Tea oil fruit picking mechanical arm

Abstract

The invention provides a tea oil fruit picking mechanical arm. The tea oil fruit picking mechanical arm comprises a picking mechanism and a mechanical arm body. One end of the mechanical arm is connected with the picking mechanism; the mechanical arm comprises a plurality of sets of arm frame units and ropes. The arm frame units are sequentially connected to form the mechanical arm; the boom unit comprises a telescopic assembly and a mounting plate. One end of the telescopic assembly is fixedly connected with the mounting plate, and the other end is fixedly connected with the mounting plate of the adjacent boom unit; at least three non-collinear first holes are formed in the mounting plate; a locking part is arranged at the first hole; one end of the rope is fixedly connected with the winch, and the other end of the rope sequentially penetrates through the first holes in the corresponding positions of the mounting plates from one end of the mechanical arm and is fixedly connected with the last mounting plate; a plurality of traction parts are arranged on the rope; the locking parts are used for controlling whether the traction parts can pass through the first holes or not, and the overall posture of the mechanical arm is adjusted by controlling any one or more locking parts, so that the mechanical arm adapts to various branches and leaves of camellia oleifera trees, and camellia oleifera flowers are prevented from falling off due to collision with the branches.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, and in particular to an oil-tea fruit picking mechanical arm. Background Art

[0002] As an important woody oil crop in southern my country, the fruit of camellia oleifera is rich in high-quality unsaturated fatty acids. From late October to late November each year, the fruit matures. The camellia oleifera producing areas generally adopt an operation mode of manual picking as the main and mechanical harvesting as the auxiliary. The current mainstream mechanized harvesting equipment (such as the shaking sorting machine disclosed in patent CN109964639A) vibrates the trunk to make the fruit fall off from the fragile part of the branch stalk. However, due to the special growth habits of the camellia oleifera tree with flowers and fruits in the same period, severe mechanical vibrations easily cause the flowers to fall off synchronously, directly affecting the fruit setting rate in the next year. Although manual picking can avoid damaging the flower body, there is a realistic dilemma of high labor intensity and low harvesting efficiency. In addition, the existing mechanical arm device is limited by environmental adaptability and flexibility of movement, and it is difficult to achieve accurate harvesting in the camellia oleifera forest with interlaced branches and leaves. Therefore, the development of new intelligent picking equipment with both harvesting efficiency and flower and fruit recognition capabilities has become an urgent need for industrial development. Summary of the invention

[0003] The purpose of the present invention is to provide a tea oil fruit picking mechanical arm to solve the technical problem of how to efficiently pick tea oil fruits without accidentally damaging the tea oil fruits.

[0004] To solve the above problems, the present invention provides a tea oil fruit picking robot arm, comprising: a picking mechanism and a robot arm; one end of the robot arm is connected to the picking mechanism; the robot arm comprises: a plurality of arm units and ropes; the arm units are connected in sequence to form the robot arm; the arm unit comprises: a telescopic assembly and a mounting plate; one end of the telescopic assembly is fixedly connected to the mounting plate, and the other end is fixedly connected to the mounting plate of the adjacent arm unit; at least three non-collinear first holes are provided on the mounting plate; a locking portion is provided at the first hole; one end of the rope is fixedly connected to a winch, and the other end passes through the first holes at the corresponding positions of the mounting plate in sequence from one end of the robot arm, and is fixedly connected to the last mounting plate; a plurality of traction portions are arranged on the rope; the locking portion is used to control whether the traction portion can pass through the first hole.

[0005] Furthermore, the traction part in the above-mentioned tea oil fruit picking mechanical arm is evenly arranged on the rope.

[0006] Furthermore, the mounting plate in the above-mentioned tea oil fruit picking robotic arm is circular; three first holes are arranged on the mounting plate, and the first holes are symmetrically distributed around the center.

[0007] Furthermore, the telescopic component in the above-mentioned tea oil fruit picking mechanical arm is a spring, and the spring is coaxially arranged with the first hole; the rope passes through the inner hole of the spring.

