Self-adaptive mechanical arm for plant phenotype information collection and adjusting method of self-adaptive mechanical arm

Abstract

The invention discloses a self-adaptive mechanical arm for plant phenotype information collection and an adjusting method of the self-adaptive mechanical arm. The self-adaptive mechanical arm comprises a mechanical arm body, a detection mechanism and a lifting mechanism driving the detection mechanism to move up and down on the mechanical arm body. The detection mechanism comprises a main body plate, a rotating mechanism, a collector and a balance sensing assembly. The rotating mechanism is connected to the main body plate and comprises a first rotating shaft, a second rotating shaft and a clutch assembly for driving the first rotating shaft and the second rotating shaft to be connected or separated, the first rotating shaft is connected with a detection driving part, and the second rotating shaft is connected with a self-adaptive driving part. And the collector is connected to the second rotating shaft, and the balance sensing assembly senses the deviation angle of the second rotating shaft and is connected with the self-adaptive driving part. The angle of the acquisition device can be adjusted and calibrated, so that the information acquisition precision is improved, and timely and accurate data support is provided for plant production managers or decision makers.

Description

Technical Field

[0001] The present invention relates to the technical field of plant collection, and in particular to an adaptive mechanical arm for collecting plant phenotypic information and an adjustment method thereof. Background Art

[0002] With the continuous development of scientific research, in order to enable the plants to grow and develop better, it is usually necessary to study their habits. The growth information of the plants reflects the conditions and trends of the plants' growth. The long-term information collection of the plants is a macro-estimation of the plants' real-time seedling conditions, environmental dynamics and distribution conditions. It timely understands the growth conditions of the plants, fertilizer and water prices, and pest and disease dynamics, which facilitates the adoption of various scientific management measures, promotes the growth of the plants, and provides timely and accurate data information for plant production managers or management decision makers.

[0003] In the prior art, plant collection devices are usually used to collect information to reduce the labor intensity of workers. The device collects information on the growth and habits of plants through the collection device on the mechanical arm. However, as the collection device operates for a long time, the wear between the parts will cause the collection angles on the two mechanical arms to differ greatly, making the accuracy of the collected information low, which is not conducive to comparing the plant information. Therefore, in order to solve the above problem, the present invention proposes an adaptive mechanical arm for collecting plant phenotypic information. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive robotic arm for collecting plant phenotypic information and an adjustment method thereof, so as to solve the problem that the collection angles of the two robotic arms differ greatly due to wear between components during long-term use of the collection device, thereby making the collection content more accurate and facilitating improving the accuracy of collecting plant information.

[0005] In order to achieve the above-mentioned purpose, the adaptive robotic arm for collecting plant phenotypic information of the present invention includes a robotic arm body, a detection mechanism and a lifting mechanism that drives the detection mechanism to move up and down on the robotic arm body, the detection mechanism includes: a main body plate; a rotating mechanism, connected to the main body plate, including a first rotating shaft, a second rotating shaft and a clutch assembly that drives the first rotating shaft and the second rotating shaft to be connected or separated, the first rotating shaft is connected to a detection drive member, and the second rotating shaft is connected to an adaptive drive member; a collector, connected to the second rotating shaft, and a balance sensing assembly, sensing the offset angle of the second rotating shaft and connecting the adaptive drive member.

[0006] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the detection mechanism further includes a shell, the first rotating shaft is fixedly connected to the shell, and the second rotating shaft is movably connected in the shell.

[0007] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the first rotating shaft includes a first toothed plate, the second rotating shaft includes a second toothed plate meshing with the first toothed plate, and the first toothed plate, the second toothed plate and the clutch assembly are arranged in the shell.

[0008] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the main body plate includes a first cavity and a second cavity, the detection drive component is arranged in the first cavity, and the adaptive drive component is arranged in the second cavity.

[0009] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the main body plate also includes a groove, the groove is located between the first cavity and the second cavity, the shell is located in the groove, and the collector is connected to the part of the second rotating shaft located in the groove.

[0010] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the first toothed disc is fixedly connected in the shell and movably sleeved on the second rotating shaft, and the second toothed disc is fixedly connected to the end of the second rotating shaft.

[0011] In one embodiment of the above-mentioned adaptive mechanical arm for collecting plant phenotypic information, the second toothed disk is connected to the shell via a movable bearing.

[0012] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the clutch assembly includes an electromagnetic control component and a reset elastic component, the electromagnetic control component controls the second toothed disk to separate relative to the first toothed disk, and the reset elastic component pushes the second toothed disk to connect relative to the first toothed disk.

[0013] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the balance sensing component includes a balance sensor, and the balance sensor is connected to the shell.

