Picking agricultural robot arm with self-locking mechanism mechanical arm

Abstract

The invention discloses a picking agricultural manipulator with a self-locking mechanism mechanical arm, and belongs to the technical field of agricultural manipulators, the picking agricultural manipulator comprises a vehicle body, a mechanical arm base, a driving device, a mechanical arm folding and unfolding mechanism and a picking mechanism, the mechanical arm is fixedly connected to the front end of a vehicle shell; a serial port steering engine of the driving device is arranged on the mechanical arm base, and the output end of the serial port steering engine is connected with the pull wire to control winding and unwinding of the pull wire; the mechanical arm folding and unfolding mechanism is composed of a plurality of folding units. The folding unit is of a low-melting-point alloy folding body-thermal movable structure; a pull wire of the driving device penetrates through the multiple folding units, the tail end of the pull wire is fixedly connected with each corner of the top plate of the folding and unfolding unit on the uppermost side, and then the unfolding posture and orientation of the mechanical arm folding and unfolding mechanism D are controlled. The mechanical arm provided by the invention is small in occupied space and large in working space, has the characteristics of being high in compression ratio and capable of self-locking, can perform efficient and autonomous picking by combining a mechanical claw and a visual system, and has a relatively high application value for agricultural picking.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a harvesting agricultural manipulator with a manipulator arm having a self-locking mechanism. Background Art

[0002] In the current agricultural picking mode, with the continuous increase in labor costs, the cost of manual picking is also increasing. Manual picking usually requires long-term bending, stretching and other repetitive actions, which can easily cause worker fatigue and reduce picking efficiency. Long-term work may cause occupational diseases. In order to improve picking efficiency and save manpower, automatic picking through mechanical devices has high application value. Existing picking machinery usually uses joint mechanical arms for picking, such as the patented "crawler-type cross-ridge walking picking equipment" (publication number: CN118044402A) and the patented "deep learning-based fragrant pear automatic picking method and device" (publication number: CN118279543A). With the development of science and technology, the folding and unfolding mechanism has attracted more and more attention due to its many advantages such as light weight and high compression ratio. The mechanical arm with the folding and unfolding mechanism can be folded up in the non-working state, occupying a small space, which is not only conducive to passing through narrow passages, but also conducive to the storage and transportation of mechanical equipment. When working, the folding and unfolding mechanism of the mechanical arm can usually extend to a position that the traditional joint mechanical arm cannot reach by unfolding, and has a large working range. Summary of the invention

[0003] The purpose of the present invention is to provide a harvesting agricultural robot with a mechanical arm folding and unfolding mechanism. The robot has the characteristics of small space occupation, large working space, high compression ratio, and self-locking of the folding and unfolding mechanism. Combined with the mechanical claw, it can perform efficient autonomous harvesting. When the mechanical arm is folded, the robot has good passability and is convenient for storage and transportation. When the mechanical arm is unfolded, the device has a high extension height and a large working range, and has a high application value.

[0004] A harvesting agricultural robot with a self-locking mechanism mechanical arm, comprising: a body A, a mechanical arm base B, a mechanical arm folding and unfolding mechanism D and a harvesting mechanism E;

[0005] The mechanical arm folding and unfolding mechanism D is composed of a plurality of folding units;

[0006] The folding unit comprises: a top plate, a folding and unfolding body, a limiting frame, and a bottom plate;

[0007] The folding and unfolding body comprises: an upper hinge, an upper hinge shaft, an upper page plate, a sleeve, a lower page plate, a lower hinge shaft, a lower hinge, an upper torsion spring, and a lower torsion spring;

[0008] The top plate, the limit frame and the bottom plate are triangular; each corner thereof is provided with a folding body on both sides; the upper part of the upper plate is hinged to the top plate through an upper hinge, the lower part of the upper plate and the upper part of the lower plate are hinged to the limit frame, and the lower part of the lower plate is hinged to the bottom plate through a lower hinge; the upper torsion spring and the lower torsion spring are respectively arranged on the upper hinge shaft and the lower hinge shaft;

[0009] The mechanical arm base B is provided with three serial port steering gears and traction lines. The top plate and the bottom plate are provided with traction line holes at three corners. The traction lines pass through the traction line holes and are fixed on the top plate of the top folding unit. The serial port steering gear controls the mechanical arm folding and unfolding mechanism D by retracting and extending the traction lines.

[0010] The manipulator further comprises: a conducting wire, a control unit, a main power supply line, a heating wire, a cooling sheet, and a heat-conducting copper sheet.

[0011] The hinge shafts for hinged connection between the upper page plate, the lower page plate and the limit frame are brass rods;

[0012] The heating wire is wound around the exposed outer part of the brass rod or the side surface of the sleeve on the brass rod; the inner side of the brass rod is in contact with the cooling plate through the heat-conducting copper plate;

[0013] The control unit controls the heating wire and the cooling sheet to heat or cool;

[0014] The limit frame is composed of a limit plate I, a heat-conducting copper sheet, and a limit plate II arranged in order from top to bottom, wherein the top of the heat-conducting copper sheet is fixedly connected to the bottom of the limit plate I, the bottom of the heat-conducting copper sheet is fixedly connected to the top of the limit plate II, and the heat-conducting copper sheet and the limit plate form chutes I, chutes II, and chutes III; the cooling sheet is placed in the middle of the limit plate, and its bottom is fixedly connected to the top of the heat-conducting copper sheet;

[0015] The gap between the upper plate through hole and the brass rod at the lower part of the upper plate is filled with a low melting point alloy, which is solid at room temperature and has a melting point below 100°C. When heated to the melting point, it undergoes a phase change to a liquid state, so that the upper plate can rotate around the brass rod. When the temperature drops below the solidification point, it changes from liquid to solid state, and the upper plate cannot rotate around the brass rod.

[0016] The low melting point alloy is a bismuth-tin alloy;

[0017] The vehicle body A is composed of a chassis, a vehicle shell, a depth camera and a storage basket. The chassis is a double-track chassis with independent drive, on which an onboard computer and a power supply are arranged; the upper side of the chassis is fixedly connected to the vehicle shell, and the front part of the vehicle shell is also provided with a depth camera I; the upper side of the rear part of the vehicle shell is fixedly connected to the storage basket, and the power supply supplies power to the entire device through a wire;

[0018] The picking mechanism E includes: a motor seat, a motor, a fixing frame, a mechanical claw and a depth camera II. The motor includes a stator and a rotor. The stator is fixed in the middle of the motor seat, and the rotor is fixed to the fixing frame. The mechanical claw is fixed on the lower side of the fixing frame, and the depth camera II is fixed on the upper side.

