggplant picking robot of the present invention.

[0037] In the figure, 1. Walking module, 2. Posture adjustment module, 3. Picking module, 4. Telescopic scissors, 5. Flexible under-actuated gripper, 6. Vegetable storage basket, 7. Weighing scale;

[0038] 11. Front wheel steering mechanism, 12. Tilt bracket, 13. Connecting frame, 14. Rear crossbeam support frame, 15. Crossbeam bearing mounting holes, 16. Front crossbeam support frame, 17. Suspension wheel assembly, 18. Bottom plate;

[0039] 111. Steering motor frame, 112. Steering motor, 113. First steering gear, 114. Steering connecting rod, 115. Second steering gear;

[0040] 171. Vibration absorber bracket, 172. Vibration absorber, 173. Wheel set frame, 174. Wheel set connecting rod, 175. Wheel set bracket, 176. Motor mounting bracket, 177. Wheel set coupling, 178. Drive wheel;

[0041] 21. Bearing connection block, 22. Crossbeam, 23. Crossbeam front plate, 24. Circular guide rail, 25. Circular guide rail slider, 26. Synchronous belt fixing plate, 27. Synchronous belt, 28. Synchronous pulley, 29. Posture adjustment module coupling, 210. Coupling connection block, 211. First motor, 212. First linear guide rail, 213. Linear guide rail slider, 214. Slider plate, 215. Circular inner hole, 216. Crossbeam rear plate, 217. Slide plate, 218. Plate connector, 219. Second motor;

[0042] 31. Slider base, 32. Left frame, 33. Right frame, 34. Third motor, 35. Tension spring hanging shaft, 36. First tension spring, 37. Limit switch, 38. First cutting arm, 39. U-shaped cutting rotary head, 310. U-shaped gripper rotary head, 311. Depth camera, 312. Robotic arm active synchronous pulley, 313. Frame, 314. Second linear guide rail, 315. Slider module, 316. Robotic arm synchronous Step belt, 317. Driven synchronous pulley of the robotic arm, 318. Driven pulley support frame, 319. Copper column, 320. Synchronous belt slot, 321. Slider, 322. Pressure plate, 323. Plug screw, 324. Flange bearing, 325. Spacer, 326. Nut, 327. Groove, 328. Second cutting arm, 329. Fourth motor, 330. Second tension spring, 331. Fifth motor, 332. Sixth motor;

[0043] 41. Left blade, 42. Cutting frame, 43. Electric cylinder, 44. Cutting bracket, 45. Copper sleeve, 46. Right blade, 47. Cutting frame guide groove;

[0044] 51. Gripper bracket, 52. Cylinder mounting plate, 53. Rotating cylinder, 54. First gear, 55. Underactuated finger, 56. Silicone pad, 57. Second gear, 58. First connecting rod, 59. Second connecting rod. DETAILED DESCRIPTION

[0045] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Example 1

[0047] The eggplant picking robot of the present invention has a structure as follows Figure 1 As shown, it includes a walking module 1, on which a posture adjustment module 2 and a vegetable storage basket 6 are provided, and on which a picking module 3 is provided; the walking module 1 is used to enable the robot to walk in the field so as to pick eggplants in various areas; the posture adjustment module 2 is used to adjust the front and rear position and the height position of the picking module 3, so that the picking module 3 can pick the eggplants and place them in the vegetable storage basket 6; the picking module 3 is used to pick eggplants; and the vegetable storage basket 6 is used to hold the picked eggplants.

[0048] like Figure 2As shown, the walking module 1 includes a base plate 18, and connecting frames 13 are respectively provided at both ends of the base plate 18. Both ends of each connecting frame 13 are connected to a suspension wheel group 17, so there are four suspension wheel groups 17 in total, which are used to enable the robot to move in the field. The suspension wheel group 17 can reduce the vibration of the robot and avoid the robot from being blocked when traveling in uneven muddy ground. The suspension wheel group 17 located on the front side of the base plate 18 is connected to the front wheel steering mechanism 11. A suspension wheel group 17 located on the base plate 18 and between the two connecting frames 13 is provided. A vegetable storage basket 6 is provided, a front crossbeam support frame 16 is provided on the bottom plate 18 and between the connecting frame 13 located on the front side and the vegetable storage basket 6, a rear crossbeam support frame 14 is provided on the bottom plate 18 and between the connecting frame 13 located on the rear side and the vegetable storage basket 6, the front crossbeam support frame 16 and the rear crossbeam support frame 14 are connected at one end away from the bottom plate 18 through a posture adjustment module 2, a crossbeam bearing mounting hole 15 is provided on the rear crossbeam support frame 14, and one end of the posture adjustment module 2 passes through the crossbeam bearing mounting hole 15.