[0014] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the detection mechanism also includes a rotating block and a sleeve connected to the rotating block, the collector is connected to the second rotating shaft through the rotating block, and the adaptive driving member drives the sleeve to rotate.

[0015] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the adaptive driving member includes a driving end inserted into the sleeve, and a limit plate is provided at the end of the driving end to prevent the driving end from detaching from the sleeve.

[0016] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the sleeve includes a slide groove, and the driving end is provided with ribs corresponding to the slide groove along the axial surface.

[0017] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the lifting mechanism includes a slide rail, a lifting pneumatic cylinder and a pneumatic cylinder controller connected to the lifting pneumatic cylinder, the slide rail is connected to the robotic arm body, and the lifting pneumatic cylinder drives the main body plate to move up and down along the slide rail.

[0018] In one embodiment of the above-mentioned adaptive robotic arm for collecting plant phenotypic information, the pneumatic cylinder controller includes a pressure gauge connected to the lifting pneumatic cylinder.

[0019] The method for adjusting the adaptive mechanical arm for collecting plant phenotypic information of the present invention adopts the adaptive mechanical arm for collecting plant phenotypic information to perform adaptive adjustment, and comprises the following steps:

[0020] Set up two adaptive robotic arms;

[0021] The balance sensing component senses the offset angle between the second rotation axes of the two adaptive mechanical arms;

[0022] The first rotating shaft and the second rotating shaft are separated, and the adaptive driving member drives the second rotating shaft to rotate the offset angle;

[0023] The first rotating shaft is connected to the second rotating shaft, the detection driving member drives the first rotating shaft, and the collectors of the two adaptive mechanical arms collect plant information.

[0024] In one embodiment of the above-mentioned method for adjusting the adaptive robotic arm for collecting plant phenotypic information, the air pressure of the lifting cylinder is adjusted by the pneumatic cylinder controller until the lifting cylinders of the two adaptive robotic arms drive the main plates to the same height.

[0025] The beneficial effect of the present invention is that the adaptive robotic arm for collecting plant phenotypic information of the present invention can adjust and calibrate the angle of the collection device, thereby improving the accuracy of the collected information and providing timely and accurate data support for plant production managers or decision makers.

[0026] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a working state diagram of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0028] Figure 2It is a front structural schematic diagram of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0029] Figure 3 It is a schematic diagram of the back structure of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0030] Figure 4 It is a partial cross-sectional structural schematic diagram of the main body plate of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0031] Figure 5 It is a schematic cross-sectional structure diagram of a shell of an adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0032] Figure 6 It is a schematic diagram of the cross-sectional structure of the shell of the adaptive mechanical arm for collecting plant phenotypic information of the present invention during adaptive adjustment;

[0033] Figure 7 It is a schematic diagram of the cross-sectional structure of the toothed disc during the adaptive adjustment of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0034] Figure 8 It is a schematic cross-sectional structure diagram of the movable bearing connection of the adaptive mechanical arm for collecting plant phenotypic information of the present invention;

[0035] Fig. 9 It is a schematic diagram of the cross-sectional structure of the sleeve connection of the adaptive mechanical arm for collecting plant phenotypic information of the present invention.

[0036] Among them, the reference numerals

[0037] 1: Adaptive robotic arm

[0038] 100: Robotic arm body

[0039] 200: Testing agency

[0040] 210: Main body

[0041] 211: First cavity

[0042] 212: Second cavity

[0043] 213: Groove

[0044] 220: Rotation mechanism

[0045] 221: First rotation axis

[0046] 2211: First toothed disc

[0047] 222: Second rotation axis

[0048] 2221: Second toothed plate

[0049] 223: Clutch assembly

[0050] 2231: Power Supply

[0051] 2232: Connection line

[0052] 2233: Electromagnetic ring

[0053] 2234: Magnet ring

[0054] 2235: Current valve

[0055] 2236: Telescopic rod

[0056] 2237: Support block

[0057] 2238: Spring

[0058] 2239: Connection block

[0059] 224: Detection of drive components

[0060] 225: Adaptive drive

[0061] 2251: Drive end

[0062] 2252: Limiting plate

[0063] 2253: Strip

[0064] 230: Collector

[0065] 231: The First Collector

[0066] 232: Second Collector

[0067] 240: Balance sensor assembly

[0068] 241: Balance sensor

[0069] 250: Shell

[0070] 260: movable bearing

[0071] 261: Bearing outer ring

[0072] 262: Bearing ball

[0073] 263: Bearing inner ring

[0074] 270: Rotating Block

[0075] 280: Sleeve

[0076] 281: Chute

[0077] 290: Connecting rod

[0078] 300: Lifting mechanism

[0079] 310: Slide rail

[0080] 320: Lifting cylinder

[0081] 330: Pneumatic cylinder controller

[0082] 350: Fixed block

[0083] 360: Connection plate

[0084] 2: Conveyor belt

[0085] 3: Fixed bracket

[0086] 4: Base frame DETAILED DESCRIPTION

[0087] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the claims attached to the present invention.

