Bionic flexible seedling taking end effector

Abstract

The application provides a bionic flexible seedling taking end effector, which comprises a supporting mechanism, a depth camera, a tentacle driving mechanism, a flexible tentacle, a pressure supply mechanism, a pull rope mechanism and a controller. The depth camera, the tentacle driving mechanism, the pull rope mechanism and the pressure supply mechanism are electrically connected with the controller. The depth camera sends the collected image to the controller. The controller judges the position of the seedling according to the image and analyzes and calculates the distribution and the curvature of the leaf. When the seedling taking end effector moves to the target position, the controller controls the tentacle driving mechanism to drive the flexible tentacle to rotate above the corresponding leaf, controls the pull rope mechanism to act to make the flexible tentacle lift, and controls the pressure supply mechanism to act to make the flexible tentacle adsorb and grasp the seedling. The seedling taking end effector learns the biological characteristics of octopus and adopts the flexible and flexible flexible tentacle to cooperate with the negative pressure to adsorb and extract the cabbage seedling, so that the transplanting operation is realized, the damage to the seedling is avoided, and the survival rate is provided.

Description

Technical Field

[0001] This invention relates to the field of transplanting machinery technology, specifically a biomimetic flexible seedling-picking end effector. Background Technology

[0002] Cabbage is one of my country's main vegetable varieties, and with its planting area increasing year by year, it has become a major source of income for vegetable farmers. Currently, cabbage seedlings are usually cultivated using plug trays. Cabbage seedlings are relatively short and compact plants with leaves evenly distributed on a short stem. Each leaf grows from the central stem or growing point and is relatively level, which makes them tend to be of similar height in the early stages of growth, without significant differences between the top and bottom. Transplanting is done when the seedlings have 3-4 true leaves. Generally, an automatic seedling transplanter is used to directly pick up the cabbage seedling from the plug tray by its rootstock. However, existing machine transplanting easily damages the seedling stems, resulting in a low survival rate.

[0003] With the development of cabbage seedling technology and the rise in labor costs, research on transplanters has become a hot topic. The end effector for seedling extraction is the most crucial aspect of transplanter research, as it is the device that directly contacts the target crop. Therefore, developing end effectors with high operational efficiency and minimal damage to seedlings is of great significance for improving seedling survival rates and transplanting efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a biomimetic flexible seedling extraction end effector. This end effector draws on the biological characteristics of octopuses, using flexible and adaptable tentacles in conjunction with negative pressure to adsorb and extract cabbage seedlings, thereby enabling transplanting operations, avoiding damage to the seedlings, and improving the survival rate.

[0005] To achieve the above objectives, the specific solution adopted by the present invention is as follows:

[0006] A biomimetic flexible seedling-retrieving end effector includes:

[0007] The support mechanism includes a connecting column, an upper support plate, a lower support plate, and a hollow tube. The upper support plate is located at the bottom of the connecting column. The upper support plate and the lower support plate are connected by fasteners and are spaced apart vertically. The hollow tube is connected to the center of the bottom surface of the lower support plate. A ring track is provided on the outer surface of the hollow tube along the circumferential direction.

[0008] A depth camera, located at the bottom of the hollow tube, is used to capture images of the seedlings;

[0009] The tentacle driving mechanism is mounted on the support mechanism and includes N tentacle driving components evenly distributed around the circumference of the upper support plate. The N tentacle driving components have the same structure. Each tentacle driving component includes a drive motor and an L-shaped support frame. The drive motor is mounted on the upper support plate. The L-shaped support frame includes two parallel support plates. The free end of the upper support plate is connected to the drive motor, and the free end of the lower support plate is engaged with the annular track. Under the action of the drive motor, the L-shaped support frame can rotate at least 1 / N of the area of ​​the annular track.

[0010] N flexible tentacles are connected to and located below the corresponding tentacles driving components. Each flexible tentacle includes a flexible shell, which encloses a proximal segment, a middle segment, and a distal segment that are hinged in sequence. The proximal segment is connected to the lower support plate, and the middle and distal segments have the same structure. Both the middle and distal segments are provided with suction cups that extend through the flexible shell to the bottom of the flexible shell. In the initial state, the flexible tentacles are in the lowered state.

