Automatic mulberry picking robot and mulberry picking method

Abstract

The invention relates to the technical field of mulberry picking robots, and discloses an automatic mulberry picking robot and a mulberry picking method.The automatic mulberry picking robot comprises a movable base, a mechanical arm structure and a mulberry leaf storage structure are installed on the movable base, and a first vision unit is installed on the end face of the movable base; the mechanical arm structure comprises a mechanical arm base installed on the surface of the movable base and a first installation frame rotationally arranged above the mechanical arm base, a second installation frame is movably arranged in the first installation frame, a connecting arm is movably arranged in the second installation frame, and a connecting frame is fixedly connected to the end of the connecting arm. According to the mulberry leaf picking robot, by arranging the mechanical arm structure, multi-angle picking work can be conducted on mulberry leaves according to requirements, and work of the mulberry leaf picking robot can be conveniently conducted; by arranging the mulberry leaf storage structure, the ejection plate and the pressing mechanism, the picked mulberry leaves can be stored, the stored mulberry leaves can be pressed down according to requirements, more mulberry leaves can be picked, the mulberry leaf picking efficiency is guaranteed, and the mulberry leaves are dumped.

Description

Technical Field

[0001] The invention relates to the technical field of mulberry picking robots and discloses an automatic mulberry picking robot and a mulberry picking method. Background Art

[0002] During the silkworm rearing process, mulberry leaves are the main food for silkworms. From the time a silkworm pupates to the time it spins silk, it needs to consume about 0.4 to 0.6 kg of mulberry leaves. For large-scale silkworm rearing companies, it is easy to imagine how much mulberry leaves the silkworms need to eat. An adult can pick 100 to 150 kg of mulberry leaves if they are skilled. If mulberry leaves are picked manually, a large amount of labor will be needed to meet the daily mulberry leaf feeding needs during large-scale silkworm rearing.

[0003] In recent years, although mulberry picking machinery has made certain progress, such as the mulberry leaf picking device with patent number 201120287574.3 in mulberry leaf picking, the tool has the advantages of fast speed, no hand injury when picking mulberry leaves, small size, and can be operated by holding it in the palm of the hand, either left or right hand. It is light in weight, less than 150 grams, suitable for various mulberry varieties, and can quickly pick mulberry branches of different sizes; another example is a new type of mulberry leaf picking machine with patent number 201220176574, in which the concave S-shaped guide plate is set at the front lower part of the battery drive, and is composed of a conveyor belt with toothed nails, a collecting fan, a roller, a connecting rod, a lower collecting plate, a wheel, a wheel, an upper collecting net, a joystick, and a leaf outlet; it still needs to rely on most of the manual labor to operate. The emergence of these mulberry picking devices can greatly reduce the labor intensity of farmers, but the design of these mulberry leaf picking devices has not changed the picking mode of mulberry farmers, and it still mainly relies on the labor of mulberry farmers.

[0004] Of course, in the prior art, there are also some picking machines that can replace manual mulberry picking, but most of the existing mulberry picking machines use mechanical blade-type cutting devices. Since the mulberry leaves are relatively dense and the petioles of the mulberry leaves are tough, it is difficult for the mechanical blade-type cutting devices to cut, and it is not convenient to cut continuously. In addition, the mulberry leaves picked by the machine are directly placed in the storage device. Since there are a large number of gaps between the placed mulberry leaves, the mulberry leaves stored in the storage device are very easy to overflow, and the mulberry leaves in the storage device have to be poured out after a while, resulting in low mulberry leaf picking efficiency. Summary of the invention

[0005] In view of the defects in the prior art, the present invention provides an automatic mulberry picking robot and a mulberry picking method, which can pick mulberry leaves and replace manual picking. At the same time, the picked mulberry leaves can be effectively stored, and the picking efficiency is higher.

[0006] In order to solve the above technical problems, the present invention proposes the following technical solutions:

[0007] An automatic mulberry picking robot comprises a mobile base, a mechanical arm structure and a mulberry leaf storage structure are installed on the mobile base, a first visual unit is installed on the end surface of the mobile base, the mechanical arm structure comprises a mechanical arm base installed on the surface of the mobile base and a first mounting frame rotatably arranged above the mechanical arm base, a second mounting frame is movably arranged in the first mounting frame, a connecting arm is movably arranged in the second mounting frame, a connecting frame is fixedly connected to the end of the connecting arm, a laser mounting frame is movably arranged at the end of the connecting frame, second visual units are installed on both sides of the laser mounting frame, a laser transmitter is installed in the middle of the laser mounting frame, and a second material receiving pipe and a first material receiving pipe are movably arranged at the upper and lower ends of the laser mounting frame;

[0008] The mulberry leaf storage structure comprises a movable plate movably arranged on a movable base, a first collecting cylinder and a second collecting cylinder are installed on the movable plate, an ejection plate and a pressing mechanism are movably arranged in the first collecting cylinder and the second collecting cylinder, an end of the second material receiving pipe is connected to the second collecting cylinder, the first material receiving pipe is connected to the first collecting cylinder, and sensors are arranged inside the first collecting cylinder and the second collecting cylinder;

[0009] It also includes a single chip microcomputer, which is arranged in cooperation with the mobile base, the mechanical arm structure, the mulberry leaf storage structure, the first visual unit and the second visual unit.

[0010] Furthermore, moving wheels are installed around the bottom of the moving base, and a driving motor is provided on the side of the moving wheel. The driving motor is electrically connected to the single-chip microcomputer, and the first visual unit and the second visual unit are both smart cameras.

