Agricultural double-arm robot structure

Abstract

The invention belongs to the technical field of agriculture and forestry robots, discloses an agricultural double-arm robot structure and aims to solve the problems that an existing picking robot is large in occupied space and poor in operation stability. The double-arm robot comprises a lower base serving as a support of the whole double-arm robot structure; hinge joint connection is formed between the bottom of the waist part and the lower base; the upper trunk is in hinge joint connection with the top of the waist; and the upper bases are fixedly installed at the top of the upper trunk, the left side and the right side of the top of the upper trunk are each provided with one upper base, each upper base is rotationally connected with one mechanical arm, and the upper bases extend out of the end of the side face of the upper trunk so that the two mechanical arms can be located on the left side and the right side of the upper trunk correspondingly. The robot has the advantages of being simple in structure and small in occupied space, and therefore the operation range of the robot is widened.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural and forestry robots, and in particular relates to a dual-arm robot structure for agriculture. Background Art

[0002] With the acceleration of modernization and automation of agricultural and forestry production, traditional manual operation methods can no longer meet the needs of large-scale and efficient agricultural production. Therefore, more and more agricultural machines and agricultural and forestry robots are used in agricultural and forestry production. However, most agricultural machinery and equipment are still based on a single function and are difficult to adapt to diverse operation needs. Dual-arm robots, due to their flexibility and adaptability, have gradually become an important development direction for agricultural automation operations.

[0003] For example, the patent with application number 2024100826405 discloses a polar coordinate dual-arm tomato picking robot, including a mobile chassis, a picking unit, a collection device and a controller; the picking unit includes a support frame, a polar coordinate hybrid robotic arm, and a depth camera; the polar coordinate hybrid robotic arm includes a first electric push rod, a second electric push rod, a third electric push rod, a gripper, a ball joint, a universal joint, an electric rotating gripper, and a triangular connector. The first electric push rod and the second electric push rod are fixed to the support frame through the ball joint and connected to the triangular connector through a universal joint. The third electric push rod is fixed to the support frame through the universal joint and is fixed with the triangular connector. An electric rotating gripper and a gripper are installed at the end of the third electric push rod as an end effector. The robot arm uses three electric push rods to control the position of the electric rotating gripper, and the three electric push rods are connected in a tripod shape. This structural design, on the one hand, will cause a single robot arm to occupy a large space, and on the other hand, the three electric push rods need to be linked to determine the position of the electric rotating gripper, which makes the motion control process longer and the stability poorer.

[0004] For another example, the patent with application number 2024102258134 discloses a dual-arm rotary robot for three-dimensional harvesting of spherical canopy crops, including an actuator and a moving mechanism. The actuator includes a rotary truss mechanical arm, and the rotary truss mechanical arm includes a first guide rail, a vertical connector, a second guide rail, a third guide rail, and a slider mechanism that can slide along the guide rail. The first guide rail, the second guide rail, and the third guide rail are arranged vertically to each other to form two left-right chirality symmetrical three-degree-of-freedom mechanical arms. A rotary drive device is fixedly connected to the upper end of the mechanical arm, and the three-degree-of-freedom mechanical arm can rotate in a horizontal plane driven by the rotary drive device; an under-actuated manipulator is fixedly connected to the lower end of the mechanical arm to form a harvesting actuator that can cover a spherical working area. This structure uses a rotation center and three linear guides (three-axis linear module structure) to control the end effector. This structure also has the problem of occupying a large space. At the same time, the exposed linear guide rail is very easy to get stuck due to the entry of debris (such as crop debris) during operation, resulting in stability.

[0005] For example, patent application number 2022204077799 discloses a lightweight dual-arm apple picking robot, including two identical robotic arms and an end effector, the robotic arm includes a rectangular coordinate X-axis, Y-axis, Z-axis linear slide, an X-axis motor, a Y-axis motor, and a Z-axis motor. The robot structure also uses a three-axis linear module structure to control the position of the end effector, and also has the problem of large space occupation and poor stability.

[0006] For example, the patent with application number 2023201395224 discloses a dual-arm picking robot, including a mobile chassis vehicle, two sets of lifting structures are connected to the mobile chassis vehicle, and a robotic arm moving mechanism is connected to the lifting structure. The robotic arm moving mechanism includes a fixed connecting seat and a three-stage robotic arm. The three-stage robotic arm adopts three joint rotations to achieve extension. This robot also has the problems of large space occupation and poor stability. In summary, existing harvesting robots have the problems of occupying a large space and having poor operating stability. Summary of the invention

[0007] In order to solve the problems of existing robots that occupy a large space and have poor operating stability, the present invention provides an agricultural dual-arm robot structure, which has the characteristics of simple structure and small space occupation, and can perform dual-arm picking and other operations in a relatively narrow area without causing squeezing and collision of crops, thereby improving the robot's operating range. At the same time, the robot arm of the present invention abandons the transmission linear guide rail type robot arm structure, and can effectively prevent branches, leaves, leaves, etc. from entering the movement joints of the robot arm during use, thereby improving the stability of operation.