[0088] References in the specification to "an embodiment", "another embodiment", "this embodiment", etc., mean that the described embodiment may include specific features, structures or characteristics, but not every embodiment must include these specific features, structures or characteristics. In addition, such expressions do not refer to the same embodiment. Further, when describing specific features, structures or characteristics in conjunction with an embodiment, whether or not there is an explicit description, it has been shown that it is within the knowledge of those skilled in the art to combine such features, structures or characteristics into other embodiments.

[0089] Certain words are used in the specification and subsequent claims to refer to specific components or parts. It should be understood by those of ordinary skill in the art that technical users or manufacturers may refer to the same component or part by different nouns or terms. This specification and subsequent claims do not use differences in names as a way to distinguish components or parts, but rather use differences in functions of components or parts as the criteria for distinction. The words "include" and "comprising" mentioned throughout the specification and subsequent claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connected" herein includes any direct and indirect means of connection.

[0090] It should be noted that in the description of the present invention, the orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. For the sake of clarity, the order terms such as "first", "second", "third", "fourth", etc. mentioned herein are used to distinguish an element, region, or part from another identical or similar element, region, or part, rather than to limit a specific element, region, or part.

[0091] like Figures 1 to 5 As shown, the adaptive robotic arm 1 for collecting plant phenotypic information of the present invention includes a robotic arm body 100, a detection mechanism 200 and a lifting mechanism 300. The lifting mechanism 300 drives the detection mechanism 200 to move up and down on the robotic arm body 100. The detection mechanism 200 is provided with a detection device for collecting plant phenotypic information.

[0092] In specific implementation, Figure 1 As shown, there are two adaptive robotic arms for collecting plant phenotypic information of the present invention that are symmetrically distributed on the left and right, and a conveyor belt 2 is provided between the two adaptive robotic arms 1. The plants to be collected are placed on the conveyor belt 2 for transportation. When the plants are transported between the two adaptive robotic arms 1 of the present invention, the conveyor belt 2 stops running, and the adaptive robotic arms 1 of the present invention collect phenotypic information of the plants.

[0093] The detection mechanism 200 includes a main plate 210, a rotating mechanism 220, a collector 230 and a balance sensing component 240. The main plate 210 is connected to the lifting mechanism 300, and the rotating mechanism 220, the collector 230 and the balance sensing component 240 are respectively connected to the main plate 210. The rotating mechanism 220 includes a first rotating shaft 221, a second rotating shaft 222, a clutch component 223, a detection driver 224 and an adaptive driver 225, wherein the clutch component 223 is used to drive the first rotating shaft 221 and the second rotating shaft 222 to separate from each other along the axis direction, or drive the first rotating shaft 221 and the second rotating shaft 222 to approach each other along the axis direction and connect into one. The detection driver 224 is connected to the first rotating shaft 221, and the adaptive driver 225 is connected to the second rotating shaft 222. The collector 230 is connected to the second rotating shaft 222, and the balance sensing component 240 senses the offset angle of the second rotating shaft 222 and is connected to the adaptive driver 225.

[0094] During the information collection operation, when the first rotating shaft 221 and the second rotating shaft 222 are connected as a whole, the detection driving member 224 drives the first rotating shaft 221 and drives the second rotating shaft 222 to rotate, so as to adjust the collection angle of the collector 230 located on the second rotating shaft 222. When the balance sensing component 240 senses that the angle of the collector 230 is deviated, adaptive adjustment is performed, at which time, the clutch component 223 drives the first rotating shaft 221 and the second rotating shaft 222 to separate from each other along the axial direction, and the adaptive driving member 225 drives the second rotating shaft 222 to rotate for angle calibration.

[0095] Combination Figures 2 to 7 In the present invention, the detection mechanism 200 further includes a housing 250, a first rotating shaft 221 is fixedly connected to the housing 250, and a second rotating shaft 222 is movably connected in the housing 250. When the detection driving member 224 drives the first rotating shaft 221 to rotate, the housing 250 and the first driving shaft 221 rotate simultaneously. When performing adaptive adjustment, the second driving shaft 222 and the housing 250 are movable in both the circumferential and axial directions, the first driving shaft 221 and the second driving shaft 222 are separated, and the adaptive driving member 225 drives the second rotating shaft 222 to rotate and adjust, which will not deflect the position of the first driving shaft 221 and the housing 250.

