An adaptive robot arm for plant phenotype information collection and a method for adjusting the same

Abstract

The application discloses a self-adaptive mechanical arm for plant phenotype information collection and a regulating method thereof. The self-adaptive mechanical arm comprises a mechanical arm body, a detection mechanism and a lifting mechanism for driving the detection mechanism to move up and down on the mechanical arm body. The detection mechanism comprises a main plate, a rotating mechanism, a collector and a balance induction assembly. The rotating mechanism is connected to the main 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 to a detection driving element, and the second rotating shaft is connected to a self-adaptive driving element. The collector is connected to the second rotating shaft, and the balance induction assembly is connected to the self-adaptive driving element and is used for sensing the deviation angle of the second rotating shaft. The application can adjust and calibrate the angle of the collection device, thereby improving the accuracy of collected information and providing timely and accurate data support for plant production managers or decision makers.

Description

Technical Field

[0001] This invention relates to the field of plant collection technology, and more specifically, to an adaptive robotic arm for collecting plant phenotypic information and its adjustment method. Background Technology

[0002] With the continuous development of scientific research, in order to enable plants to grow and develop better, it is usually necessary to study their habits. Plant growth information reflects the status and trend of plant growth. Long-term information collection of plants is to make a macroscopic estimate of the real-time seedling condition, environmental dynamics and distribution of plants, and to understand the plant's growth status, fertilizer and water conditions, as well as the dynamics of diseases, pests and weeds in a timely manner. This facilitates the adoption of various scientific management measures to promote plant growth and provides timely and accurate data information for plant production managers or management decision-makers.

[0003] In existing technologies, plant collection devices are typically used to collect information and reduce the workload of workers. These devices collect information on plant growth and habits through collection components on robotic arms. However, with prolonged operation, wear and tear between components can lead to significant differences in the collection angles on the two robotic arms, resulting in low accuracy of the collected information and hindering comparison of plant data. Therefore, to address these issues, this invention proposes an adaptive robotic arm for collecting plant phenotypic information. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive robotic arm and its adjustment method for collecting plant phenotypic information, which solves the problem that the collection angles of the two robotic arms will differ greatly due to wear between parts during long-term use of the collection device, making the collected content more accurate and improving the precision of collecting plant information.

[0005] To achieve the above objectives, 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 plate; a rotation mechanism connected to the main plate, including a first rotation shaft, a second rotation shaft, and a clutch assembly that drives the first rotation shaft and the second rotation shaft to connect or separate, the first rotation shaft being connected to a detection drive component, and the second rotation shaft being connected to an adaptive drive component; a collector connected to the second rotation shaft; and a balance sensing component that senses the offset angle of the second rotation shaft and is connected to the adaptive drive component.

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

[0007] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the first rotating shaft includes a first toothed disc, and the second rotating shaft includes a second toothed disc that meshes with the first toothed disc. The first toothed disc, the second toothed disc, and the clutch assembly are disposed within the housing.

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

[0009] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the main body plate further includes a groove located between the first cavity and the second cavity, the housing is located within the groove, and the collector is connected to the portion of the second rotating shaft located within the groove.

[0010] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the first toothed disc is fixedly connected inside 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.

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

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

[0013] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the balance sensing component includes a balance sensor connected within the housing.

[0014] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the detection mechanism further 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 drive drives the sleeve to rotate.

[0015] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, the adaptive drive includes a drive end inserted into the sleeve, and a limiting plate is provided at the end of the drive end to prevent the drive end from disengaging from the sleeve.

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

[0017] In one embodiment of the adaptive robotic arm for collecting plant phenotypic information described above, 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 main body of the robotic arm, 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 adaptive robotic arm for collecting plant phenotypic information described above, the pneumatic cylinder controller includes a pressure gauge connected to the lifting pneumatic cylinder.

[0019] The adjustment method of the adaptive robotic arm for plant phenotypic information collection of the present invention uses the above-mentioned adaptive robotic arm for plant phenotypic information collection for adaptive adjustment, and includes 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 robotic arms;

[0022] The first and second rotating axes are separated, and the adaptive drive drives the second rotating axis to rotate by the offset angle.

