A harvesting agricultural robot with a self-locking mechanism

Abstract

The present invention discloses a harvesting agricultural robot arm with a self-locking mechanism. This robot arm belongs to the technical field of agricultural robots and comprises: a vehicle body, a robot arm base, a drive device, a robot arm folding and unfolding mechanism, and a harvesting mechanism. The robot arm is fixedly connected to the front end of the vehicle body; the robot arm base is provided with a serial port servo for the drive device, the output end of which is connected to a traction line to control the retraction and extension of the traction line; the robot arm folding and unfolding mechanism comprises a plurality of folding units; the folding units are low-melting-point alloy folding bodies and thermally movable structures; the traction line of the drive device passes through the plurality of folding units, with its end fixedly connected to each corner of the top plate of the uppermost folding unit, thereby controlling the unfolding posture and orientation of the robot arm folding and unfolding mechanism D. The robot arm proposed in the present invention occupies a small space, has a large working space, has a high compression ratio, and is self-locking. Combined with a mechanical claw and a vision system, it can perform efficient and autonomous harvesting, and has high application value for agricultural harvesting.

Description

Technical Field

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

[0002] In the current agricultural harvesting model, the cost of manual harvesting is increasing as labor costs continue to rise. Manual harvesting often requires long periods of repetitive movements, such as bending and reaching, which can easily lead to worker fatigue, reduce picking efficiency, and even lead to occupational diseases. To improve picking efficiency and save manpower, automated harvesting using mechanical devices has great application value. Existing harvesting machines typically utilize articulated robotic arms for harvesting, such as the patented "Crawler-Type Cross-Ridge Harvesting Equipment" (Publication No.: CN118044402A) and the patented "Deep Learning-Based Automated Pear Harvesting Method and Apparatus" (Publication No.: CN118279543A). With technological advancements, folding mechanisms are gaining increasing attention due to their advantages, such as light weight and high compression ratio. A robotic arm with a folding mechanism can be folded up when not in use, occupying less space. This not only facilitates passage through narrow passages but also facilitates storage and transportation of the equipment. During operation, the folding mechanism can be extended to locations that are often beyond the reach of traditional articulated robotic arms, providing a larger working range. Summary of the Invention

[0003] The present invention aims to provide a harvesting robot with a folding and deploying mechanism for its robotic arms. This robot features a small footprint, a large working area, a high compression ratio, and self-locking capabilities. Combined with a mechanical claw, it enables efficient, autonomous harvesting. When the robotic arms are folded, the robot offers excellent maneuverability and ease of storage and transportation. When deployed, the device offers a high extension height and a wide working range, demonstrating its 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 multiple folding units;

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

[0007] The folding and unfolding body includes: 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, limit frame and bottom plate are triangular in shape; each corner thereof is provided with a folding body on both sides; the upper portion of the upper plate is hinged to the top plate via an upper hinge, the lower portion of the upper plate and the upper portion of the lower plate are hinged to the limit frame, and the lower portion of the lower plate is hinged to the bottom plate via a lower hinge; the upper torsion spring and the lower torsion spring are respectively provided on the upper hinge shaft and the lower hinge shaft;

[0009] The robotic arm base B is equipped with three serial port servos and traction lines. There are traction line holes at the three corners of the top and bottom plates. The traction lines pass through the traction line holes and are fixed to the top plate of the top folding unit. The serial port servos control the folding and unfolding mechanism D of the robotic arm by retracting and extending the traction lines.

[0010] The manipulator further comprises: a 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 and lower page plates and the limit frame are brass rods;

[0012] The heating wire is wound around the exposed outer portion 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 plate 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, II, and III; the cooling 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;

[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. The alloy 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 plate to rotate around the brass rod. When the temperature drops below the freezing point, it changes from liquid back to solid, 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 dual-track chassis with independent drive, equipped with an onboard computer and power supply. The upper side of the chassis is fixed to the vehicle shell, and the front of the vehicle shell is also equipped with a depth camera I. The upper side of the rear of the vehicle shell is fixed to the storage basket, and the power supply supplies power to the entire device through wires.