[0096] The present invention controls the clutch between the first rotating shaft 221 and the second rotating shaft 222, so that the collection angle of the collection device can be flexibly adjusted. By setting the second rotating shaft 222 to be movably connected to the shell 250, the angle of the shell 250 can be kept unchanged during the adjustment process. The unchanged angle of the shell 250 provides a corresponding reference for the adjustment of the collector 230, which facilitates the calibration of the collectors 230 on the two adaptive mechanical arms 1, so that the collectors 230 maintain the best acquisition posture, which is conducive to comparing the collected content, avoiding the large difference in the collection angles on the two mechanical arms due to wear between the parts of the collection device during long-term use, making the collected content more accurate, which is conducive to improving the accuracy of collecting plant information.

[0097] like Figures 4 to 7 As shown, the first rotating shaft 221 includes a first toothed plate 2211 , and the second rotating shaft 222 includes a second toothed plate 2221 correspondingly meshed with the first toothed plate 2211 . The first toothed plate 2211 , the second toothed plate 2221 and the clutch assembly 223 are disposed in the housing 250 .

[0098] In detail, the first toothed plate 2211 of the first rotating shaft 221 is fixedly connected to the inner side wall of the shell 250, the second toothed plate 2221 of the second rotating shaft 222 is fixed to the end of the shaft body of the second rotating shaft 222, and the first toothed plate 2211 is movably sleeved on the second rotating shaft 222, that is, the first toothed plate 2211 and the shell 250 have a through hole, the second rotating shaft 222 passes through the shell 250 and the first toothed plate 2211 to enter the interior of the shell 250, and the second toothed plate 2221 at the end of the second rotating shaft 222 corresponds to the first toothed plate 2211.

[0099] In this embodiment, the clutch assembly 223 includes an electromagnetic control part using an electromagnetic clutch structure, specifically including a power supply 2231, a connecting line 2232, an electromagnetic ring 2233 and a magnet ring 2234. The power supply 2231 is connected to the inner wall of the housing 250, for example, the first toothed disc 2211 is connected to the power supply 2231 through the connecting line 2232, the electromagnetic ring 2233 is arranged in the first toothed disc 2211, the magnet ring 2234 is arranged in the second toothed disc 2221, and the electromagnetic ring 2233 and the magnet ring 2234 are arranged correspondingly. It should be noted that the clutch assembly 223 of the present invention is not limited to the electromagnetic clutch structure, and may also adopt a pneumatic clutch structure, a hydraulic clutch structure, or other structures that can clutch the first toothed disc 2211 and the second toothed disc 2221.

[0100] The clutch assembly 223 further includes a reset elastic member, which pushes the second toothed plate 2221 to connect with the first toothed plate 2221. The balance sensor assembly 240 includes a balance sensor 241, which is connected to the housing 250.

[0101] like Figures 2 to 4 As shown, the main body plate 210 includes a first cavity 211 and a second cavity 212, the detection drive member 224 is disposed in the first cavity 211, and the adaptive drive member 225 is disposed in the second cavity 212. The main body plate 210 also includes a groove 213, the groove 213 is located between the first cavity 211 and the second cavity 212, and the housing 250 is located in the groove 213.

[0102] like Figure 2 and Figure 3 As shown, the lifting mechanism 300 includes a slide rail 310, a lifting pneumatic cylinder 320, and a pneumatic cylinder controller 330. The pneumatic cylinder controller 330 is connected to the lifting pneumatic cylinder 320. The slide rail 310 is connected to the robot arm body 100. The lifting pneumatic cylinder 320 drives the main plate 210 and the collector 230 thereon to move up and down along the slide rail 310. The pneumatic cylinder controller 330 includes a pressure gauge connected to the lifting pneumatic cylinder 320. The pressure gauge detects the air pressure in the lifting pneumatic cylinder 320 to determine the height position of the main plate 210.

[0103] Among them, there are two grooves 213 opened on the main plate 210 and they are symmetrically distributed about the slide rail 310, there are also two first cavities 211 and two second cavities 212 respectively and they are symmetrically distributed about the slide rail 310, and the first cavity 211 is located on the side where the two grooves 213 face each other, and the second cavity 212 is located on the opposite side of the groove 213, that is, starting from the slide rail 310 to the left and right, the first cavity 211, the groove 213, and the second cavity 212 are distributed in sequence.

[0104] The detection drive member 224 and the adaptive drive member 225 are, for example, servo motors respectively. The detection drive member 224 is fixedly installed in the first cavity 211, and the output end of the detection drive member 224 is connected to the first rotating shaft 221, and the first rotating shaft 221 is fixedly connected to the housing 250, and the housing 250 is located in the groove 213. The adaptive drive member 225 is fixedly installed in the second cavity 212, and the output end of the adaptive drive member 225 is connected to the second rotating shaft 222, and the second rotating shaft 222 is movably connected in the inner cavity of the housing 250. The movable sleeve connection between the second rotating shaft 222 and the housing 250 is located in the inner cavity of the housing 250. The first toothed disc 2211 is fixed in the inner cavity of the housing 250, and the second toothed disc 2221 corresponds to the first toothed disc 2211.