[0011] Furthermore, a rotating gear is provided at the top of the robotic arm base, and the rotating gear sleeve is arranged at the bottom of the first mounting frame, and the bottom of the first mounting frame is rotatably arranged on the robotic arm base, and a first motor is provided on the side of the robotic arm base, and the output end of the first motor is connected to a gear meshing with the rotating gear, and a second motor is installed on both sides of the first mounting frame, and the output end of the second motor is connected to a transmission gear plate, and first gear plates are rotatably provided on both sides of the top of the first mounting frame, and the first gear plate is meshingly connected to the transmission gear plate, and the second mounting frame is fixed between the two first gear plates, and a second gear plate is rotatably provided on the inner side of the top of the second mounting frame, and the second gear plate is fixedly connected to the end of the connecting arm, and a motor is installed on the side of the second mounting frame, and the output end of the motor is connected to a gear, and the gear is meshingly connected to the second gear plate, and the single-chip microcomputer is electrically connected to the first motor, the second motor and the motor.

[0012] Furthermore, a rotating motor is installed inside the connecting frame, the output end of the rotating motor is connected to the connecting frame, a rotating arm is installed on the connecting frame, the rotating arm is moved by a swinging motor, the laser mounting frame is fixed to the end of the rotating arm, and the single chip microcomputer is electrically connected to the rotating motor and the swinging motor.

[0013] Furthermore, a second dual-axis motor and a first dual-axis motor are respectively installed at the upper and lower ends of the laser mounting frame, and a second connecting rod and a first connecting rod are respectively installed at the two telescopic ends of the second dual-axis motor and the first dual-axis motor, and the second connecting rod and the first connecting rod are respectively fixedly connected to the ends of the second material receiving pipe and the first material receiving pipe, and the second material receiving pipe and the first material receiving pipe are both made of telescopic corrugated tube material, and the single-chip microcomputer is electrically connected to the second dual-axis motor and the first dual-axis motor.

[0014] Furthermore, a first cover plate and a second cover plate are movably installed on the top of the first collecting tube and the second collecting tube respectively, and the first cover plate and the second cover plate are hinged on the top of the first collecting tube and the second collecting tube, the first material receiving pipe passes through the first cover plate and is connected to the first collecting tube, the second material receiving pipe passes through the second cover plate and is connected to the second collecting tube, a two-way cylinder is installed between the first cover plate and the second cover plate, the first cover plate and the second cover plate are driven to move by the two-way cylinder, and the two-way cylinder is electrically connected to the single-chip microcomputer; a first induced draft fan and a second induced draft fan are respectively installed on the first cover plate and the second cover plate, the draft ends of the first induced draft fan and the second induced draft fan are respectively connected to the first material receiving pipe and the second material receiving pipe, and the first induced draft fan and the second induced draft fan are both electrically connected to the single-chip microcomputer.

[0015] Furthermore, a connecting plate is fixed between the first collecting tube and the second collecting tube, and a first cylinder is installed on the connecting plate, and the telescopic end of the first cylinder is connected to a lifting plate, and adjacent surfaces of the first collecting tube and the second collecting tube are provided with a second slide groove, and both sides of the lifting plate are slidably arranged in the second slide groove, and the interiors of the first collecting tube and the second collecting tube are movably provided with an ejection plate, and the ejection plates in the first collecting tube and the second collecting tube are connected with the lifting plate; a column is installed on the movable plate, and a second cylinder is installed on the top inner side of the column, and the back sides of the first collecting tube and the second collecting tube are provided with a first slide groove, and the top of the first slide groove passes through the first collecting tube and the second collecting tube, and a movable plate is slidably provided in the first slide groove, and the movable plate is connected to the telescopic end of the second cylinder, and the movable plate is fixed to the clamping mechanism; a partition is fixedly connected to the front sides of the first collecting tube and the second collecting tube, and the partition is fixed on the movable plate, and the single-chip computer is electrically connected to the first cylinder and the second cylinder.

[0016] Furthermore, the clamping mechanism includes a circular groove, a through hole, a third cylinder and a limit rod. The circular groove is correspondingly arranged below the first cover plate and the second cover plate, and is matched to be arranged at the discharge ports of the first material receiving pipe and the second material receiving pipe. The ends of the first material receiving pipe and the second material receiving pipe are respectively arranged close to the frames of the first cover plate and the second cover plate. A through hole is opened inside the clamping mechanism, the third cylinder is installed in the through hole, the limit rod is installed at the telescopic end of the third cylinder, the limit rod is movably arranged in the through hole, and the single-chip computer is electrically connected to the third cylinder.

[0017] Furthermore, a groove body is provided on the mobile base, and multiple hinge blocks are installed in the groove body. The fourth cylinder is hinged on the hinge block. A slide rail is installed at the bottom of the movable plate. The slide rail is matched with the hinge block. A slider is slidably provided on the slide rail. The slider is hinged to the telescopic end of the fourth cylinder, and the single-chip computer is electrically connected to the fourth cylinder.