[0018] The picking mechanism E includes: a motor base, 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 base, 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 arm with a self-locking mechanism. The robot arm comprises a vehicle body, a robot arm base, a drive device, a robot arm folding and unfolding mechanism, and a harvesting mechanism. The robot arm is fixedly attached to the front end of the vehicle body. The robot arm base is equipped with a serial port servo for the drive device, whose output is connected to a traction line to control its retraction and extension. The robot arm folding and unfolding mechanism comprises multiple folding units, each of which is a low-melting-point alloy folding body with a thermally movable structure. The traction line of the drive device passes through the multiple folding units, with its terminal end fixed to each corner of the top plate of the uppermost folding unit, thereby controlling the unfolded posture and orientation of the robot arm folding and unfolding mechanism D. Compared to articulated robot arms, the robot arm folding and unfolding mechanism proposed in the present invention occupies less space, has a larger working area, and features a high compression ratio and self-locking properties. Combined with a robotic claw, it enables efficient and autonomous harvesting. When the robot arm is folded, the robot has excellent maneuverability and is easy to store and transport. When unfolded, the device extends to a high height and has a large working range, making it highly applicable for agricultural harvesting.

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

[0021] 1. The robotic arm folding and unfolding mechanism of 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 extends to a high height and has a large working range, and has high application value.

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

[0023] 3. This invention utilizes a modular design. The robotic arm's folding and unfolding mechanism consists of multiple independent folding and unfolding modules. These modules can be combined and disassembled according to different needs to achieve different functions. The modular design also makes the robotic arm's folding and unfolding mechanism easier to manufacture and maintain, improves scalability, and has promising application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0025] Figure 2This 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 This is a structural diagram of a base 1 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

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

[0028] Figure 5 Schematic diagram B of the structure of a vehicle shell 2 of a harvesting agricultural robot arm with a self-locking mechanism according to 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 according to the present invention;

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

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

[0032] Figure 9 This is a schematic structural diagram of a folding and unfolding unit of a harvesting agricultural robot arm having a self-locking mechanism;

[0033] Figure 10 Schematic diagram A of the structure of the folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0034] Figure 11 Schematic diagram B of the structure of the folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0035] Figure 12 This is a schematic diagram of a folding state of a folding unit of a harvesting agricultural robot arm with a self-locking mechanism mechanical arm according to the present invention;

[0036] Figure 13 This is a schematic diagram of a bending state of a folding and unfolding unit of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

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

[0038] Figure 15This is a structural diagram of a folding and unfolding body 122 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0039] Figure 16 It is a cross-sectional view of a folded and unfolded body 122 of a harvesting agricultural robot arm having a self-locking mechanism according to the present invention;

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

[0041] Figure 18 Schematic diagram A of the structure of an upper page plate I52 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0042] Figure 19 Schematic diagram B of the structure of the upper page plate I52 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

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

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

[0045] Figure 22 This is a structural diagram of a folding and unfolding body II23 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0046] Figure 23 This is a structural diagram of an upper torsion spring II62 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0047] Figure 24 Schematic diagram A of the structure of the upper page plate II63 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0048] Figure 25 Schematic diagram B of the structure of the upper page plate II63 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

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

[0050] Figure 27 This is a structural diagram of a lower torsion spring II68 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

[0051] Figure 28This is an exploded view of a limit frame 29 of a harvesting agricultural robot arm with a self-locking mechanism according to the present invention;

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

[0053] Figure 30 This is a complete structural diagram of a picking mechanism E of a picking agricultural robot arm with a self-locking mechanism according to the present invention;

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

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

[0056] Figure 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 figure:

