Main drive-kinematic pair separation type large-stroke modular agricultural mechanical arm

Abstract

The invention relates to the field of agricultural machinery, and provides a main drive-kinematic pair separation type large-stroke modular agricultural mechanical arm which comprises a mounting seat, a moving seat, a first force arm, a second force arm, an end effector and a driving device, the first force arm is rotatably mounted on the mounting seat, the moving seat is movably arranged on the first force arm, and the second force arm is movably arranged on the end effector. The second force arm is movably arranged on the movable seat; the first force arm is perpendicular to the second force arm; the driving device is in transmission connection with the moving seat and the second force arm, the driving device is used for driving the moving seat to move in the axial direction of the first force arm and driving the second force arm to move relative to the moving seat in the cross section direction of the first force arm, and the end effector is rotationally installed at the first end of the second force arm; the end effector is driven by the second force arm to reach different positions to pick fruits. The mechanical arm has a large movement stroke, the fruit picking efficiency is improved, and the mechanical arm is simple in structure and low in cost.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a main drive-motion pair separated large-stroke modular agricultural mechanical arm. Background Art

[0002] With the continuous advancement of agricultural modernization, the automation and mechanization of agricultural labor has become one of the important means to improve production efficiency and reduce costs. Fruit picking is one of the most challenging links in the agricultural production process, especially when there are a large number of fruits, and efficient, precise and intelligent automatic picking equipment is urgently needed.

[0003] At present, most fruit picking is done manually and by robotic arms. Traditional manual picking methods have the problems of high labor intensity, high labor costs and low picking efficiency. Although mechanical picking can improve picking efficiency to a certain extent, due to the existing robotic arm configuration, several joint motors are set between multiple arms, and the operation of the joint motors drives each arm to move to simulate the ergonomic arm picking movement. This type of robotic arm has a bulky and complex structure, and its range of motion is relatively limited, and it is still difficult to ensure better fruit picking efficiency. Summary of the invention

[0004] The invention provides a main drive-motion pair separated large-stroke modular agricultural mechanical arm, which is used to solve the problem that the existing mechanical arm has a relatively limited movable stroke and is difficult to ensure the efficiency of fruit picking.

[0005] The present invention provides a main drive-motion pair separated type large-stroke modular agricultural mechanical arm, comprising: a mounting seat, a moving seat, a first force arm, a second force arm, an end effector and a driving device, wherein the first force arm is rotatably mounted on the mounting seat, the moving seat is movably arranged on the first force arm, and the second force arm is movably arranged on the moving seat; the first force arm and the second force arm are vertically arranged; The driving device is respectively connected to the movable seat and the second lever arm in transmission connection. The driving device is used to drive the movable seat to move along the axial direction of the first lever arm, and to drive the second lever arm to move along the cross-sectional direction of the first lever arm relative to the movable seat. The end effector is rotatably mounted on the first end of the second lever arm. Driven by the second lever arm, the end effector reaches different positions to pick fruits.

[0006] According to a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention, the driving device comprises a synchronous belt, a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are respectively mounted on the two ends of the first lever arm, the first end and the second end of the second lever arm are respectively rotatably mounted with a tensioning wheel and a synchronous wheel, and the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel are rotatably mounted on the moving seat; Wherein, the first transmission wheel and the second transmission wheel are located on one side of the second force arm, and the third transmission wheel and the fourth transmission wheel are located on the other side of the second force arm; The starting end of the synchronous belt is connected to the first end of the second force arm, and the synchronous belt is meshed with the first transmission wheel, the first drive wheel, the second transmission wheel, the synchronous wheel, the third transmission wheel, the second drive wheel, the fourth transmission wheel and the tensioning wheel in sequence according to a preset path; as the first drive wheel and the second drive wheel are driven, the synchronous belt drives the moving seat to move axially along the first force arm and / or drives the second force arm to move relative to the moving seat along the cross-sectional direction of the first force arm.

[0007] According to the present invention, a main drive-motion pair separated type large-stroke modular agricultural mechanical arm further includes a controller, and the moving seat is fixedly mounted with a first limit sensor and a second limit sensor; The second force arm is provided with a first detection block and a second detection block, and the first detection block and the second detection block are located on different sides of the first force arm; The first limit sensor is used to detect the position information of the first detection block relative to the first limit sensor; the second limit sensor is used to detect the position information of the second detection block relative to the second limit sensor; The first limit sensor and the second limit sensor are respectively connected to the controller for communication, and the controller is respectively connected to the driving elements of the first driving wheel and the second driving wheel for communication.

[0008] According to a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention, the first force arm is respectively equipped with a first sensing switch and a second sensing switch, the first sensing switch and the second sensing switch are located on different sides of the second force arm, the moving seat is fixedly equipped with a first sensing sheet and a second sensing sheet, the first sensing switch is used to sense the position of the first sensing sheet, and the second sensing switch is used to sense the position of the second sensing sheet; the first sensing switch and the second sensing switch are respectively communicated with the controller.

[0009] A large-stroke modular agricultural mechanical arm with a separated main drive and motion pair provided by the present invention also includes a first rotating drive component, the first force arm is rotatably mounted on the mounting seat, the base of the first rotating drive component is fixed to the mounting seat, and the driving end of the first rotating drive component is transmission-connected to the first force arm to drive the first force arm to rotate relative to the mounting seat.