[0023] The first and second rotating shafts are connected. The detection drive drives the first rotating shaft, and the collectors of the two adaptive robotic arms collect plant information.

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

[0025] The beneficial effect of this invention is that the adaptive robotic arm for collecting plant phenotypic information 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 will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0027] Figure 1 This is a diagram showing the working state of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0028] Figure 2This is a front structural schematic diagram of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0029] Figure 3 This is a schematic diagram of the rear structure of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0030] Figure 4 This is a partial cross-sectional structural diagram of the main body plate of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0031] Figure 5 This is a cross-sectional structural diagram of the housing of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0032] Figure 6 This is a schematic diagram of the cross-sectional structure of the shell of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0033] Figure 7 This is a schematic diagram of the cross-sectional structure of the toothed disc of the adaptive robotic arm for plant phenotypic information acquisition according to the present invention.

[0034] Figure 8 This is a schematic cross-sectional view of the movable bearing connection of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0035] Figure 9 This is a schematic cross-sectional view of the sleeve connection of the adaptive robotic arm for collecting plant phenotypic information according to the present invention.

[0036] Among them, the attached figures are labeled

[0037] 1: Adaptive robotic arm

[0038] 100: Main body of the robotic arm

[0039] 200: Testing agency

[0040] 210: Main board

[0041] 211: First cavity

[0042] 212: Second cavity

[0043] 213: Groove

[0044] 220: Rotating mechanism

[0045] 221: First rotating shaft

[0046] 2211: First toothed disc

[0047] 222: Second rotating shaft

[0048] 2221: Second toothed disc

[0049] 223: Clutch assembly

[0050] 2231: Power supply

[0051] 2232: Connecting cable

[0052] 2233: Electromagnetic ring

[0053] 2234: Magnetic ring

[0054] 2235: Current valve

[0055] 2236: Telescopic pole

[0056] 2237: Support block

[0057] 2238: Spring

[0058] 2239: Connector Block

[0059] 224: Detection of driver components

[0060] 225: Adaptive Driver

[0061] 2251: Driver end

[0062] 2252: Limit plate

[0063] 2253: ribs

[0064] 230: Collector

[0065] 231: First Collector

[0066] 232: Second collector

[0067] 240: Balance sensing component

[0068] 241: Balance sensor

[0069] 250: Housing

[0070] 260: Movable bearing

[0071] 261: Bearing outer ring

[0072] 262: Bearing balls

[0073] 263: Inner ring of bearing

[0074] 270: Rotating block

[0075] 280: Sleeve

[0076] 281: Slide

[0077] 290: Connecting rod

[0078] 300: Lifting mechanism

[0079] 310: Slide rail

[0080] 320: Lifting Pneumatic Cylinder

[0081] 330: Pneumatic cylinder controller

[0082] 350: Fixed block

[0083] 360: Connector

[0084] 2: Conveyor Belt

[0085] 3: Fixture

[0086] 4: Base frame Detailed Implementation

[0087] The technical solution of the present invention will be described in detail below with reference to 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 appended claims.

[0088] References to "embodiment," "another embodiment," "this embodiment," etc., in the specification refer to embodiments that may include specific features, structures, or characteristics, but not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in connection with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0089] The specification and subsequent claims use certain terms to refer to specific components or parts. Those skilled in the art will understand that users or manufacturers may use different names or terms to refer to the same component or part. This specification and subsequent claims do not distinguish components or parts by differences in name, but rather by differences in function. The terms "comprising" and "including" used throughout the specification and subsequent claims are open-ended and should be interpreted as "including but not limited to." Furthermore, the term "connection" here includes any direct and indirect means of connection.

[0090] It should be noted that in the description of this invention, terms such as "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention. For clarity, the sequential terms such as "first," "second," "third," and "fourth" used herein are used to distinguish an element, region, or part from another identical or similar element, region, or part, and are not used to limit specific elements, regions, or parts.

[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 has a detection device for collecting plant phenotypic information.