[0011] The pressure supply mechanism, connected to the flexible tentacles, enables the flexible tentacles to generate negative pressure adsorption force on the leaves of the seedlings, so as to adsorb the seedlings.

[0012] The rope pulling mechanism includes N identical rope pulling assemblies. By pulling the rope in the rope pulling assembly, the corresponding flexible tentacles can be lifted to facilitate the adsorption of the blades.

[0013] The controller is electrically connected to the depth camera, the tentacle drive mechanism, the rope pulling mechanism, and the pressure supply mechanism. The depth camera sends the acquired images to the controller. The controller determines the position of the seedling based on the images and analyzes and calculates the distribution and curvature of the leaves in the seedling. The transplanter moves the seedling-picking end effector to the target position. The controller controls the tentacle drive mechanism to rotate the flexible tentacle above the corresponding leaf while controlling the rope pulling mechanism to lift the flexible tentacle. Then, the pressure supply mechanism is activated, causing the flexible tentacle to adhere to and grasp the seedling.

[0014] Furthermore, both the middle section and the distal section include a rigid rubber rod and a suction cup mounting base hinged to the rigid rubber rod, wherein the suction cup is fixed to the suction cup mounting base.

[0015] Furthermore, each suction cup holder has at least one rope limiting hole at its top, and the end of the suction cup holder on the distal section has a rope fixing buckle.

[0016] Furthermore, each rope assembly includes a rope motor fixed to the lower support plate. The shaft of the rope motor is fixed with a spool for winding the rope. One end of the rope passes through the flexible shell, at least two rope limiting holes, and is connected to the rope fixing buckle.

[0017] Furthermore, the pressure supply mechanism includes N air pumps and several suction tubes connected to each air pump, with the end of each suction tube away from the air pump extending into the corresponding flexible tentacle.

[0018] Furthermore, each straw extends through the hollow tube into the flexible shell via the area between the upper and lower support plates.

[0019] Furthermore, N can be 3 or 4.

[0020] Beneficial effects:

[0021] (1) The flexible tentacles in the seedling-picking end effector of this invention simulate the grasping and adsorption methods of an octopus to achieve precise, flexible, and efficient object grasping and manipulation. Utilizing their adsorption effect, seedlings are picked up with minimal damage, especially for fragile seedlings, avoiding the compressive damage that may occur with traditional clamping methods and reducing transplanting damage rates. Furthermore, compared to traditional mechanical grasping systems, the suction cup's working principle is simpler, achieving grasping through the cooperation of a suction tube and an air pump, consuming less energy. This helps reduce equipment operating costs and improve overall energy efficiency.

[0022] (2) The hard rubber rod inside the flexible tentacle of the present invention is harder than soft rubber and softer than hard materials and hard metals. Its inherent elasticity and hardness enable the flexible tentacle to fit the surface of the object more effectively and provide uniform contact force. It is particularly suitable for operations that require more stable grasping force. For different seedlings, the flexible tentacle can achieve a more precise grasping method by bending.

[0023] (3) The present invention uses a rope motor to drive the reel to tighten the rope and achieve the bending of the flexible tentacles. Compared with the traditional mechanical arm structure, it has a simpler design. Through the cooperation of the rope and the motor, the tentacles can achieve multi-degree-of-freedom movement without the need for complex mechanical gears, bearings and other components. This not only simplifies the structure of the equipment, but also reduces the wear of mechanical parts, reduces maintenance costs and reduces complex control processes. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the seedling-taking end effector and the fixing plate in this invention.

[0025] Figure 2 This is a schematic diagram of the seedling-taking end effector in this invention.

[0026] Figure 3 This is a bottom view of the seedling-picking end effector in this invention.

[0027] Figure 4 This is a schematic diagram of the tentacle driving component, the rope pulling component, and the flexible tentacle in this invention.