[0010] A large-stroke modular agricultural mechanical arm with a separated main drive and motion pair provided by the present invention also includes a second rotating drive member, a base of which is fixed to the first end of the second force arm, and a driving end of the second rotating drive member is transmission-connected to the end effector to drive the end effector to rotate relative to the second force arm.

[0011] According to a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention, the end actuator includes a connecting seat, a telescopic drive member and a mechanical claw, the driving end of the second rotating drive member is connected to the connecting seat, the base of the telescopic drive member is fixed to the connecting seat, and the telescopic end of the telescopic drive member is connected to the mechanical claw.

[0012] According to a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention, the mechanical claw includes an openable and closable claw body, a screw drive component and a seat body, the seat body is connected to the telescopic end of the telescopic drive component, the screw drive component is fixed to the seat body, and the driving end of the screw drive component is connected to the openable and closable claw body to drive the openable and closable claw body to rotate relative to the seat body.

[0013] According to a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention, the first force arm is provided with a first guide rail extending along the axial direction of the first force arm, the moving seat is provided with a first guide block, and the first guide block is movably provided on the first guide rail; And / or, one of the movable seat and the second force arm is provided with a second guide rail, and the other is provided with a second guide block, and the second guide block is movably provided on the second guide rail.

[0014] A large-stroke modular agricultural mechanical arm with a main drive and a moving pair separated according to the present invention also includes a controller, and the end effector is equipped with a depth recognition camera, which is used to recognize the color and depth information of the fruit. The depth recognition camera is communicatively connected to the controller, and the controller is communicatively connected to the electrical components of the large-stroke modular agricultural mechanical arm with a main drive and a moving pair separated.

[0015] The present invention provides a main drive-motion pair separated large-stroke modular agricultural mechanical arm, wherein a first force arm is rotatably mounted on a mounting seat, and the first force arm drives the second force arm to rotate, so that an end effector located at the first end of the second force arm can pick fruits at different heights; a driving device is transmission-connected with a moving seat to drive the moving seat to move along the axial direction of the first force arm, and the second force arm moves along the axial direction of the first force arm driven by the moving seat, so that the end effector can move along the planting direction of the fruit tree; the driving device is transmission-connected with the second force arm to drive the second force arm to move relative to the moving seat along the cross-sectional direction of the first force arm, so that the end effector can extend forward to the fruit tree to pick the fruit, and after the end effector picks the fruit, it retreats to a fruit delivery area driven by the second force arm to deliver the fruit; the end effector is rotationally mounted on the first end of the second force arm, which expands the picking range of the end effector and improves the flexibility of the end effector when picking fruit. The main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention can realize flexible movement with multiple degrees of freedom, has a large active stroke, improves the efficiency of fruit picking, and has a simple structure and low cost, and can be widely used in the field of agricultural picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a top view of a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0018] Figure 2 It is a front view of a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0019] Figure 3 This is one of the partial structural schematic diagrams of the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0020] Figure 4 This is the second partial structural schematic diagram of the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0021] Figure 5 It is a side view of a main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0022] Figure 6This is the third partial structural schematic diagram of the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention.

[0023] Figure 7 It is a cross-sectional view of the end effector provided by the present invention.

[0024] Figure 8 It is a schematic structural diagram of the openable and closable claw body provided by the present invention.

[0025] Reference numerals: 1. Mounting seat; 11. First seat body; 12. Second seat body; 111. Mounting hole; 13. Bearing; 2. Moving seat; 21. First transmission wheel; 22. Second transmission wheel; 23. Third transmission wheel; 24. Fourth transmission wheel; 25. First limit sensor; 26. Second limit sensor; 27. First induction sheet; 28. Second induction sheet; 29. ​​First guide block; 3. First force arm; 31. First induction switch; 32. Second induction switch; 33. First guide rail; 34. Mounting frame; 35. Support plate; 36. Crossbeam; 37. Rotation limit sensor; 4. Second force arm; 41. Synchronous wheel; 42. First detection block; 43. Second detection block; 45. Mounting piece; 46. Pipeline mounting seat; 5. End effector; 51. Connecting seat; 52. Telescopic drive member; 521. Guide seat; 53. Mechanical claw; 531. Openable and closable claw body; 5311. Finger; 532. Twist drive member; 533. Seat body; 6. Driving device; 61. Synchronous belt; 62. First driving wheel; 621. First driving member; 63. Second driving wheel; 631. Second driving member; 7. Second rotating driving member. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The features of the terms "first" and "second" in the specification and claims of the present invention may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the objects connected before and after are in an "or" relationship.

[0028] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Combine the following Figure 1-Figure 8 , through specific embodiments and application scenarios, the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the embodiment of the present invention is described in detail.

[0031] like Figure 1 As shown, the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention comprises: a mounting seat 1, a moving seat 2, a first lever arm 3, a second lever arm 4, an end effector 5 and a driving device 6. The first lever arm 3 is rotatably mounted on the mounting seat 1. The moving seat 2 is movably disposed on the first lever arm 3. The second lever arm 4 is movably disposed on the moving seat 2. The first lever arm 3 and the second lever arm 4 are vertically arranged.