[0019] The present invention provides a harvesting agricultural robot with a self-locking mechanism mechanical arm, which includes: a vehicle body, a mechanical arm base, a driving device, a mechanical arm folding and unfolding mechanism and a picking mechanism, wherein: the mechanical arm is fixedly connected to the front end of the vehicle shell; a serial port servo of the driving device is provided on the mechanical arm base, and its output end is connected to the traction line to control the retraction and extension of the traction line; the mechanical arm folding and unfolding mechanism is composed of a plurality of folding units; the folding unit is a low-melting-point alloy folding body-thermal movable structure; the traction line of the driving device passes through a plurality of folding units, and its end is fixedly connected to each corner of the top plate of the uppermost folding unit, thereby controlling the unfolding posture and orientation of the mechanical arm folding and unfolding mechanism D. Compared with the articulated mechanical arm, the mechanical arm folding and unfolding mechanism proposed by the present invention occupies a small space and has a large working space, and has the characteristics of high compression ratio and self-locking, and can be combined with a mechanical claw for efficient autonomous picking. In the folded state of the mechanical arm, the robot has good passability and is convenient for storage and transportation. In the unfolded state, the device has a high extension height and a large working range, and has a high application value for agricultural picking.

[0020] In summary, the agricultural harvesting robot arm with a self-locking mechanism provided by the present invention has the following benefits:

[0021] 1. The mechanical arm folding and unfolding mechanism involved in the present invention occupies a small space, has a large working space, a high compression ratio, and can be self-locking. In the folded state, the device has good passability and is convenient for storage and transportation. In the unfolded state, the device has a high extension height and a large working range, and has a high application value.

[0022] 2. The present invention can realize autonomous picking of fruits and vegetables, which can reduce the labor intensity and manpower cost of workers picking fruits and vegetables, and improve agricultural production efficiency.

[0023] 3. The present invention adopts a modular design, and the mechanical arm folding and unfolding mechanism is composed of a plurality of independent folding and unfolding unit modules, which can be combined and disassembled according to different needs to achieve different functions. The modular design also makes the mechanical arm folding and unfolding mechanism easy to manufacture and maintain, improves the scalability, and has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a harvesting agricultural robot arm with a self-locking mechanism robot arm of the present invention;

[0025] Figure 2It is a schematic diagram of the overall structure of a body A of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0026] Figure 3 It is a structural schematic diagram of a base 1 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0027] Figure 4 It is a structural schematic diagram A of a vehicle shell 2 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0028] Figure 5 It is a structural schematic diagram B of a vehicle shell 2 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0029] Figure 6 It is a top view of a storage basket 4 of a harvesting agricultural robot arm with a self-locking mechanism robot arm of the present invention;

[0030] Figure 7 It is a structural schematic diagram of a mechanical arm base B of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0031] Figure 8 It is a structural schematic diagram of a driving device C of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0032] Fig. 9 It is a schematic structural diagram of a mechanical arm folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0033] Fig.10 It is a structural schematic diagram A of a folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0034] Fig.11 It is a structural schematic diagram B of a folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0035] Fig.12 It is a schematic diagram of the folding state of the folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0036] Fig.13 It is a schematic diagram of the bending state of the folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0037] Fig.14 It is a structural schematic diagram of a top plate 21 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0038] Fig.15It is a structural schematic diagram of a folding and unfolding body I22 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0039] Fig.16 It is a cross-sectional view of a folding and unfolding body I22 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0040] Fig.17 It is a structural schematic diagram of an upper torsion spring I51 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0041] Fig.18 It is a structural schematic diagram A of an upper page plate I52 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0042] Fig.19 It is a structural schematic diagram B of an upper page plate I52 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0043] Fig. 20 It is a structural schematic diagram of a lower page plate I56 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0044] Fig.21 It is a structural schematic diagram of a lower torsion spring I57 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0045] Fig. 22 It is a structural schematic diagram of a folding and unfolding body II23 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0046] Fig.23 It is a structural schematic diagram of an upper torsion spring II62 of a harvesting agricultural robot arm with a self-locking mechanism robot arm of the present invention;

[0047] Fig.24 It is a structural schematic diagram A of an upper page plate II63 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0048] Fig.25 It is a structural schematic diagram B of an upper page plate II63 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm of the present invention;

[0049] Fig.26 It is a structural schematic diagram of a lower page plate II67 of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0050] Fig. 27 It is a structural schematic diagram of a lower torsion spring II68 of a harvesting agricultural robot arm with a self-locking mechanism robot arm of the present invention;

[0051] Fig.28It is an exploded view of a limit frame 29 of a harvesting agricultural robot arm with a self-locking mechanism robot arm of the present invention;

[0052] Fig.29 It is a structural schematic diagram of a bottom plate 31 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0053] Fig.30 It is a complete structural schematic diagram of a picking mechanism E of a picking agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0054] Fig.31 It is a structural schematic diagram of a motor base 87 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0055] Fig.32 It is a structural schematic diagram of a motor 88 of a harvesting agricultural robot arm with a self-locking mechanism robot arm according to the present invention;

[0056] Fig.33 It is a structural schematic diagram of a fixing frame 89 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention.