[0028] Figure 5 This is a diagram showing the internal structure of the flexible tentacle of the present invention.

[0029] In the diagram: 1. Fixed plate, 2. Support mechanism, 21. Connecting column, 22. Upper support plate, 23. Lower support plate, 24. Hollow tube, 241. Circular track, 25. Fastener, 3. Suction tube, 4. Tentacle drive assembly, 41. Drive motor, 42. L-shaped support frame, 421. Upper support plate, 422. Lower support plate, 5. Pull rope assembly, 51. Pull rope motor, 52. Thread spool, 53. Rope, 6. Flexible tentacle, 61. Flexible shell, 62. Suction cup, 63. Proximal segment, 64. Hard rubber rod, 65. Suction cup fixing seat, 651. Rope limiting hole, 7. Depth camera. Detailed Implementation

[0030] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0031] In the description of this invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0032] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0033] This invention provides a biomimetic flexible seedling-picking end effector, please refer to... Figure 1 It mainly includes a support mechanism 22, a depth camera 7, a tentacle driving mechanism, a flexible tentacle 6, a pressure supply mechanism, a rope pulling mechanism, and a controller. The various mechanisms work together to adsorb and grasp cabbage seedlings without damaging them. The specific structure of each mechanism is described in detail below.

[0034] <Supporting Institution 2>

[0035] The support mechanism 2 includes a connecting column 21, an upper support plate 22, a lower support plate 23, and a hollow tube 24. The upper support plate 22 is located at the bottom of the connecting column. The upper support plate 22 and the lower support plate 23 are connected by fasteners 25 and are spaced apart vertically. The hollow tube 24 is connected to the center of the bottom surface of the lower support plate 23. A ring track 241 is provided along the circumference on the outer surface of the hollow tube 24. The axis of the hollow tube 24 and the connecting column 21 are aligned.

[0036] It should be noted that a fixing plate 1 is connected to the top of the connecting column 21, and the bionic flexible seedling end effector and the transplanter can be connected through the fixing plate 1.

[0037] <Depth Camera 7>

[0038] The depth camera 7 is located at the bottom of the hollow tube 24 and is used to capture images of the seedling's position and posture.

[0039] <Tentacle Drive Mechanism>

[0040] The tentacle driving mechanism is mounted on the support mechanism 2 and includes N (3 or 4, consistent with the number of leaves of the cabbage seedling) tentacle driving components 4 evenly distributed around the upper support plate 22. All tentacle driving components 4 have the same structure. Each tentacle driving component 4 includes a drive motor 41 and an L-shaped support frame 42. The drive motor 41 is mounted on the upper support plate 22. The L-shaped support frame 42 includes two parallel support plates. The free end of the upper support plate 421 is connected to the drive motor 41, and the free end of the lower support plate 422 is engaged with the annular track 241. Under the action of the drive motor 41, the L-shaped support frame 42 can rotate at least 1 / N of the annular track 241. This ensures that the range in which all tentacle driving components 4 can drive all flexible tentacles 6 to rotate covers the entire circumference of the annular track 241, so as to facilitate the coordination of leaves at different positions.

[0041] <Flexible Tentacle 6>

[0042] The number of flexible tentacles 6 is the same as the number of tentacles driving components 4. Each flexible tentacle 6 is connected to the corresponding tentacles driving component 4 and is located below it. Each flexible tentacle 6 includes a flexible shell 61. The flexible shell 61 encloses a proximal segment 63, a middle segment, and a distal segment that are hinged in sequence. The proximal segment 63 is connected to the lower support plate 422. The middle segment and the distal segment have the same structure. Both the middle segment and the distal segment are provided with suction cups 62 that pass through the flexible shell 61 and extend to the bottom of the flexible shell 61. In the initial state, the flexible tentacles 6 are in the lowered state.

[0043] Both the middle section and the distal section include a rigid rubber rod 64 and a suction cup mounting base 65 hinged to the rigid rubber rod 64, wherein the suction cup 62 is fixed on the suction cup mounting base 65.