[0032] The driving device 6 is respectively connected to the moving base 2 and the second lever arm 4. The driving device 6 is used to drive the moving base 2 to move along the axial direction of the first lever arm 3, and to drive the second lever arm 4 to move relative to the moving base 2 along the cross-sectional direction of the first lever arm 3. The end effector 5 is rotatably mounted on the first end of the second lever arm 4, and the end effector 5 is driven by the second lever arm 4 to reach different positions to pick fruits.

[0033] It should be noted that the main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention is suitable for picking various types of fruits, such as apples, pears and peaches, and is particularly suitable for picking fruit trees planted in rows. At present, most fruit trees in fruit planting bases are planted in rows. The main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention moves along the axial direction of the first force arm 3 through the second force arm 4, and cooperates with the second force arm 4 to move along the cross-sectional direction of the first force arm 3, so that the end effector 5 can quickly pick the fruits on the fruit trees planted in rows, with a large active stroke, high picking efficiency, simple structure and low cost.

[0034] Specifically, Figure 1 As shown, the axial directions of the first lever arm 3 and the second lever arm 4 are consistent with the horizontal direction. The first lever arm 3 and the second lever arm 4 are both in the shape of long strips. The first lever arm 3 and the second lever arm 4 are both fixed with a pipeline mounting seat 46. The connecting pipelines of each electrical component on the first lever arm 3 and the second lever arm 4 are all accommodated in the pipeline mounting seat 46 to ensure the compactness of the structure and prevent the pipelines from being entangled or knotted.

[0035] like Figure 2 and Figure 3 As shown, the first lever 3 includes a mounting frame 34, a supporting plate 35 and two cross beams 36. The two ends of the supporting plate 35 are fixed to the mounting frame 34 respectively. The two cross beams 36 are arranged side by side below the supporting plate 35, and the two ends of the two cross beams 36 are fixedly mounted on the mounting frame 34 respectively to support the supporting plate 35. The mounting seat 1 includes a first seat body 11 and a second seat body 12. The two ends of the mounting frame 34 are rotatably mounted on the first seat body 11 and the second seat body 12 respectively to provide support for the first lever 3 through the mounting seat 1. The second lever 4 is movably mounted on the first lever 3 through the movable seat 2, and is formed as a whole with the first lever 3. Therefore, when the first lever 3 rotates relative to the mounting seat 1, the second lever 4 rotates with the first lever 3. As the second lever 4 rotates, the end effector 5 located at the first end of the second lever 4 reaches different heights, so that the end effector 5 can pick fruits at different heights.

[0036] like Figure 1 As shown, the moving seat 2 is mounted on the first lever arm 3. In some embodiments, a guide structure is provided between the moving seat 2 and the first lever arm 3 to guide the moving seat 2 to move axially along the first lever arm 3 through the guide structure to ensure the smooth movement of the moving seat 2. For example, the guide structure includes a pulley and a slide rail. The slide rail is fixed to the support plate 35 and extends axially along the support plate 35. The pulley is rotatably mounted on the side of the moving seat 2 facing the support plate 35. The pulley is slidably mounted on the slide rail to guide the moving seat 2 to move axially along the slide rail.

[0037] The driving device 6 is connected to the moving seat 2 in a transmission manner, and is used to drive the moving seat 2 to move axially along the first lever arm 3. The second lever arm 4 is connected to the moving seat 2, and is driven by the moving seat 2 to move axially along the first lever arm 3. By switching the driving direction of the driving device 6, the second lever arm 4 can reciprocate axially along the first lever arm 3. The driving device 6 is connected to the second lever arm 4 in a transmission manner, and is used to drive the second lever arm 4 to move along the cross-sectional direction of the first lever arm 3, so that the end effector 5 can extend forward to the fruit tree to pick the fruit, or retreat to the fruit delivery area after picking the fruit. Driven by the driving device 6, the end effector 5 cooperates with the second lever arm 4 to pick fruits at the same horizontal height along the forward direction of the planting belt.

[0038] In some embodiments, the driving device 6 includes a first horizontal driving member and a second horizontal driving member. The base of the first horizontal driving member is fixed to the first lever arm 3, and the driving end of the first horizontal driving member is connected to the moving seat 2 to drive the moving seat 2 to move along the axial direction of the first lever arm 3. The base of the second horizontal driving member is fixed to the moving seat 2, and the driving end of the second horizontal driving member is connected to the second lever arm 4 to drive the second lever arm 4 to move along the cross-sectional direction of the first lever arm 3. Optionally, the first horizontal driving member and the second horizontal driving member are electric push rods or telescopic cylinders.

[0039] The end effector 5 is rotatably mounted on the first end of the second lever arm 4 so that the end effector 5 can rotate relative to the second lever arm 4 to expand the picking range of the end effector 5 and enhance the flexibility of the end effector 5 .