[0092] In specific implementation, such as Figure 1 As shown, the adaptive robotic arms for collecting plant phenotypic information of the present invention are two symmetrically distributed on the left and right, with a conveyor belt 2 between the two adaptive robotic arms 1. The plant to be collected is placed on the conveyor belt 2 for transportation. When the plant is 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 from the plant.

[0093] The detection mechanism 200 includes a main plate 210, a rotation mechanism 220, a data collector 230, and a balance sensing component 240. The main plate 210 is connected to a lifting mechanism 300, and the rotation mechanism 220, data collector 230, and balance sensing component 240 are respectively connected to the main plate 210. The rotation mechanism 220 includes a first rotation shaft 221, a second rotation shaft 222, a clutch assembly 223, a detection drive component 224, and an adaptive drive component 225. The clutch assembly 223 is used to either separate the first rotation shaft 221 and the second rotation shaft 222 along the axial direction, or to bring the first rotation shaft 221 and the second rotation shaft 222 closer together along the axial direction to form a single unit. The detection drive component 224 is connected to the first rotation shaft 221, and the adaptive drive component 225 is connected to the second rotation shaft 222. The data collector 230 is connected to the second rotation shaft 222, and the balance sensing component 240 senses the offset angle of the second rotation shaft 222 and is connected to the adaptive drive component 225.

[0094] During information acquisition, when the first rotating shaft 221 and the second rotating shaft 222 are connected as a whole, the detection drive component 224 drives the first rotating shaft 221 and drives the second rotating shaft 222 to rotate, thereby adjusting the acquisition angle of the collector 230 located on the second rotating shaft 222. When the balance sensing component 240 senses a deviation in the angle of the collector 230, adaptive adjustment is performed. At this 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 drive component 225 drives the second rotating shaft 222 to rotate for angle calibration.

[0095] Combination Figures 2 to 7 In this 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 inside the housing 250. When the detection drive 224 drives the first rotating shaft 221 to rotate, the housing 250 and the first drive shaft 221 rotate simultaneously. During adaptive adjustment, the second drive shaft 222 and the housing 250 are movable in both the circumferential and axial directions. The first drive shaft 221 and the second drive shaft 222 are separated. The adaptive drive 225 drives the second rotating shaft 222 to rotate and adjust, without causing the position of the first drive shaft 221 and the housing 250 to deviate.

[0096] This invention allows for flexible adjustment of the acquisition angle of the acquisition device by controlling the engagement and disengagement between the first rotating shaft 221 and the second rotating shaft 222. By movably connecting the second rotating shaft 222 to the housing 250, the angle of the housing 250 remains constant during adjustment. This constant angle provides a reference point for adjusting the collector 230, facilitating calibration of the collectors 230 on the two adaptive robotic arms 1. This ensures the collectors 230 maintain their optimal acquisition posture, facilitating comparison of the acquired data and preventing significant differences in acquisition angles between the two robotic arms due to wear and tear on components during prolonged use. This results in more accurate acquisition and improves the precision of plant information collection.

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

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

[0099] In this embodiment, the clutch assembly 223 includes an electromagnetic control component employing an electromagnetic clutch structure, specifically including a power supply 2231, a connecting wire 2232, an electromagnetic ring 2233, and a magnetic ring 2234. The power supply 2231 is connected, for example, to the inner wall of the housing 250. The first toothed disc 2211 is connected to the power supply 2231 via the connecting wire 2232. The electromagnetic ring 2233 is disposed within the first toothed disc 2211, and the magnetic ring 2234 is disposed within the second toothed disc 2221, with the electromagnetic ring 2233 and the magnetic ring 2234 correspondingly arranged. It should be noted that the clutch assembly 223 of the present invention is not limited to an electromagnetic clutch structure; it can also employ a pneumatic clutch structure, a hydraulic clutch structure, or other structures capable of engaging or disengaging the first toothed disc 2211 and the second toothed disc 2221.