[0018] The present invention also discloses a mulberry picking method using an automatic mulberry picking robot, the mulberry picking method comprising the following steps:

[0019] S1, positioning, the first visual unit collects the position of the nearby mulberry trees and transmits instructions to the single-chip microcomputer, which controls the drive motor to drive the entire mulberry picking robot to the mulberry leaf position. The single-chip microcomputer synchronously drives the first motor, the second motor, and the motor, so that the entire robot arm moves according to the position of the mulberry leaves;

[0020] S2, classification, the second visual unit takes pictures and analyzes whether the mulberry leaves to be laser-pointed are new leaves or old leaves, and transmits the analysis results to the single-chip microcomputer, which controls the rotation motor, the swing motor, and the first double-axis motor and the second double-axis motor to start correspondingly, and adjusts the positions of the first receiving pipe and the second receiving pipe to receive new leaves and old leaves respectively;

[0021] S3, storage, the new leaves and old leaves received by the first receiving pipe and the second receiving pipe enter the first collecting tube and the second collecting tube respectively, the sensor senses the stacking height of the mulberry leaves, and when the mulberry leaves reach the sensor position, the third cylinder is controlled so that the telescopic end of the third cylinder drives the limit rod to move and block the circular groove, and at the same time the second cylinder is driven to drive the pressing mechanism to press down, and the collected mulberry leaves are pressed, so as to store as many mulberry leaves as possible at one time;

[0022] S4, dumping. After the mulberry leaves are collected, the fourth cylinder is controlled to start, driving the movable plate to flip, thereby driving the first collecting barrel and the second collecting barrel to flip, and the two-way cylinder is started synchronously. The two-way cylinder is stored, driving the first cover plate and the second cover plate to flip, so that the top of the first collecting barrel and the second collecting barrel are emptied, and the first cylinder is driven. The first cylinder drives the lifting plate to rise and fall, thereby ejecting the mulberry leaves collected in the first collecting barrel and the second collecting barrel, and dumping the mulberry leaves.

[0023] It can be seen from the above technical solution that the beneficial effects of the present invention are:

[0024] The present invention provides a mechanical arm structure, and can perform multi-angle picking of mulberry leaves according to needs, which is convenient for the mulberry picking robot to work;

[0025] The present invention provides a mulberry leaf storage structure, an ejection plate and a pressing mechanism, so that the mulberry leaves that can be picked can be stored, and the stored mulberry leaves can be pressed down according to needs, so that more mulberry leaves can be picked, and the efficiency of mulberry leaf picking can be ensured. At the same time, after the picking is completed, the mulberry leaves can be dumped according to needs;

[0026] The present invention can collect mulberry leaves and data of the mulberry leaves by setting the first visual unit and the second visual unit, so as to better control the mechanical arm structure to perform the mulberry leaf picking work, and the picking efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0028] Figure 1 It is an overall schematic diagram of the present invention;

[0029] Figure 2 For the present invention Figure 1 A magnified schematic diagram of point A;

[0030] Figure 3 For the present invention Figure 1 An enlarged schematic diagram of point B;

[0031] Figure 4 It is a schematic diagram of the connection between the mobile base and the movable plate in the present invention;

[0032] Figure 5 It is a connection diagram of the movable plate in the present invention;

[0033] Figure 6 is a cross-sectional view of the first collecting cylinder in the present invention;

[0034] Figure 7 It is a first structural schematic diagram of the clamping mechanism in the present invention;

[0035] Figure 8 It is a second structural schematic diagram of the clamping mechanism in the present invention.

[0036] Reference numerals:

[0037] 1-mobile base, 101-mobile wheel, 102-drive motor, 2-first visual unit, 3-movable plate, 4-manipulator base, 5-first motor, 6-first mounting frame, 7-rotating gear, 8-second motor, 9-first gear plate, 10-transmission gear plate, 11-second mounting frame, 12-second gear plate, 13-connecting arm, 14-connecting frame, 1401-rotating motor, 15-connecting frame, 16-rotating arm, 17-laser mounting frame, 18-second visual unit, 19-first dual-axis motor, 20-first connecting rod, 21-first material receiving tube, 22-laser transmitter, 23-second dual-axis motor, 24-first Two connecting rods, 25-second material receiving pipe, 26-partition, 27-first collecting cylinder, 2701-first slide, 28-second collecting cylinder, 29-lifting plate, 30-first cover plate, 31-second cover plate, 32-first cylinder, 33-connecting plate, 34-second slide, 35-two-way cylinder, 36-movable plate, 37-ejection plate, 38-clamping mechanism, 39-column, 40-second cylinder, 41-sensor, 42-circular groove, 43-through hole, 44-third cylinder, 45-limiting rod, 46-slide rail, 47-slider, 48-fourth cylinder, 49-hinge block, 50-first induced draft fan, 51-second induced draft fan. DETAILED DESCRIPTION

[0038] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0039] Reference Figure 1-8 , an automatic mulberry picking robot, comprising a mobile base 1, on which a mechanical arm structure and a mulberry leaf storage structure are installed, a first visual unit 2 is installed on the end face of the mobile base 1, the mechanical arm structure comprises a mechanical arm base 4 installed on the surface of the mobile base 1 and a first mounting frame 6 rotatably arranged above the mechanical arm base 4, a second mounting frame 11 is movably arranged in the first mounting frame 6, a connecting arm 13 is movably arranged in the second mounting frame 11, a connecting frame 14 is fixedly connected to the end of the connecting arm 13, a laser mounting frame 17 is movably arranged at the end of the connecting frame 14, second visual units 18 are installed on both sides of the laser mounting frame 17, a laser emitter 22 is installed in the middle of the laser mounting frame 17, and a second material receiving pipe 25 and a first material receiving pipe 21 are movably arranged at the upper and lower ends of the laser mounting frame 17;

[0040] The mulberry leaf storage structure includes a movable plate 3 movably arranged on a movable base 1, a first collecting cylinder 27 and a second collecting cylinder 28 are installed on the movable plate 3, an ejector plate 37 and a clamping mechanism 38 are movably arranged in the first collecting cylinder 27 and the second collecting cylinder 28, an end of the second material receiving pipe 25 is connected to the second collecting cylinder 28, the first material receiving pipe 21 is connected to the first collecting cylinder 27, and a sensor 41 is arranged inside the first collecting cylinder 27 and the second collecting cylinder 28;

[0041] It also includes a single chip microcomputer, which is arranged in cooperation with the mobile base 1, the mechanical arm structure, the mulberry leaf storage structure, the first visual unit 2 and the second visual unit 18.