[0040] When in use, the first seat body 11 and the second seat body 12 can be locked in the bucket of a mobile tool such as a tricycle or a mobile cart by fasteners such as bolts and clamps. Figure 1 As shown, the first seat body 11 and the second seat body 12 are respectively provided with mounting holes 111 so as to be directly inserted into the bracket of the mobile tool for easy installation. The entire fruit picking robot arm follows the mobile tool to shuttle through the forest to achieve large-scale fruit picking. Users can also appropriately select the length of the first lever arm 3 and the second lever arm 4 according to factors such as the length of the fruit trees planted in rows and the gaps between rows. For example, when the length of the fruit trees planted in rows is long, the length of the first lever arm 3 can be increased to reduce the frequency of movement of the mobile tool, reduce the labor intensity of the fruit farmers, expand the range of activities, and improve the picking efficiency; when the gaps between the fruit trees in the rows are small, the length of the second lever arm 4 can be shortened to facilitate the extension or retreat of the end effector 5.

[0041] The main drive-motion pair separated large-stroke modular agricultural mechanical arm provided by the present invention has a first force arm 3 rotatably mounted on a mounting seat 1, and the first force arm 3 drives the second force arm 4 to rotate, so that the end effector 5 located at the first end of the second force arm 4 can pick fruits at different heights; the driving device 6 is transmission-connected with the moving seat 2 to drive the moving seat 2 to move along the axial direction of the first force arm 3, and the second force arm 4 is driven by the moving seat 2 to move along the axial direction of the first force arm 3, so that the end effector 5 can move along the planting direction of the fruit tree, and the driving device 6 is transmission-connected with the second force arm 4 to drive the second force arm 4 The movable seat 2 moves along the cross-sectional direction of the first lever arm 3 relative to the movable seat 2, so that the end effector 5 can extend into the fruit tree to grab the fruit. After the end effector 5 picks the fruit, it retreats to the fruit delivery area driven by the second lever arm 4 to deliver the fruit. The end effector 5 is rotatably installed on the first end of the second lever arm 4 to expand the picking range of the end effector 5, thereby improving the flexibility of the end effector 5 when picking fruit. The entire robotic arm can realize flexible movement with multiple degrees of freedom, has a large active stroke, improves the efficiency of fruit picking, and has a simple structure and low cost, and can be widely used in the field of agricultural picking.

[0042] In some embodiments, Figure 1 As shown, the driving device 6 includes a synchronous belt 61, a first driving wheel 62 and a second driving wheel 63. The first driving wheel 62 and the second driving wheel 63 are respectively mounted on both ends of the first lever 3. The first end and the second end of the second lever 4 are rotatably mounted with a tensioning wheel and a synchronous wheel 41. The first transmission wheel 21, the second transmission wheel 22, the third transmission wheel 23 and the fourth transmission wheel 24 are rotatably mounted on the moving seat 2.

[0043] The first transmission wheel 21 and the second transmission wheel 22 are located on one side of the second lever arm 4 , and the third transmission wheel 23 and the fourth transmission wheel 24 are located on the other side of the second lever arm 4 .

[0044] Specifically, Figure 2 As shown, the first driving wheel 62 and the second driving wheel 63 are symmetrically arranged at the two ends of the first lever 3 in the vertical direction. The main drive-motion pair separated large-stroke modular agricultural mechanical arm also includes a first driving member 621 and a second driving member 631. The bases of the first driving member 621 and the second driving member 631 are respectively fixed to the two ends of the mounting frame 34. Among them, the driving shaft of the first driving member 621 is connected to the first driving wheel 62 through a gear train to drive the first driving wheel 62 to rotate. The driving shaft of the second driving member 631 is also connected to the second driving wheel 63 through a gear train to drive the second driving wheel 63 to rotate.

[0045] like Figure 1 and Figure 4As shown, the movable seat 2 is rectangular. The first transmission wheel 21, the second transmission wheel 22, the third transmission wheel 23 and the fourth transmission wheel 24 are rotatably mounted on the four corners of the movable seat 2. The first transmission wheel 21 is located at the lower left corner of the movable seat 2, the second transmission wheel 22 is located at the upper left corner of the movable seat 2, the third transmission wheel 23 is located at the upper right corner of the movable seat 2, and the fourth transmission wheel 24 is located at the lower right corner of the movable seat 2. The first transmission wheel 21, the second transmission wheel 22, the third transmission wheel 23 and the fourth transmission wheel 24 can be concave wheels on the pulley side to prevent the synchronous belt 61 from falling off.

[0046] like Figure 5 As shown, the first end of the second force arm 4 is provided with a mounting member 45. The starting end of the synchronous belt 61 is connected to the mounting member 45. The synchronous belt 61 is meshed with the first transmission wheel 21, the first drive wheel 62, the second transmission wheel 22, the synchronous wheel 41, the third transmission wheel 23, the second drive wheel 63, the fourth transmission wheel 24 and the tension wheel in sequence according to a preset path. With the driving of the first drive wheel 62 and the second drive wheel 63, the synchronous belt 61 drives the moving seat 2 to move along the axial direction of the first force arm 3 and / or drives the second force arm 4 to move relative to the moving seat 2 along the cross-sectional direction of the first force arm 3.

[0047] By controlling the rotation direction and speed of the first driving wheel 62 and the second driving wheel 63, the movement position of the second force arm 4 can be adjusted. Figure 1 As shown, when the first driving wheel 62 and the second driving wheel 63 keep the same speed and rotate in the clockwise direction, the synchronous belt 61 drives the movable seat 2 to move to the right. When the first driving wheel 62 and the second driving wheel 63 keep the same speed and rotate in the counterclockwise direction, the synchronous belt 61 drives the movable seat 2 to move to the left.

