Self-adaptive adjustment gantry crawler belt self-propelled tea-picking robot capable of crossing tea ridges

Abstract

The invention relates to the technical field of robots, and particularly discloses a self-adaptive adjustment tea ridge crossing gantry track self-propelled tea picking robot which comprises a walking assembly and a mechanical arm assembly. The rack is arranged on the walking assembly and used for installing the mechanical arm assembly; the profiling connecting rod is arranged at the top of the rack and used for being connected with the rack, and self-adaptive adjustment is conducted according to the fall supporting face where the left crawler belt and the right crawler belt are located; a parallelogram connecting rod structure is adopted in the machine frame part, it is guaranteed that when the robot runs on a ramp and encounters fall, the two sides of the machine frame only conduct displacement change in the direction perpendicular to the supporting face due to the action of the parallelogram connecting rod structure, and therefore the risk that the whole machine inclines laterally is avoided, and stable walking is guaranteed; the design of the five-connecting-rod two-degree-of-freedom mechanical arm is adopted, the tail end azimuth angle of the mechanical arm is kept unchanged all the time in the movement process ingeniously through constraint of the parallelogram connecting rods, and the picking accuracy is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a self-adaptively adjustable cross-tea-ridge gantry crawler self-propelled tea-picking robot. Background Art

[0002] my country is a country with a large tea industry. The economic benefits brought by tea tree planting have increased the income of many rural families. Tea tree planting and tea picking are time-consuming and labor-intensive. With the progress of large-scale mechanization of agriculture, tea picking robots are widely used in large-scale tea gardens, which saves labor costs and improves economic benefits.

[0003] The announcement number CN113519269A discloses an intelligent tea-picking robot that can recognize and imitate human hands through artificial intelligence, including a frame, a central control module and a camera. A four-axis parallel robot is arranged on the inner top wall of the frame, and a strip plate is fixedly connected to the bottom end of the four-axis parallel robot. The camera is arranged at the lower edge of one side of the strip plate, and a clamping structure is arranged at the bottom end of the strip plate. An auxiliary structure is arranged inside the strip plate, and a cutting structure is arranged on one side of the bottom end of the clamping structure, and a collection structure is arranged at the other end of the bottom end of the clamping structure. The invention determines the tea leaves to be picked according to the comparison between the image and the map of the tea leaves captured by the camera, and quickly moves the manipulator to automatically and accurately pick the tea leaves, and at the same time, sucks the picked tea leaves into the storage container, which will not affect the quality of the tea leaves. After picking, the tea leaves can be automatically collected and packaged, reducing the subsequent processing steps, reducing labor intensity, and improving production efficiency.

[0004] In the prior art, the movement of the tea-picking robot is achieved through a rigid frame and universal wheels at the bottom, so that the tea leaves are picked by a manipulator. However, when the robot is walking, since tea is generally planted in fields or on mountains, the tea ridges may be uneven. When the robot walks on the uneven tea ridges, it will tilt left and right. Once the robot tilts, the rigid frame cannot adjust itself, which may affect the robot's recognition and the picking of the manipulator. If the tilt is severe, there is even a risk of rollover. Summary of the invention

[0005] The purpose of the present invention is to provide a self-adaptive tea-picking robot with crawler tracks that can adjust the gantry across tea ridges, so as to solve the following technical problems:

[0006] (1) How to make the picking robot adapt to the uneven tea ridges;

[0007] (2) How to optimize the robotic arm to maintain stability during walking.

[0008] The purpose of the present invention can be achieved through the following technical solutions:

[0009] A self-adaptive adjustable cross-tea-ridge gantry crawler self-propelled tea-picking robot, comprising a walking component and a mechanical arm component;

[0010] A frame, arranged on the walking assembly, for mounting the mechanical arm assembly;

[0011] The contoured connecting rod is arranged on the top of the frame, used to connect with the frame and to perform adaptive adjustment according to the support surface with a drop difference where the left and right crawlers are located;

[0012] A driving assembly, arranged on the frame, for carrying and driving the mechanical arm assembly;

[0013] A linear slide is arranged on the side wall of the frame and is used to adjust the lifting and lowering of the driving platform;

[0014] The picking component is arranged at the end of the mechanical arm component and is used for picking tea leaves.