[0042] In actual use, by setting up a mechanical arm structure, mulberry leaves can be picked at multiple angles according to needs, which is convenient for the work of the mulberry picking robot; by setting up a mulberry leaf storage structure, an ejection plate 37 and a clamping mechanism 38, the picked mulberry leaves can be stored, and the stored mulberry leaves can be pressed down according to needs, so that more mulberry leaves can be picked to ensure the efficiency of mulberry leaf picking. At the same time, after picking, the mulberry leaves can be dumped according to needs; by setting up a first visual unit 2 and a second visual unit 18, mulberry leaves and mulberry leaf data can be collected, so as to better control the mechanical arm structure to pick mulberry leaves and achieve higher picking efficiency.

[0043] Reference Figure 1 In this embodiment, moving wheels 101 are installed around the bottom of the mobile base 1, and a driving motor 102 is set on the side drive of the moving wheel 101. The driving motor 102 is electrically connected to the single-chip microcomputer. The first visual unit 2 and the second visual unit 18 are both smart cameras; specifically, the first visual unit 2 can collect mulberry tree information and transmit it to the single-chip microcomputer, which drives the driving motor 102 to start, thereby driving the moving wheels 101, thereby driving the entire mulberry picking robot to move through the mobile base 1 and move to the mulberry tree area to be picked.

[0044] Reference Figure 1In this embodiment, a rotating gear 7 is arranged on the top of the mechanical arm base 4, and the rotating gear 7 is sleeved on the bottom of the first mounting frame 6. The bottom of the first mounting frame 6 is rotatably arranged on the mechanical arm base 4. A first motor 5 is arranged on the side of the mechanical arm base 4, and the output end of the first motor 5 is connected to a gear meshing with the rotating gear 7. Second motors 8 are installed on both sides of the first mounting frame 6, and the output end of the second motor 8 is connected to a transmission gear plate 10. First gear plates 9 are rotatably arranged on both sides of the top of the first mounting frame 6, and the first gear plate 9 is meshingly connected with the transmission gear plate 10. A second mounting frame 11 is fixed between the two first gear plates 9, and a second gear plate 12 is rotatably arranged on the inner side of the top of the second mounting frame 11. The second gear plate 12 is rotatably arranged on the inner side of the top of the second mounting frame 11. 2 is fixedly connected to the end of the connecting arm 13, a motor is installed on the side of the second mounting frame 11, and a gear is connected to the output end of the motor, and the gear is meshed and connected with the second gear plate 12, and the single chip microcomputer is electrically connected to the first motor 5, the second motor 8 and the motor; specifically, the first motor 5, the second motor 8 and the motor start can be controlled by the single chip microcomputer, the start of the first motor 5 can drive the rotating gear 7, thereby driving the first mounting frame 6 to rotate, the start of the second motor 8 can drive the first gear plate 9 to swing, thereby adjusting the second mounting frame 11, the start of the motor can drive the second gear plate 12, thereby driving the connecting arm 13 to move, according to the needs, multi-angle adjustment, so as to facilitate the laser emitter 22 to better perform laser point shooting and picking of mulberry leaves.

[0045] Reference Figure 1 and Figure 2 In this embodiment, a rotating motor 1401 is installed inside the connecting frame 14, and the output end of the rotating motor 1401 is connected to the connecting frame 15. A rotating arm 16 is installed on the connecting frame 15, and the rotating arm 16 is moved by a swing motor. The laser mounting frame 17 is fixed at the end of the rotating arm 16, and the single-chip microcomputer is electrically connected to the rotating motor 1401 and the swing motor; specifically, the rotating motor 1401 and the swing motor can be driven by the single-chip microcomputer to start, and the starting of the rotating motor 1401 can drive the connecting frame 15 to rotate, so that when the second visual unit 18 identifies whether the mulberry leaf is a new leaf or an old leaf, the laser mounting frame 17 can be driven to rotate according to demand, so that the first material receiving tube 21 or the second material receiving tube 25 is correspondingly arranged under the laser emitter 22 for receiving the corresponding mulberry leaf. The starting of the swing motor can drive the laser mounting frame 17 to swing, so that the laser emitter 22 can perform multi-directional laser point shooting and picking of the surrounding mulberry leaves.

[0046] Reference Figure 1 and Figure 2In this embodiment, the second dual-axis motor 23 and the first dual-axis motor 19 are respectively installed at the upper and lower ends of the laser mounting frame 17, and the second connecting rod 24 and the first connecting rod 20 are respectively installed at the two telescopic ends of the second dual-axis motor 23 and the first dual-axis motor 19, and the second connecting rod 24 and the first connecting rod 20 are respectively fixedly connected to the ends of the second material receiving tube 25 and the first material receiving tube 21, and the second material receiving tube 25 and the first material receiving tube 21 are both made of telescopic corrugated tube material, and the single-chip microcomputer is electrically connected to the second dual-axis motor 23 and the first dual-axis motor 19; specifically, the second dual-axis motor 23 and the first dual-axis motor 19 can be controlled by the single-chip microcomputer, and the start-up of the second dual-axis motor 23 and the first dual-axis motor 19 can adjust the second material receiving tube 25 and the first material receiving tube 21 respectively, so that the second material receiving tube 25 and the first material receiving tube 21 can better receive mulberry leaves, thereby preventing the mulberry leaves that fall due to the laser emitter 22 from falling and being wasted.

[0047] Among them, the laser spot shooting of the laser transmitter 22 is divided into two categories, one is used for spot shooting new leaves, and the other is used for spot shooting old leaves, both of which are controlled by a single chip microcomputer.