[0048] When the first driving wheel 62 and the second driving wheel 63 maintain the same rotation speed and rotate in different directions, the synchronous belt 61 drives the second lever 4 to move relative to the moving seat 2. For example, when the first driving wheel 62 and the second driving wheel 63 maintain the same rotation speed, and when the first driving wheel 62 rotates in the clockwise direction and the second driving wheel 63 rotates in the counterclockwise direction, the synchronous belt 61 drives the second lever 4 to move forward. When the first driving wheel 62 and the second driving wheel 63 maintain the same rotation speed, and when the first driving wheel 62 rotates in the counterclockwise direction and the second driving wheel 63 rotates in the clockwise direction, the synchronous belt 61 drives the second lever 4 to move backward. When the first driving wheel 62 and the second driving wheel 63 rotate in different directions and rotation speeds, the second lever 4 drives the end effector 5 to make a curved motion along the axial direction of the first lever 3 and the axial direction of the second lever 4 at the same time.

[0049] In some embodiments, the main drive-motion pair separated large-stroke modular agricultural mechanical arm also includes a controller. Figure 1 and Figure 4As shown, the moving base 2 is fixedly mounted with a first limit sensor 25 and a second limit sensor 26 .

[0050] The second force arm 4 is provided with a first detection block 42 and a second detection block 43. The first detection block 42 and the second detection block 43 are located at different sides of the first force arm 3.

[0051] The first limit sensor 25 is used to detect the position information of the first detection block 42 relative to the first limit sensor 25. The second limit sensor 26 is used to detect the position information of the second detection block 43 relative to the second limit sensor 26.

[0052] The first limit sensor 25 and the second limit sensor 26 are respectively connected to the controller for communication, and the controller is respectively connected to the driving elements of the first driving wheel 62 and the second driving wheel 63 for communication.

[0053] Specifically, Figure 1 As shown, the first detection block 42 is close to the second end of the second force arm 4. The second detection block 43 is close to the first end of the second force arm 4. The first limit sensor 25 and the second limit sensor 26 can be non-contact limit sensors, such as photoelectric limit sensors or magnetic limit sensors.

[0054] When the first limit sensor 25 detects that the first detection block 42 moves to the position where the first limit sensor 25 is located, the controller controls the working status of the first drive wheel 62 and the second drive wheel 63 to stop the second force arm 4 from moving backward; when the second limit sensor 26 detects that the second detection block 43 moves to the position where the second limit sensor 26 is located, the controller adjusts the working status of the first drive wheel 62 and the second drive wheel 63 to stop the second force arm 4 from moving forward, thereby monitoring the forward extension stroke and backward movement stroke of the second force arm 4 in real time through the first limit sensor 25 and the second sensor, ensuring the stability of the connection between the second force arm 4 and the moving seat 2, and improving the flexibility of the end actuator 5 in picking.

[0055] In some embodiments, Figure 1 and Figure 3 As shown, the first force arm 3 is respectively equipped with a first inductive switch 31 and a second inductive switch 32. The first inductive switch 31 and the second inductive switch 32 are located on different sides of the second force arm 4. Figure 4 As shown, the mobile seat 2 is fixedly mounted with a first sensing sheet 27 and a second sensing sheet 28. The first sensing switch 31 is used to sense the position of the first sensing sheet 27. The second sensing switch 32 is used to sense the position of the second sensing sheet 28. The first sensing switch 31 and the second sensing switch 32 are respectively connected to the controller for communication.

[0056] Specifically, Figure 3As shown, the first sensing sheet 27 is close to the first driving wheel 62. The second sensing sheet 28 is close to the second driving wheel 63. The first sensing switch 31 and the second sensing switch 32 may be contact sensing switches.

[0057] like Figure 1 As shown, as the moving seat 2 moves, when the first sensing sheet 27 abuts against the first sensing switch 31, the first sensing switch 31 sends a trigger signal to the controller, and the controller controls the moving seat 2 to stop moving to the left based on the trigger signal of the first sensing switch 31. When the second sensing sheet 28 abuts against the second sensing switch 32, the second sensing switch 32 sends a trigger signal to the controller, and the controller controls the moving seat 2 to stop moving to the right based on the trigger signal of the second sensing switch 32. The limit travel of the moving seat 2 is monitored by the first sensing switch 31 and the second sensing switch 32 to ensure the stability of the connection between the moving seat 2 and the first force arm 3 and the flexibility of the end effector 5 in picking.

[0058] In some embodiments, Figure 2 As shown, the main drive-motion pair separated large-stroke modular agricultural mechanical arm also includes a first rotary drive member. The first lever arm 3 is rotatably mounted on the mounting seat 1. The base of the first rotary drive member is fixed to the mounting seat 1. The driving end of the first rotary drive member is transmission-connected with the first lever arm 3 to drive the first lever arm 3 to rotate relative to the mounting seat 1.