[0015] Furthermore, the contoured connecting rod comprises a long connecting rod and a short connecting rod; a hinged column is hinged between the long connecting rod and the short connecting rod; the frame is fixedly connected to the traveling assembly; the ends of the long connecting rod and the short connecting rod away from the hinged column are both hinged to the top of the frame.

[0016] Furthermore, the driving assembly includes a carrying platform; servo motor 1 and servo motor 2 are fixedly connected to the carrying platform; the mechanical arm assembly includes connecting rod 1 and connecting rod 2; the servo motor 1 is connected to the input end of connecting rod 1; the servo motor 2 is connected to the input end of connecting rod 2; connecting rod 3 is hinged on the carrying platform; connecting rod 4 is hinged at the end of connecting rod 1 away from servo motor 1; connecting rod 2 and connecting rod 3 are hinged at the ends away from the carrying platform with triangular flanges; the output end of connecting rod 2 is hinged to the upper surface of one corner of the triangular flange; the output end of connecting rod 3 is hinged to the upper surface of the other corner of the triangular flange; connecting rod 5 and connecting rod 6 are hinged on the triangular flange; the input end of connecting rod 5 is hinged to connecting rod 2; the output end of connecting rod 4 is hinged to the picking assembly; the output end of connecting rod 5 is hinged to the output end of connecting rod 4; the end of connecting rod 6 away from the triangular flange is hinged to the picking assembly.

[0017] Furthermore, the linear slide is fixedly connected to the side wall of the frame; the bearing platform is slidably connected to the linear slide; and the linear slide is driven by a linear motor.

[0018] Furthermore, the robotic arm assembly adopts a horizontal two-degree-of-freedom parallel five-bar design, and constitutes a three-degree-of-freedom parallel picking device module with the linear slide; the robotic arm assembly is symmetrically installed on the left and right bearing platforms.

[0019] Furthermore, the traveling assembly includes track wheels; the track wheels are provided in two groups; both are provided below the frame.

[0020] Furthermore, a connecting platform is provided on the track wheel; the track wheel is hinged to the connecting platform; the bottom of the frame is fixedly connected to the connecting platform; a driving motor is fixedly connected to the connecting platform; the track wheel is driven by the driving motor; and a data acquisition module is fixedly connected to the connecting platform.

[0021] Furthermore, the robotic arm assembly, picking assembly, and linear slide adopt a modular design to form a parallel picking robotic arm, and are symmetrically distributed on the track wheels.

[0022] Beneficial effects of the present invention:

[0023] (1) The frame part of the present invention adopts a parallelogram linkage structure, which ensures that when the robot encounters a drop while walking on a ramp, the two sides of the frame only change displacement in the direction of the vertical support surface due to the action of the parallelogram linkage structure, thereby avoiding the risk of the whole machine tipping over and ensuring stable walking. In the picking module, a five-link two-degree-of-freedom robotic arm design is adopted, and the parallelogram linkage is cleverly constrained so that the terminal azimuth angle of the robotic arm remains unchanged during movement, thereby improving the accuracy of picking.

[0024] (2) The present invention realizes the flexible movement of the robot arm in three-dimensional space through the robot arm assembly. We have added a linear slide in the z-axis direction, so that the entire device can move freely in the x, y, and z dimensions, fully meeting the needs of tea picking operations.

[0025] (3) The present invention realizes the installation of the robot arm assembly through the support platform, so that when it is installed on the support platform, it is convenient and quick to assemble and disassemble. In addition, the addition of dual machine positions can significantly improve the efficiency of picking operations. Compared with the current integral frame tea picking machine, the present invention breaks through the limitation of flat use site and improves the tea picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 is a schematic diagram of the overall structure of the tea picking robot of the present invention;

[0028] Figure 2 It is a front view of the overall structure of the tea picking robot of the present invention;

[0029] Figure 3 is a top view of the overall structure of the tea picking robot of the present invention;

[0030] Figure 4 It is a schematic diagram of the overall structure of the mechanical arm assembly in the present invention;

[0031] Figure 5 It is a top view of the overall structure of the mechanical arm assembly of the present invention;

[0032] Figure 6 It is a schematic diagram of the overall structure of the tea picking robot of the present invention when it is in terrain with high and low differences.

