Greenhouse rail type suspended vine crop threshing robot

Abstract

The invention discloses a greenhouse rail type leaf threshing robot for hanging vine crops. The greenhouse rail type leaf threshing robot comprises a walking chassis, a machine arm and a leaf threshing mechanism. The robotic arm is mounted on the walking chassis, and the threshing mechanism is mounted at the execution tail end of the robotic arm; the threshing mechanism comprises a mechanism frame body and a cutting knife, and the cutting knife can be driven by the driving mechanism to implement shearing operation; the mechanism frame body is provided with three forked parts, namely a first forked part, a second forked part and a third forked part; a first channel and a second channel which are perpendicular to each other and form a T shape are formed among the three forked parts, and the first channel is a double-side penetrating channel; the first forked part and the second forked part are positioned on the first side of the first channel and are respectively positioned on the two sides of the second channel; the cutting knife and the driving mechanism are both mounted on the mechanism frame body; the first branch part is of a hollow structure, and a pesticide spraying mechanism is installed on the first branch part.

Description

Technical Field

[0001] The invention relates to the technical field of crop leaf stripping, in particular to a greenhouse track-type hanging vine crop leaf stripping robot. Background Art

[0002] In modern agricultural production, greenhouse cultivation has been widely used as an efficient agricultural production method. Among them, the cultivation of hanging crops (such as tomatoes, cucumbers, etc.) is particularly common. By fixing and hanging the main stems of these crops for growth, they can effectively utilize space, increase the yield per unit area, and help to evenly distribute light and reduce the occurrence of pests and diseases. However, in the management of hanging crops, leaf removal (i.e., removing excess leaves or branches) is a key operation, which not only affects the photosynthesis efficiency and ventilation conditions of the crops, but is also directly related to the quality and yield of the fruit.

[0003] The traditional leaf beating method mainly relies on manual operation. Although this method has certain flexibility, it is inefficient, labor-intensive, and it is difficult to ensure the consistency and accuracy of each operation. With the development of automation technology and robotics technology, various automated leaf beating devices have emerged, which are designed to improve work efficiency and reduce labor costs. For example, patent CN 116897717 A discloses a leaf beating device for hanging vine crops, which implements the leaf beating operation of crops by mechanical means. During operation, the servo drives the control claw to close and envelop the main stem of the tomato, the DC motor drives the small saw blade to rotate at high speed, and the mechanical arm drives the end of the leaf beating actuator to move a specified distance from bottom to top. After the cutting is completed, the DC motor stops rotating, the servo drives the claw back to the starting position, and the mechanical arm returns to the initial position.

[0004] However, the existing leaf threshing equipment has some obvious shortcomings. In particular, according to the technical solution described in patent document CN116897717 A, its end effector is large in size, complex in structure, and has a high failure rate; the large end effector also limits its operational flexibility in areas with dense crops, and the opening and closing of the claws requires operating space, which increases the difficulty of operation. Therefore, how to design a leaf threshing robot with a compact structure and accurate positioning has become an urgent problem to be solved. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a greenhouse track-type hanging vine crop leaf removing robot with a compact structure, precise leaf removing position and good leaf removing effect.

[0006] Technical solution: To achieve the above-mentioned purpose, the greenhouse track-type hanging vine crop leaf-threshing robot of the present invention comprises a walking chassis, a robot arm and a leaf-threshing mechanism; the robot arm is mounted on the walking chassis, and the leaf-threshing mechanism is mounted on the execution end of the robot arm; the leaf-threshing mechanism comprises a mechanism frame and a cutting knife, and the cutting knife can be driven by a driving mechanism to perform a shearing operation;

[0007] The mechanism frame has three forked parts, namely a first forked part, a second forked part and a third forked part; the three forked parts form a first channel and a second channel which are perpendicular to each other and form a T-shape, wherein the first channel is a double-sided through channel, and the second channel is a single-sided through channel; the first forked part and the second forked part are both located on the first side of the first channel, and the two are respectively placed on both sides of the second channel, and the third forked part is placed on the other side of the first channel; the cutting knife and the driving mechanism are both installed on the mechanism frame, and when the cutting knife is in a retracted state, it is placed in the first forked part, and when performing a shearing operation, the cutting knife moves toward the second forked part;