[0100] The clutch assembly 223 also includes a reset elastic element, which pushes the second toothed disc 2221 to connect with the first toothed disc 2221. The balance sensing assembly 240 includes a balance sensor 241, which is connected within 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. A detection drive 224 is disposed in the first cavity 211, and an adaptive drive 225 is disposed in the second cavity 212. The main body plate 210 also includes a groove 213 located between the first cavity 211 and the second cavity 212, and a 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 main body 100 of the robotic arm. The lifting pneumatic cylinder 320 drives the main plate 210, along with the data 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 height position of the main plate 210 is determined by detecting the air pressure in the lifting pneumatic cylinder 320 using the pressure gauge.

[0103] The main body plate 210 has two grooves 213 that are symmetrically distributed about the slide rail 310. The first cavity 211 and the second cavity 212 are also two and symmetrically distributed about the slide rail 310. 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 grooves 213. That is, starting from the slide rail 310, the first cavity 211, the grooves 213, and the second cavity 212 are distributed in sequence to the left and right.

[0104] The detection drive 224 and the adaptive drive 225 are, for example, servo motors. The detection drive 224 is fixedly installed in the first cavity 211, and its output end is connected to the first rotating shaft 221. The first rotating shaft 221 is fixedly connected to the housing 250, which is located in the groove 213. The adaptive drive 225 is fixedly installed in the second cavity 212, and its output end is connected to the second rotating shaft 222, which is movably connected to the inner cavity of the housing 250. The movable connection between the second rotating shaft 222 and the housing 250 is located within the inner cavity of the housing 250. The first toothed disc 2211 is fixed within 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 disc 2211. The upper and lower parts of the first toothed disc 2211 are respectively fixedly connected to the current valve 2235 of the connecting wire 2232. The current valve 2235 is fixedly connected to the electromagnetic ring 2233. The side of the first toothed disc 2211 away from the housing 250 engages with the second toothed disc 2221. The middle part of the inner cavity of the second toothed disc 2221 is fixedly connected to the main body end of the second rotating shaft 222. A magnet ring 2234 is fixedly installed in the inner cavity of the second toothed disc 2221.

[0106] A reset elastic element is disposed 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 reset elastic element pushes the second toothed disc 2221 to engage with the first toothed disc 2211. Specifically, a telescopic rod 2236 is fixedly installed on the 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 provided on the outside of 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 disc 2221 is connected to the housing 250 via a movable bearing 260. Specifically, a connecting block 2239 is fixedly installed on the side of the support block 2237 away from the telescopic rod 2236. A movable bearing 260 is fixedly sleeved on the side of the connecting block 2239 away from the support block 2237. The movable bearing 260 is fixedly installed within the inner cavity of the housing 250. Figure 8 The movable bearing 260 includes an outer bearing ring 261, within which bearing balls 262 are evenly and movably connected. An inner bearing ring 263 is also connected to the inner bearing ring 261 via the bearing balls 262. The inner bearing ring 263 is fixedly sleeved with the connecting block 2239. It should be noted that a ball bearing is used here to allow the connecting block 2239, which connects to the second connecting shaft 222, to rotate freely within the inner bearing ring 263. Other similar structures with freely rotating inner rings could also be used.

[0108] like Figure 5 and Figure 6As shown, a power supply 2231 is fixedly installed in the inner cavity of the housing 250 and directly above the movable bearing 260. The power supply 2231 is, for example, a battery. Connecting wires 2232 are fixedly installed between the power supply 2231 and the two current valves 2235 respectively. A balance sensor 241 is fixedly installed in the inner cavity of the housing 250 and directly below the movable bearing 260. The housing 250 and the first toothed disk 2211 are rotated by the first rotating shaft 221. At this time, the first toothed disk 2211 and the second toothed disk 2221 mesh with each other. During the rotation of the housing 250, the second rotating shaft 222 can be driven to rotate. The second rotating shaft 222 causes the acquisition angle of the collector 230 to change. During adaptive adjustment, the balance sensor 241 detects an angle deviation in the collectors 230 on the two robotic arm bodies 100. The balance sensor 241 sends a signal to the power supply 2231, causing the power supply 2231 to supply current to the current valve 2235 through the connecting wire 2232. After the electromagnetic ring 2233 is energized, it generates a magnetic force that repels the magnetic ring 2234. Under the action of the repulsive magnetic force, the engagement between the second toothed disc 2221 and the first toothed disc 2211 is disengaged. At this time, the second toothed disc 2221 drives the telescopic rod 2236 to retract, and the spring 22... The compression of the first toothed disc 2221 generates elastic potential energy. When the second toothed disc 2221 rotates for adjustment, it drives the connecting block 2239 to rotate. The movable bearing 260 ensures that the first toothed disc 2211 remains relatively stationary while the second toothed disc 2221 rotates. After the angle adjustment is complete, the electromagnetic ring 2233 is de-energized. Under the elastic potential energy of the spring 2238, the second toothed disc 2221 re-engages with the first rotating shaft 221, allowing it to drive the collection device to rotate. This completes the adaptive adjustment of the collector 230 on the robotic arm. This invention allows for flexible adjustment of the collection angle by adjusting the engagement between the first and second toothed discs 2211 and 2221. This enables calibration of the collection devices on both robotic arms, maintaining them in the optimal acquisition posture. This facilitates comparison of the collected data and prevents significant differences in collection angles between the two robotic arms due to wear and tear on components during prolonged use. This results in more accurate data collection and improves the precision of plant information collection.