[0033] Description of the drawings: 1. Frame; 2. Robot arm assembly; 21. Link one; 22. Link two; 23. Link three; 24. Link four; 25. Link five; 26. Link six; 211. Triangular flange; 3. Picking device; 4. Contour link; 41. Long link; 42. Articulated column; 43. Short link; 5. Linear slide; 6. Drive assembly; 61. Servo motor one; 62. Servo motor two; 63. Load-bearing platform; 7. Walking assembly; 71. Track wheel; 72. Connecting platform; 8. Drive motor; 9. Data acquisition module. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-Figure 6 As shown, the present application provides a self-adaptive adjustable cross-tea ridge gantry crawler self-propelled tea picking robot, comprising a walking component 7 and a mechanical arm component 2;

[0036] A frame 1 is arranged on the walking assembly 7 and is used to install the mechanical arm assembly 2;

[0037] The contour link 4 is arranged on the top of the frame 1, and is used to connect with the frame 1 and to perform adaptive adjustment according to the support surface with a drop difference where the left and right crawlers are located;

[0038] A driving assembly 6, arranged on the frame 1, for carrying and driving the mechanical arm assembly 2;

[0039] The linear slide 5 is arranged on the side wall of the frame 1 and is used to adjust the lifting and lowering of the driving platform;

[0040] A picking component, arranged at the end of the mechanical arm component 2, for picking tea leaves;

[0041] During operation, in the prior art, the movement of the tea picking robot is achieved through a rigid frame and universal wheels at the bottom, so that the robot can pick tea leaves using a manipulator. However, during the walking process of the robot, since tea is generally planted in fields or on mountains, the tea ridges may be uneven. When the robot walks on the uneven tea ridges, it may tilt left and right. Once the robot tilts, the rigid frame cannot adjust itself, which may affect the robot's recognition and the picking of the manipulator. When the tilt is severe, there is even a risk of rollover. In order to prevent such incidents from happening, the walking component 7 walks in the tea ridges, and through the setting of the frame 1 and the contoured connecting rod 4, the overall body position can be adjusted in uneven places to avoid tilting left and right and rollover. The robot arm component 2 can be controlled by the driving component 6 and the linear slide 5 to realize the parallel structure of the robot arm component 2, so that the robot arm component 2 and the picking component can perform tea picking.

[0042] like Figure 1 and Figure 2 As shown, the contoured link 4 includes a long link 41 and a short link 43; a hinge column 42 is hinged between the long link 41 and the short link 43; the frame 1 is fixedly connected to the travel assembly 7; the ends of the long link 41 and the short link 43 away from the hinge column 42 are both hinged to the top of the frame 1;

[0043] During operation, the contouring links 4 are set as one long and one short, respectively arranged at the two ends of the frame 1, and two groups of contouring links 4 are set at each end, which are hinged by the hinge column 42. When the walking assembly 7 moves to an uneven place, one group of frames 1 will sink, and the sunken frame 1 will pull one group of contouring links 4. When pulling, the contouring links 4 will be deformed through the setting of the hinge column 42, and the deformation will drive the two groups of frames 1 to have a height difference. When a height difference occurs, the frame 1 can still move normally without the risk of tilting or tipping.