[0049] Each suspension wheel set 17 is structured as follows Figure 4 As shown, it includes a vibration absorber bracket 171, the bottom end of the vibration absorber bracket 171 is connected to the top of the connecting frame 13, the top end of the vibration absorber bracket 171 is hinged to one end of the shock absorber 172, and the other end of the shock absorber 172 is hinged to the top of the inverted T-shaped wheel group bracket 175 to reduce the vibration of the wheel group; one of the bottom ends of the inverted T-shaped wheel group bracket 175 is hinged to the bottom end of the side wall of the wheel group frame 173, and the other end of the inverted T-shaped wheel group bracket 175 is hinged to the motor mounting bracket 176. The top end of the side wall of the wheel assembly frame 173 is hinged to one end of the wheel assembly connecting rod 174, and the other end of the wheel assembly connecting rod 174 is hinged to the top end of the side wall of the motor mounting frame 176. The motor mounting frame 176 is connected to the drive motor, and a wheel assembly coupling 177 is provided on the output shaft of the drive motor. The end of the wheel assembly coupling 177 is connected to the drive wheel 178. The shock absorber bracket 171 is connected to the wheel assembly frame 173 through a connecting rod, and the connecting rod passes through the connecting frame 13.

[0050] The connecting rod in each suspension wheel group 17 connected to the front wheel steering mechanism 11 is rotatably connected to the connecting frame 13, that is, the connecting rod can rotate in the connecting frame 13, and the bottom end of the shock absorber bracket 171 is rotatably connected to the top end of the connecting frame 13.

[0051] The connecting rods in the remaining two suspension wheel assemblies 17 are fixedly connected to the connecting frame 13 , and the bottom end of the shock absorber bracket 171 is fixedly connected to the top end of the connecting frame 13 .

[0052] Front wheel steering mechanism 11 as Figure 3As shown, it includes a motor bogie 111 arranged on the base plate 18 and located in the connecting frame 13, a steering motor 112 is arranged on the motor bogie 111, the output shaft of the steering motor 112 is arranged upward, and the output shaft of the steering motor 112 is connected to a first steering gear 113 through a coupling, the first steering gear 113 is engaged with a second steering gear 115, and the second steering gear 115 is arranged on the lower surface of the wheel set frame 173, and also includes a steering link 114, the two ends of the steering link 114 are respectively connected to the side walls of the two wheel set frames 173. The steering motor 112 is driven to rotate the first steering gear 113, and the first steering gear 113 drives the second steering gear 115 to rotate, which drives the wheel set frame 173 to rotate, thereby causing the end of the steering link 114 close to the second steering gear 115 to shift accordingly. At the same time, the other end of the steering link 114 also shifts accordingly, and the shock absorber bracket 171 also rotates with the rotation of the wheel set frame 173, thereby realizing the steering of the two suspended wheel sets 17 connected to the front wheel steering mechanism 11.

[0053] The suspension wheel set 17 and the front wheel steering mechanism 11 can also adopt existing technologies as long as they can achieve the movement and steering functions.

[0054] A weighing scale 7 is provided at the bottom of the vegetable storage basket 6, and an inclined bracket 12 is provided at the bottom of the weighing scale 7. The inclined bracket 12 is inclined at both ends parallel to the axis of the bottom plate 18, one end of which is higher than the other end. The bottom of the inclined bracket 12 is connected to the bottom plate 18. The weighing scale 7 is used to weigh the weight of the eggplants in the vegetable storage basket 6. The inclined bracket 12 is used to tilt the vegetable storage basket 6 at a certain angle, which makes it easier to put the eggplants into the basket when harvesting.