[0008] Furthermore, the locking part in the above-mentioned tea oil fruit picking robot arm is an annular airbag, and a plurality of branches extend radially on the inner side; the locking part is filled with electrorheological fluid; the rope passes through the locking part; any one or more locking parts are controlled to enter a locked state; in the locked state, an electric field is applied to the electrorheological fluid or electricity is supplied to solidify it, and the traction part cannot pass through the first hole.

[0009] Furthermore, the traction part in the above-mentioned tea oil fruit picking robot arm is an air bag filled with the electrorheological fluid, and it is used as the locking part; when in the locked state, an electric field is applied to the electrorheological fluid or electricity is supplied to solidify it, and the traction part cannot pass through the first hole.

[0010] Furthermore, a counter is provided at the first hole in the above-mentioned tea oil fruit picking robotic arm.

[0011] The above-mentioned technical scheme of the present invention has the following beneficial technical effects: by controlling any one or more locking parts, the spacing between the arm units is no longer evenly compressed, and then the overall posture of the robotic arm can be adjusted to adapt to the numerous branches and leaves of the oil tea tree and avoid collision with the branches causing the oil tea flowers to fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the present invention;

[0013] Figure 2 It is a schematic diagram of the structure of the arm unit of the present invention in a bent state;

[0014] Figure 3 is another structural schematic diagram of the arm unit of the present invention in a bent state;

[0015] Figure 4 is a schematic diagram of the structure of the mounting plate in the first embodiment of the present invention;

[0016] Figure 5 It is a schematic structural diagram of the robot arm of the present invention in a bent state.

[0017] Reference numerals:

[0018] 1: Robotic arm; 11: Arm unit; 111: Telescopic assembly; 112: Mounting plate; 1121: First hole; 1122: Locking part; 11221: Branch; 12: Rope; 121: Traction part; 2: Picking mechanism. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention. In the description of the present invention, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0020] refer to Figure 1 , shows the first embodiment of the present invention, the tea oil fruit picking mechanical arm 1 shown comprises: a mechanical arm 1 and a picking mechanism 2, one end of the mechanical arm 1 is connected to the picking mechanism 2. The mechanical arm 1 is composed of a plurality of arm units 11 connected in sequence, wherein the arm unit 11 comprises: a telescopic component 111 and a mounting plate 112, as shown in FIG. Figure 2 As shown, one end of the telescopic assembly 111 is fixedly connected to the mounting plate 112, and the other end is fixedly connected to the mounting plate 112 of the adjacent boom unit 11, so that the boom units 11 can be connected in sequence, such as Figure 1 The telescopic components 111 can support the mounting plates 112 at both ends. Since the telescopic components 111 can be telescopic, the relative angles of the mounting plates 112 at both ends can be controlled by controlling the telescopic degree of each telescopic component 111. Figure 3 As shown, the overall posture of the robot arm 1 is adjusted.

[0021] In order to control the extension degree of each telescopic assembly 111, the robot arm 1 further includes at least three ropes 12, such as Figure 2 As shown, a plurality of traction parts 121 are evenly arranged on the rope 12, combined with Figure 4 , the first holes 1121 are evenly arranged on the mounting plate 112, the same number as the ropes 12, and at least three first holes 1121 are not collinear, one end of each rope 12 is fixedly connected to a power device such as a winch, and the other end passes through the first holes 1121 at the corresponding positions of the mounting plate 112 from one end of the robot 1 in sequence, and is fixedly connected to the last mounting plate 112. In this embodiment, the mounting plate 112 is circular, such as Figure 4 As shown, the mounting plate 112 has three first holes 1121 that are centrally symmetrically distributed. The telescopic component 111 is a spring, and the spring is coaxial with the first hole 1121, so the rope 12 passes through the inner hole of the spring, as shown in FIG. Figure 2 As shown ( Figure 2 For the convenience of display, one group of telescopic components 111 is hidden.