[0058] A. Vehicle body; B. Robotic arm base; C. Drive unit; D. Robotic arm folding mechanism; E. Picking mechanism; 1. Chassis; 2. Vehicle 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. Fixing head I; 19. Fixing head II; 20. Fixing head III20; 21. Top plate21; 22. Folding body I; 23. Folding body II; 24. Folding body III24; 25. 26. Folding and unfolding body IV; 27. Folding and unfolding body VI27; 28. Refrigeration plate; 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 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 plate II; 64. Brass rod II; 65. Sleeve II; 66. Heating wire II; 67. Lower 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 mount; 88. Motor; 89. Mounting 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 plate hole I; 52b. Upper plate hole II; 52c. Upper plate through hole I; 52d. Upper plate hole III; 52e. Upper plate hole IV; 56a. Lower plate hole I; 56b. Lower plate hole I I; 56c. Lower plate through hole I; 56d. Lower 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 plate hole V; 63b. Upper plate hole VI; 63c. Upper plate through hole II; 63d. Upper plate hole VII; 63e. Upper plate hole VIII; 67a. Lower plate hole III; 67b. Lower plate hole IV; 67c. Lower plate through hole II; 67d. Lower 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 provides a harvesting agricultural robot with a self-locking mechanism mechanical arm, comprising: a vehicle body A, a mechanical arm base B, a drive 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 end of the front portion of the vehicle shell 2 of the vehicle body A by screws; the lower surface of the bottom plate 31 of the folding unit ID1 of the mechanical arm folding and unfolding mechanism D is fixedly connected to the upper surface of the upper plate of the mechanical arm base B; the serial port servo I12, the serial port servo II13, and the serial port servo III14 in the drive device C are evenly distributed on the middle plate of the mechanical arm base B, and are divided into: The fixing hole group I9, fixing hole group II10 and fixing hole group III11 of the middle plate 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 robotic 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 I 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 fixed with 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 accommodate the robotic arm base B, and a screw hole group I204 is arranged around the cylindrical slot I201 for screw connection with the screw hole group II8 of the upper plate of the robotic arm base B.

[0062] like Figure 3 As shown, the chassis 1 has an independently driven double-track chassis, which contains 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 slot I201, a camera slot 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 bottom surface of the rear portion of the storage basket 4 is provided with a hole group VI401;

[0065] like Figure 7 As shown, the robotic 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, as well as a screw hole group II8 evenly distributed around the circumference; 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 wheel are fixed with screws; the bottom end of the traction line I15 is fixedly connected to and wound around the winding wheel of the serial port servo I12, and from the bottom to the top, it passes through the hole I5 on the upper plate of the robot arm base B, the through hole IV72 of the bottom plate 31 of the folding unit ID1 to the folding unit VIID7 and 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, and the top is fixed to the fixed head I18 Bottom surface; the bottom end of the traction line II16 is fixedly connected to and wound around the winding wheel of the serial port servo II13, and passes through the hole II6 of the upper plate of the robot arm base B, the through hole V73 of the folding unit ID1 to the folding unit VIID7 bottom plate 31 and the through hole II35 of the top plate 21, and the through hole V73 of the folding unit VIIID8 bottom plate 31 in order from bottom to 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 to and wound around the winding wheel of the serial port servo III14, and passes through the hole III7 of the upper plate of the robot arm base B, the through hole VI74 of the folding unit ID1 to the folding unit VIID7 bottom plate 31 and the through hole III36 of the top plate 21, and the through hole VI74 of the folding unit VIIID8 bottom plate 31 in order from bottom to 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 folding 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 folding state to the unfolding 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 I17. II17, so that the traction tension from the traction line on each folding and unfolding unit is reduced, and it is unfolded under the elastic force of the upper and lower torsion springs; the drive device C determines the rotation angle of the winding wheels of the serial port servo I12, serial port servo II13 and serial port servo III14 through the calculation of the onboard computer 101, thereby controlling the length of the released traction line I15, traction line II16 and traction line III17; the different release lengths of the traction line I15, traction line II16 and traction line III17 can regulate 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 Figure 9 As shown, the robotic arm folding mechanism D is composed of a folding unit ID1, a folding unit IID2, a folding unit IIID3, a folding unit IVD4, a folding unit VD5, a folding unit VID6, a folding unit VIID7 and a folding unit VIIID8. The folding unit ID1, the folding unit IID2, the folding unit IIID3, the folding unit IVD4, the folding unit VD5, the folding unit VID6, the folding unit VIID7 and the folding unit VIIID8 have the same structure and are arranged and fixed in sequence from bottom to top.