[0055] Example 2

[0056] On the basis of Example 1, Figure 5 and Figure 6As shown, the posture adjustment module 2 includes a crossbeam front plate 23 and a crossbeam rear plate 216, which are connected by two crossbeams 22. The two crossbeams 22 are symmetrically arranged along the axis of the crossbeam front plate 23, and the ends of the two crossbeams 22 on the same side are connected with bearing connection blocks 21, one of the bearing connection blocks 21 is provided with a coupling connection block 210, and the other bearing connection block 21 is provided with a posture adjustment module coupling 29, the coupling connection block 210 is rotatably connected to the side wall of the front crossbeam support frame 16, the posture adjustment module coupling 29 passes through the crossbeam bearing mounting hole 15 and is connected to the worm gear reducer, the worm gear reducer is connected to the second motor 219, and the two crossbeams 22 are back to back. Circular guide rails 24 are provided on the side walls away from the crossbeam 22, and each circular guide rail 24 is provided with a circular guide rail slider 25. The circular guide rail slider 25 can move on the circular guide rail 24, and each circular guide rail slider 25 is connected to a slider plate 214 on the side wall away from the crossbeam 22. The ends of the two slider plates 214 on the same side are connected by a slide plate 217. Specifically, the slider plate 214 is vertically connected to the slide plate 217 and a plate connecting piece 218 is provided at the corner. The slider plate 214 and the plate connecting piece 218, the slide plate 217 and the plate connecting piece 218 are all connected by bolts. A first linear guide rail 212 is provided on the rear plate 216 of the crossbeam and along its axial direction. A linear guide rail slider 213 is provided on the first linear guide rail 212. The linear guide slider 213 can move along the first linear guide rail 212, and the linear guide slider 213 is connected to the slide plate 217 close to it. One end of the beam rear plate 216 is embedded with the first motor 211, and the first motor 211 is connected to a reduction gearbox. The output shaft of the reduction gearbox passes through the beam front plate 23 and is connected to a synchronous pulley 28. The end of the beam front plate 23 away from the first motor 211 is connected to a pin shaft, a bearing is sleeved on the pin shaft, and a synchronous pulley 28 is sleeved on the bearing. The two synchronous pulleys 28 are connected by a synchronous belt 27, and the end face of the synchronous belt 27 close to the other slide plate 217 is set as a toothed end face, and the toothed end face of the synchronous belt 27 is meshed with the synchronous belt fixing plate 26 provided with a toothed end face. One end away from the toothed end face is connected to another slide plate 217, and the first motor 211 drives the synchronous pulley 28 connected to it to rotate, and the synchronous pulley 28 drives the synchronous belt 27 to rotate, and the synchronous belt 27 drives another synchronous pulley 28 to rotate. Under the action of the toothed end face of the synchronous belt 27 and the toothed end face of the synchronous belt fixing plate 26, the synchronous belt 27 drives the synchronous belt fixing plate 26 to move, and the synchronous belt fixing plate 26 drives the slide plate 217 to move, thereby driving the picking module 3 to move, thereby realizing the adjustment of the front and rear position of the picking module 3, and at the same time driving the front plate 23 of the beam to rotate by the second motor 219, so as to adjust the height position of the picking module 3 and place the eggplants picked by the picking module 3 in the vegetable storage basket 6.

[0057] Furthermore, there are two posture adjustment modules 2, which are arranged in parallel, and the picking modules 3 connected to the two posture adjustment modules 2 are arranged back to back, that is, the picking modules 3 can pick eggplants on both sides of the robot at the same time.