[0057] In the attached picture:

[0058] A. Car body; B. Robot arm base; C. Driving device; D. Robot arm folding and unfolding mechanism; E. Picking mechanism; 1. Chassis; 2. Car shell; 3. Depth camera I; 4. Storage basket; 5. Hole I; 6. Hole II; 7. Hole III; 8. Screw hole group II; 9. Fixing hole group I; 10. Fixing hole group II; 11. Fixing hole group III11; 12. Serial servo I; 13. Serial servo II; 14. Serial servo III14; 15. Traction line I; 16. Traction line II; 17. Traction line III17; 18. Fixed head I; 19. Fixed head II; 20. Fixed head III20; 21. Top plate 21; 22. Folding body I; 23. Folding body II; 24. Folding body III24; 25. Exhibition body IV; 26. Folding and exhibition body V; 27. Folding and exhibition body VI27; 28. Refrigeration sheet; 29. ​​Limiting frame; 30. Control unit; 31. Bottom plate; 32. Wire; 33. Main power supply line; 34. Through hole I; 35. Through hole II; 36. Through hole III; 37. Upper torsion spring hole I; 38. Upper torsion spring hole II; 39. Upper torsion spring hole III; 40. Upper torsion spring hole IV; 41. Upper torsion spring hole V; 42. Upper torsion spring hole VI; 43. Top hinge I; 44. Top hinge II; 45. Top hinge III; 46. Top hinge IV; 47. Top hinge V; 48. Top hinge VI; 49. Upper hinge I; 50. Upper hinge shaft I; 51. Upper torsion spring I; 52. Upper page plate I; 53. Brass rod I; 54. Sleeve I; 55. Heating wire I; 56. Lower page plate I; 57. Lower torsion spring I; 58. Lower hinge shaft I; 59. Lower hinge I; 60. Upper hinge II; 61. Upper hinge shaft II; 62. Upper torsion spring II; 63. Upper page plate II; 64. Brass rod II; 65. Sleeve II; 66. Heating wire II; 67. Lower page plate II; 68. Lower torsion spring II; 69. Lower hinge shaft II; 70. Lower hinge II; 72. Through hole IV; 73. Through hole V; 74. Through hole VI; 75. Lower torsion spring hole I; 76. Lower torsion spring hole II; 77. Lower torsion spring hole III; 78. Lower torsion spring hole IV; 79. Lower torsion spring hole V; 80. Lower torsion spring hole VI; 81. Bottom hinge I; 82. Bottom hinge II; 83. Bottom hinge III; 84. Bottom hinge IV; 85. Bottom hinge V; 86. Bottom hinge VI; 87. Motor seat; 88. Motor; 89. Fixing bracket; 90. Mechanical claw; 91. Depth camera II; 101. Onboard computer; 102. Hole group I; 103 Hole group II; 104. Power supply; 201. Cylindrical slot; 202. Camera slot; 203. Hole group III; 204. Screw hole group I; 205. Hole group IV; 206. Hole group V; 401. Hole group VI; D1. Folding unit I; D2. Folding unit II; D3. Folding unit III; D4. Folding unit IV; D5. Folding unit V; D6. Folding unit VI; D7. Folding unit VII; D8. Folding unit VIII; i1. Heating wire end a; i2.Heating wire end b; i3. Heating wire end c; i4. Heating wire end d; i5. Heating wire end e; i6. Heating wire end f; i7. Heating wire end g; i8. Heating wire end h; i9. Heating wire end i; i10. Heating wire end j; i11. Heating wire end k; i12. Heating wire end l; j1. Slide I; j2. Slide II; j3. Slide III; 29a. Limit plate I; 29b. Thermal conductive copper sheet; 29c. Limit plate II; 51a. Upper torsion spring end I; 51b. Upper torsion spring end II; 52a. Upper page plate hole I; 52b. Upper page plate hole II; 52c. Upper page plate through hole I; 52d. Upper page plate hole III; 52e. Upper page plate hole IV; 56a. Lower page plate hole I; 56b. Lower page plate hole I I; 56c. Lower page plate through hole I; 56d. Lower page plate shaft I; 57a. Lower torsion spring end I; 57b. Lower torsion spring end II; 62a. Upper torsion spring end III; 62b. Upper torsion spring end IV; 63a. Upper page plate hole V; 63b. Upper page plate hole VI; 63c. Upper page plate through hole II; 63d. Upper page plate hole VII; 63e. Upper page plate hole VIII; 67a. Lower page plate hole III; 67b. Lower page plate hole IV; 67c. Lower page plate through hole II; 67d. Lower page plate shaft II; 68a. Lower torsion spring end III; 68b. Lower torsion spring end IV; 87a. Cylindrical slot II; 88a. Rotor; 88b. Stator; 89a. Hole group VII; 89b. Hole group VIII; k. Low melting point alloy. . DETAILED DESCRIPTION

[0059] Example 1

[0060] The present invention discloses a harvesting agricultural robot with a self-locking mechanism mechanical arm, comprising: a vehicle body A, a mechanical arm base B, a driving device C, a mechanical arm folding and unfolding mechanism D and a picking mechanism E, wherein: the mechanical arm base B is fixed in a cylindrical groove I201 at the upper front end of a vehicle shell 2 of the vehicle body A by screws; the lower surface of a bottom plate 31 of a folding and unfolding unit ID1 of the mechanical arm folding and unfolding mechanism D is fixedly connected to the upper surface of an upper plate of the mechanical arm base B; the serial port steering gear I12, the serial port steering gear II13 and the serial port steering gear III14 in the driving device C are evenly distributed on the middle plate of the mechanical arm base B, and are divided into: The fixing hole group I9, the fixing hole group II10 and the fixing hole group III11 of the separate and middle plates are fixedly connected by screws; the fixing head I18 of the driving device C is fixedly connected to the through hole I34 of the top plate 21 of the folding unit VIIID8, the fixing head II19 is fixedly connected to the through hole II35 of the top plate 21 of the folding unit VIIID8, and the fixing head III20 is fixedly connected to the through hole III36 of the top plate 21 of the folding unit VIIID8; the top plate 21 of the folding unit VIIID8 of the robot arm folding mechanism D is fixedly connected to the bottom surface of the motor seat 87 of the picking mechanism E.

[0061] like Figure 2As shown, the vehicle body A is composed of a chassis 1, a vehicle shell 2, a depth camera I3 and a storage basket 4. The chassis 1 is fixedly connected by bolts through the hole group I102 at the front and the hole group III203 of the vehicle shell 2, and is fixedly connected by bolts through the hole group II103 at the rear and the hole group IV205 of the vehicle shell 2; the power supply 104 supplies power to the onboard computer 101 and the depth camera I3 of the vehicle body A, the serial servos I12, II13 and III14 of the drive device C through wires, and supplies power to the folding unit I101 through the main power supply line 33. D1 is used to supply power to the control unit 30 of the folding and unfolding unit VIIID8 and the motor 88, depth camera II91 and mechanical claw 90 of the picking mechanism E; the vehicle shell 2 is fixedly connected by bolts through the hole group V206 at the rear and the hole group VI401 of the storage basket 4; the depth camera I3 is fixed in the camera slot 202 of the vehicle shell 2; the cylindrical slot I201 of the vehicle shell 2 is used to place the robot arm base B, and a screw hole group I204 is arranged around the cylindrical slot I201, which is used to be screwed to the screw hole group II8 of the upper plate of the robot arm base B.