[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 limit 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 limit 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 straight end of the lower hinge I59 is inserted into the bottom hinge I81 of the bottom plate 31 and hinged; the straight 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 limit 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 symmetrical in the shape of a hand. The folding body II23, the folding body IV25, and the folding body VI27 have the same structure, 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 limit plate II29c, the heating wire II66 includes a heating wire end ci3 and a 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 is fixed in the lower torsion spring hole IV78. 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, the lower torsion spring end III68 of the lower torsion spring II68 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 limit plate I29a, and its bottom is fixed 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 fixed to the upper surface of the limit 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. The control unit 30 is powered by a main power line 33 and can independently control the power supply to the cooling fins 28 and the heating wire circuit. The folding unit uses a wire 32 to connect the heating wire ends ai1 and ci3, di4 and fi6, ei5 and gi7, ii9 and ki11, and bi2 and li12, so that the heating wires of the folding unit and the control unit 30 form a heating wire circuit.

[0070] like Figure 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 Figure 14 and Figure 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 157 from the outside to the 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 page plate hole II52b of the upper page plate I52. The brass rod passes through the sleeve, the upper page plate hole IV52e, the upper page plate through hole, the upper page plate hole III52d, the lower page plate shaft I56d and the lower page 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 page plate through hole I56c. The sleeve I54 is fixed The outer end of the brass rod I53 is fixed and 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. The gap between the upper plate through hole I52c and the brass rod I53 is filled with a low melting point alloy k. The alloy is solid at room temperature. When heated to the melting point, it undergoes a phase change to liquid. When the temperature drops below the freezing point, it changes from liquid to solid. In this embodiment, a bismuth-tin alloy with a melting point of 70 degrees is used; 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, and the lower hinge shaft I58 passes through the outer end hole of the U-shaped groove of the lower hinge I59, the lower page plate hole I56a, the inner end hole of the U-shaped groove of the lower hinge I59 and the lower torsion spring I57 from the outside to the inside. 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 in a solid state, 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 in a liquid state, 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 relative to each other 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 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 122 is fully unfolded; during the folding process of the folding body 122, 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 is reduced. The lower page plate 156 rotates around the lower hinge axis 158, and the angle between it and the bottom plate 31 is reduced. The upper page plate 152 and the lower page plate 156 rotate relative to each other around the lower page plate axis 156d, so that the angle formed by the upper page plate and the lower page plate is reduced, and the distance between the upper hinge 149 and the lower hinge 159 is reduced. As the folding body 122 folds, the decreasing angle between the upper and lower panels 152 and 156 drives the brass rod 153, inserted in the through-hole 156c of the lower panel, to slide from the inner end of the chute near the folding body 122 toward the middle of the chute. When the inner end of the brass rod 153 reaches the limit of travel in the chute, the angle between the upper and lower panels 152 and 156 of the folding body 122 is zero, and the folding body 122 is now completely folded.