[0058] Example 3

[0059] On the basis of Example 2, Figure 7 、 Figure 8 and Figure 9As shown, the picking module 3 includes a left frame 32 and a right frame 33 arranged in parallel. The bottoms of the left frame 32 and the right frame 33 are connected by a frame 313. The tops of the left frame 32 and the right frame 33 and located in the middle are both provided with protrusions. The protrusion on the right frame 33 is connected to a third motor 34, and the third motor 34 is connected to a reduction gearbox. The third motor 34 and the reduction gearbox are located on both sides of the protrusion. The output shaft of the reduction gearbox is connected to one end of the first cutting arm 38 through a coupling. The protrusion on the left frame 32 is rotatably connected to one end of the second cutting arm 328, and the other end of the first cutting arm 38 is rotatably connected to one end of the U-shaped cutting rotating head 39. The other end of the second cutting arm 328 is sleeved on the output shaft of the reduction gearbox, which is connected to the fourth motor 329. The output shaft of the reduction gearbox is connected to the other end of the U-shaped cutting rotating head 39 through a coupling. The closed end of the U-shaped cutting rotating head 39 is connected to the telescopic scissors 4. The third motor 34 is driven to rotate the first cutting arm 38, and the fourth motor 329 is driven to rotate the U-shaped cutting rotating head 39. The linkage between the first cutting arm 38, the second cutting arm 328, and the U-shaped cutting rotating head 39 is adjusted by the third motor 34 and the fourth motor 329, thereby adjusting the angle and position of the telescopic scissors 4 to cut the eggplant vines.A tension spring hanging shaft 35 is connected between the tops of the left frame 32 and the right frame 33, and two bayonet holes are provided on the tension spring hanging shaft 35, each bayonet hole is connected to one end of the first tension spring 36, and the other ends of the two first tension springs 36 are respectively connected to the first cutting arm 38 and the second cutting arm 328. A second linear guide rail 314 is provided on the frame 313 and along its axial direction, and a through groove is provided on the frame 313 and on both sides of the second linear guide rail 314, and a slider module 315 is provided on the second linear guide rail 314 and the slider module 315 passes through the through groove and is connected to the slide plate 217 near the synchronous belt 27, and a driven pulley support frame 318 is provided at the end of the second linear guide rail 314 away from the tension spring hanging shaft 35, and the driven pulley support frame 318 is rotatably connected to the organic The mechanical arm is driven by a synchronous pulley 317, and a fifth motor 331 is provided at one end of the right frame 33 away from the driven pulley support frame 318. The fifth motor 331 is connected to a reduction gearbox, and the output shaft of the reduction gearbox is connected to the mechanical arm active synchronous pulley 312 through a coupling. The mechanical arm active synchronous pulley 312 and the mechanical arm driven synchronous pulley 317 are connected through a mechanical arm synchronous belt 316. The driven pulley support frame 318 has the function of tensioning the synchronous belt to ensure that the tooth profile is fully engaged. The mechanical arm synchronous belt 316 is connected to the slider module 315. The right frame 33 is provided at one end away from the driven pulley support frame 318. The sixth motor 332 is connected to a reduction gearbox. The output shaft of the reduction gearbox is connected to one end of the U-shaped hand claw rotating head 310 through a coupling. The other end of the U-shaped gripper rotating head 310 is rotatably connected to the end of the left frame 32. The U-shaped gripper rotating head 310 is connected to one end of a second tension spring 330, the other end of which is connected to the left frame 32. A flexible underactuated gripper 5 is connected to the closed end of the U-shaped gripper rotating head 310. A depth camera 311 is provided on the end of the frame 313 near the U-shaped gripper rotating head 310. This camera is used to identify the eggplant and transmit its spatial position to the industrial computer. This drives the fifth motor 331 to rotate the active synchronous pulley 312 of the robotic arm. The active synchronous pulley 312 rotates the robotic arm timing belt 316, which in turn drives the slider module 315 along the second linear guide rail 314, thereby adjusting the distance between the flexible underactuated gripper 5 and the eggplant.

[0060] Furthermore, the first cutting arm 38 is close to one end of the U-shaped cutting rotating head 39 and above the connection between the U-shaped cutting rotating head 39 and the first cutting arm 38, on the protrusion of the left frame 32 and above and behind the connection between the protrusion of the left frame 32 and the second cutting arm 328, the left frame 32 is close to one end of the U-shaped hand claw rotating head 310 and below the connection between the U-shaped hand claw rotating head 310 and the left frame 32, the upper surface of one end of the frame 313 close to the fifth motor 331, the rear crossbeam support frame 14 is away from the side of the second motor 219 and is located above the crossbeam front plate 23 , and the lower surface of the beam rear plate 216 and near the first motor 211 are provided with limit switches 37, and the limit switches 37 are used to limit the rotation amplitude of the first cutting arm 38, the second cutting arm 328, the U-shaped hand claw rotating head 310, the beam front plate 23, and the synchronous belt 27. Each limit switch 37 is connected to the STM32 motor controller A, and the STM32 motor controller A is connected to the industrial computer to execute the instructions sent by the industrial computer; the STM32 motor controller A can read the trigger mode of the limit switch, and then reset the motor to zero and limit the motor rotation amplitude.

[0061] Furthermore, if Figure 10 As shown, flange bearings 324 are provided in the protrusion on the left frame 32 and in the second cutting arm 328, a spacer sleeve 325 is provided between the two flange bearings 324, and a plug screw 323 is inserted into the two flange bearings 324 and the spacer sleeve 325. The threaded end of the plug screw 323 extends out of the flange bearing 324 away from the nut end and is connected to a nut 326. The nut 326 can be tightened.

[0062] Furthermore, a flange bearing 324 is provided in the other end of the first cutting arm 38 and one end of the U-shaped cutting rotating head 39, a spacer sleeve 325 is provided between the two flange bearings 324, and a plug screw 323 is inserted into the two flange bearings 324 and the spacer sleeve 325. The threaded end of the plug screw 323 extends out of the flange bearing 324 away from the nut end and is connected to a nut 326, and the nut 326 can be tightened.