[0062] like Figure 3 As shown, the chassis 1 has an independently driven double-track chassis, which includes an onboard computer 101, a hole group I 102, a hole group II 103 and a power supply 104;

[0063] like Figure 4 and Figure 5 As shown, the vehicle shell 2 is provided with a cylindrical groove I201, a camera groove 202, a hole group III203, a screw hole group I204, a hole group IV205 and a hole group V206;

[0064] like Figure 6 As shown, the rear bottom surface of the storage basket 4 is provided with a hole group VI401;

[0065] like Figure 7 As shown, the robot arm base B includes an upper plate, a middle plate and a lower plate arranged in sequence from top to bottom, wherein the top and bottom of the middle plate are fixedly connected to the bottom of the upper plate and the top of the lower plate respectively; the upper plate is provided with holes I5, II6 and III7, and a screw hole group II8 evenly distributed around the circumference, and the middle plate includes three plates evenly distributed around the circumference, on which are respectively provided a fixing hole group I9, a fixing hole group II10 and a fixing hole group III11.

[0066] like Figure 8As shown, the driving device C is composed of a serial port servo I12, a serial port servo II13, a serial port servo III14, a traction line I15, a traction line II16, a traction line III17, a fixed head I18, a fixed head II19 and a fixed head III20. The three serial port servos have the same structure and are all composed of a winding wheel and a servo; the three traction lines have the same structure; the three fixed heads have the same structure; the hub of the winding wheel and the connecting shaft of the steering disc are fixed with screws; the bottom end of the traction line I15 is fixedly connected and wound around the winding wheel of the serial port servo I12, and passes through the hole I5 on the upper plate of the robot base B, the through hole IV72 of the bottom plate 31 of the folding unit ID1 to the folding unit VIID7, the through hole I34 of the top plate 21, and the through hole IV72 of the bottom plate 31 of the folding unit VIIID8 in a bottom-up order from the bottom to the top, and the top end is fixed to the fixed head I18 Bottom surface; the bottom end of the traction line II16 is fixedly connected and wound on the winding wheel of the serial port servo II13, and passes through the hole II6 of the upper plate of the robot base B, the through hole V73 of the bottom plate 31 of the folding unit ID1 to the folding unit VIID7, the through hole II35 of the top plate 21, and the through hole V73 of the bottom plate 31 of the folding unit VIIID8 in sequence from the bottom to the top, and the top end is fixed to the bottom surface of the fixed head II19; the bottom end of the traction line III17 is fixedly connected and wound on the winding wheel of the serial port servo III14, and passes through the hole III7 of the upper plate of the robot base B, the through hole VI74 of the bottom plate 31 of the folding unit ID1 to the folding unit VIID7, the through hole III36 of the top plate 21, and the through hole VI74 of the bottom plate 31 of the folding unit VIIID8 in sequence from the bottom to the top, and the top end is fixed to the bottom surface of the fixed head III20;

[0067] When the robot arm folding and unfolding mechanism D is in the folded state, the traction line I15 of the driving device C is tightened and wound around the side surface of the winding wheel of the serial port servo I12, the traction line II16 is tightened and wound around the side surface of the winding wheel of the serial port servo II13, and the traction line III17 is tightened and wound around the side surface of the winding wheel of the serial port servo III14; when the robot arm folding and unfolding mechanism D changes from the folded state to the unfolded state, the onboard computer 101 controls the serial port servo I12, the serial port servo II13 and the serial port servo III14 to operate, and the winding wheel rotates to release the wound traction lines I15, II16 and I II17, so that the traction tension from the traction line on each folding and unfolding unit is reduced, and the folding and unfolding units are unfolded under the elastic force of the upper and lower torsion springs; the driving device C determines the rotation angle of the winding wheels of the serial port servo I12, the serial port servo II13 and the serial port servo III14 through the calculation of the onboard computer 101, thereby controlling the length of the released traction line I15, the traction line II16 and the traction line III17; the different release lengths of the traction line I15, the traction line II16 and the traction line III17 can adjust the posture and orientation of the unfolding of the robot arm folding and unfolding mechanism D, so that the picking mechanism E reaches the target position.

[0068] like Fig. 9 As shown, the robotic arm folding and unfolding mechanism D is composed of a folding and unfolding unit ID1, a folding and unfolding unit IID2, a folding and unfolding unit IIID3, a folding and unfolding unit IVD4, a folding and unfolding unit VD5, a folding and unfolding unit VID6, a folding and unfolding unit VIID7 and a folding and unfolding unit VIIID8. The folding and unfolding unit ID1, the folding and unfolding unit IID2, the folding and unfolding unit IIID3, the folding and unfolding unit IVD4, the folding and unfolding unit VD5, the folding and unfolding unit VID6, the folding and unfolding unit VIID7 and the folding and unfolding unit VIIID8 have the same structure and are arranged in sequence from bottom to top and fixedly connected.