[0044] like Figure 3 and Figure 4As shown, the driving assembly 6 includes a carrying platform 63; a servo motor 1 61 and a servo motor 2 62 are fixedly connected to the carrying platform 63; the mechanical arm assembly 2 includes a connecting rod 1 21 and a connecting rod 22; the servo motor 1 61 is connected to the input end of the connecting rod 1 21; the servo motor 2 62 is connected to the input end of the connecting rod 2 22; a connecting rod 3 23 is hinged on the carrying platform 63; a connecting rod 4 24 is hinged on the end of the connecting rod 1 21 away from the servo motor 1 61; the ends of the connecting rods 22 and 3 23 away from the carrying platform 63 A triangular flange 211 is hinged; the output end of the connecting rod 22 is hinged to the upper surface of one corner of the triangular flange 211; the output end of the connecting rod 3 23 is hinged to the upper surface of the other corner of the triangular flange 211; the connecting rod 5 25 and the connecting rod 6 26 are hinged on the triangular flange 211; the input end of the connecting rod 5 25 is hinged to the connecting rod 2 22; the output end of the connecting rod 4 24 is hinged to the picking assembly; the output end of the connecting rod 5 25 is hinged to the output end of the connecting rod 4 24; the end of the connecting rod 6 26 away from the triangular flange 211 is hinged to the picking assembly;

[0045] When working, the mechanical arm assembly 2 includes multiple groups of connecting rods, all of which are arranged on the bearing platform 63 and driven by the servo motor 1 61 and the servo motor 2 62. The picking device 3 of the tea picking robot is precisely controlled by multiple connecting rods and servo motors. The servo motor 1 61 is connected to the input end of the connecting rod 1 21, and the servo motor 2 62 is connected to the input end of the connecting rod 2 22. The input end of the connecting rod 3 23 is hinged to the bearing platform 63 to ensure that the mechanical arm can move with the movement of the chassis. The output end of the connecting rod 1 21 is connected to the input end of the connecting rod 4 24 through a hinge to form a movable joint. The connecting rod 2 The output end of connecting rod 22 is hinged to the upper surface of one corner of the triangular flange 211, providing a stable support point for the picking device 3, and the output end of connecting rod three 23 is hinged to the upper surface of another corner of the triangular flange 211, further stabilizing the structure of the robot arm, the input end of connecting rod five 25 is hinged to the output end of connecting rod two 22, and the input end of connecting rod six 26 is hinged to the lower surface of the remaining corner of the triangular flange 211, and is installed on the supporting platform 63 through servo motor one 61 and servo motor two 62, which is responsible for driving the movement of the robot arm to ensure that it performs the picking task accurately and efficiently.

[0046] like Figure 4 As shown, the linear slide 5 is fixedly connected to the side wall of the frame 1; the bearing platform 63 is slidably connected to the linear slide 5; the linear slide 5 is driven by a linear motor;

[0047] During operation, the linear slide 5 is arranged on both sides of the frame 1, which can drive the carrying platform 63 to move up and down. During the process of moving up and down, it can adapt to the height of the two groups of frames 1, thereby driving the robotic arm assembly 2 to better perform the tea picking work, and avoiding the tilting of the robotic arm assembly 2 when the frame 1 has a height difference, thereby affecting the tea picking work of the picking assembly.

[0048] like Figure 1 As shown, the mechanical arm assembly 2 adopts a horizontal two-degree-of-freedom parallel five-bar design, and together with the linear slide 5 constitutes a three-degree-of-freedom parallel picking device 3 module; the mechanical arm assembly 2 is symmetrically mounted on the left and right bearing platforms 63;

[0049] When working, the traditional five-link robotic arm is a two-degree-of-freedom mechanism, and the motion trajectory of its execution end is a domain, that is, the execution end can be realized at any position within this area, but the azimuth angle of the end picking device 3 cannot remain constant. When the tea leaves are located on the left side of the robotic arm, the two servo motors start and rotate counterclockwise. As the servo motors rotate, the connecting rod 1 21 and the connecting rod 2 22 also rotate accordingly. This action further promotes the movement of the connecting rod 4 24 and the connecting rod 5 25. In this process, the plane where the picking component is located has the degree of freedom of rotation, but with the help of the parallelogram connecting rod constraint, this plane can keep its azimuth angle constant. When the picking component moves above the tea leaves, the linear slide 5 moves up and down to move the picking gripper to the specified position of the Z axis for picking.

[0050] like Figure 1 As shown, the walking assembly 7 includes track wheels 71; two sets of track wheels 71 are provided; both are provided below the frame 1;

[0051] When working, the track wheel 71 is a semi-rigid hinge type, and the track wheel 71 can adapt to tea ridges of different terrains, so that it can move stably.