[0008] In order to solve the technical problem, the technical solution adopted by the present invention is: An agricultural dual-arm robot structure, characterized by comprising: The lower base serves as the support for the entire dual-arm robot structure; A waist portion, wherein a hinge joint is formed between the bottom of the waist portion and the lower base; The upper torso is hinged to the top of the waist; The upper base is fixedly installed on the top of the upper trunk, and an upper base is installed on the left and right sides of the top of the upper trunk respectively. A mechanical arm is rotatably connected to each upper base. The upper base extends out of the side ends of the upper trunk so that the two mechanical arms are respectively located on the left and right sides of the upper trunk.

[0009] In some embodiments, an end effector is also included, wherein the end effector is installed at the end of the robotic arm for performing operations on crops.

[0010] In some embodiments, the rotation directions of the two hinge joints at the top and bottom of the waist are different.

[0011] In some embodiments, the robotic arm includes a hip joint, which is rotatably connected to the upper base via a rotary motor so that the hip joint can rotate on the upper base; one end of the hip joint away from the upper base is rotatably connected to an upper arm via a servo motor, and when the upper arm is folded, the hip joint can make the upper arm and the upper base parallel to each other; one end of the upper arm away from the hip joint is rotatably connected to a knee joint via a servo motor, and a forearm is connected to the knee joint, and when the forearm is folded, the knee joint can make the forearm and the upper arm parallel to each other; one end of the forearm away from the knee joint is connected to an elbow joint via a servo motor, and one end of the elbow joint away from the forearm is used to install an end effector.

[0012] In some embodiments, a servo motor is connected between the knee joint and the forearm, and a servo motor is connected between the elbow joint and the end effector.

[0013] In some embodiments, sensors are arranged on the robotic arm, and the sensors include but are not limited to visual sensors, force sensors, and position sensors.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The agricultural dual-arm robot structure of the present invention utilizes a lower base, a waist, an upper trunk and an upper base, and two mechanical arms rotatably mounted on the upper base to form a "humanoid" robot. Since the two mechanical arms are respectively arranged on the left and right sides of the upper trunk, it has the advantages of simple and compact structure and small space occupation. It can perform dual-arm picking and other operations in a relatively narrow area without causing squeezing and collision of crops, thereby increasing the robot's operating range. The problem of large size of dual-arm robots in the prior art is solved. The problem of large size of dual-arm robots in the prior art is solved.

[0015] At the same time, since the two robotic arms pass through the left and right sides of the upper torso, in actual use, the two robotic arms can work independently or collaboratively, further improving the operating range of crops.

[0016] Each of the mechanical arms of the present invention independently contains 6 degrees of freedom, plus at least one degree of freedom on the end effector, the entire mechanical arm (including the end effector) contains 7 degrees of freedom, which greatly improves the flexibility of the mechanical arm operation. Compared with the 3-degree-of-freedom mechanical arm composed of linear modules in the prior art, the present invention not only improves the flexibility of operation, but also has a more compact structure, avoiding the problem of jamming caused by branches, leaves and other debris entering the linear module, thereby improving the stability of the mechanical arm operation.

[0017] At the same time, the present invention utilizes the design of the hip joint and the knee joint so that the forearm and the upper arm can be in a parallel state with the upper base, so that the space occupied by the robot arm after folding is smaller, which is not only convenient for transportation and assembly, but also improves the obstacle avoidance ability of the robot arm when operating on crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of a three-dimensional structure of an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the mechanical arm and the upper base of the present invention at an angle. In the schematic diagram, the small arm and the upper arm, and the upper arm and the upper base are parallel to each other; Figure 3 It is a schematic diagram of the structure of the mechanical arm and the upper base of the present invention at another angle. In the schematic diagram, the small arm and the upper arm, and the upper arm and the upper base are parallel to each other; Figure 4 It is a schematic diagram of the structure of an embodiment of an upper base of the present invention, in which part of the shell is deleted to show the internal structure; Figure 5 It is a schematic structural diagram of an embodiment of a hip joint of the present invention; Figure 6 It is a structural schematic diagram of an embodiment of a knee joint of the present invention; Figure 7It is a structural schematic diagram of an elbow joint embodiment of the present invention; Figure 8 It is a structural schematic diagram of an embodiment of an end effector of the present invention; Markings in the figure: 1, lower base, 2, waist, 3, upper torso, 4, upper base, 41, shell, 42, servo motor, 43, heat dissipation, 44, relay, 5, robotic arm, 51, hip joint, 52, upper arm, 53, knee joint, 54, servo motor, 55, forearm, 56, elbow joint, 6, end effector, 61, mounting part, 62, driving gear, 53, rack, 64, slider, 65, clamping part. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with embodiments, which are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in the field without creative work are all within the scope of protection of the present invention.