[0105] An electromagnetic ring 2233 is fixedly installed in the inner cavity of the first toothed disk 2211, and the upper and lower parts of the first toothed disk 2211 are respectively fixedly sleeved with a current valve 2235 connected to the connecting line 2232, and the current valve 2235 is fixedly connected to the electromagnetic ring 2233. The side of the first toothed disk 2211 away from the shell 250 is engaged with the second toothed disk 2221, and the middle part of the inner cavity of the second toothed disk 2221 is fixedly connected to the main body end of the second rotating shaft 222, and a magnet ring 2234 is fixedly installed in the inner cavity of the second toothed disk 2221.

[0106] The resetting elastic member is arranged between the second toothed disc 2221 and the housing 250, the electromagnetic clutch structure pushes the second toothed disc 2221 to separate from the first toothed disc 2211, and the resetting elastic member pushes the second toothed disc 2221 to combine with the first toothed disc 2211. In detail, a telescopic rod 2236 is fixedly installed on one side of the magnet ring 2234 away from the first toothed disc 2211, a support block 2237 is fixedly installed on the other end of the telescopic rod 2236, a spring 2238 is arranged outside the telescopic rod 2236, and both ends of the spring 2238 are fixedly installed on the second toothed disc 2221 and the support block 2237 respectively.

[0107] The second toothed plate 2221 is connected to the housing 250 via a movable bearing 260. Specifically, a connecting block 2239 is fixedly mounted on the side of the supporting block 2237 away from the telescopic rod 2236, and a movable bearing 260 is fixedly sleeved on the side of the connecting block 2239 away from the supporting block 2237. The movable bearing 260 is fixedly mounted in the inner cavity of the housing 250, and is combined with the movable bearing 260 to form a movable bearing. Figure 8 The movable bearing 260 includes a bearing outer ring 261, a bearing ball 262 is evenly and movably connected in the inner cavity of the bearing outer ring 261, a bearing inner ring 263 is connected in the inner cavity of the bearing outer ring 261 through the bearing ball 262, and the inner cavity of the bearing inner ring 263 is fixedly sleeved with the connecting block 2239. It should be noted that the ball bearing is used here to realize the free rotation of the connecting block 2239 connecting the second connecting shaft 222 and the bearing inner ring 263, and other similar structures with free rotation of the inner ring can also be set.

[0108] like Figure 5 and Figure 6As shown, a power source 2231 is fixedly installed in the inner cavity of the shell 250 and directly above the movable bearing 260. The power source 2231 is, for example, a battery. Connecting lines 2232 are fixedly installed between the power source 2231 and the two current valves 2235 respectively. A balance sensor 241 is fixedly installed in the inner cavity of the shell 250 and directly below the movable bearing 260. The shell 250 and the first toothed disk 2211 are driven to rotate by the first rotating shaft 221. At this time, the first toothed disk 2211 and the second toothed disk 2221 are meshed with each other. The shell 250 can drive the second rotating shaft 222 to rotate during rotation. Driven by the second rotating shaft 222, the collection angle of the collector 230 is changed. During the adaptive adjustment, the balance sensor 241 detects that the angles of the collectors 230 on the two robot arm bodies 100 are deviated, and the balance sensor 241 sends a signal to the power supply 2231, so that the power supply 2231 supplies current to the current valve 2235 through the connecting line 2232. After the electromagnetic ring 2233 is energized, a magnetic force that repels the magnet ring 2234 is generated. Under the action of the repulsive magnetic force, the meshing between the second toothed disk 2221 and the first toothed disk 2211 is disconnected. At this time, the second toothed disk 2221 drives the telescopic rod 2236 to contract, and the spring 22 38 is compressed to generate elastic potential energy. When the second toothed disc 2221 is rotated and adjusted, the second toothed disc 2221 drives the connecting block 2239 to rotate. The movable bearing 260 is provided to make the first toothed disc 2211 relatively stationary when the second toothed disc 2221 rotates. When the angle adjustment is completed, the electromagnetic ring 2233 is powered off. Under the elastic potential energy of the spring 2238, the second toothed disc 2221 is re-engaged with the first rotating shaft 221, so that the first rotating shaft 221 can drive the collection device to rotate, thereby completing the adaptive adjustment of the collector 230 on the robot arm. The present invention adjusts the meshing between the first toothed disc 2211 and the second toothed disc 2221 so that the collection angle of the collection device can be flexibly adjusted, so that the collection devices on the two robot arms can be calibrated, so that the collection devices are maintained in the best acquisition posture, which is conducive to comparing the collection content, avoiding the large difference in the collection angles on the two robot arms due to wear between the components of the collection device during long-term use, making the collection content more accurate, and helping to improve the accuracy of the collected plant information.