[0063] Furthermore, flange bearings 324 are provided in the driven pulley support frame 318 and the robotic arm driven synchronous pulley 317, a spacer sleeve 325 is provided between the two flange bearings 324, and a plug screw 323 is inserted into the two flange bearings 324 and the spacer sleeve 325. The threaded end of the plug screw 323 extends out of the flange bearing 324 away from the nut end and is connected to a nut 326, and the nut 326 can be tightened.

[0064] Furthermore, the other end of the U-shaped gripper rotating head 310 and the end of the left frame 32 are both provided with flange bearings 324, a spacer sleeve 325 is provided between the two flange bearings 324, and a plug screw 323 is inserted into the two flange bearings 324 and the spacer sleeve 325. The threaded end of the plug screw 323 extends out of the flange bearing 324 away from the nut end and is connected to a nut 326, and the nut 326 can be tightened.

[0065] like Figure 11 As shown, the slider module 315 includes a slider 321 arranged on the second linear guide rail 314, a synchronous belt slot 320 is provided on the top of the slider 321, a groove 327 is provided on the upper surface of the synchronous belt slot 320, a pressure plate 322 is provided on the synchronous belt slot 320, and a first tooth-shaped protrusion is provided on the lower surface of the pressure plate 322. The first tooth-shaped protrusion corresponds to the groove 327, and the first tooth-shaped protrusion and the groove 327 are respectively provided on both sides of the robot arm synchronous belt 316, and the first tooth-shaped protrusion is aligned with the tooth provided on the robot arm synchronous belt 316. shaped protrusions engage with each other, and copper pillars 319 are connected to the four corners of the synchronous belt slot 320. The ends of the four copper pillars 319 away from the synchronous belt slot 320 are connected to the slider base plate 31 through the through slot, and the slider base plate 31 is connected to the slide plate 217 close to the synchronous belt 27. Under the action of the first tooth-shaped protrusion engaging with the tooth-shaped protrusion set on the robot arm synchronous belt 316, the relative position of the slider module 315 and the second linear guide rail 314 is adjusted by rotating the robot arm synchronous belt 316 to adjust the distance between the flexible under-actuated gripper 5 and the eggplant.

[0066] like Figure 12As shown, the telescopic scissors 4 include a cutting bracket 44, one end of the cutting bracket 44 is connected to the closed end of the U-shaped cutting rotating head 39, and the bottom of the cutting bracket 44 is connected to a cutting frame 42, and the cutting frame 42 is symmetrically provided with two cutting frame guide grooves 47 at one end away from the cutting bracket 44. The distance between the guide grooves 47 of the two cutting frames is greater than the distance between the guide grooves 47 of the two cutting frames at the end close to the U-shaped cutting rotating head 39 and away from the end of the U-shaped cutting rotating head 39. A copper sleeve 45 is provided in the guide groove 47 of each cutting frame, and the copper sleeve 45 can move along the guide groove 47 of the cutting frame. The copper sleeve can greatly reduce the friction between the screw and the guide groove because of its self-lubricating property. A plug screw is sleeved in each copper sleeve 45, and the threaded end of the plug screw passes through the guide groove of the cutting frame. The groove 47 is connected to a nut, the outer diameter of the nut is larger than the width of the guide groove 47 of the cutting frame, so as to prevent the copper sleeve 45 from escaping from the guide groove 47 of the cutting frame. One of the copper sleeves 45 is connected to one end of the right blade 46 through a flange bearing, and the other copper sleeve 45 is connected to one end of the left blade 41 through a flange bearing. The right blade 46 is connected to the center of the left blade 41 through a pin shaft, that is, the left blade 41 and the right blade 46 are cross-arranged for shearing the eggplant vines. The bottom end of the pin shaft is connected to the telescopic end of the electric cylinder 43, and the fixed end of the electric cylinder 43 is connected to the bottom of the cutting frame 42. The electric cylinder 43 extends out, driving the copper sleeve 45 to move along the guide groove 47 in the direction away from the U-shaped cutting rotating head 39, then the right blade 46 and the left blade 41 are merged together, thereby shearing the eggplant vines. Conversely, the right blade 46 and the left blade 41 are opened.