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

[0073] like Figure 18 and Figure 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 Figure 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 Figure 21 As shown, the lower torsion spring I57 includes a lower torsion spring end I57a and a lower torsion spring end II57b;

[0076] like Figure 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. 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 limit 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 Figure 23 As shown, the upper torsion spring II62 includes an upper torsion spring end III62a and an upper torsion spring end IV62b;

[0078] like Figure 24 、 Figure 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 Figure 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 Figure 27 As shown, the lower torsion spring II68 includes a lower torsion spring end III68a and a lower torsion spring end IV68b;

[0081] like Figure 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 sequence 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 chute Ij1, a chute IIj2, and a chute IIIj3; the cooling plate 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 Figure 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 Figure 30 As shown, the picking mechanism E includes a motor base 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 base 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 Figure 31 As shown, the motor seat 87 includes a cylindrical groove II87a for fixing the stator 88b of the motor 88;

[0085] like Figure 32 As shown, the motor 88 includes a stator 88b and a rotor 88a. The stator 88b can drive the fixing frame 89, the mechanical claw 90 and the depth camera II 91 thereon to rotate;

[0086] like Figure 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. Its working process and working principle are as follows:

[0088] Initially, the device's robotic arm folding mechanism D is folded. The low-melting-point alloy in each folding unit's folding body is solid, preventing it from unfolding, placing the robotic arm folding mechanism D in a folded, locked state. The traction line I15 of the drive unit C is tightly wound around the reel of the serial port servo I12, the traction line II16 is tightly wound around the reel of the serial port servo II13, and the traction line III17 is tightly wound around the reel of the serial port servo III14. When the device begins harvesting, the onboard computer 101 first captures image information of the fruit to be harvested using the depth camera I3 on ​​vehicle body A. Based on this image information, it identifies the ripe fruit and determines its location. It then drives vehicle body A, moving the entire device to the location below the fruit. After the cart reaches the position below the fruit, the onboard computer 101 locates the fruit using the depth camera II91 of the picking mechanism E. It then calculates the deployed posture and orientation of the robotic arm's folding and deploying mechanism D, and further determines the rotation angles of each serial port servo and the posture of each deploying unit, allowing the picking mechanism E to reach the target fruit. It also determines the rotation angle of the motor 88 of the picking mechanism E, enabling the mechanical claw 90 to grasp the fruit after the mechanical arm's folding and deploying mechanism D is deployed. Before the robotic arm is deployed, the onboard computer 101 drives the motor 88 of the picking mechanism E. The rotor 88a of the motor 88 drives the mounting bracket 89, the mechanical claw 90 mounted on the mounting bracket 89, and the depth camera II91 to rotate to the corresponding angle.

[0089] When the robotic arm deploys, the onboard computer 101 instructs the control unit 30 of the deployable unit to supply power to the associated heating wire circuit. This circuit's heating wire, heated by the Joule heating effect generated by the current flowing through the conductor, heats the brass rod within the sleeve, raising the temperature of the outer end. This heat is then transferred through the brass rod to the low-melting-point alloy in the through-holes of the upper plate, raising its temperature. When the low-melting-point alloy reaches its melting point, it undergoes a phase transition from solid to liquid, unlocking the deployable unit to which it belongs. Once all of the low-melting-point alloy in a deployable unit has transformed into a liquid state, the unit is unlocked. The onboard computer 101 controls the serial servos I12, II13, and III14 of the drive unit C to operate at a predetermined angle. Each reel rotates to release corresponding lengths of traction lines I15, II16, and III17. The pressure on the folding unit decreases, and under the elastic force of the upper and lower torsion springs, each folding element unfolds to the target posture and orientation along the predetermined trajectory calculated by the onboard computer 101, allowing the picking mechanism E to reach the target position. At this point, the onboard computer 101 instructs the control unit 30 to stop supplying power to the heating wire circuit and begin supplying power to the cooling fins 28. The heating wires in the folding unit are no longer heated, and the cooling fins 28 begin operating. Because the temperature of the liquid low-melting-point alloy is higher than the ambient temperature, its heat is transferred through the brass rod to the heat-conducting copper fins 29b. The heat absorbed by the heat-conducting copper fins 29b is dissipated through the cooling fins 28, continuously lowering the temperature of the low-melting-point alloy. When the low-melting-point alloy cools to its freezing point, it transforms from a liquid to a solid phase, locking the foldable body. At this point, the arm's folding mechanism D is locked, maintaining its position and orientation. Once the picking mechanism E reaches its target position, the mechanical claw 90 faces the fruit, ready for harvest. The onboard computer 101 drives the claw 90 to retract and grasp the fruit, while also driving the motor 88 to rotate and sever the connection between the fruit stem and the tree. After the robotic claw 90 picks the fruit, the onboard computer 101 instructs the control unit 30 to supply power to the heating wire circuit, heating the heating wires of each folding unit. The generated heat is conducted by the brass rod to the low-melting-point alloy, causing the temperature of the low-melting-point alloy to rise to the melting point, causing the low-melting-point alloy to change 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 servos I12, II13, and III14 of the drive device C to operate, and the traction lines I15, II16, and III17 that are retracted by the winding wheel are reversed. The folding body of the folding unit folds under the action of the tension. As the robotic arm folding mechanism D folds, the onboard computer 101 drives the motor 88 to rotate. During this period, the relative depth camera II91 on the fixed frame 89 obtains visual information to control the robotic 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. The robotic claw 90 releases the fruit, allowing the fruit to fall into the storage basket 4, completing the storage of the fruit.