[0008] The first bifurcation portion is a hollow structure, wherein the hollow portion is a long strip extending along the length direction of the first bifurcation portion, and a spraying mechanism is installed on the first bifurcation portion. The inward side of the first bifurcation portion is open. On the one hand, the cutting knife can be placed in the first bifurcation portion in a retracted state, and on the other hand, the disinfectant liquid sprayed by the spraying mechanism can be sprayed to the cut portion through the hollow portion in the first bifurcation portion, thereby fully disinfecting the cut position and preventing the spread of the virus.

[0009] During operation, the cutting knife is initially in a retracted state, the walking chassis moves to the position where the cutting operation is required, and the robot arm operates so that the leaf-beating mechanism is facing the branches or leaves that need to be removed, and then the robot arm operates to make the spraying mechanism feed the hanging vine crop so that the main vine part of the hanging vine crop enters the first channel, and the branches or leaves to be removed enter the second channel; then, the driving mechanism drives the cutting knife to perform the cutting operation, and when the cutting knife is in the cutting state (at this time, the cutting knife leaves the hollow part of the first fork), the spraying mechanism sprays disinfectant liquid to disinfect the cutting part. Since the main vine part is still placed in the first channel after the cutting is completed, the accuracy of the spraying position can be guaranteed. After the spraying is completed, the robot arm moves to make the leaf-beating mechanism withdraw, so that the main vine part is separated from the leaf-beating mechanism.

[0010] By adopting the above structure, by setting the first channel and the second channel in a T-shaped layout, and by reasonably setting the cutting knife and the spraying mechanism, the main vine part and the cut part of the hanging vine crop can be fixed separately during the leaf beating process, thereby ensuring the accuracy of the cutting position and effectively preventing the main vine from shifting due to wind or the action of the cutting knife during the leaf beating process, resulting in inaccurate cutting position or cutting failure.

[0011] Furthermore, the spraying mechanism includes a main pipe and a plurality of branch pipes connected to the main pipe, all of which are dispersedly installed along the first forked portion, and the main pipe is connected to a liquid medicine tank. With the above structure, the dispersedly arranged branch pipes can not only ensure that the sprayed liquid medicine can be sprayed to the cut part, but also spray and disinfect the branches and leaves around the diseased branches and leaves, thereby fully preventing the spread of viruses that cause branch and leaf diseases.

[0012] Furthermore, the cutting knife is rotatably mounted relative to the mechanism frame; the driving mechanism includes a prime mover mounted on the mechanism frame, the prime mover may be a motor or a steering gear, a cam is fixed on the output shaft of the prime mover, the cam can act on the back of the prime mover, and a reset spring is connected between the cutting knife and the first fork. During operation, the prime mover drives the cam to rotate so that the cutting knife performs the shearing operation, and after the shearing is completed, the cam continues to operate, and the reset spring resets the cutting knife, so that the cutting knife can achieve a rapid shearing action.

[0013] Furthermore, the middle of the second fork portion has a clearance groove, and the cutting edge of the cutting knife can enter the clearance groove. When the cutting knife performs a shearing operation, the branches and leaves to be removed can be cut off by using the two sides of the mouth of the clearance groove to ensure successful cutting.

[0014] Furthermore, the third bifurcated portion is provided with a plurality of rollers arranged in a linear array, and the diameters of the rollers increase sequentially from the outside to the inside. The axial direction of the rollers is perpendicular to the length direction of the third bifurcated portion, so that the resistance can be reduced during the process of the main vine portion entering the first channel, so that the main vine portion can enter smoothly. Since the diameters of the rollers increase sequentially, branches with different diameters can be fixed, thereby improving adaptability.

[0015] Furthermore, the first forked portion can be disassembled relative to other parts of the mechanism frame to facilitate the disassembly and assembly of the entire leaf beating mechanism, reduce the difficulty of component processing, and reduce the difficulty of maintenance.