[0048] Reference Figure 1 and Figure 3 In this embodiment, the first cover plate 30 and the second cover plate 31 are movably installed on the top of the first collecting tube 27 and the second collecting tube 28, respectively. The first cover plate 30 and the second cover plate 31 are hinged on the top of the first collecting tube 27 and the second collecting tube 28. The first material receiving pipe 21 passes through the first cover plate 30 and is connected to the first collecting tube 27. The second material receiving pipe 25 passes through the second cover plate 31 and is connected to the second collecting tube 28. A two-way cylinder 35 is installed between the first cover plate 30 and the second cover plate 31. The first cover plate 30 and the second cover plate 31 are driven to move by the two-way cylinder 35. The two-way cylinder 35 is electrically connected to the single-chip computer; the first induced draft fan 50 and the second induced draft fan 50 are installed on the first cover plate 30 and the second cover plate 31, respectively. 1. The induced draft ends of the first induced draft fan 50 and the second induced draft fan 51 are respectively connected to the first receiving pipe 21 and the second receiving pipe 25, and the first induced draft fan 50 and the second induced draft fan 51 are both electrically connected to the single chip microcomputer; specifically, the two-way cylinder 35 can be controlled by the single chip microcomputer to start, so that the first cover plate 30 and the second cover plate 31 can be pulled inward by the two-way cylinder 35, and the first cover plate 30 and the second cover plate 31 are opened, so that the top of the top of the first collecting cylinder 27 and the second collecting cylinder 28 leaks out, which is convenient for unloading work, and the corresponding first induced draft fan 50 and the second induced draft fan 51 are controlled by the single chip microcomputer to start, so that the corresponding first receiving pipe 21 and the second receiving pipe 25 generate suction, thereby adsorbing the mulberry leaves after point shooting, which is convenient for collecting them.

[0049] After the first induced draft fan 50 and the second induced draft fan 51 are set, the work of the two-way cylinder 35 pulling the first cover plate 30 and the second cover plate 31 inwards is not affected.

[0050] Reference Figure 1 , Figure 3 , Figure 5 as well as Figure 6 In this embodiment, a connecting plate 33 is fixed between the first collecting tube 27 and the second collecting tube 28, and a first cylinder 32 is installed on the connecting plate 33. The telescopic end of the first cylinder 32 is connected to the lifting plate 29. The adjacent surfaces of the first collecting tube 27 and the second collecting tube 28 are provided with second slide grooves 34. Both sides of the lifting plate 29 are slidably arranged in the second slide grooves 34. The interiors of the first collecting tube 27 and the second collecting tube 28 are movably provided with ejection plates 37. The ejection plates 37 in the first collecting tube 27 and the second collecting tube 28 are connected to the lifting plate 29; a column 39 is installed on the movable plate 3, and a second cylinder 40 is installed on the top inner side of the column 39. The backs of the first collecting tube 27 and the second collecting tube 28 are provided with first slide grooves 2701. The top of the first slide groove 2701 passes through the first collecting tube 27 and the second collecting tube The collecting cylinder 28 has a movable plate 36 slidingly provided in the first slide groove 2701, and the movable plate 36 is connected to the telescopic end of the second cylinder 40, and the movable plate 36 is fixedly connected to the clamping mechanism 38; the front of the first collecting cylinder 27 and the second collecting cylinder 28 is fixedly connected with a partition 26, and the partition 26 is fixed on the movable plate 3, and the single-chip microcomputer is electrically connected to the first cylinder 32 and the second cylinder 40; specifically, the first cylinder 32 and the second cylinder 40 can be started by controlling the single-chip microcomputer, and the start of the first cylinder 32 can drive the lifting plate 29 to move, so that when the first cover plate 30 and the second cover plate 31 are opened, the lifting plate 29 drives the ejection plate 37 to move, so that the collected mulberry leaves can be ejected, which is convenient for unloading; the start of the second cylinder 40 can drive the movable plate 36 to move, thereby driving the clamping mechanism 38 to move, and the collected mulberry leaves are pressed.

[0051] Reference Figure 7 and Figure 8In this embodiment, the clamping mechanism 38 includes a circular groove 42, a through hole 43, a third cylinder 44 and a limiting rod 45. The circular groove 42 is correspondingly arranged below the first cover plate 30 and the second cover plate 31, and is matched and arranged at the discharge port of the first material receiving pipe 21 and the second material receiving pipe 25. The ends of the first material receiving pipe 21 and the second material receiving pipe 25 are respectively arranged close to the frame of the first cover plate 30 and the second cover plate 31. The interior of the clamping mechanism 38 is provided with a through hole 43, the third cylinder 44 is installed in the through hole 43, and the limiting rod 45 is installed at the telescopic end of the third cylinder 44. , a limiting rod 45 is movably arranged in the through hole 43, and the single chip microcomputer is electrically connected to the third cylinder 44; specifically, the storage height of the mulberry leaves can be identified by the sensor 41. If the sensor 41 identifies that the storage height of the mulberry leaves is level with the sensor 41, a command is transmitted to the single chip microcomputer, and the second cylinder 40 is driven by the single chip microcomputer to drive the pressing mechanism 38 to press down to press the mulberry leaves. During the pressing process, the single chip microcomputer controls the third cylinder 44 to start, so that the limiting rod 45 is movable and the limiting circular groove 42 is used to better press the mulberry leaves, so as to facilitate the collection of more mulberry leaves at one time.