[0090] Finally, onboard computer 101 controls serial servos I12, II13, and III14 of drive unit C. The reel reverses and retracts traction lines I15, II16, and III17. Each folding unit is fully folded under the tension of the traction lines, and the robotic arm folding mechanism D is completely folded. The heating wire circuits of each folding unit are de-energized, while the cooling plate is powered until the low-melting-point alloy transforms into a solid state. The folding units are locked, the robotic arm folding mechanism D is locked in its folded state, and the rotor 88a of motor 88 rotates back to its initial position. At this point, the device completes a harvesting 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 body, a limiting frame, and a bottom plate; The folding and unfolding body includes: 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, limit frame and bottom plate are triangular in shape; each corner thereof is provided with a folding body on both sides; the upper portion of the upper plate is hinged to the top plate via an upper hinge, the lower portion of the upper plate and the upper portion of the lower plate are hinged to the limit frame, and the lower portion of the lower plate is hinged to the bottom plate via a lower hinge; the upper torsion spring and the lower torsion spring are respectively provided on the upper hinge shaft and the lower hinge shaft; The manipulator base (B) is equipped with three serial port servos and traction lines. The top and bottom plates are provided with traction line holes at three corners. The traction lines pass through the traction line holes and are fixed to the top plate of the top folding unit. The serial port servos control the manipulator folding and unfolding mechanism (D) by retracting and extending the traction lines. It 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 and lower page plates and the limit frame are brass rods; The heating wire is wound around the exposed outer portion 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 plate to heat or cool; 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, II, and III; the cooling 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; The gap between the upper page plate through hole and the brass rod at the lower part of the upper page plate is filled with a low-melting-point alloy. The low-melting-point alloy is solid at room temperature and has a melting point below 100°C. When heated to the melting point, it undergoes a phase change into 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, and the upper page plate cannot rotate around the brass rod.

2. The agricultural harvesting robot with a self-locking mechanism according to claim 1, characterized in that: The low melting point alloy is a bismuth-tin alloy.

3. The agricultural harvesting robot with a self-locking mechanism according to claim 2, characterized in that: The vehicle body (A) consists of a chassis, a shell, a depth camera, and a storage basket. The chassis is an independently driven dual-track chassis equipped with an onboard computer and a power supply. The upper side of the chassis is fixed to the shell, and the front of the shell is also equipped with a depth camera I. The storage basket is fixed to the upper side of the rear of the shell, and the power supply supplies power to the entire device through wires.

4. The agricultural harvesting robot with a self-locking mechanism according to claim 3, characterized in that: The picking mechanism (E) includes: a motor base, 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 base, 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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