[0059] Among them, the first rotating drive member can be a stepper motor or a servo motor. The base of the first rotating drive member is fixed to the first seat body 11 or the second seat body 12. The two ends of the first lever arm 3 are rotatably mounted on the first seat body 11 and the second seat body 12 through bearings 13 respectively. In a specific embodiment, the base of the first rotating drive member is fixed to the second seat body 12. The first lever arm 3 is provided with a connecting hole. The driving shaft of the first rotating drive member passes through the axial hole of the bearing 13 and is fixedly inserted in the connecting hole to drive the first lever arm 3 to rotate relative to the mounting seat 1. As the first lever arm 3 rotates, the second lever arm 4 rotates around the axial direction of the first lever arm 3, so that the end effector 5 can rise or fall to pick fruits at different heights. For example, as Figure 1 As shown, when the driving shaft of the first rotary driving member rotates counterclockwise, the first end of the second lever arm 4 rises, so that the end effector 5 rises to a certain height to pick fruits at a high place; when the driving shaft of the first rotary driving member rotates clockwise, the first end of the second lever arm 4 descends, so that the end effector 5 descends to pick fruits at a low place. The entire main drive-motion pair separated large-stroke modular agricultural mechanical arm has a simple structure and high convenience.

[0060] In some embodiments, Figure 2As shown, the first lever arm 3 is equipped with a rotation limit sensor 37. The rotation limit sensor 37 is used to detect the rotation angle of the first lever arm 3. The rotation limit sensor 37 is communicatively connected to the controller to send the rotation angle information of the first lever arm 3 to the controller, and the controller determines whether the current rotation angle of the first lever arm 3 reaches the preset limit rotation angle based on the above information. When the rotation angle of the first lever arm 3 reaches the preset limit rotation angle, the controller controls the first rotary drive member to stop rotating, or controls the first rotary drive member to rotate in the opposite direction by a certain angle, so that the end effector 5 can always pick fruits within the preset height range. The user can reasonably set the preset limit rotation angle of the first rotary drive member according to the fruit height range of the fruit tree, so that the end effector 5 can take into account the picking of fruits at both the highest and lowest places.

[0061] like Figure 1 As shown, the main drive-motion pair separated long-stroke modular agricultural mechanical arm also includes a second rotary drive member 7. The base of the second rotary drive member 7 is fixed to the first end of the second lever arm 4. The driving end of the second rotary drive member 7 is transmission-connected to the end effector 5 to drive the end effector 5 to rotate relative to the second lever arm 4.

[0062] The driving shaft of the second rotary drive member 7 can be perpendicular or parallel to the second lever arm 4, or can be set at an obtuse angle to the second lever arm 4. Optionally, the second rotary drive member 7 is a stepper motor or a servo motor. Driven by the second rotary drive member 7, the end effector 5 can rotate 360° relative to the second lever arm 4, thereby expanding the picking range of the end effector 5 and reducing or eliminating the picking blind angle of the end effector 5.

[0063] In some embodiments, Figure 6 and Figure 7 As shown, the end effector 5 includes a connection seat 51, a telescopic driving member 52 and a mechanical claw 53. The driving end of the second rotary driving member 7 is connected to the connection seat 51. The base of the telescopic driving member 52 is fixed to the connection seat 51. The telescopic end of the telescopic driving member 52 is connected to the mechanical claw 53.

[0064] Specifically, Figure 6As shown, the connecting seat 51 is fixed to the driving shaft of the second rotating driving member 7 to provide support for the telescopic driving member 52. Among them, the telescopic driving member 52 can be an electric push rod or a cylinder. The telescopic shaft of the telescopic driving member 52 is connected to the mechanical claw 53. When picking, the telescopic shaft of the telescopic driving member 52 drives the mechanical claw 53 to extend forward, and the height of the mechanical claw 53 is compensated, accurately simulating the ergonomic arm lifting movement, so that the mechanical claw can pick fruits at a higher height, improving the flexibility and applicability of the entire mechanical arm, and reducing the picking dead angle. After the mechanical claw 53 picks a single fruit, the telescopic driving member 52 drives the mechanical claw 53 to retract, and cooperates with the rotation movement of the end effector 5, the movement of the second force arm 4 and the rotation of the first force arm 3 to move the mechanical claw 53 to the fruit delivery area; the controller controls the mechanical claw 53 to release the fruit, and the water falls to the fruit delivery area, and so on and so forth to complete the picking of several fruits.

[0065] like Figure 6 and Figure 7 As shown, the end effector 5 also includes a guide seat 521. The guide seat 521 includes at least one telescopic rod. In some embodiments, there are two telescopic rods. The two telescopic rods are arranged in parallel, and both extend along the forward extension direction of the mechanical claw 53. The two telescopic rods are arranged on opposite sides of the telescopic drive member 52. One end of the two telescopic rods is fixedly connected to the connecting seat 51, and the other end is fixedly connected to the mechanical claw 53. Each telescopic rod includes a plurality of segments, and the plurality of segments are nested with each other, so that each telescopic rod can be synchronously extended and retracted following the extension and retraction of the drive shaft of the telescopic drive member 52, thereby guiding the mechanical claw 53 to smoothly extend or retract through the guide seat 521.

[0066] In some embodiments, Figure 6 and Figure 7 As shown, the mechanical claw 53 includes an openable and closable claw body 531, a screw driving member 532 and a seat body 533. The seat body 533 is connected to the telescopic end of the telescopic driving member 52. The screw driving member 532 is fixed to the seat body 533. The driving end of the screw driving member 532 is connected to the openable and closable claw body 531 to drive the openable and closable claw body 531 to rotate relative to the seat body 533.