[0069] like Figures 10 to 13As shown, the folding unit ID1 is composed of a top plate 21, a folding body I22, a folding body II23, a folding body III24, a folding body IV25, a folding body V26, a folding body VI27, a cooling plate 28, a limiting frame 29 and a bottom plate 31. The folding body I22, the folding body III24 and the folding body V26 have the same structure, wherein the straight end of the upper hinge I49 of the folding body I22 is inserted into the top hinge I43 of the top plate 21 and hinged, the upper torsion spring end I51a of the upper torsion spring I51 is fixed in the upper torsion spring hole I37, the brass rod I53 is inserted into the slide groove Ij1 formed by the heat-conducting copper sheet 29b and the limiting plate II29c, and the heating wire I55 includes the heating wire end ai1 and The heating wire end bi2, the lower torsion spring end I57a of the lower torsion spring I57 is fixed in the lower torsion spring hole I75, the one-line end of the lower hinge I59 is inserted into the bottom hinge I81 of the bottom plate 31 and hinged; the one-line end of the upper hinge I49 of the folding body III24 is inserted into the top hinge III45 of the top plate 21 and hinged, the upper torsion spring end I51a of the upper torsion spring I51 is fixed in the upper torsion spring hole III39, the brass rod I53 is inserted into the slide groove IIj2 formed by the heat-conducting copper sheet 29b and the limiting plate II29c, the heating wire I55 includes a heating wire end ei5 and a heating wire end fi6, the lower torsion spring end I57a of the lower torsion spring I57 is fixed in the lower torsion spring hole III77, the lower hinge I The straight end of 59 is inserted into the bottom hinge III83 of the bottom plate 31 and hinged; the straight end of the upper hinge I49 of the folding body V26 is inserted into the top hinge V47 of the top plate 21 and hinged, the upper torsion spring end I51a of the upper torsion spring I51 is fixed in the upper torsion spring hole V41, the brass rod I53 is inserted into the slide groove IIIj3 formed by the heat-conducting copper sheet 29b and the limit plate II29c, the heating wire I55 includes a heating wire end ii9 and a heating wire end ji10, the lower torsion spring end I57a of the lower torsion spring I57 is fixed in the lower torsion spring hole V79, and the straight end of the lower hinge I59 is inserted into the bottom hinge V85 of the bottom plate 31 and hinged; the folding body II23 and the folding body I22 are hand-shaped symmetrical. The structure of the folding body II23, the folding body IV25 and the folding body VI27 is the same, wherein the straight end of the upper hinge II61 of the folding body II23 is inserted into the top hinge II44 of the top plate 21 and hinged, the upper torsion spring end III62a of the upper torsion spring II62 is fixed in the upper torsion spring hole II38, the brass rod II64 is inserted into the slide groove IIj2 formed by the heat-conducting copper sheet 29b and the limiting plate II29c, the heating wire II66 includes the heating wire end ci3 and the heating wire end di4, the lower torsion spring end III68a of the lower torsion spring II68 is fixed in the lower torsion spring hole II76, and the straight end of the lower hinge II70 is inserted into the bottom hinge II82 of the bottom plate 31 and hinged;The straight end of the upper hinge II61 of the folding body IV25 is inserted into the top hinge IV46 of the top plate 21 and hinged, the upper torsion spring end III62a of the upper torsion spring II62 is fixed in the upper torsion spring hole IV40, the brass rod II64 is inserted into the slide groove IIIj3 formed by the heat-conducting copper sheet 29b and the limit plate II29c, the heating wire II66 includes the heating wire end gi7 and the heating wire end hi8, the lower torsion spring end III68a of the lower torsion spring II68 is fixed in the lower torsion spring hole IV78, and the lower hinge II70 The straight end is inserted into the bottom hinge IV84 of the bottom plate 31 and hinged; the straight end of the upper hinge II61 of the folding body VI27 is inserted into the top hinge VI48 of the top plate 21 and hinged, the upper torsion spring end III62a of the upper torsion spring II62 is fixed in the upper torsion spring hole VI42, the brass rod II64 is inserted into the slide groove Ij1 formed by the heat-conducting copper sheet 29b and the limit plate II29c, the heating wire II66 includes the heating wire end ki11 and the heating wire end li12, and the lower torsion spring end III68 of the lower torsion spring II68 is fixed in the upper torsion spring hole VI42. a is fixed in the upper torsion spring hole VI42, and the straight end of the lower hinge II70 is inserted into the bottom hinge VI86 of the bottom plate 31 and hinged; the cooling plate 28 is placed in the middle of the limiting plate I29a, and its bottom is fixedly connected to the top of the heat-conducting copper plate 29b. The cooling plate 28 starts working when power is supplied and stops working when power is cut off; the bottom end of the control unit 30 is fixedly connected to the upper surface of the limiting plate I29a, the rear side is connected to the main power supply line 33, the two sides are connected to the cooling plate 28 through wires, and the front end is connected to the heating wire end hi8 and the heating wire end ji10 through wires. 32 is connected, the control unit 30 is powered by the main power supply line 33, and can independently control the power supply of the cooling plate 28 and the heating wire loop; the folding unit uses the wire 32 to connect the heating wire end ai1 and the heating wire end ci3, connect the heating wire end di4 and the heating wire end fi6, connect the heating wire end ei5 and the heating wire end gi7, connect the heating wire end ii9 and the heating wire end ki11, and connect the heating wire end bi2 and the heating wire end li12, so that the heating wires of the folding unit and the control unit 30 form a heating wire loop. ;

[0070] like Fig.16 As shown, the top plate 21 is provided with a through hole I34, a through hole II35, a through hole III36, an upper torsion spring hole I37, an upper torsion spring hole II38, an upper torsion spring hole III39, an upper torsion spring hole IV40, an upper torsion spring hole V41, an upper torsion spring hole VI42, a top hinge I43, a top hinge II44, a top hinge III45, a top hinge IV46, a top hinge V47 and a top hinge VI48.