[0067] like Figure 13 As shown, the flexible under-actuated gripper 5 includes a gripper bracket 51 connected to the closed end of the U-shaped gripper rotating head 310, the top of the gripper bracket 51 is connected to the cylinder mounting plate 52, the bottom of the cylinder mounting plate 52 is connected to the rotating cylinder 53, the bottom of the gripper bracket 51 is connected to the second gear 57 through the rotating shaft, the second gear 57 is engaged with the first gear 54, the first gear 54 is connected to the rotating cylinder 53, the first gear 54 and the second gear 57 are both connected to one end of the first connecting rod 58, each first connecting rod 58 The other end of each under-actuated finger 55 is hingedly connected, and the inner side of each under-actuated finger 55 is hinged to one end of the second connecting rod 59. The other end of each second connecting rod 59 is rotatably connected to the bottom of the gripper bracket 51 through a rotating shaft. A silicone pad 56 is provided on the inner side of each under-actuated finger 55. The silicone pad 56 can ensure that the eggplant skin is intact and not damaged, and drives the rotary cylinder 53 to drive the first gear 54 to rotate, and the first gear 54 drives the second gear 57 to rotate, thereby controlling the opening and closing of the under-actuated fingers 55.

[0068] Furthermore, the first motor 211, the second motor 219, the third motor 34, the fourth motor 329, the fifth motor 331, the sixth motor 332, and the electric cylinder 43 are all connected to the STM32 motor controller A, each drive motor and each steering motor 112 are connected to the STM32 motor controller B, the STM32 motor controller B and the depth camera 311 are both connected to the industrial computer, the industrial computer is connected to the server, the server is used to send picking and ending instructions to the industrial computer, and the STM32 motor controller B is used to execute the instructions sent by the industrial computer to control the drive motor and steering motor 112, so that the robot can travel in the field according to the navigation planned path.

[0069] The working process of the eggplant picking robot of the present invention is as follows:

[0070] After receiving the picking task instruction, the robot drives to the eggplant field according to the navigation path planned by the industrial computer. The depth camera 311 transmits the captured eggplant image to the industrial computer carried by the robot. The industrial computer uses the YOLO V8 target detection algorithm to identify the eggplant and obtains the eggplant's spatial pose as the target pose. After real-time simulation on the RVIZ simulation platform using ROS2moveit2, which incorporates an inverse kinematics solver, the angle at which each motor should rotate is determined. The industrial computer sends instructions to the STM32 motor controller A, which controls the coordinated movement of the first, second, third, fourth, fifth, and sixth motors, and the electric cylinder. The flexible underactuated gripper 5 grasps the eggplant, enabling the telescopic shears 4 to cooperate in shearing. The flexible underactuated gripper 5 places the cut eggplant into a vegetable storage basket 6. The weight of the eggplant is measured using a weighing scale 7 and recorded for statistical purposes.

[0071] The YOLOV8 target detection algorithm running in the industrial computer, the real-time simulation of ROS2moveit2 with the inverse kinematics solution algorithm inserted in the RVIZ simulation platform, the navigation planning path, etc. are all existing technologies and will not be elaborated in detail in this invention.

[0072] The eggplant picking robot of the present invention utilizes a rotary joint in combination with the translational freedom of a belt transmission guide rail, which simplifies kinematics calculation and electronic control debugging.

Claims

1. Eggplant picking robot, characterized by: It comprises a walking module (1), wherein the walking module (1) is provided with a posture adjustment module (2) and a vegetable storage basket (6), and the posture adjustment module (2) is provided with a picking module (3); A weighing scale (7) is provided at the bottom of the vegetable storage basket (6), an inclined bracket (12) is provided at the bottom of the weighing scale (7), and the bottom of the inclined bracket (12) is connected to the bottom plate (18); The posture adjustment module (2) comprises a crossbeam front plate (23) and a crossbeam rear plate (216), wherein the crossbeam front plate (23) and the crossbeam rear plate (216) are connected via two crossbeams (22), the two crossbeams (22) are symmetrically arranged along the axis of the crossbeam front plate (23), and the ends of the two crossbeams (22) located on the same side are both connected to a bearing connection block (21), one of the bearing connection blocks (21) is provided with a coupling connection block (210), and the other bearing connection block (21) is provided with a posture adjustment module coupling (29), the coupling The connecting block (210) is rotatably connected to the side wall of the front crossbeam support frame (16), the posture adjustment module coupling (29) passes through the side wall of the rear crossbeam support frame (14) and is connected to the worm gear reduction box, the worm gear reduction box is connected to the second motor (219), and circular guide rails (24) are provided on the opposite side walls of the two crossbeams (22), and each circular guide rail (24) is provided with a circular guide rail slider (25), and each circular guide rail slider (25) is connected to a slider plate (214) on the side wall away from the crossbeam (22). The two sliders The ends of the plates (214) on the same side are connected by a slide plate (217), a first linear guide rail (212) is provided on the crossbeam rear plate (216) and along its axial direction, a linear guide rail slider (213) is provided on the first linear guide rail (212), and the linear guide rail slider (213) is connected to the slide plate (217) adjacent thereto, a first motor (211) is embedded in one end of the crossbeam rear plate (216), the first motor (211) is connected to a reduction gearbox, the output shaft of the reduction gearbox passes through the crossbeam front plate (23) and is connected to a synchronous pulley ( 28), the end of the crossbeam front plate (23) away from the first motor (211) is connected to a pin shaft, a bearing is sleeved on the pin shaft, a synchronous pulley (28) is sleeved on the bearing, and the two synchronous pulleys (28) are connected by a synchronous belt (27), and the end face of the synchronous belt (27) close to the other slide plate (217) is set as a toothed end face, the toothed end face of the synchronous belt (27) is meshed with the synchronous belt fixing plate (26) provided with the toothed end face, and the end of the synchronous belt fixing plate (26) away from the toothed end face is connected to the other slide plate (217).