[0052] like Figure 1 As shown, a connecting platform 72 is provided on the track wheel 71; the track wheel 71 is hinged to the connecting platform 72; the bottom of the frame 1 is fixedly connected to the connecting platform 72; a driving motor 8 is fixedly connected to the connecting platform 72; the track wheel 71 is driven by the driving motor 8; a data acquisition module 9 is fixedly connected to the connecting platform 72;

[0053] When working, the track wheels 71 are driven to move by the driving motor 8, and the tea leaves can be analyzed by the data acquisition module 9, thereby driving the mechanical arm assembly 2 and the picking assembly to pick the tea leaves. When the tea picking robot walks in tea gardens with non-plain terrains such as mountains and hills, the track wheels 71 on the left and right sides will have obvious drop due to the changes in the terrain height. The hinged semi-rigid connecting rod can offset the tilt caused by the terrain height difference, ensuring that the robot can still maintain a stable and efficient working state on such terrains with significant height differences.

[0054] like Figure 1 As shown, the mechanical arm assembly 2, the picking assembly, and the linear slide 5 adopt a modular design to form a parallel picking mechanical arm, and are symmetrically distributed on the track wheel 71;

[0055] When working, this design enables the entire device to move in three directions: x, y, and z, meeting the functional requirements of the robotic arm for picking tea leaves.

[0056] Working principle of the present invention: In the prior art, the movement of the tea picking robot is achieved through a rigid frame and universal wheels at the bottom, so that the manipulator is used to pick tea leaves. However, when the robot is walking, since tea is generally planted in fields or on mountains, the tea ridges may be uneven. When the robot walks on the uneven tea ridges, it will tilt left and right. Once the robot tilts, the rigid frame cannot adjust itself, which may affect the robot's recognition and the manipulator's picking. If the tilt is severe, there is even a risk of rollover. In order to prevent such incidents from happening, the walking component 7 walks in the tea ridges, and through the setting of the frame 1 and the contoured connecting rod 4, the overall body position can be adjusted in uneven places to avoid tilting left and right and rollover. The driving component 6 and the linear slide 5 can be used to control the mechanical arm component 2 to realize the parallel structure of the mechanical arm component 2, so that the mechanical arm component 2 and the picking component can perform tea picking.

[0057] The mechanical arm assembly 2 includes a plurality of connecting rods, all of which are arranged on a carrying platform 63 and driven by a servo motor 1 61 and a servo motor 2 62. The picking device 3 of the tea picking robot is precisely controlled by a plurality of connecting rods and servo motors. The servo motor 1 61 is connected to the input end of the connecting rod 1 21, and the servo motor 2 62 is connected to the input end of the connecting rod 2 22. The input end of the connecting rod 3 23 is hinged to the carrying platform 63 to ensure that the mechanical arm can move with the movement of the chassis. The output end of the connecting rod 1 21 is connected to the input end of the connecting rod 4 24 through a hinge to form a movable joint. The connecting rod 2 2 The output end of the connecting rod 2 is hinged to the upper surface of one corner of the triangular flange 211, providing a stable support point for the picking device 3, the output end of the connecting rod three 23 is hinged to the upper surface of another corner of the triangular flange 211, further stabilizing the structure of the mechanical arm, the input end of the connecting rod five 25 is hinged to the output end of the connecting rod two 22, and the input end of the connecting rod six 26 is hinged to the lower surface of the remaining corner of the triangular flange 211, and is installed on the supporting platform 63 through the servo motor one 61 and the servo motor two 62, which is responsible for driving the movement of the mechanical arm to ensure that it performs the picking task accurately and efficiently.

[0058] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A self-adaptive tea-picking robot with crawler tracks that can adjust the gantry across tea ridges, characterized in that: It comprises a walking component (7) and a mechanical arm component (2); A frame (1) is arranged on the walking assembly (7) and is used for mounting the mechanical arm assembly (2); A contoured connecting rod (4) is arranged on the top of the frame (1) and is used to be connected to the frame (1) and to be adaptively adjusted according to the support surface with a drop difference where the left and right crawlers are located; A driving assembly (6) is arranged on the frame (1) and is used to carry and drive the mechanical arm assembly (2); A linear slide (5) is arranged on the side wall of the frame (1) and is used to adjust the lifting and lowering of the driving platform; The picking component is arranged at the end of the mechanical arm component (2) and is used for picking tea leaves.