[0109] like Figures 2 to 4 As shown, a slide rail 310 is fixedly mounted on the main body 100 of the robotic arm, and a main body plate 210 is movably connected to the slide rail 310. The detection mechanism 200 also includes a rotating block 270 and a sleeve 280 connected to the rotating block 270. The data collector 230 is connected to a second rotating shaft 222 via the rotating block 270, and an adaptive drive component 225 drives the sleeve 280 to rotate. Combined with... Figure 9The adaptive drive component 225 includes a drive end 2251 connecting the sleeve 280, and a limiting plate 2252 is provided at the end of the drive end 2251 to prevent the drive end 2251 from disengaging from the sleeve 280. The sleeve 280 includes a groove 281, and the drive end 2251 has ribs 2253 arranged along its axial surface corresponding to the groove 281.

[0110] In detail, a rotating block 270 is fixedly sleeved at the end of the second rotating shaft 222 away from the housing 250. The number of ribs 2253 of the drive end 2251 of the adaptive drive component 225 is, for example, two and symmetrically distributed. A limiting plate 2252 is fixedly installed at the end of the drive end 2251 of the adaptive drive component 225. A sleeve 280 is movably sleeved at the end of the drive end 2251 of the adaptive drive component 225. The sleeve 280 is movably sleeved with the second cavity 212. Next, the limiting plate 2252 is movably connected in the inner cavity of the sleeve 280. The inner cavity of the sleeve 280 is provided with two sliding grooves 281, which are respectively matched with the ribs 2253. The side of the sleeve 280 away from the driving end 2251 of the adaptive drive component 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. The first collector 231 and the second collector 232 are respectively fixedly installed on the upper ends of the two connecting rods 290.

[0111] During movement, the second toothed disc 2221 drives the rotating block 270 and sleeve 280 to move via the second rotating shaft 222. The limiting plate 2252 prevents the connection between the drive end 2251 of the adaptive drive 225 and the sleeve 280 from being broken. The adaptive drive 225 is activated, and the engagement of the rib 2253 with the slide groove 281 causes the drive end 2251 of the adaptive drive 225 to drive the sleeve 280 to rotate. The sleeve 280 drives the rotating block 270 to rotate, thereby adjusting the angle of the collector 230. The cooperation between the slide groove 281 in the sleeve 280 and the rib 2253 on the output shaft of the adaptive drive 225 prevents the output shaft of the adaptive drive 225 from failing to drive the sleeve 280 to rotate after the second toothed disc 2221 breaks engagement with the first toothed disc 2211.