2. The eggplant picking robot according to claim 1, characterized in that: The walking module (1) comprises a base plate (18), two ends of the base plate (18) are respectively provided with connecting frames (13), and both ends of each connecting frame (13) are connected to a suspension wheel group (17), a vegetable storage basket (6) is provided on the base plate (18) and between the two connecting frames (13), a front crossbeam support frame (16) is provided on the base plate (18) and between the connecting frame (13) located at the front side and the vegetable storage basket (6), and a rear crossbeam support frame (14) is provided on the base plate (18) and between the connecting frame (13) located at the rear side and the vegetable storage basket (6), the front crossbeam support frame (16) and the rear crossbeam support frame (14) are connected at one end away from the base plate (18) via a posture adjustment module (2), and the two suspension wheel groups (17) located at the front side are connected to a front wheel steering mechanism (11).

3. The eggplant picking robot according to claim 1, characterized in that: The picking module (3) comprises a left frame (32) and a right frame (33) arranged in parallel, the bottoms of the left frame (32) and the right frame (33) are connected through a frame (313), the tops of the left frame (32) and the right frame (33) are both provided with a protrusion at a middle position, the protrusion on the right frame (33) is connected to a third motor (34), the third motor (34) is connected to a reduction gearbox, the output shaft of the reduction gearbox is connected to one end of a first cutting arm (38) through a coupling, the protrusion on the left frame (32) is rotatably connected to one end of a second cutting arm (328), the other end of the first cutting arm (38) is rotatably connected to one end of a U-shaped cutting rotating head (39), and the second cutting arm (39) is rotatably connected to one end of a U-shaped cutting rotating head (39). The other end of the arm (328) is sleeved on the output shaft of the reduction gearbox, the reduction gearbox is connected to a fourth motor (329), the output shaft of the reduction gearbox is connected to the other end of the U-shaped cutting rotating head (39) through a coupling, the closed end of the U-shaped cutting rotating head (39) is connected to a telescopic scissors (4), a tension spring hanging shaft (35) is connected between the tops of the left frame (32) and the right frame (33), two bayonet holes are provided on the tension spring hanging shaft (35), each of the bayonet holes is connected to one end of a first tension spring (36), the other ends of the two first tension springs (36) are respectively connected to the first cutting arm (38) and the second cutting arm (328), and a second linear guide rail (313) is provided on the frame (313) and along its axial direction. 14), through slots are provided on the frame (313) and on both sides of the second linear guide rail (314), a slider module (315) is provided on the second linear guide rail (314), and the slider module (315) passes through the through slot and is connected to the slide plate (217) near the synchronous belt (27), the second linear guide rail (314) is provided with a driven pulley support frame (318) at one end away from the tension spring hanging shaft (35), the driven pulley support frame (318) is rotatably connected to the robot arm driven synchronous pulley (317), the right frame (33) is provided with a fifth motor (331) at one end away from the driven pulley support frame (318), the fifth motor (331) is connected to a reduction gearbox, and the output shaft of the reduction gearbox is connected to the driven pulley support frame (317) by a coupling. The shaft is connected to a robot arm active synchronous pulley (312), the robot arm active synchronous pulley (312) and the robot arm driven synchronous pulley (317) are connected through a robot arm synchronous belt (316), the robot arm synchronous belt (316) is connected to a slider module (315), and a sixth motor (332) is provided at one end of the right frame (33) away from the driven pulley support frame (318), and the sixth motor (332) is connected to a reduction gearbox, and the output shaft of the reduction gearbox is connected to one end of a U-shaped hand claw rotating head (310) through a coupling, and the other end of the U-shaped hand claw rotating head (310) is rotatably connected to the end of the left frame (32), and the U-shaped hand claw rotating head (310) is connected to one end of a second tension spring (330).The other end of the second tension spring (330) is connected to the left frame (32), and the closed end of the U-shaped gripper rotating head (310) is connected to a flexible under-actuated gripper (5).