[0020] In conjunction with the accompanying drawings, the agricultural dual-arm robot structure of the present invention includes: The lower base serves as the support for the entire dual-arm robot structure; A waist portion, wherein a hinge joint is formed between the bottom of the waist portion and the lower base; The upper torso is connected to the top of the waist by a hinge joint, and the rotation directions of the two hinge joints at the top and bottom of the waist are different; The upper base is fixedly installed on the top of the upper trunk, and an upper base is installed on the left and right sides of the top of the upper trunk respectively. A mechanical arm is rotatably connected to each upper base. The upper base extends out of the side ends of the upper trunk so that the two mechanical arms are respectively located on the left and right sides of the upper trunk.

[0021] Combined with Figure 4 The upper base of the present invention includes a housing, a servo motor for driving the mechanical arm to rotate is installed in the housing, and a cooling fan and a relay are also arranged in the housing. In the specific implementation process, the upper base is fastened to the upper trunk by screws.

[0022] In some embodiments, an end effector is also included, and the end effector is installed at the end of the robot arm for operating the crops. The end effector can be replaced according to the actual operation situation, and a suitable end effector can be selected according to different operation requirements. For example, different types of end effectors can be used to grab, shear, cut, spray and other operations on crops. The end effector is a prior art product, and technicians in this field can select a suitable end effector according to the crop operation requirements. Technicians in this field can understand and comprehend it, and will not be repeated here.

[0023] Combined with Figure 8 It is a structural schematic diagram of an embodiment of the end effector of the present invention, which includes a mounting portion, a servo motor is installed on the mounting portion, a driving gear is installed on the output shaft of the servo motor, the upper and lower sides of the driving gear are matched with racks, a slider is also installed on the mounting portion, the rack can slide on the slider, and a clamping portion is also connected to the rack. When the driving gear drives the rack to make a linear motion, each rack drives a clamping portion to move, so that the two clamping portions move away from or close to each other, thereby completing the "opening and closing" action, and realizing the harvesting operation of crops.

[0024] In some embodiments, the two hinge joints at the top and bottom of the waist rotate in different directions, so as to increase the range of motion of the upper torso, thereby further increasing the range of motion of the robotic arm.

[0025] During the specific implementation process, the lower base is used to be installed on an existing small and micro agricultural vehicle with mobile function, and the existing agricultural vehicle is used to drive the entire dual-arm robot structure to move. On the one hand, it reduces the manufacturing cost of the entire dual-arm robot structure, and at the same time, it can make full use of the existing agricultural vehicle and improve resource utilization.

[0026] The present invention uses a lower base, a waist, an upper trunk and an upper base, and two mechanical arms rotatably mounted on the upper base to form a "humanoid" robot. Since the two mechanical arms are respectively arranged on the left and right sides of the upper trunk, the robot has the advantages of simple and compact structure and small space occupation. It can perform operations such as double-arm picking in a relatively narrow area without causing squeezing and collision of crops, thereby increasing the robot's operating range. The problem of large size of the double-arm robot in the prior art is solved.

[0027] At the same time, since the two robotic arms pass through the left and right sides of the upper torso, in actual use, the two robotic arms can work independently or collaboratively, further improving the operating range of crops (such as food crops, cash crops, vegetable crops, fruits, medicinal crops, fodder crops, etc.), that is, the present invention can be used in the agricultural field as well as in forestry.

[0028] In some embodiments, the robotic arm includes a hip joint, which is rotatably connected to the upper base via a rotary motor so that the hip joint can rotate on the upper base; one end of the hip joint away from the upper base is rotatably connected to an upper arm via a servo motor, and when the upper arm is folded, the hip joint can make the upper arm and the upper base parallel to each other; one end of the upper arm away from the hip joint is rotatably connected to a knee joint via a servo motor, and a forearm is connected to the knee joint, and when the forearm is folded, the knee joint can make the forearm and the upper arm parallel to each other; one end of the forearm away from the knee joint is connected to an elbow joint via a servo motor, and one end of the elbow joint away from the forearm is used to install an end effector.

[0029] During the specific implementation process, the joint movement on the robotic arm adopts a combined drive mode of servo motor and reducer to ensure the smooth and precise movement of the robotic arm.

[0030] In some embodiments, a servo motor is connected between the knee joint and the forearm, and a servo motor is connected between the elbow joint and the end effector. That is, a servo motor is installed at one end of the knee joint away from the upper arm, and then the servo motor is connected to the forearm, so that a servo motor is connected between the knee joint and the forearm.