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

[0113] The plants to be collected are placed on conveyor belt 2 for transportation. When the plants are transported between the two robotic arm bodies 100, the conveyor belt 2 stops running, and the pneumatic cylinder controller 330 controls the lifting pneumatic cylinder 320 to start. The extension end of the lifting pneumatic cylinder 320 drives the main plate 210 to slide on the slide rail 310 to a suitable position. The pneumatic cylinder controller 330 detects the air pressure in the lifting pneumatic cylinder 320 through the air pressure gauge. When the air pressure in the left and right lifting pneumatic cylinders 320 is 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 its position, so that the left and right main plates 210 are in the same horizontal position. This prevents the air pressure in the lifting pneumatic cylinders 320 on the two adaptive robotic arms 1 from deviating after long-term use, which would cause the extension end of the lifting pneumatic cylinder 320 to drive the main plate 210 to shift. This helps to maintain the symmetry of the position of the two main plates 210, making the information of the left and right parts of the collected plants more comparable, which is conducive to the staff to better study the plant growth and habits.

[0114] In summary, the adjustment method of the adaptive robotic arm for collecting plant phenotypic information of the present invention includes 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 robotic arms 1; the first rotation axis 221 and the second rotation axis 222 separate, and the adaptive drive component 225 drives the second rotation axis 222 to rotate by 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 robotic arms 1 can 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 drive 224 drives the first rotating shaft 221, and the collectors 230 of the two adaptive robotic arms 1 collect plant information.

[0119] The working principle of this invention is as follows: The plant to be collected is placed on the conveyor belt 2 for transportation. When the plant is transported between the two robotic arm bodies 100, the conveyor belt 2 stops running. The pneumatic cylinder controller 330 controls the lifting pneumatic cylinder 320 to start. The extension end of the lifting pneumatic cylinder 320 drives the main body plate 210 to slide on the slide rail 310 to a suitable position. The pneumatic cylinder controller 330 detects the air pressure in the lifting pneumatic cylinder 320 through the air pressure gauge. When the air pressure in the left and right lifting pneumatic cylinders 320 is different, the air pressure is adjusted by the pneumatic cylinder controller 330 so that the lifting pneumatic cylinder 320 drives the main body plate 210 to adjust its position so that the left and right main body plates 210 are at the same horizontal position. The first rotating shaft 221 drives the housing 250 to rotate. At this time, the first toothed disc 2211 and the second toothed disc 2221 mesh with each other. During the rotation of the housing 250, the second rotating shaft 222 can be driven to rotate. The second rotating shaft 222 drives the rotating block 270 to rotate. The collection angle of the first collector 231 and the second collector 232 is changed through the connection of the connecting rod 290.During adaptive adjustment, the balance sensor 241 detects the rotational position of the second toothed disk 2221 using its internal gyroscope. When it detects that the rotational direction of the second toothed disk 2221 on the two robotic arm bodies 100 is at a different angle than the direction of gravity, it indicates that the angle of the data acquisition device 230 on the two robotic arm bodies 100 is deviated. The offset angle is calculated, and the balance sensor 241 sends a signal to the power supply 2231, causing the power supply 2231 to supply current to the current valve 2235 through the connecting line 2232. The current causes the electromagnetic ring 2233 to generate a magnetic force that repels the magnetic ring 2234. Under the action of the repulsive magnetic force, the engagement between the second toothed disc 2221 and the first toothed disc 2211 is disengaged. At this time, the second toothed disc 2221 drives the telescopic rod 2236 to retract, and the spring 2238 is compressed to generate elastic potential energy. During the movement, the second toothed disc 2221 drives the rotating block 270 and the sleeve 280 to move through the second rotating shaft 222. The limiting plate 2252 prevents the output shaft of the adaptive drive component 225 from colliding with the sleeve. When the connection between 280 and 281 is broken, the adaptive drive 225 is activated. Through the engagement of the rib 2253 and the slide groove 281, the output end 2251 of the adaptive drive 225 drives the sleeve 280 to rotate. The sleeve 280 drives the rotating block 270 to rotate, thereby adjusting the angle of the collector 230. The rotating block 270 drives the second rotating shaft 222 to rotate. Under the transmission action of the second rotating shaft 222, the second toothed disc 2221 rotates accordingly. The second toothed disc 2221 drives the connecting block 2239 to rotate. By using 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. After the angle adjustment is completed, the electromagnetic ring 2233 is de-energized. Under the action of the elastic potential energy of the spring 2238, the second toothed disk 2221 re-engages with the first rotating shaft 221, which can drive the acquisition device to rotate, thereby completing the adaptive adjustment of the acquisition device on the main body 100 of the robotic arm.