4. The eggplant picking robot according to claim 3, characterized in that: The slider module (315) includes a slider (321) arranged on the second linear guide rail (314), a synchronous belt slot (320) is provided on the top of the slider (321), a groove (327) is provided on the upper surface of the synchronous belt slot (320), a pressure plate (322) is provided on the synchronous belt slot (320), and a first tooth-shaped protrusion is provided on the lower surface of the pressure plate (322), the first tooth-shaped protrusion corresponds to the groove (327), and the first tooth-shaped protrusion is provided on the lower surface of the pressure plate (322). The tooth-shaped protrusion and groove (327) are respectively arranged on both sides of the mechanical arm synchronous belt (316), the first tooth-shaped protrusion is engaged with the tooth-shaped protrusion arranged on the mechanical arm synchronous belt (316), the four corners of the synchronous belt slot (320) are connected with copper pillars (319), and the ends of the four copper pillars (319) away from the synchronous belt slot (320) pass through the through groove and are connected to the slider base plate (31), and the slider base plate (31) is connected to the slide plate (217) close to the synchronous belt (27).

5. The eggplant picking robot according to claim 3, characterized in that: The telescopic scissors (4) include a cutting bracket (44), one end of the cutting bracket (44) is connected to the closed end of the U-shaped cutting rotating head (39), the bottom of the cutting bracket (44) is connected to the cutting frame (42), and the cutting frame (42) is symmetrically provided with two cutting frame guide grooves (47) at one end away from the cutting bracket (44), each of the cutting frame guide grooves (47) is provided with a copper sleeve (45), and each of the copper sleeves (45) is provided with a plug screw, and the thread of the plug screw The ends of the cutting machine frame pass through the guide groove (47) and are connected to a nut. The outer diameter of the nut is larger than the width of the guide groove (47) of the cutting machine frame. One copper sleeve (45) is connected to one end of the right blade (46) through a flange bearing. The other copper sleeve (45) is connected to one end of the left blade (41) through a flange bearing. The right blade (46) and the left blade (41) are connected at the center through a pin shaft. The bottom end of the pin shaft is connected to the telescopic end of the electric cylinder (43). The fixed end of the electric cylinder (43) is connected to the bottom of the cutting machine frame (42).

6. The eggplant picking robot according to claim 3, characterized in that: The flexible under-actuated gripper (5) includes a gripper bracket (51) connected to the closed end of the U-shaped gripper rotating head (310), the top of the gripper bracket (51) is connected to a cylinder mounting plate (52), the bottom of the cylinder mounting plate (52) is connected to a rotating cylinder (53), the bottom of the gripper bracket (51) is rotatably connected to a second gear (57) via a rotating shaft, the second gear (57) is meshed with a first gear (54), the first gear (54) is connected to the rotating cylinder (53), the first gear (54) and the second gear (57) are both connected to one end of a first connecting rod (58), the other end of each of the first connecting rods (58) is hinged to an under-actuated finger (55), the inner side of each of the under-actuated fingers (55) is hinged to one end of a second connecting rod (59), and the other end of each of the second connecting rods (59) is rotatably connected to the bottom of the gripper bracket (51) via a rotating shaft.

7. The eggplant picking robot according to claim 6, characterized in that: A silicone pad (56) is provided on the inner side of each under-actuated finger (55).

8. The eggplant picking robot according to claim 6, characterized in that: A depth camera (311) is provided at one end of the frame (313) close to the U-shaped hand claw rotating head (310), and a limit switch (37) is provided on one end of the first cutting arm (38) close to the U-shaped cutting rotating head (39), on a protrusion of the left frame (32), on one end of the left frame (32) close to the U-shaped hand claw rotating head (310), on the upper surface of one end of the frame (313) close to the fifth motor (331), on one side of the rear crossbeam support frame (14) away from the second motor (219), and on the lower surface of the crossbeam rear plate (216).

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