[0044] Each suction cup holder 65 has two rope limiting holes 651 at its top, and a rope fixing buckle at the end of the distal suction cup holder 65 to facilitate the bending and lifting of the flexible tentacle 6 in conjunction with the rope pulling mechanism.

[0045] It should be noted that the flexible shell 61 is made of soft rubber to ensure that the flexible shell 61 will not affect the bending and lifting of the flexible tentacle 6.

[0046] Based on the innovative design of this flexible tentacle 6, it can better adhere to the surface of seedling leaves, and has obvious advantages in terms of versatility and flexibility.

[0047] <Pressure supply mechanism>

[0048] The pressure supply mechanism includes N air pumps (not shown in the figure) and several suction tubes 3 connected to each air pump. The end of each suction tube 3 away from the air pump passes through the area between the upper and lower support plates 22 and 23, passes through the hollow tube 24, and extends into the flexible shell 61, thereby causing the flexible tentacles 6 to generate negative pressure adsorption force to adsorb the seedlings.

[0049] <Rope pulling mechanism>

[0050] The rope pulling mechanism includes N identical rope pulling assemblies 5. By pulling the rope 53 in the rope pulling assembly 5, the corresponding flexible tentacles 6 can be raised so that the curvature of the flexible tentacles 6 is close to or consistent with that of the blade, thereby facilitating the adsorption of the blade.

[0051] Specifically, each rope assembly 5 includes a rope motor 51 fixed on the lower support plate 422. The shaft of the rope motor 51 is fixed with a coil 52 for winding the rope 53. The coil 52 is located below the lower support plate 422. One end of the rope 53 passes through the flexible shell 61 and at least two rope limiting holes 651 in sequence and is connected to the rope fixing buckle (not shown in the figure).

[0052] The rope motor 51 controls the reel 52 to rotate, which tightens the rope 53, causing the flexible tentacle 6 to bend upward. When the flexible tentacle 6 bends upward, the rope 53 first pulls the suction cup fixing seat 65 in the distal section upward. The suction cup fixing seat 65 in the distal section then bends the hard rubber rod 64 in the distal section upward. The hard rubber rod 64 bends upward, which in turn lifts the suction cup fixing seat 65 in the middle section, and then bends the hard rubber rod 64 in the middle section upward, thus cooperating with the suction cup 62 to complete the seedling grasping work.

[0053] The depth camera 7, drive motor 41, rope motor 51, and air pump are all electrically connected to the controller. The specific method of using the seedling-picking end effector in this invention is as follows: First, the depth camera 7 acquires real-time images of the seedling's position and posture, and transmits these images to the controller. The controller can identify and calculate the seedling's position, leaf distribution, and leaf curvature based on the images, and then transmits the position signals to each tentacle drive assembly 4. The drive motor 41 in the tentacle drive assembly 4 drives the flexible tentacle 6 to rotate, positioning it above the corresponding leaf for easy seedling grasping. Simultaneously, the rope motor 51 in the rope assembly 5 drives the reel 52 to rotate, tightening the rope 53 to adjust the bending degree of the flexible tentacle 6, allowing the suction cup 62 to adhere to the leaf. Then, the pressure supply mechanism activates, generating negative pressure in the suction cup 62 to grasp the seedling. After the transplanting operation is completed, the rope motor 51 is de-energized, and the middle and distal sections inside the flexible tentacle 6 spring back, resetting the flexible tentacle 6, thus completing the transplanting operation.

[0054] In this invention, the suction cup 62 is used to grasp the seedlings, which reduces direct contact with the seedlings, avoids the pressure damage that may be caused by traditional clamping methods, and improves the survival rate of the seedlings.