[0031] A servo motor is installed at one end of the elbow joint away from the forearm, and then the servo motor is connected to the end effector, so that a servo motor is connected between the elbow joint and the end effector.

[0032] Each of the mechanical arms of the present invention independently contains 6 degrees of freedom, plus at least one degree of freedom on the end effector, the entire mechanical arm (including the end effector) contains 7 degrees of freedom, which greatly improves the flexibility of the mechanical arm operation. Compared with the 3-degree-of-freedom mechanical arm composed of linear modules in the prior art, the present invention not only improves the flexibility of operation, but also has a more compact structure, avoiding the problem of jamming caused by branches, leaves and other debris entering the linear module, thereby improving the stability of the mechanical arm operation.

[0033] At the same time, the present invention utilizes the design of the hip joint and the knee joint so that the forearm and the upper arm can be in a parallel state with the upper base, so that the space occupied by the robot arm after folding is smaller, which is not only convenient for transportation and assembly, but also improves the obstacle avoidance ability of the robot arm when operating on crops.

[0034] In some embodiments, the robotic arm is provided with sensors, including but not limited to visual sensors, force sensors, and position sensors. The sensors are used to obtain information about the external environment and the state of the robotic arm. Among them, the visual sensor is used to identify the type, position, and growth status of crops; the force sensor is used to detect the operating force of the robotic arm to prevent damage to the crops; and the position sensor is used to ensure the positioning accuracy of the robotic arm. In the specific implementation process, the visual sensor, force sensor, position sensor, etc. are all existing technology products, and are not specific improvements of the present invention, and will not be repeated here.

[0035] In summary, the present invention has the characteristics of simple structure and small space occupation, and can perform double-arm picking and other operations in a relatively narrow area without squeezing or colliding with crops, thereby increasing the robot's operating range. At the same time, the robot arm of the present invention abandons the transmission linear guide rail robot arm structure, and can effectively prevent branches, leaves, etc. from entering the movement joints of the robot arm during use, thereby improving the stability of operation.

[0036] In some embodiments, the robotic arm is connected to a control system by wireless or wired means, and the control system is embedded with a fastest motion control mode (also known as a fast control system), which is an optimal control system that can complete a specified control action in the shortest time. The specific algorithm of the fastest motion control mode includes the following: (1) Define the following motion planning indicators: ; in, is the robot joint speed, is the Jacobian matrix of the robot, is the newly defined fastest motion allocation factor, Estimate the linear velocity for the workspace object, and are the upper and lower bounds of the velocity, and are the upper and lower bounds of the adjustment factor.

[0037] (2) Step (1) The motion planning indicators are further organized as follows: ; (3) The coefficients of the motion planning paradigm in step (2) are defined as follows: ; (4) Based on the coefficients defined in step (3), the planning formula of step (2) is solved to obtain the optimal fastest motion control mode.

Claims

1. An agricultural dual-arm robot structure, characterized in that: include: The lower base serves as the support for the entire dual-arm robot structure; A waist portion, wherein a hinge joint is formed between the bottom of the waist portion and the lower base; The upper torso is hinged to the top of the waist; The upper base is fixedly installed on the top of the upper trunk, and an upper base is installed on the left and right sides of the top of the upper trunk respectively. A mechanical arm is rotatably connected to each upper base. The upper base extends out of the side ends of the upper trunk so that the two mechanical arms are respectively located on the left and right sides of the upper trunk.

2. The agricultural dual-arm robot structure according to claim 1, characterized in that: The invention also comprises an end effector which is installed at the end of the mechanical arm and is used for operating crops.

3. The agricultural dual-arm robot structure according to claim 1, characterized in that: The rotation directions of the two hinge joints at the top and bottom of the waist are different.

4. The agricultural dual-arm robot structure according to claim 1 or 2, characterized in that: The robotic arm includes a hip joint, which is rotatably connected to an upper base via a rotary motor so that the hip joint can rotate on the upper base; one end of the hip joint away from the upper base is rotatably connected to an upper arm via a servo motor, and when the upper arm is folded, the hip joint can make the upper arm and the upper base parallel to each other; one end of the upper arm away from the hip joint is rotatably connected to a knee joint via a servo motor, and a forearm is connected to the knee joint, and when the forearm is folded, the knee joint can make the forearm and the upper arm parallel to each other; one end of the forearm away from the knee joint is connected to an elbow joint via a servo motor, and one end of the elbow joint away from the forearm is used for installing an end effector.

5. The agricultural dual-arm robot structure according to claim 4, characterized in that: A servo motor is connected between the knee joint and the forearm, and a servo motor is connected between the elbow joint and the end effector.

6. The agricultural dual-arm robot structure according to claim 5, characterized in that: The robot arm is provided with sensors, which include but are not limited to visual sensors, force sensors, and position sensors.

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