[0109] like Figures 2 to 4 As shown, the slide rail 310 is fixedly installed on the robot arm body 100, and the slide rail 310 is movably connected to the main body plate 210. The detection mechanism 200 also includes a rotating block 270 and a sleeve 280 connected to the rotating block 270. The collector 230 is connected to the second rotating shaft 222 through the rotating block 270, and the adaptive driving member 225 drives the sleeve 280 to rotate. Fig. 9The adaptive driving member 225 includes a driving end 2251 connected to the sleeve 280, and a stop plate 2252 is provided at the end of the driving end 2251 to prevent the driving end 2251 from being separated from the sleeve 280. The sleeve 280 includes a slide groove 281, and a rib 2253 corresponding to the slide groove 281 is provided along the axial surface of the driving end 2251.

[0110] Specifically, the end of the second rotating shaft 222 away from the housing 250 is fixedly sleeved with a rotating block 270, the number of the ribs 2253 of the driving end 2251 of the adaptive driving member 225 is, for example, two and symmetrically distributed, the end of the driving end 2251 of the adaptive driving member 225 is fixedly installed with a limit plate 2252, the end of the driving end 2251 of the adaptive driving member 225 is movably sleeved with a sleeve 280, and the sleeve 280 is movably sleeved with the second cavity 212. Then, the limit plate 2252 is movably connected in the inner cavity of the sleeve 280, and a slide groove 281 is opened in the inner cavity of the sleeve 280. There are two slide grooves 281 and they are respectively matched with the ribs 2253. The side of the sleeve 280 away from the driving end 2251 of the adaptive driving member 225 is fixedly installed on the rotating block 270. A connecting rod 290 is fixedly installed on the upper part of the rotating block 270, and the upper ends of the two connecting rods 290 are respectively fixedly installed with the first collector 231 and the second collector 232.

[0111] During the movement, the second toothed disk 2221 drives the rotating block 270 and the sleeve 280 to move through the second rotating shaft 222, and the limit plate 2252 is used to prevent the connection between the driving end 2251 of the adaptive driving member 225 and the sleeve 280 from being disconnected. The adaptive driving member 225 is started and the driving end 2251 of the adaptive driving member 225 drives the sleeve 280 to rotate through the engagement of the rib 2253 with the slide groove 281, and the sleeve 280 drives the rotating block 270 to rotate, thereby adjusting the angle of the collector 230. The slide groove 281 in the sleeve 280 and the rib 2253 on the output shaft of the adaptive driving member 225 cooperate with each other to prevent the second toothed disk 2221 from being disconnected from the first toothed disk 2211, and the output shaft of the adaptive driving member 225 cannot drive the sleeve 280 to rotate.

[0112] like Figures 1 to 3 As shown, a fixed block 350 is fixedly installed on the robot arm body 100 and located on the upper part of the slide rail 310, a lifting pneumatic cylinder 320 is fixedly installed on the side of the fixed block 350 away from the slide rail 310, the telescopic end of the lifting pneumatic cylinder 320 is fixedly installed on the main plate 210, a pneumatic cylinder controller 330 is fixedly installed on the upper part of the fixed block 350, and the pressure gauge is located on the upper part of the pneumatic cylinder controller 330, a connecting plate 360 ​​is fixedly installed on the upper end of the robot arm body 100, a fixing frame 3 is fixedly installed on the upper part of the two connecting plates 360, a conveyor belt 2 is arranged at the bottom of the inner cavity of the fixing frame 3, and a base frame 4 is fixedly installed at the bottom of the conveyor belt 2.

[0113] The plants to be collected are placed on the conveyor belt 2 for transportation. When the plants are transported between the two mechanical arm bodies 100, the conveyor belt 2 stops running, and the pneumatic cylinder controller 330 controls the lifting pneumatic cylinder 320 to start. The telescopic end of the lifting pneumatic cylinder 320 drives the main plate 210 to slide to a suitable position on the slide rail 310. The pneumatic cylinder controller 330 detects the air pressure in the lifting pneumatic cylinder 320 through a barometer. When the air pressures in the left and right lifting pneumatic cylinders 320 are different, the air pressure is adjusted by the pneumatic cylinder controller 330 so that the lifting pneumatic cylinder 320 drives the main plate 210 to adjust the position so that the left and right main plates 210 have the same horizontal position, thereby preventing the air pressure in the lifting pneumatic cylinders 320 on the two adaptive mechanical arms 1 from deviating after long-term use, resulting in the position of the telescopic end of the lifting pneumatic cylinder 320 driving the main plate 210 to rise and fall and shifting, which is beneficial to maintaining the symmetry of the positions of the two main plates 210, making the information of the left and right parts of the collected plants more contrasting, and facilitating the staff to conduct better research on the growth conditions and habits of the plants.