[0016] Further, the robot arm is a RRPRR type robot arm. Specifically, the robot arm includes a slewing base rotating along a vertical axis, a first arm portion rotating relative to the slewing base (the relative slewing axes of the two are horizontal), a second arm portion capable of sliding and retracting relative to the first arm portion (the relative sliding direction of the two is along the extension direction of the first arm portion), a third arm portion rotating relative to the second arm portion (the relative rotation axis of the two is parallel to the extension direction of the second arm portion), and a fourth arm portion rotating relative to the third arm portion (the relative rotation axis of the two is perpendicular to the extension direction of the third arm portion), and the mechanism frame is fixed relative to the fourth arm portion.

[0017] Furthermore, it also includes a visual unit fixed relative to the rotating base of the robot arm. Specifically, the rotating base has a gate-shaped bracket, the visual unit is installed on the top of the gate-shaped bracket, and the root of the first arm is hinged in the internal space of the gate-shaped bracket. With the above structure, the visual unit can move with the rotating base, which is convenient for obtaining the position of the branches and leaves to be removed, and convenient for converting the visual coordinates with the coordinates of the leaf-beating mechanism.

[0018] Furthermore, the walking chassis includes a chassis body and a walking wheel module installed on the chassis body, and the walking wheel module has a walking drive motor, a track walking wheel and a ground walking wheel, and the track walking wheel is coaxially installed with the ground walking wheel and staggered left and right. The above-mentioned walking wheel modules are installed at the four corners of the lower side of the walking chassis. With the structure of the above-mentioned walking chassis, the leaf-beating robot can switch between the track and the ground by itself. In this solution, the inward side of each track walking wheel is an arc-shaped surface. When walking, the track not only supports the track walking wheel, but the track walking wheel also has a part located on the outside of the track, which can prevent the robot from deviating from the track.

[0019] Furthermore, the number of the robot arms is two, and correspondingly, the number of the leaf-threshing mechanisms is also two, so that the leaf-threshing operation can be performed on the hanging vine crops on both sides of the track at the same time.

[0020] Beneficial effects: The greenhouse track-type hanging vine crop leaf-threshing robot of the present invention has the following beneficial effects:

[0021] (1) By setting up the first channel and the second channel in a T-shaped layout and by reasonably setting the cutting knife and the spraying mechanism, the main vine part and the cut part of the hanging vine crop can be fixed respectively during the leaf beating process to ensure the accuracy of the cutting position, and effectively prevent the main vine from shifting due to wind or the action of the cutting knife during the leaf beating process, resulting in inaccurate cutting position or cutting failure.

[0022] (2) The leaf-beating mechanism has a compact structure and requires little operating space, making it easy to enter and exit the gaps between crops to perform leaf-beating operations.

[0023] (3) The dispersed layout of the branch pipes can not only ensure that the sprayed liquid can be sprayed to the cut parts, but also spray and disinfect the branches and leaves around the diseased branches and leaves, fully preventing the spread of viruses that cause branch and leaf diseases.

[0024] (4) The RRPRR type robotic arm used has four rotational degrees of freedom and one telescopic degree of freedom, which can fully meet the needs of position adjustment and distance adjustment of the leaf beating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a three-dimensional structural diagram of the first combination of the greenhouse track-type hanging vine crop leaf removing robot and the track;

[0026] Figure 2 It is a three-dimensional structural diagram of the second combination of the greenhouse track-type hanging vine crop leaf-threshing robot and the track;

[0027] Figure 3 for Figure 2 The enlarged structure diagram of part A in the middle;

[0028] Figure 4 This is the bottom structure diagram of the greenhouse track-type hanging vine crop leaf removing robot;

[0029] Figure 5 It is the combined structure diagram of the mechanical arm and the leaf beating mechanism;

[0030] Figure 6 This is a three-dimensional structural diagram of the leaf beating mechanism;

[0031] Figure 7 This is the first state structural diagram of the leaf beating mechanism;

[0032] Figure 8 This is a structural diagram of the leaf beating mechanism in the second state;

[0033] Fig. 9 This is the state diagram of the beating mechanism when beating leaves.