[0052] Among them, there are at least two sensors 41 in the first collecting cylinder 27 and the second collecting cylinder 28 respectively. The sensor 41 is used to monitor the storage height of the mulberry leaves. Once it reaches the horizontal height of the sensor 41, it transmits a command to the single-chip microcomputer, and the second cylinder 40 is driven by the single-chip microcomputer to drive the clamping mechanism 38 to press down to compact the mulberry leaves. Each sensor 41 will only transmit a command to the single-chip microcomputer once, thereby realizing the compacting work of the mulberry leaves, which is convenient for storing more mulberry leaves.

[0053] Reference Figure 1 and Figure 4 In this embodiment, a groove body is provided on the mobile base 1, and a plurality of hinge blocks 49 are installed in the groove body. A fourth cylinder 48 is hinged on the hinge block 49. A slide rail 46 is installed at the bottom of the movable plate 3. The slide rail 46 is matched with the hinge block 49. A slider 47 is slidably provided on the slide rail 46. The slider 47 is hinged to the telescopic end of the fourth cylinder 48, and the single-chip computer is electrically connected to the fourth cylinder 48. Specifically, the fourth cylinder 48 can be driven by the single-chip computer, and the slider 47 can be driven to move by starting the fourth cylinder 48, so that the movable plate 3 can be lifted up, and the first collecting cylinder 27 and the second collecting cylinder 28 can be driven to follow the movement, thereby facilitating the unloading work.

[0054] The present invention also discloses a mulberry picking method using an automatic mulberry picking robot, the mulberry picking method comprising the following steps:

[0055] S1, positioning, the first visual unit 2 collects the position of the nearby mulberry tree, transmits the command to the single chip microcomputer, the single chip microcomputer controls the driving motor 102, drives the entire mulberry picking robot to move to the mulberry leaf position, and the single chip microcomputer synchronously drives the first motor 5, the second motor 8, and the motor, so that the entire robot arm moves according to the position of the mulberry leaf;

[0056] S2, classification, the second visual unit 18 takes pictures and analyzes whether the mulberry leaves to be laser-pointed are new leaves or old leaves, and transmits the analysis results to the single-chip microcomputer, which controls the rotation motor 1401, the swing motor, and the first double-axis motor 19 and the second double-axis motor 23 to start correspondingly, and adjusts the positions of the first receiving tube 21 and the second receiving tube 25 to receive new leaves and old leaves respectively;

[0057] S3, storage, the new leaves and old leaves received by the first receiving pipe 21 and the second receiving pipe 25 respectively enter the first collecting tube 27 and the second collecting tube 28 respectively, the sensor 41 senses the stacking height of the mulberry leaves, and after reaching the sensor position, the third cylinder 44 is controlled so that the telescopic end of the third cylinder 44 drives the limit rod 45 to move, blocking the circular groove 42, and at the same time the second cylinder 40 is driven to drive the pressing mechanism 38 to press down, to press the collected mulberry leaves, and to store as many mulberry leaves as possible at one time;

[0058] S4, dumping. After the mulberry leaves are collected, the fourth cylinder 48 is controlled to start, driving the movable plate 3 to flip, thereby driving the first collecting cylinder 27 and the second collecting cylinder 28 to flip, and the two-way cylinder 35 is started synchronously. The two-way cylinder 35 is stored, driving the first cover plate 30 and the second cover plate 31 to flip, so that the top of the first collecting cylinder 27 and the second collecting cylinder 28 are emptied, and the first cylinder 32 is driven. The first cylinder 32 drives the lifting plate 29 to rise and fall, thereby ejecting the mulberry leaves collected in the first collecting cylinder 27 and the second collecting cylinder 28, and dumping the mulberry leaves.

[0059] Working principle: The first visual unit 2 identifies the position of the mulberry tree and transmits instructions to the single-chip microcomputer. The single-chip microcomputer controls the driving motor 102 to start, thereby driving the moving wheel 101, thereby driving the entire mulberry picking robot to move through the moving base 1 to the mulberry tree area to be picked. After moving to the mulberry tree area to be picked, the single-chip microcomputer controls the first motor 5, the second motor 8 and the motor to start. The start of the first motor 5 can drive the rotating gear 7 to drive the first mounting frame 6 to rotate. The start of the second motor 8 can drive the first gear plate 9 to swing, thereby adjusting the second mounting frame 11. The motor The second gear plate 12 can be driven to start, thereby driving the connecting arm 13 to move, and multiple angles can be adjusted according to needs; after adjustment, the second visual unit 18 identifies the specific root and stem position of the mulberry leaf and whether the mulberry leaf is a new leaf or an old leaf, and transmits the identification information to the single-chip microcomputer, and the single-chip microcomputer controls the rotation motor 1401, the swing motor and the first double-axis motor 19 and the second double-axis motor 23 to start, adjust the positions of the first material receiving pipe 21 and the second material receiving pipe 25, and at the same time control the first induced draft fan 50 and the second induced draft fan 51 through the single-chip microcomputer, so that it can better receive the laser transmitter. 22 is used to shoot the mulberry leaves, and according to the information received by the single chip microcomputer, the laser transmitter 22 is controlled to select whether to shoot new leaves or old leaves. The shot mulberry leaves fall into the first collecting cylinder 27 and the second collecting cylinder 28 through the first receiving tube 21 and the second receiving tube 25 respectively for collection. During the collection process, the sensor 41 senses the height of the stored mulberry leaves. If the stored mulberry leaves are level with the sensor 41, the instruction is transmitted to the single chip microcomputer, and the second cylinder 40 is controlled by the single chip microcomputer to press the mulberry leaves, so that more mulberry leaves can be stored during the picking process. After the picking work is completed, the fourth cylinder 48 is controlled to start. By starting the fourth cylinder 48, the movable plate 3 is pushed to move, and the first collecting barrel 27 and the second collecting barrel 28 are lifted up, so that the first collecting barrel 27 and the second collecting barrel 28 can be turned upside down. At the same time, the two-way cylinder 35 is started to open the first cover plate 30 and the second cover plate 31, so that the top of the first collecting barrel 27 and the second collecting barrel 28 are exposed, and the first cylinder 32 is controlled to start, driving the lifting plate 29 and the ejection plate 37 to move, and the stored mulberry leaves are ejected from the first collecting barrel 27 and the second collecting barrel 28 to complete the unloading work.