[0055] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention in any way. All equivalent transformations or modifications made in accordance with the essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A biomimetic flexible seedling-picking end effector, characterized in that, include: The support mechanism (2) includes a connecting column (21), an upper support plate (22), a lower support plate (23), and a hollow tube (24). The upper support plate (22) is located at the bottom of the connecting column (21). The upper support plate (22) and the lower support plate (23) are connected by fasteners (25) and are spaced apart vertically. The hollow tube (24) is connected to the center of the bottom surface of the lower support plate (23). A ring track (241) is provided on the outer surface of the hollow tube (24) along the circumferential direction. A depth camera (7) is located at the bottom of the hollow tube (24) and is used to take images of the seedlings; The tentacle driving mechanism is located on the support mechanism (2) and includes N tentacle driving components (4) evenly distributed around the upper support plate (22). The N tentacle driving components (4) have the same structure. Each tentacle driving component (4) includes a drive motor (41) and an L-shaped support frame (42). The drive motor (41) is located on the upper support plate (22). The L-shaped support frame (42) includes two parallel support plates. The free end of the upper support plate (421) is connected to the drive motor (41), and the free end of the lower support plate (422) is engaged with the ring track (241). Under the action of the drive motor (41), the L-shaped support frame (42) can rotate at least 1 / N of the ring track (241). N flexible tentacles (6) are connected to and located below the corresponding tentacle driving assembly (4). Each flexible tentacle (6) includes a flexible shell (61). The flexible shell (61) encloses a proximal segment (63), a middle segment, and a distal segment that are hinged in sequence. The proximal segment (63) is connected to the lower support plate (422). The middle segment and the distal segment have the same structure. The middle segment and the distal segment are provided with suction cups (62) that extend through the flexible shell (61) to the bottom of the flexible shell (61). In the initial state, the flexible tentacles (6) are in the lowered state. The pressure supply mechanism is connected to the flexible tentacles (6), which enables the flexible tentacles (6) to generate negative pressure adsorption force on the leaves of the seedlings to adsorb the seedlings; The rope pulling mechanism includes N rope pulling assemblies (5) with the same structure. By pulling the rope (53) in the rope pulling assembly (5), the corresponding flexible tentacles (6) can be lifted to facilitate the adsorption of the blades. The controller is electrically connected to the depth camera (7), the tentacle drive mechanism, the rope pulling mechanism and the pressure supply mechanism. The depth camera (7) sends the acquired images to the controller. The controller determines the position of the seedling based on the images and analyzes and calculates the distribution and curvature of the leaves in the seedling. The transplanter moves the seedling-picking end actuator to the target position. The controller controls the tentacle drive mechanism to drive the flexible tentacle (6) to rotate above the corresponding leaf. At the same time, it controls the rope pulling mechanism to lift the flexible tentacle (6). Then the pressure supply mechanism is activated so that the flexible tentacle (6) adsorbs and grabs the seedling.

2. The biomimetic flexible seedling-picking end effector according to claim 1, characterized in that, Both the middle section and the distal section include a hard rubber rod (64) and a suction cup mounting base (65) hinged to the hard rubber rod (64), wherein the suction cup (62) is fixed on the suction cup mounting base (65).

3. The biomimetic flexible seedling-picking end effector according to claim 2, characterized in that, Each suction cup holder (65) has at least one rope limiting hole (651) at its top, and the end of the suction cup holder (65) on the distal section is provided with a rope fixing buckle.

4. The biomimetic flexible seedling-picking end effector according to claim 3, characterized in that, Each rope assembly (5) includes a rope motor (51) fixed on the lower support plate (422). The shaft of the rope motor (51) is fixed with a spool (52) for winding the rope (53). One end of the rope (53) passes through the flexible shell (61), at least two rope limiting holes (651) and is connected to the rope fixing buckle.

5. The biomimetic flexible seedling-picking end effector according to claim 1, characterized in that, The pressure supply mechanism includes N air pumps and several suction tubes (3) connected to each air pump. The end of each suction tube (3) away from the air pump extends into the corresponding flexible tentacle (6).

6. The biomimetic flexible seedling-picking end effector according to claim 5, characterized in that, Each straw (3) extends through the hollow tube (24) into the flexible shell (61) through the area between the upper and lower support plates (22, 23).

7. The biomimetic flexible seedling-picking end effector according to claim 5, characterized in that, N can be 3 or 4.

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