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

Claims

1. An adaptive robotic arm for collecting plant phenotypic information, comprising a robotic arm body, a detection mechanism, and a lifting mechanism for moving the detection mechanism up and down within the robotic arm body, characterized in that, The testing institutions include: Main body panel; A rotating mechanism, connected to the main body plate, includes a first rotating shaft, a second rotating shaft, and a clutch assembly that drives the first rotating shaft and the second rotating shaft to connect or separate. The first rotating shaft is connected to a detection drive unit, and the second rotating shaft is connected to an adaptive drive unit. The data collector is connected to the second rotating shaft. A balance sensing component senses the offset angle of the second rotation axis and connects to the adaptive drive; and The housing has a first rotating shaft fixedly connected to it and a second rotating shaft movably connected inside it. The first rotating shaft includes a first toothed disc, and the second rotating shaft includes a second toothed disc that meshes with the first toothed disc. The first toothed disc, the second toothed disc, and the clutch assembly are disposed within the housing. The first toothed disc is fixedly connected within 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.

2. The adaptive robotic arm for collecting plant phenotypic information according to claim 1, characterized in that, The main body plate includes a first cavity and a second cavity, the detection drive is disposed in the first cavity, and the adaptive drive is disposed in the second cavity.

3. The adaptive robotic arm for collecting plant phenotypic information according to claim 2, characterized in that, The main body plate also includes a groove located between the first cavity and the second cavity, the housing is located within the groove, and the collector is connected to the portion of the second rotating shaft located within the groove.

4. The adaptive robotic arm for collecting plant phenotypic information according to claim 1, characterized in that, The second toothed disc is connected to the housing via a movable bearing.

5. The adaptive robotic arm for collecting plant phenotypic information according to claim 1, characterized in that, The clutch assembly includes an electromagnetic control element and a reset elastic element. The electromagnetic control element controls the second toothed disc to separate relative to the first toothed disc, and the reset elastic element pushes the second toothed disc to connect relative to the first toothed disc.

6. The adaptive robotic arm for collecting plant phenotypic information according to claim 1, characterized in that, The balance sensing component includes a balance sensor, which is connected inside the housing.

7. The adaptive robotic arm for collecting plant phenotypic information according to claim 1, characterized in that, The detection mechanism further 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 drive drives the sleeve to rotate.

8. The adaptive robotic arm for collecting plant phenotypic information according to claim 7, characterized in that, The adaptive drive includes a drive end that is inserted into the sleeve, and a limiting plate is provided at the end of the drive end to prevent the drive end from disengaging from the sleeve.

9. The adaptive robotic arm for collecting plant phenotypic information according to claim 8, characterized in that, The sleeve includes a groove, and the drive end is provided with ribs along its axial surface that correspond to the groove.

10. The adaptive robotic arm for collecting plant phenotypic information according to any one of claims 1 to 9, 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 main body of the robotic arm, and the lifting pneumatic cylinder drives the main body plate to move up and down along the slide rail.

11. The adaptive robotic arm for collecting plant phenotypic information according to claim 10, characterized in that, The pneumatic cylinder controller includes a pressure gauge connected to the lifting pneumatic cylinder.

12. A method for adjusting an adaptive robotic arm for collecting plant phenotypic information, characterized in that, The adaptive adjustment using the adaptive robotic arm for plant phenotypic information collection as described in any one of claims 1 to 11 includes 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 robotic arms; The first and second rotating axes are separated, and the adaptive drive drives the second rotating axis to rotate by the offset angle. The first and second rotating shafts are connected. The detection drive drives the first rotating shaft, and the collectors of the two adaptive robotic arms collect plant information.

13. The adjustment method for the adaptive robotic arm for collecting plant phenotypic information according to claim 12, characterized in that, The air pressure of the lifting pneumatic cylinder is adjusted by the pneumatic cylinder controller until the lifting pneumatic cylinders of the two adaptive robotic arms drive the main body plate to the same height.

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