[0071] like Fig.14 and Fig.15As shown, the folding body 122 includes an upper hinge 149, an upper hinge shaft 150, an upper torsion spring 151, an upper page plate 152, a brass rod 153, a sleeve 154, a heating wire 155, a lower page plate 156, a lower torsion spring 157, a lower hinge shaft 158 ​​and a lower hinge 159 arranged in sequence from top to bottom, wherein the upper hinge 149 includes a U-shaped groove and a straight end, and the lower hinge 159 has the same structure as the upper hinge 149, including a U-shaped groove and a straight end; the upper hinge shaft 150 passes through the outer end hole of the U-shaped groove of the upper hinge 149, the upper page plate hole 152a, the inner end hole of the U-shaped groove of the upper hinge 149 and the upper torsion spring 151 from outside to inside. Spring I51, the upper torsion spring end I51a of the upper torsion spring I51 is fixed in the upper torsion spring hole I37 of the top plate 21, and the upper torsion spring end II51b is fixed in the upper plate hole II52b of the upper plate I52. The brass rod passes through the sleeve, the upper plate hole IV52e, the upper plate through hole, the upper plate hole III52d, the lower plate shaft I56d and the lower plate through hole I56c from the outside to the inside, and is finally inserted into the slide groove Ij1 formed by the heat-conducting copper sheet 29b and the limit plate II29c. The cross-sectional shape of the brass rod I53 is consistent with the shape of the hole of the sleeve I54 and the lower plate through hole I56c. The sleeve I54 is fixed The lower torsion spring I57 is fixed at the outer end of the brass rod I53, inserted into the upper plate hole IV52e and can rotate around it, the heating wire I55 is wound and fixed on the side surface of the sleeve I54, the lower plate shaft I56d is inserted into the upper plate hole III52d and can rotate around it, and the gap between the upper plate through hole I52c and the brass rod I53 is filled with a low melting point alloy k, which is solid at room temperature, and undergoes a phase change to liquid when heated to the melting point, and changes from liquid to solid when the temperature drops below the solidification point. The present embodiment uses a bismuth-tin alloy with a melting point of 70 degrees; the lower torsion spring end II of the lower torsion spring I57 57b is fixed in the lower page plate hole II56b of the lower page plate I56, the lower torsion spring end I57a is fixed in the lower torsion spring hole I75 of the bottom plate 31, the lower hinge shaft I58 passes through the U-shaped groove outer end hole of the lower hinge I59, the lower page plate hole I56a, the U-shaped groove inner end hole of the lower hinge I59 and the lower torsion spring I57 from the outside to the inside, and the straight end of the lower hinge I59 is inserted into the bottom hinge I81 of the bottom plate 31 and hinged; when the low melting point alloy is solid, the upper page plate I52 cannot rotate around the brass rod I53, and the shape of the folding body I22 is fixed; when the low melting point alloy is liquid, the folding body I22 can be unfolded;During the unfolding process of the folding body 122, under the elastic force of the upper torsion spring 151, the upper page plate 152 of the folding body rotates around the upper hinge axis 150, and the angle between it and the top plate 21 increases. Under the elastic force of the lower torsion spring 157, the lower page plate 156 rotates around the lower hinge axis 158, and the angle between it and the bottom plate 31 increases. The upper page plate 152 and the lower page plate 156 rotate relatively around the lower page plate axis 156d, so that the angle between the upper page plate and the lower page plate increases, and the upper hinge 1 The distance between the upper hinge 49 and the lower hinge 159 increases, the folding body 122 unfolds, and the increase in the angle between the upper page plate 152 and the lower page plate 156 drives the brass rod 153 inserted in the through hole 156c of the lower page plate, so that the inner end of the brass rod 153 slides from the middle position of the slide groove to the end of the slide groove close to the folding body 122. When the sliding of the inner end of the brass rod 153 in the slide groove reaches the limit position of the stroke, the angle between the upper page plate 152 and the lower page plate 156 of the folding body 122 reaches the maximum. At this time, the folding body I22 is fully unfolded; during the folding process of the folding body I22, the upper page plate I52 of the folding body rotates around the upper hinge axis I50, and the angle between it and the top plate 21 decreases, and the lower page plate I56 rotates around the lower hinge axis I58, and the angle between it and the bottom plate 31 decreases. The upper page plate I52 and the lower page plate I56 rotate relatively around the lower page plate axis I56d, so that the angle formed by the upper page plate and the lower page plate decreases, and the distance between the upper hinge I49 and the lower hinge I59 decreases. , the folding body 122 is folded, and the reduction of the angle between the upper page plate 152 and the lower page plate 156 drives the brass rod 153 inserted in the through hole 156c of the lower page plate, so that the inner end of the brass rod 153 slides from the end position of the slide groove close to the folding body 122 to the middle position of the slide groove. When the inner end of the brass rod 153 slides in the slide groove to the limit position of the stroke, the angle between the upper page plate 152 and the lower page plate 156 of the folding body 122 is 0, and the folding body 122 is completely folded. ;

[0072] like Fig.17 As shown, the upper torsion spring I51 includes an upper torsion spring end I51a and an upper torsion spring end II51b;

[0073] like Fig.18 and Fig.19 As shown, the upper page plate I52 includes an upper page plate hole I52a, an upper page plate hole II52b, an upper page plate through hole I52c, an upper page plate hole III52d and an upper page plate hole IV52e;

[0074] like Fig. 20 As shown, the lower page plate I56 includes a lower page plate hole I56a, a lower page plate hole II56b, a lower page plate through hole I56c and a lower page plate shaft I56d;

[0075] like Fig.21 As shown, the lower torsion spring I57 comprises a lower torsion spring end I57a and a lower torsion spring end II57b;

[0076] like Fig. 22As shown, the folding body II23 includes an upper hinge II61, an upper hinge shaft II61, an upper torsion spring II62, an upper page plate II63, a brass rod II64, a sleeve II65, a heating wire II66, a lower page plate II67, a lower torsion spring II68, a lower hinge shaft II69 and a lower hinge II70, wherein the upper hinge II61 includes a U-shaped groove and a straight end, and the lower hinge II70 has the same structure as the upper hinge II61, including a U-shaped groove and a straight end, and the straight end of the upper hinge II61 of the folding body II23 is inserted into the top hinge II44 of the top plate 21 and hinged, and the upper torsion spring II The upper torsion spring end III62a of 62 is fixed in the upper torsion spring hole II38 of the top plate 21, the upper torsion spring end IV62b is fixed in the upper page plate hole VI63b of the upper page plate II63, the brass rod II64 is inserted into the slide groove IIj2 formed by the heat-conducting copper sheet 29b and the limiting plate II29c, the lower torsion spring end IV68b of the lower torsion spring II68 is fixed in the lower page plate hole VI of the lower page plate II67, the lower torsion spring end III68a is fixed in the lower torsion spring hole II76 of the bottom plate 31, and the straight end of the lower hinge II70 is inserted into the bottom hinge II82 of the bottom plate 31 and hinged.