[0034] In the figure: 1-walking chassis; 11-chassis base; 12-walking wheel module; 121-walking drive motor; 122-track walking wheel; 123-ground walking wheel; 2-machine arm; 21-rotating base; 2a-door-shaped bracket; 22-first arm; 23-second arm; 24-third arm; 25-fourth arm; 3-leaf beating mechanism; 31-mechanism frame; 311-first fork; 312-second fork; 313-third fork; 31a-first channel; 31b-second channel; 32-cutting knife; 33-driving mechanism; 331-prime mover; 332-cam; 333-reset spring; 34-spraying mechanism; 341-main pipe; 342-branch pipe; 35-roller; 4-visual unit; 5-track. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] like Figure 1 , Figure 2The greenhouse track-type hanging vine crop leaf-threshing robot shown in the figure comprises a walking chassis 1, a robot arm 2 and a leaf-threshing mechanism 3; the robot arm 2 is mounted on the walking chassis 1, and the leaf-threshing mechanism 3 is mounted on the execution end of the robot arm 2; the leaf-threshing mechanism 3 comprises a mechanism frame 31 and a cutting knife 32, and the cutting knife 32 can be driven by a driving mechanism 33 to perform a shearing operation; Figure 6 As shown, the mechanism frame 31 has three forked parts, namely the first forked part 311, the second forked part 312 and the third forked part 313; the three forked parts form a first channel 31a and a second channel 31b which are perpendicular to each other and form a T-shape, wherein the first channel 31a is a double-sided through-channel, and the second channel 31b is a single-sided through-channel; the first forked part 311 and the second forked part 312 are both located on the first side of the first channel 31a, and both are disposed on both sides of the second channel 31b, and the third forked part 313 is disposed on the other side of the first channel 31a; the cutting knife 32 and the driving mechanism 33 are both mounted on the mechanism frame 31, and when the cutting knife 32 is in the retracted state, it is disposed in the first forked part 311, and when performing the shearing operation, the cutting knife 32 moves toward the second forked part 312.

[0037] The first fork portion 311 is a hollow structure, wherein the hollow portion is a long strip extending along the length direction of the first fork portion 311, and a spraying mechanism 34 is installed on the first fork portion 311. The inner side of the first fork portion 311 is open, and the cutting knife 32 can be placed in the first fork portion 311 in a retracted state (such as Figure 7 As shown), on the other hand, the disinfectant liquid sprayed by the spraying mechanism 34 can be sprayed to the sheared part through the hollow part in the first fork part 311, so as to fully disinfect the shearing position and prevent the virus from spreading.

[0038] When working, if Figure 7 As shown, initially the cutting knife 32 is in a retracted state, the walking chassis 1 moves to a position where the cutting operation is required, and the robot arm 2 operates so that the leaf-beating mechanism 3 faces the branches or leaves to be removed, and then the robot arm 2 operates so that the spraying mechanism 34 feeds the hanging vine crop, so that the main vine part of the hanging vine crop enters the first channel 31a, and the branches or leaves to be removed enter the second channel 31b, as shown in FIG. Fig. 9 As shown; then, the driving mechanism 33 drives the cutting knife 32 to perform the cutting operation. When the cutting knife 32 is in the cutting state (at this time, the cutting knife 32 leaves the hollow part of the first fork part 311), the spraying mechanism 34 sprays the disinfectant liquid to disinfect the cutting part. Since the main vine part is still placed in the first channel 31a after the cutting is completed, the accuracy of the spraying position can be guaranteed. After the spraying is completed, the robot arm 2 moves to make the leaf-threshing mechanism 3 withdraw, so that the main vine part is separated from the leaf-threshing mechanism 3.

[0039] By adopting the above structure, by setting the first channel 31a and the second channel 31b in a T-shaped layout, and by reasonably setting the cutting knife 32 and the spraying mechanism 34, the main vine part and the cut part of the hanging vine crop can be fixed respectively during the leaf beating process, ensuring the accuracy of the cutting position, and effectively preventing the main vine from shifting due to wind or the action of the cutting knife 32 during the leaf beating process, resulting in inaccurate cutting position or cutting failure.