[0114] In summary, the method for adjusting the adaptive mechanical arm for collecting plant phenotypic information of the present invention comprises the following steps:

[0115] Set up two adaptive robotic arms 1;

[0116] The balance sensing component 240 senses the offset angle between the second rotation axes 222 of the two adaptive robot arms 1 ; the first rotation axis 221 and the second rotation axis 222 are separated, and the adaptive driving member 225 drives the second rotation axis 222 to rotate the offset angle.

[0117] The air pressure of the lifting air cylinder 320 is adjusted by the air cylinder controller 330 so that the lifting air cylinders 320 of the two adaptive robot arms 1 drive the main plate 210 to the same height.

[0118] After the angle and height are adjusted, the first rotating shaft 221 and the second rotating shaft 222 are connected, the detection driving member 224 drives the first rotating shaft 221, and the collectors 230 of the two adaptive mechanical arms 1 collect plant information.

[0119] The working principle of the present invention is as follows: the plants to be collected are placed on the conveyor belt 2 for transportation. When the plants are transported between the two mechanical arm bodies 100, the conveyor belt 2 stops running, and the pneumatic cylinder controller 330 controls the lifting pneumatic cylinder 320 to start. The telescopic end of the lifting pneumatic cylinder 320 drives the main plate 210 to slide to a suitable position on the slide rail 310. The pneumatic cylinder controller 330 detects the air pressure in the lifting pneumatic cylinder 320 through a pressure gauge. When the air pressures in the left and right lifting pneumatic cylinders 320 are different, the air pressure is adjusted through the pneumatic cylinder controller 330, so that the lifting pneumatic cylinder 320 drives the main plate 210 to adjust the position, so that the left and right main plates 210 have the same horizontal position. The shell 250 is driven to rotate by the first rotating shaft 221. At this time, the first toothed plate 2211 and the second toothed plate 2221 are meshed with each other. The second rotating shaft 222 can be driven to rotate during the rotation of the shell 250. The second rotating shaft 222 drives the rotating block 270 to rotate. The collection angles of the first collector 231 and the second collector 232 are changed through the connection of the connecting rod 290.During the adaptive adjustment, the balance sensor 241 detects the rotation position of the second toothed disk 2221 through the gyroscope set inside it. When it is detected that the angles between the rotation directions of the second toothed disks 2221 on the two robot arm bodies 100 and the gravity direction are different, it indicates that the angles of the collectors 230 on the two robot arm bodies 100 are deviated, and the offset angle is calculated. The balance sensor 241 sends a signal to the power supply 2231, so that the power supply 2231 supplies the current valve 2235 through the connecting line 2232. The current causes the electromagnetic ring 2233 to generate a magnetic force that repels the magnet ring 2234 after being energized. Under the action of the repulsive magnetic force, the meshing between the second toothed disk 2221 and the first toothed disk 2211 is disconnected. At this time, the second toothed disk 2221 drives the telescopic rod 2236 to contract, and the spring 2238 is compressed to generate elastic potential energy. During the movement, the second toothed disk 2221 drives the rotating block 270 and the sleeve 280 to move through the second rotating shaft 222. The stop plate 2252 is used to prevent the output shaft of the adaptive driving member 225 from being in contact with the sleeve. 280 is disconnected, the adaptive driving member 225 is started, and the output end 2251 of the adaptive driving member 225 drives the sleeve 280 to rotate through the engagement of the rib 2253 with the slide slot 281, and the sleeve 280 drives the rotating block 270 to rotate, thereby adjusting the angle of the collector 230, and the rotating block 270 drives the second rotating shaft 222 to rotate, and under the transmission action of the second rotating shaft 222, the second toothed disc 2221 follows the rotation, and the second toothed disc 2221 drives the connecting block 2239 to rotate By setting the movable bearing 260, the first toothed disk 2211 is relatively stationary when the second toothed disk 2221 rotates. The rotation angle of the second toothed disk 2221 is the same as the offset angle detected by the balance sensor 241. When the angle adjustment is completed, the electromagnetic ring 2233 is powered off. Under the action of the elastic potential energy of the spring 2238, the second toothed disk 2221 is re-engaged, so that the first rotating shaft 221 can drive the collection device to rotate, thereby completing the adaptive adjustment of the collection device on the robot arm body 100.