[0067] Specifically, Figure 7 As shown, the seat body 533 is fixed to the driving end of the telescopic driving member 52 to provide support for the screw driving member 532. The base of the screw driving member 532 is fixed to the seat body 533, and its driving shaft is connected to the openable and closable claw body 531 to drive the openable and closable claw body 531 to rotate. Optionally, the screw driving member 532 is a stepping motor, a servo motor or a rotary cylinder.

[0068] When in use, the controller controls the fingers of the openable and closable claw body 531 to open to grab the fruit, and then controls the fingers of the openable and closable claw body 531 to close to limit the position of the fruit; then, the controller controls the screw driving component 532 to operate, and the screw driving component 532 drives the openable and closable claw body 531 to rotate to break the fruit stalk, and the fruit stalk is picked together with the fruit, which can increase the storage period of the fruit and reduce the decay rate of the fruit.

[0069] Optionally, the end effector 5 further includes a pneumatic slip ring. The drive shaft of the screw drive member 532 passes through the pneumatic slip ring and is fixedly connected to the openable and closable claw body 531. The openable and closable claw body 531 includes an inlet and outlet cylinder and a finger 5311. The gas in and out of the cylinder enters through the air inlet of the pneumatic slip ring and is discharged from the air outlet of the pneumatic slip ring.

[0070] The closable claw body 531 can be simplified as Figure 8 Indicates. Finger 5311 is connected to the OB rod and rotates around the fixed points O1 and O2. B1, B2 and A are free points, and the B1A rod, B2A rod and the piston of the in-and-out cylinder are connected to point A. Point C represents the in-and-out cylinder. When air is introduced into the upper end of the piston of the in-and-out cylinder, point A moves downward, driving finger 5311 to contract so as to grab the fruit; when air is introduced into the lower end of the piston of the in-and-out cylinder, point A moves upward, driving finger 5311 to open to release the fruit.

[0071] Alternatively, the openable and closable claw body 531 may adopt a pneumatic claw or a spring claw used for picking fruits in the prior art.

[0072] In some embodiments, Figure 1 and Figure 3 As shown, the first force arm 3 is provided with a first guide rail 33 extending along the axial direction of the first force arm 3. The movable seat 2 is provided with a first guide block 29. The first guide block 29 is movably provided on the first guide rail 33.

[0073] Specifically, Figure 3 As shown, the first guide rail 33 is fixed to the first lever arm 3 and extends along the axial direction of the first lever arm 3. The first guide block 29 is fixed to the side of the moving seat 2 facing the first lever arm 3. The first guide block 29 is movably arranged on the first guide rail 33 to guide the moving seat 2 to move along the extension direction of the first guide rail 33, so as to prevent the long length of the second lever arm 4 from affecting the smoothness of the movement of the moving seat 2, thereby ensuring the stability of the end effector 5 when picking.

[0074] In some embodiments, there are two first guide rails 33. The two first guide rails 33 are arranged in parallel. The moving base 2 is provided with at least one first guide block 29 corresponding to each first guide rail 33. Figure 3As shown, there are four first guide blocks 29. Two first guide blocks 29 are movably disposed on one of the first guide rails 33, and the other two first guide blocks 29 are movably disposed on the other first guide rail 33, so as to further increase the stability of the movement of the moving base 2.

[0075] In some embodiments, one of the movable seat 2 and the second force arm 4 is provided with a second guide rail, and the other is provided with a second guide block.

[0076] Specifically, a second guide rail is fixed on the side of the moving base 2 facing the second lever arm 4. A second guide block is fixed on the side of the second lever arm 4 facing the moving base 2. The second guide block is movably arranged on the second guide rail so as to guide the second lever arm 4 to move along the extension direction of the second guide rail, thereby ensuring the stability of the movement of the second lever arm 4 and improving the stability of the end effector 5 during picking.

[0077] In some other embodiments, the first lever arm 3 is fixed with a first guide rail 33, the side of the moving seat 2 facing the first lever arm 3 is fixed with a first guide block 29, the side of the moving seat 2 facing the second lever arm 4 is fixed with a second guide rail, and the second lever arm 4 is fixed with a second guide block, so as to ensure the smooth movement of the moving seat 2 and the second lever arm 4 at the same time.

[0078] The end effector 5 is equipped with a depth recognition camera. The depth recognition camera is used to recognize the color and depth information of the fruit on the tree. The depth recognition camera is connected to the controller for communication, and the controller is connected to the electrical components of the main drive-motion pair separated large-stroke modular agricultural mechanical arm for communication.

[0079] It should be noted that each electrical component of the main drive-motion pair separated long-stroke modular agricultural mechanical arm of the present invention is communicatively connected to the controller, and the controller coordinates the working status of each electrical component to ensure the coordination and flexibility of the main drive-motion pair separated long-stroke modular agricultural mechanical arm.