2. The self-adaptive tea-picking robot with crawler tracks that can adjust tea ridges across gantry as claimed in claim 1, characterized in that: The contoured connecting rod (4) comprises a long connecting rod (41) and a short connecting rod (43); a hinge column (42) is hinged between the long connecting rod (41) and the short connecting rod (43); the frame (1) is fixedly connected to the traveling assembly (7); and the ends of the long connecting rod (41) and the short connecting rod (43) away from the hinge column (42) are both hinged to the top of the frame (1).

3. The self-adaptive tea-picking robot with crawler tracks that can adjust tea ridges across gantry as claimed in claim 2, characterized in that: The driving assembly (6) comprises a carrying platform (63); a servo motor 1 (61) and a servo motor 2 (62) are fixedly connected to the carrying platform (63); the mechanical arm assembly (2) comprises a connecting rod 1 (21) and a connecting rod 2 (22); the servo motor 1 (61) is connected to an input end of the connecting rod 1 (21); the servo motor 2 (62) is connected to an input end of the connecting rod 2 (22); a connecting rod 3 (23) is hingedly connected to the carrying platform (63); a connecting rod 4 (24) is hingedly connected to an end of the connecting rod 1 (21) away from the servo motor 1 (61); the connecting rod 2 (22) and the connecting rod 3 (23) are away from the carrying platform (63); ) is hinged to a triangular flange (211) at one end; the output end of the connecting rod 2 (22) is hinged to the upper surface of one corner of the triangular flange (211); the output end of the connecting rod 3 (23) is hinged to the upper surface of the other corner of the triangular flange (211); the connecting rod 5 (25) and the connecting rod 6 (26) are hinged on the triangular flange (211); the input end of the connecting rod 5 (25) is hinged to the connecting rod 2 (22); the output end of the connecting rod 4 (24) is hinged to the picking component; the output end of the connecting rod 5 (25) is hinged to the output end of the connecting rod 4 (24); the end of the connecting rod 6 (26) away from the triangular flange (211) is hinged to the picking component.

4. The self-adaptive tea-picking robot with crawler tracks that can adjust the tea ridges across the gantry according to claim 3, characterized in that: The linear slide (5) is fixedly connected to the side wall of the frame (1); the bearing platform (63) is slidably connected to the linear slide (5); and the linear slide (5) is driven by a linear motor.

5. The self-adaptive tea-picking robot with crawler tracks that can adjust tea ridges across gantry as claimed in claim 4, characterized in that: The mechanical arm assembly (2) adopts a horizontal two-degree-of-freedom parallel five-bar design, and together with the linear slide (5) forms a three-degree-of-freedom parallel picking device (3) module; the mechanical arm assembly (2) is symmetrically mounted on the left and right bearing platforms (63).

6. The self-adaptive tea-picking robot with crawler tracks that can adjust the tea ridges across the gantry according to claim 5, characterized in that: The walking assembly (7) comprises track wheels (71); two sets of track wheels (71) are provided; both are provided below the frame (1).

7. The self-adaptive tea-picking robot with crawler tracks that can adjust the tea ridges across the gantry according to claim 6, characterized in that: A connecting platform (72) is provided on the track wheel (71); the track wheel (71) is hinged to the connecting platform (72); the bottom of the frame (1) is fixedly connected to the connecting platform (72); a driving motor (8) is fixedly connected to the connecting platform (72); the track wheel (71) is driven by the driving motor (8); and a data acquisition module (9) is fixedly connected to the connecting platform (72).

8. The self-adaptive tea-picking robot with crawler tracks that can adjust the tea ridges across the gantry according to claim 7, characterized in that: The mechanical arm assembly (2), the picking assembly, and the linear slide (5) are modularly designed to form a parallel picking mechanical arm, and are symmetrically distributed on the track wheels (71).

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