[0120] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An adaptive robotic arm for collecting plant phenotypic information, comprising a robotic arm body, a detection mechanism, and a lifting mechanism for driving the detection mechanism to move up and down on the robotic arm body, characterized in that: The detection mechanism includes: Main body panel; A rotating mechanism, connected to the main body plate, comprising a first rotating shaft, a second rotating shaft and a clutch assembly driving the first rotating shaft and the second rotating shaft to connect or separate, wherein the first rotating shaft is connected to the detection driving member, and the second rotating shaft is connected to the adaptive driving member; a collector connected to the second rotating shaft, and A balance sensing component senses the offset angle of the second rotating shaft and is connected to the adaptive driving member.

2. The adaptive mechanical arm for collecting plant phenotypic information according to claim 1, characterized in that: The detection mechanism further comprises a shell, the first rotating shaft is fixedly connected to the shell, and the second rotating shaft is movably connected inside the shell.

3. The adaptive mechanical arm for collecting plant phenotypic information according to claim 2, characterized in that: The first rotating shaft includes a first toothed plate, the second rotating shaft includes a second toothed plate correspondingly meshed with the first toothed plate, and the first toothed plate, the second toothed plate and the clutch assembly are arranged in the housing.

4. The adaptive mechanical arm for collecting plant phenotypic information according to claim 3, characterized in that: The main body plate includes a first cavity and a second cavity. The detection driver is disposed in the first cavity, and the adaptive driver is disposed in the second cavity.

5. The adaptive mechanical arm for collecting plant phenotypic information according to claim 4, characterized in that: The main body plate further comprises a groove, wherein the groove is located between the first cavity and the second cavity, the shell is located in the groove, and the collector is connected to the portion of the second rotating shaft located in the groove.

6. The adaptive mechanical arm for collecting plant phenotypic information according to claim 3, characterized in that: The first toothed disc is fixedly connected in the housing and movably sleeved on the second rotating shaft, and the second toothed disc is fixedly connected to the end of the second rotating shaft.

7. The adaptive mechanical arm for collecting plant phenotypic information according to claim 6, characterized in that: The second toothed plate is connected to the housing via a movable bearing.

8. The adaptive mechanical arm for collecting plant phenotypic information according to claim 3, characterized in that: The clutch assembly includes an electromagnetic control component and a reset elastic component. The electromagnetic control component controls the second toothed disk to separate relative to the first toothed disk, and the reset elastic component pushes the second toothed disk to connect relative to the first toothed disk.

9. The adaptive mechanical arm for collecting plant phenotypic information according to claim 2, characterized in that: The balance induction component comprises a balance inductor, and the balance inductor is connected inside the shell.

10. The adaptive mechanical arm for collecting plant phenotypic information according to claim 2, characterized in that: The detection mechanism further comprises a rotating block and a sleeve connected to the rotating block, the collector is connected to the second rotating shaft via the rotating block, and the adaptive driving member drives the sleeve to rotate.

11. The adaptive mechanical arm for collecting plant phenotypic information according to claim 10, characterized in that: The adaptive driving member includes a driving end inserted into the sleeve, and a limiting plate is provided at the end of the driving end to prevent the driving end from being separated from the sleeve.

12. The adaptive mechanical arm for collecting plant phenotypic information according to claim 10, characterized in that: The sleeve comprises a slide groove, and the driving end is provided with a rib corresponding to the slide groove along the axial surface.

13. The adaptive mechanical arm for collecting plant phenotypic information according to any one of claims 1 to 12, characterized in that: The lifting mechanism includes a slide rail, a lifting pneumatic cylinder and a pneumatic cylinder controller connected to the lifting pneumatic cylinder. The slide rail is connected to the robot arm body, and the lifting pneumatic cylinder drives the main body plate to move up and down along the slide rail.

14. The adaptive mechanical arm for collecting plant phenotypic information according to claim 13, characterized in that: The pneumatic cylinder controller includes a pressure gauge connected to the lifting pneumatic cylinder.

15. A method for adjusting an adaptive mechanical arm for collecting plant phenotypic information, characterized in that: Adaptive adjustment is performed using the adaptive mechanical arm for collecting plant phenotypic information according to any one of claims 1 to 14, comprising the following steps: Set up two adaptive robotic arms; The balance sensing component senses the offset angle between the second rotation axes of the two adaptive mechanical arms; The first rotating shaft and the second rotating shaft are separated, and the adaptive driving member drives the second rotating shaft to rotate the offset angle; The first rotating shaft is connected to the second rotating shaft, the detection driving member drives the first rotating shaft, and the collectors of the two adaptive mechanical arms collect plant information.

16. The method for adjusting the adaptive mechanical arm for collecting plant phenotypic information according to claim 15, characterized in that: The air pressure of the lifting air cylinder is adjusted by the air cylinder controller until the lifting air cylinders of the two adaptive robotic arms drive the main plate to the same height.

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