[0077] like Fig.23 As shown, the upper torsion spring II62 includes an upper torsion spring end III62a and an upper torsion spring end IV62b;

[0078] like Fig.24 , Fig.25 As shown, the upper page plate II63 includes an upper page plate hole V63a, an upper page plate hole VI63b, an upper page plate through hole II63c, an upper page plate hole VII63d and an upper page plate hole VIII63e;

[0079] like Fig.26 As shown, the lower page plate II67 includes a lower page plate hole III67a, a lower page plate hole IV67b, a lower page plate through hole II67c and a lower page plate shaft II67d;

[0080] like Fig. 27 As shown, the lower torsion spring II68 comprises a lower torsion spring end III68a and a lower torsion spring end IV68b;

[0081] like Fig.28 As shown, the limit frame 29 is composed of a limit plate I29a, a heat-conducting copper sheet 29b, and a limit plate II29c arranged in order from top to bottom, wherein the top of the heat-conducting copper sheet 29b is fixedly connected to the bottom of the limit plate I29a, the bottom of the heat-conducting copper sheet 29b is fixedly connected to the top of the limit plate II29c, and the heat-conducting copper sheet 29b and the limit plate II29c form a slide groove Ij1, a slide groove IIj2 and a slide groove IIIj3; the cooling sheet 28 is placed in the middle of the limit plate I29a, and its bottom is fixedly connected to the top of the heat-conducting copper sheet 29b;

[0082] like Fig.29As shown, the bottom plate 31 is provided with a through hole IV72, a through hole V73, a through hole VI74, a lower torsion spring hole I75, a lower torsion spring hole II76, a lower torsion spring hole III77, a lower torsion spring hole IV78, a lower torsion spring hole V79, a lower torsion spring hole VI80, a bottom hinge I81, a bottom hinge II82, a bottom hinge III83, a bottom hinge IV84, a bottom hinge V85 and a bottom hinge VI86;

[0083] like Fig.30 As shown, the picking mechanism E includes a motor seat 87, a motor 88, a fixing frame 89, a mechanical claw 90 and a depth camera II91, wherein the mechanical claw 90 is an existing mechanical claw 90, the stator 88b of the motor 88 is fixed in the cylindrical groove II87a of the motor seat 87, the rotor 88a and the hole group VII89a of the fixing frame 89 are fixed by screws; the fixing frame 89 is fixed by screws to the mechanical claw 90 through the hole group VIII89b; the depth camera II91 is fixed to the fixing frame 89.

[0084] like Fig.31 As shown, the motor seat 87 includes a cylindrical groove II87a for fixing the stator 88b of the motor 88;

[0085] like Fig.32 As shown, the motor 88 includes a stator 88b and a rotor 88a, and the stator 88b can drive the fixing frame 89, the mechanical claw 90 and the depth camera II91 thereon to rotate;

[0086] like Fig.33 As shown, the fixing frame 89 includes a hole group VII 89a and a hole group VIII 89b.

[0087] The present invention provides a harvesting agricultural robot arm with a self-locking mechanism, and its working process and working principle are as follows:

[0088] In the initial state, the mechanical arm folding and unfolding mechanism D of the device is in a folded state, the low melting point alloy in the folding and unfolding body of each folding and unfolding unit is solid, and the folding and unfolding body cannot be unfolded, so that the mechanical arm folding and unfolding mechanism D is in a folded and locked state; the traction line I15 of the driving device C is tightened and wound on the winding wheel of the serial port servo I12, the traction line II16 is tightened and wound on the winding wheel of the serial port servo II13, and the traction line III17 is tightened and wound on the winding wheel of the serial port servo III14. When the device starts to pick, first, the onboard computer 101 collects the image information of the fruit to be picked through the depth camera I3 on ​​the vehicle body A, identifies the ripe fruit according to the image information, and obtains the position information of the ripe fruit, and then drives the vehicle body A to drive the entire device to move under the fruit. After the trolley arrives at the position below the fruit, the onboard computer 101 locates the fruit through the depth camera II91 of the picking mechanism E, determines the unfolding posture and orientation of the mechanical arm folding and unfolding mechanism D through calculation, and then determines the rotation angle of each serial port servo and the posture of each folding and unfolding unit, so that the picking mechanism E reaches the vicinity of the target fruit; at the same time, the rotation angle of the motor 88 of the picking mechanism E is determined, so that the mechanical claw 90 can grab the fruit after the mechanical arm folding and unfolding mechanism D is unfolded. Before the mechanical arm is unfolded, the onboard computer 101 drives the motor 88 of the picking mechanism E to run, and the rotor 88a of the motor 88 drives the fixed frame 89 on it and the mechanical claw 90 and the depth camera II91 on the fixed frame 89 to rotate to the corresponding angle.

[0089] When the robot arm is unfolded, the onboard computer 101 commands the control unit 30 of the folding unit to be unfolded to supply power to the heating wire circuit, and the temperature of the heating wire in the heating wire circuit increases by using the Joule heating effect generated by the current flowing through the conductor. The heating wire will heat the brass rod in the wound sleeve, causing the temperature of the outer end of the brass rod to increase. The heat is conducted to the low-melting-point alloy in the through hole of the upper page plate through the brass rod, causing the temperature of the low-melting-point alloy to increase. When the low-melting-point alloy is heated to the melting point, a phase change will occur, from solid to liquid, so that the folding body to which the low-melting-point alloy belongs is unlocked. When all the low-melting-point alloys of the folding unit are transformed into liquid, the folding unit is unlocked. The onboard computer 101 controls the serial port steering gear I12, serial port steering gear II13 and serial port steering gear III14 of the driving device C to run at a determined angle, and each winding wheel rotates to release the corresponding length of the traction line I15, traction line II16 and traction line III17, the pressure on the folding unit is reduced, and each folding body is unfolded to the target posture and orientation according to the predetermined trajectory calculated by the onboard computer 101 under the elastic force of the upper and lower torsion springs, so that the picking mechanism E reaches the target position. At this time, the onboard computer 101 commands the control unit 30 to stop supplying power to the heating wire circuit and start supplying power to the cooling sheet 28. The heating wire of the folding unit is no longer heated, and the cooling sheet 28 starts to work. Since the temperature of the liquid low-melting-point alloy is higher than the ambient temperature, its heat will be conducted to the heat-conducting copper sheet 29b through the brass rod, and the heat-conducting copper sheet 29b will dissipate the absorbed heat through the cooling sheet 28 thereon, so that the temperature of the low-melting-point alloy is continuously reduced. When the low melting point alloy is cooled to the solidification point, the low melting point alloy changes from liquid to solid, locking the folding body. At this time, the mechanical arm folding mechanism D is locked, and the posture and orientation are maintained. After the picking mechanism E reaches the target position, the mechanical claw 90 faces the fruit and can be picked. The onboard computer 101 drives the mechanical claw 90 to retract and grab the fruit, and drives the motor 88 to rotate to cut off the connection between the fruit stalk and the fruit tree. After the mechanical claw 90 picks the fruit, the onboard computer 101 commands the control unit 30 to supply power to the heating wire circuit, and the heating wire of each folding unit is heated. The heat generated is conducted to the low melting point alloy by the brass rod, so that the temperature of the low melting point alloy rises to the melting point, and the low melting point alloy changes from a solid phase to a liquid phase, and the folding body is unlocked; at the same time, the onboard computer 101 controls the serial port servo I12, serial port servo II13 and serial port servo III14 of the drive device C to operate, and the traction line I15, traction line II16 and traction line III17 that are reversed and retracted by the winding wheel, the folding body of the folding unit is folded under the action of tension, and while the mechanical arm folding mechanism D is folded, the onboard computer 101 drives the motor 88 to rotate. During this period, the visual information obtained by the relative depth camera II91 on the fixed frame 89 is used to control the mechanical claw 90 to approach the storage basket 4, so that the picking mechanism E and the fruit reach above the bottom surface of the storage basket 4, and the mechanical claw 90 releases the fruit, so that the fruit falls into the storage basket 4, and the storage of the fruit is completed.