[0060] It should be noted that, in this article, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected", and "connected" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected" can be a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] 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 replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. An automatic mulberry picking robot, comprising a mobile base (1), characterized in that: A mechanical arm structure and a mulberry leaf storage structure are installed on the mobile base (1); a first visual unit (2) is installed on the end surface of the mobile base (1); the mechanical arm structure comprises a mechanical arm base (4) installed on the surface of the mobile base (1) and a first mounting frame (6) rotatably arranged above the mechanical arm base (4); a second mounting frame (11) is movably arranged in the first mounting frame (6); a connecting arm (13) is movably arranged in the second mounting frame (11); an end of the connecting arm (13) is fixedly connected to a connecting frame (14); a laser mounting frame (17) is movably arranged at the end of the connecting frame (14); a second visual unit (18) is installed on both sides of the laser mounting frame (17); a laser emitter (22) is installed in the middle of the laser mounting frame (17); and a second material receiving pipe (25) and a first material receiving pipe (21) are movably arranged at the upper and lower ends of the laser mounting frame (17); The mulberry leaf storage structure comprises a movable plate (3) movably arranged on a movable base (1), a first collecting cylinder (27) and a second collecting cylinder (28) being mounted on the movable plate (3), an ejection plate (37) and a clamping mechanism (38) being movably arranged in the first collecting cylinder (27) and the second collecting cylinder (28), an end of the second material receiving pipe (25) being connected to the second collecting cylinder (28), the first material receiving pipe (21) being connected to the first collecting cylinder (27), and sensors (41) being arranged inside the first collecting cylinder (27) and the second collecting cylinder (28); It also includes a single chip microcomputer, which is arranged in cooperation with the mobile base (1), the mechanical arm structure, the mulberry leaf storage structure, the first visual unit (2) and the second visual unit (18).

2. The automatic mulberry picking robot according to claim 1, characterized in that: The bottom of the mobile base (1) is provided with moving wheels (101) around its periphery, the side of the moving wheels (101) is provided with a driving motor (102), the driving motor (102) is electrically connected to the single chip computer, and the first visual unit (2) and the second visual unit (18) are both intelligent cameras.

3. The automatic mulberry picking robot according to claim 1, characterized in that: The top of the mechanical arm base (4) is provided with a rotating gear (7), the rotating gear (7) is sleeved on the bottom of the first mounting frame (6), the bottom of the first mounting frame (6) is rotatably arranged on the mechanical arm base (4), a first motor (5) is provided on the side of the mechanical arm base (4), the output end of the first motor (5) is connected to a gear meshing with the rotating gear (7), second motors (8) are installed on both sides of the first mounting frame (6), the output end of the second motor (8) is connected to a transmission gear disk (10), and the rotating gears on both sides of the top of the first mounting frame (6) are arranged on the first motor (5). A first gear plate (9) is provided, the first gear plate (9) is meshedly connected with a transmission gear plate (10), a second mounting frame (11) is fixed between the two first gear plates (9), a second gear plate (12) is rotatably provided on the inner side of the top of the second mounting frame (11), the second gear plate (12) is fixedly connected to the end of a connecting arm (13), a motor is installed on the side of the second mounting frame (11), a gear is connected to the output end of the motor, the gear is meshedly connected with the second gear plate (12), and the single chip microcomputer is electrically connected to the first motor (5), the second motor (8) and the motor.

4. The automatic mulberry picking robot according to claim 3, characterized in that: A rotating motor (1401) is installed inside the connecting frame (14); the output end of the rotating motor (1401) is connected to the connecting frame (15); a rotating arm (16) is installed on the connecting frame (15); the rotating arm (16) is moved by a swinging motor; the laser mounting frame (17) is fixed to the end of the rotating arm (16); and the single chip microcomputer is electrically connected to the rotating motor (1401) and the swinging motor.

5. The automatic mulberry picking robot according to claim 1, characterized in that: A second dual-axis motor (23) and a first dual-axis motor (19) are respectively mounted on the upper and lower ends of the laser mounting frame (17); a second connecting rod (24) and a first connecting rod (20) are respectively mounted on the two telescopic ends of the second dual-axis motor (23) and the first dual-axis motor (19); the second connecting rod (24) and the first connecting rod (20) are respectively fixedly connected to the ends of a second material receiving tube (25) and a first material receiving tube (21); the second material receiving tube (25) and the first material receiving tube (21) are both made of a telescopic corrugated tube; the single chip microcomputer is electrically connected to the second dual-axis motor (23) and the first dual-axis motor (19).

6. The automatic mulberry picking robot according to claim 5, characterized in that: A first cover plate (30) and a second cover plate (31) are movably mounted on the top of the first collecting tube (27) and the second collecting tube (28), respectively. The first cover plate (30) and the second cover plate (31) are hinged on the top of the first collecting tube (27) and the second collecting tube (28). The first material receiving tube (21) passes through the first cover plate (30) and is connected to the first collecting tube (27). The second material receiving tube (25) passes through the second cover plate (31) and is connected to the second collecting tube (28). The first cover plate (30) and the second cover plate (31) are hinged on the top of the first collecting tube (27) and the second collecting tube (28). ) and the second cover plate (31), a bidirectional cylinder (35) is installed between the first cover plate (30) and the second cover plate (31), the first cover plate (30) and the second cover plate (31) are driven to move by the bidirectional cylinder (35), and the bidirectional cylinder (35) is electrically connected to the single chip computer; the first cover plate (30) and the second cover plate (31) are respectively installed with a first induced draft fan (50) and a second induced draft fan (51), and the induced draft ends of the first induced draft fan (50) and the second induced draft fan (51) are respectively connected to the first material receiving pipe (21) and the second material receiving pipe (25).