[0080] Among them, the controller can be selected from the controller provided with a fruit training model in the prior art to identify the fruit to be picked. In this embodiment, a depth recognition camera is installed at the end of the end effector 5, and is used to collect a depth image within the picking range of the end effector 5. The controller locates the position of the fruit based on the depth image of the fruit in the collected image, and determines whether the fruit meets the picking requirements by the color of the fruit, and then controls the end effector 5 to perform the corresponding operation. For example, when the controller determines that the fruit is not ripe, the controller controls the corresponding components to perform corresponding actions, so that the end effector 5 is transferred to another place to pick ripe fruits.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A main drive-motion pair separated large-stroke modular agricultural mechanical arm, characterized in that: include: A mounting seat, a movable seat, a first force arm, a second force arm, an end effector and a driving device, wherein the first force arm is rotatably mounted on the mounting seat, the movable seat is movably arranged on the first force arm, and the second force arm is movably arranged on the movable seat; the first force arm and the second force arm are vertically arranged; The driving device is respectively connected to the movable seat and the second lever arm in transmission connection. The driving device is used to drive the movable seat to move along the axial direction of the first lever arm, and to drive the second lever arm to move along the cross-sectional direction of the first lever arm relative to the movable seat. The end effector is rotatably mounted on the first end of the second lever arm. Driven by the second lever arm, the end effector reaches different positions to pick fruits.

2. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 1, characterized in that: The driving device comprises a synchronous belt, a first driving wheel and a second driving wheel, wherein the first driving wheel and the second driving wheel are respectively mounted at two ends of the first lever arm, a tensioning wheel and a synchronous wheel are rotatably mounted at the first end and the second end of the second lever arm, respectively, and a first transmission wheel, a second transmission wheel, a third transmission wheel and a fourth transmission wheel are rotatably mounted on the movable seat; Wherein, the first transmission wheel and the second transmission wheel are located on one side of the second force arm, and the third transmission wheel and the fourth transmission wheel are located on the other side of the second force arm; The starting end of the synchronous belt is connected to the first end of the second force arm, and the synchronous belt is sequentially wound around the first transmission wheel, the first drive wheel, the second transmission wheel, the synchronous wheel, the third transmission wheel, the second drive wheel, the fourth transmission wheel and the tensioning wheel according to a preset path; as the first drive wheel and the second drive wheel are driven, the synchronous belt drives the movable seat to move axially along the first force arm and / or drives the second force arm to move relative to the movable seat along the cross-sectional direction of the first force arm.

3. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 2, characterized in that: It also includes a controller, and the moving seat is fixedly mounted with a first limit sensor and a second limit sensor; The second force arm is provided with a first detection block and a second detection block, and the first detection block and the second detection block are located on different sides of the first force arm; The first limit sensor is used to detect the position information of the first detection block relative to the first limit sensor; the second limit sensor is used to detect the position information of the second detection block relative to the second limit sensor; The first limit sensor and the second limit sensor are respectively connected to the controller for communication, and the controller is respectively connected to the driving elements of the first driving wheel and the second driving wheel for communication.

4. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 3 is characterized in that: The first force arm is respectively installed with a first sensing switch and a second sensing switch, the first sensing switch and the second sensing switch are located on different sides of the second force arm, the movable seat is fixedly installed with a first sensing sheet and a second sensing sheet, the first sensing switch is used to sense the position of the first sensing sheet, and the second sensing switch is used to sense the position of the second sensing sheet; the first sensing switch and the second sensing switch are respectively connected to the controller for communication.

5. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 1, characterized in that: It also includes a first rotating drive member, the first force arm is rotatably mounted on the mounting seat, the base of the first rotating drive member is fixed to the mounting seat, and the driving end of the first rotating drive member is transmission-connected to the first force arm to drive the first force arm to rotate relative to the mounting seat.

6. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 1, characterized in that: It also includes a second rotary drive member, the base of which is fixed to the first end of the second force arm, and the driving end of the second rotary drive member is transmission-connected to the end effector to drive the end effector to rotate relative to the second force arm.

7. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 6, characterized in that: The end effector includes a connecting seat, a telescopic driving member and a mechanical claw. The driving end of the second rotating driving member is connected to the connecting seat, the base of the telescopic driving member is fixed to the connecting seat, and the telescopic end of the telescopic driving member is connected to the mechanical claw.

8. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 7, characterized in that: The mechanical claw includes an openable and closable claw body, a screw driving member and a seat body, the seat body is connected to the telescopic end of the telescopic driving member, the screw driving member is fixed to the seat body, and the driving end of the screw driving member is connected to the openable and closable claw body to drive the openable and closable claw body to rotate relative to the seat body.

9. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 1 or 2, characterized in that: The first force arm is provided with a first guide rail extending along the axial direction of the first force arm, and the movable seat is provided with a first guide block, and the first guide block is movably provided on the first guide rail; And / or, one of the movable seat and the second force arm is provided with a second guide rail, and the other is provided with a second guide block, and the second guide block is movably provided on the second guide rail.

10. The main drive-motion pair separated large-stroke modular agricultural mechanical arm according to claim 1, characterized in that: It also includes a controller, and the end effector is equipped with a depth recognition camera, which is used to recognize the color and depth information of the fruit. The depth recognition camera is communicatively connected to the controller, and the controller is communicatively connected to the electrical components of the main drive-motion pair separated large-stroke modular agricultural mechanical arm.

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