[0090] Finally, the onboard computer 101 controls the serial port servo I12, serial port servo II13 and serial port servo III14 of the driving device C to operate, the winding wheel reverses to retract the traction lines I15, traction lines II16 and traction lines III17, each folding unit is completely folded under the action of the traction line tension, the mechanical arm folding mechanism D is completely folded, the heating wire circuit of each folding unit stops supplying power, the cooling sheet supplies power until the low melting point alloy turns into a solid state, each folding unit is locked, the mechanical arm folding mechanism D is locked in the folded state, and the motor 88 rotor 88a rotates back to the initial position. At this point, the device completes a picking process.

Claims

1. A harvesting agricultural robot arm with a self-locking mechanism, comprising: Vehicle body (A), robotic arm base (B), robotic arm folding and unfolding mechanism (D) and picking mechanism (E); The mechanical arm folding and unfolding mechanism (D) is composed of a plurality of folding units; The folding unit comprises: a top plate, a folding and unfolding body, a limiting frame, and a bottom plate; The folding and unfolding body comprises: an upper hinge, an upper hinge shaft, an upper page plate, a sleeve, a lower page plate, a lower hinge shaft, a lower hinge, an upper torsion spring, and a lower torsion spring; The top plate, the limit frame and the bottom plate are triangular; each corner thereof is provided with a folding body on both sides; the upper part of the upper plate is hinged to the top plate through an upper hinge, the lower part of the upper plate and the upper part of the lower plate are hinged to the limit frame, and the lower part of the lower plate is hinged to the bottom plate through a lower hinge; the upper torsion spring and the lower torsion spring are respectively arranged on the upper hinge shaft and the lower hinge shaft; The robot arm base (B) is provided with three serial port servos and traction lines. The top plate and the bottom plate are provided with traction line holes at three corners. The traction lines pass through the traction line holes and are fixed on the top plate of the top folding unit. The serial port servos control the robot arm folding and unfolding mechanism (D) by retracting and extending the traction lines.

2. The harvesting agricultural robot arm with a self-locking mechanism according to claim 1, characterized in that: Also includes: Wires, control unit, main power supply line, heating wire, cooling sheet, thermal conductive copper sheet; The hinge shafts for hinged connection between the upper page plate, the lower page plate and the limit frame are brass rods; The heating wire is wound around the exposed outer part of the brass rod or the side surface of the sleeve on the brass rod; the inner side of the brass rod is in contact with the cooling plate through the heat-conducting copper plate; The control unit controls the heating wire and the cooling sheet to perform heating or cooling.

3. The harvesting agricultural robot arm with a self-locking mechanism according to claim 2, characterized in that: The limit frame is composed of a limit plate I, a heat-conducting copper sheet, and a limit plate II arranged in order from top to bottom, wherein the top of the heat-conducting copper sheet is fixedly connected to the bottom of the limit plate I, the bottom of the heat-conducting copper sheet is fixedly connected to the top of the limit plate II, and the heat-conducting copper sheet and the limit plate constitute slide grooves I, II, and III; the refrigeration plate is placed in the middle of the limit plate, and its bottom is fixedly connected to the top of the heat-conducting copper sheet.

4. A harvesting agricultural robot arm with a self-locking mechanism according to claim 1, 2 or 3, characterized in that: The gap between the upper page plate through hole at the lower part of the upper page plate and the brass rod is filled with a low melting point alloy, which is solid at room temperature and has a melting point below 100°C. When heated to the melting point, it undergoes a phase change to a liquid state, allowing the upper page plate to rotate around the brass rod. When the temperature drops below the solidification point, it changes back from liquid to solid state, and the upper page plate cannot rotate around the brass rod.

5. The harvesting agricultural robot arm with a self-locking mechanism according to claim 4, characterized in that: The low melting point alloy is a bismuth-tin alloy.

6. The harvesting agricultural robot arm with a self-locking mechanism according to claim 5, characterized in that: The vehicle body (A) is composed of a chassis, a vehicle shell, a depth camera and a storage basket. The chassis is a double-track chassis with independent drive, on which an onboard computer and a power supply are provided; the upper side of the chassis is fixedly connected to the vehicle shell, and a depth camera I is also provided at the front of the vehicle shell; the upper side of the rear of the vehicle shell is fixedly received by the storage basket, and the power supply supplies power to the entire device through wires.

7. The agricultural harvesting robot with a self-locking mechanism according to claim 6, characterized in that: The picking mechanism (E) includes: a motor seat, a motor, a fixing frame, a mechanical claw and a depth camera II. The motor includes a stator and a rotor. The stator is fixed to the middle of the motor seat, and the rotor is fixed to the fixing frame. The mechanical claw is fixed to the lower side of the fixing frame, and the depth camera II is fixed to the upper side.

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