7. The automatic mulberry picking robot according to claim 6, characterized in that: A connecting plate (33) is fixed between the first collecting tube (27) and the second collecting tube (28), a first cylinder (32) is mounted on the connecting plate (33), a lifting plate (29) is connected to the telescopic end of the first cylinder (32), second slide grooves (34) are provided on the adjacent surfaces of the first collecting tube (27) and the second collecting tube (28), both sides of the lifting plate (29) are slidably arranged in the second slide grooves (34), ejection plates (37) are movably arranged inside the first collecting tube (27) and the second collecting tube (28), and the ejection plates (37) in the first collecting tube (27) and the second collecting tube (28) are connected to the lifting plate (29); a column (39) is mounted on the movable plate (3), and the column A second cylinder (40) is installed on the inner side of the top of (39); a first slide groove (2701) is opened on the back of the first collecting tube (27) and the second collecting tube (28); the top of the first slide groove (2701) passes through the first collecting tube (27) and the second collecting tube (28); a movable plate (36) is slidably arranged in the first slide groove (2701); the movable plate (36) is connected to the telescopic end of the second cylinder (40); the movable plate (36) is fixedly connected to the clamping mechanism (38); a partition plate (26) is fixedly connected to the front of the first collecting tube (27) and the second collecting tube (28); the partition plate (26) is fixed on the movable plate (3); the single chip computer is electrically connected to the first cylinder (32) and the second cylinder (40).

8. The automatic mulberry picking robot according to claim 7, characterized in that: The clamping mechanism (38) comprises a circular groove (42), a through hole (43), a third cylinder (44) and a limiting rod (45); the circular groove (42) is correspondingly arranged below the first cover plate (30) and the second cover plate (31), and is matched to be arranged at the discharge ports of the first material receiving pipe (21) and the second material receiving pipe (25); the ends of the first material receiving pipe (21) and the second material receiving pipe (25) are respectively arranged close to the frames of the first cover plate (30) and the second cover plate (31); a through hole (43) is provided inside the clamping mechanism (38); the third cylinder (44) is installed in the through hole (43); the limiting rod (45) is installed at the telescopic end of the third cylinder (44); the limiting rod (45) is movably arranged in the through hole (43); and the single chip microcomputer is electrically connected to the third cylinder (44).

9. The automatic mulberry picking robot according to claim 1, characterized in that: The movable base (1) is provided with a groove body, in which a plurality of hinge blocks (49) are installed, and a fourth cylinder (48) is hingedly connected to the hinge block (49). A slide rail (46) is installed at the bottom of the movable plate (3), and the slide rail (46) is matched with the hinge block (49). A slider (47) is slidably provided on the slide rail (46), and the slider (47) is hingedly connected to the telescopic end of the fourth cylinder (48). The single chip computer is electrically connected to the fourth cylinder (48).

10. A mulberry picking method using an automatic mulberry picking robot, using the automatic mulberry picking robot according to any one of claims 1 to 9, characterized in that: The mulberry picking method comprises the following steps: S1, positioning, the first visual unit (2) collects the position of the nearby mulberry tree, transmits the command to the single chip microcomputer, the single chip microcomputer controls the driving motor (102), drives the entire mulberry picking robot to move to the mulberry leaf position, and the single chip microcomputer synchronously drives the first motor (5), the second motor (8), and the motor, so that the entire robot arm moves according to the position of the mulberry leaf; S2, classification, the second visual unit (18) takes a picture and analyzes whether the mulberry leaves to be laser-irradiated are new leaves or old leaves, and transmits the analysis result to the single-chip microcomputer, which controls the rotation motor (1401), the swing motor, and the first double-axis motor (19) and the second double-axis motor (23) to start correspondingly, and adjusts the positions of the first material receiving pipe (21) and the second material receiving pipe (25) to receive new leaves and old leaves respectively; S3, storage, the new leaves and old leaves received by the first receiving pipe (21) and the second receiving pipe (25) respectively enter the first collecting tube (27) and the second collecting tube (28) respectively, the sensor (41) senses the stacking height of the mulberry leaves, and when the mulberry leaves reach the sensor position, the third cylinder (44) is controlled so that the telescopic end of the third cylinder (44) drives the limit rod (45) to move, thereby blocking the circular groove (42), and at the same time, the second cylinder (40) is driven to drive the pressing mechanism (38) to press down, thereby pressing the collected mulberry leaves, and storing as many mulberry leaves as possible at one time; S4, dumping. After the mulberry leaves are collected, the fourth cylinder (48) is controlled to start, driving the movable plate (3) to flip, thereby driving the first collection tube (27) and the second collection tube (28) to flip, and the two-way cylinder (35) is started synchronously. The two-way cylinder (35) collects and drives the first cover plate (30) and the second cover plate (31) to flip, so that the top of the first collection tube (27) and the second collection tube (28) are emptied, and the first cylinder (32) is driven. The first cylinder (32) drives the lifting plate (29) to rise and fall, thereby ejecting the mulberry leaves collected in the first collection tube (27) and the second collection tube (28), and dumping the mulberry leaves.

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