[0040] Preferably, the spraying mechanism 34 includes a main pipe 341 and a plurality of branch pipes 342 connected to the main pipe 341, all the branch pipes 342 are dispersedly installed along the first forked portion 311, and the main pipe 341 is connected to the liquid medicine tank. With the above structure, the dispersed branch pipes 342 can not only ensure that the sprayed liquid medicine can be sprayed to the sheared part, but also spray and disinfect the branches and leaves around the diseased branches and leaves, and fully prevent the spread of viruses that cause the branch and leaf diseases.

[0041] The cutting knife 32 is rotatably mounted relative to the mechanism frame 31; the driving mechanism 33 includes a prime mover 331 mounted on the mechanism frame 31, the prime mover 331 can be a motor or a steering gear, a cam 332 is fixed on the output shaft of the prime mover 331, the cam 332 can act on the back of the prime mover 331, and a reset spring 333 is connected between the cutting knife 32 and the first fork 311. During operation, the prime mover 331 drives the cam 332 to rotate so that the cutting knife 32 performs the shearing operation. After the shearing is completed, the cam 332 continues to operate, and the reset spring 333 resets the cutting knife 32, so that the cutting knife 32 can achieve a fast shearing action. The cutting knife 32 is in the shape of a long strip as a whole, and its head is bent in the direction close to the second fork 312. In this way, when the shearing operation is performed, the object to be sheared will not leave the second channel to cause shearing failure.

[0042] The middle of the second forked portion 312 has a clearance groove, and the cutting edge of the cutting knife 32 can enter the clearance groove. Figure 8 When the cutting knife 32 performs the shearing operation, the branches and leaves to be removed can be cut off by using the two sides of the mouth of the yielding groove to ensure successful cutting.

[0043] Preferably, a plurality of rollers 35 arranged in a linear array are mounted on the third forked portion 313, and the diameters of the rollers 35 increase sequentially from the outside to the inside. The axial direction of the rollers 35 is perpendicular to the length direction of the third forked portion 313, so that the resistance can be reduced during the process of the main vine portion entering the first channel 31a, so that the main vine portion can enter smoothly. Since the diameters of the rollers 35 increase sequentially, branches with different diameters can be fixed, thereby improving adaptability.

[0044] Preferably, the first forked portion 311 can be disassembled relative to other parts of the mechanism frame 31 to facilitate the disassembly and assembly of the entire beating mechanism 3, reduce the difficulty of component processing, and reduce the difficulty of maintenance.

[0045] Preferably, if Figure 5 The robot arm 2 shown is a RRPRR type robot arm. Specifically, the robot arm 2 includes a slewing base 21 that rotates along a vertical axis, a first arm portion 22 that rotates relative to the slewing base 21 (the relative rotation axis of the two is horizontal), a second arm portion 23 that can slide and retract relative to the first arm portion 22 (the relative sliding direction of the two is along the extension direction of the first arm portion 22), a third arm portion 24 that rotates relative to the second arm portion 23 (the relative rotation axis of the two is parallel to the extension direction of the second arm portion 23), and a fourth arm portion 25 that rotates relative to the third arm portion 24 (the relative rotation axis of the two is perpendicular to the extension direction of the third arm portion 24), and the mechanism frame 31 is fixed relative to the fourth arm portion 25.

[0046] The RRPRR type mechanical arm used has four rotational degrees of freedom and one telescopic degree of freedom, which can fully meet the needs of position adjustment and distance adjustment of the beating mechanism 3.

[0047] The number of the robot arms 2 is two, and correspondingly, the number of the leaf-beating mechanisms 3 is also two. In this way, the hanging vine crops on both sides of the track can be leaf-beaten at the same time. It also includes a visual unit 4 fixed relative to the rotating base 21 of the robot arm 2. Specifically, the rotating base 21 has a gate-shaped bracket 2a, the visual unit 4 is installed on the top of the gate-shaped bracket 2a, and the root of the first arm 22 is hinged in the internal space of the gate-shaped bracket 2a. With the above structure, the visual unit 4 can move with the rotating base 21, which is convenient for obtaining the position of the branches and leaves to be removed, and convenient for converting between the visual coordinates and the leaf-beating mechanism coordinates.

[0048] Preferably, if Figure 3 As shown, the walking chassis 1 includes a chassis body 11 and a walking wheel module 12 installed on the chassis body 11. The walking wheel module 12 has a walking drive motor 121, a track walking wheel 122 and a ground walking wheel 123. The track walking wheel 122 and the ground walking wheel 123 are coaxially installed and staggered left and right. Figure 4 As shown, the above-mentioned wheel modules 12 are installed at the four corners of the lower side of the walking chassis 1. With the structure of the above-mentioned walking chassis 1, the leaf threshing robot can switch between the track and the ground by itself. In this embodiment, the inner side of each track walking wheel 122 is an arc-shaped surface. When walking, the track 5 not only supports the track walking wheel 122, but the track walking wheel 122 also has a part located outside the track, which can prevent the robot from going off the track.

[0049] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A greenhouse track-type hanging vine crop leaf-threshing robot, comprising a walking chassis (1), a robot arm (2) and a leaf-threshing mechanism (3); the robot arm (2) is mounted on the walking chassis (1), and the leaf-threshing mechanism (3) is mounted at the execution end of the robot arm (2); the leaf-threshing mechanism (3) comprises a mechanism frame (31) and a cutting knife (32), and the cutting knife (32) can be driven by a driving mechanism (33) to perform a shearing operation; Features: The mechanism frame (31) has three forked parts, namely a first forked part (311), a second forked part (312) and a third forked part (313); a first channel (31a) and a second channel (31b) which are perpendicular to each other and form a T-shape are formed between the three forked parts, wherein the first channel (31a) is a double-sided through channel; the first forked part (311) and the second forked part (312) are both located on a first side of the first channel (31a), and are respectively located on two sides of the second channel (31b); the cutting knife (32) and the driving mechanism (33) are both mounted on the mechanism frame (31); The first bifurcated portion (311) is a hollow structure, and a medicine spraying mechanism (34) is installed on the first bifurcated portion (311).

2. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The spraying mechanism (34) comprises a main pipe (341) and a plurality of branch pipes (342) connected to the main pipe (341), all of the branch pipes (342) are dispersedly installed along the first forked portion (311), and the main pipe (341) is connected to a liquid medicine tank.

3. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The cutting knife (32) is rotatably mounted relative to the mechanism frame (31); the driving mechanism (33) comprises a prime mover (331) mounted on the mechanism frame (31); a cam (332) is fixed on an output shaft of the prime mover (331); the cam (332) can act on the back of the prime mover (331); and a return spring (333) is connected between the cutting knife (32) and the first forked portion (311).

4. The greenhouse track-type hanging vine crop leaf removing robot according to claim 3, characterized in that: The second bifurcated portion (312) has a clearance groove in the middle, and the cutting edge of the cutting knife (32) can enter the clearance groove.

5. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: A plurality of rollers (35) arranged in a linear array are mounted on the third bifurcated portion (313), and the diameters of the rollers (35) increase sequentially in a direction from the outside to the inside.

6. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The first forked portion (311) is detachable relative to other portions of the mechanism frame (31).

7. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The robotic arm (2) is a RRPRR type robotic arm.

8. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: It also comprises a visual unit (4) fixed relative to the rotating base (21) of the robot arm (2).

9. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The walking chassis (1) comprises a chassis body (11) and a walking wheel module (12) mounted on the chassis body (11); the walking wheel module (12) comprises a walking drive motor (121), a track walking wheel (122) and a ground walking wheel (123); the track walking wheel (122) and the ground walking wheel (123) are coaxially mounted and staggered left and right.

10. The greenhouse track-type hanging vine crop leaf removing robot according to claim 1, characterized in that: The number of the robot arms (2) is two, and correspondingly, the number of the leaf beating mechanisms (3) is also two.

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