[0022] When any one or more ropes 12 are pulled by the winch, the distance between the installation plates 112 corresponding to the pulled ropes 12 will be uniformly compressed, so the robot arm 1 will bend accordingly. At this time, if the posture of the robot arm 1 is to be further adjusted, it is necessary to separately control the distance between one or more installation plates 112. Therefore, a locking portion 1122 is fixedly provided at the first hole 1121, and the locking portion 1122 controls whether the pulling portion 121 of the rope 12 can pass through the first hole 1121.

[0023] One group of arm units 11 is selected for detailed description. Specifically, the traction part 121 is spherical, which is convenient for it to pass through the first hole 1121. When the traction part 121 on the rope 12 passes through the first hole 1121 of the mounting plate 112, the locking part 1122 is controlled to prevent the traction part 121 from passing through the first hole 1121. The traction part 121 will pull the mounting plate 112 to move along the axis direction of the rope 12, so that the relative angle between the mounting plate 112 and other mounting plates 112 can be controlled, so that the spacing between the arm units 11 is no longer uniformly compressed, so that the posture of the robot arm 1 can be accurately adjusted, such as Figure 5 shown.

[0024] Specifically, the locking portion 1122 is an annular airbag, and a plurality of branches 11221 extend radially from the inner side, and the rope 12 passes through the locking portion 1122. The locking portion 1122 is filled with electrorheological fluid, and an electric field is applied to the electrorheological fluid. The viscosity of the electrorheological fluid increases with the increase of the electric field strength, and the electrorheological fluid solidifies when it reaches a critical value. At the same time, the resistance value of the electrorheological fluid is relatively large, so the electrorheological fluid can also be solidified when it reaches a critical value by electrifying it. By utilizing this characteristic, when an electric field is not applied to the electrorheological fluid of the locking portion 1122 or no electricity is supplied, the electrorheological fluid is in liquid state, and when the traction portion 121 of the rope 12 passes through the first hole 1121, the branch 11221 of the locking portion 1122 will not prevent the traction portion 121 from passing through. When an electric field is applied to the electrorheological fluid of the locking portion 1122 or electricity is supplied to solidify it, the locking portion 1122 enters a locked state, and at this time the traction portion 121 is blocked by the branch 11221 of the locking portion 1122 and cannot pass through the first hole 1121.

[0025] When one or more groups of arm units 11 need to be manipulated, an electric field can be applied to the locking portion 1122 of the group or groups of arm units 11 or energizes them to solidify them, so that the traction portion 121 cannot pass through the first hole 1121 and will drive the mounting plate 112, and the mounting plate 112 is tilted at an angle greater than that of other locking portions 1122 that are not applied with an electric field or energized to solidify them. By controlling any one or more locking portions to enter a locked state, the overall posture of the robot 1 can be adjusted. When traction is no longer applied to the rope 12, each arm unit 11 of the robot 1 returns to its initial position under the action of the telescopic assembly 111.

[0026] The second embodiment of the present invention is shown below. The difference from the first embodiment is that the traction part 121 is a spherical airbag filled with electrorheological fluid, and it is used as the locking part 1122, and the diameter of the spherical airbag is slightly larger than the diameter of the first hole 1121, that is, the diameter of the spherical airbag is 1.1-1.2 times the diameter of the first hole 1121. When an electric field is not applied to the electrorheological fluid of the traction part 121 or power is not supplied, when the traction part 121 passes through the first hole 1121, the electrorheological fluid filled in the traction part 121 is in liquid state, and can be squeezed to pass through the first hole 1121. When an electric field is applied to the electrorheological fluid of the traction part 121 or power is supplied, the electrorheological fluid in the traction part 121 solidifies and cannot be squeezed to pass through the first hole 1121. Therefore, the traction part 121 will drive the mounting plate 112, thereby completing the adjustment of the overall posture of the robot arm 1.

[0027] In this embodiment, 100 traction parts 121 are evenly arranged on the rope 12 and assigned numbers. One of the arm units 11 is selected as the research object. In the initial state of the robot 1, there are 40 and 60 traction parts 121 on both sides of the first hole 1121, that is, between the 40th traction part 121 and the 41st traction part 121. When the rope 12 is pulled, the 39th traction part 121 needs to be solidified to prevent it from passing through the first hole 1121. Therefore, a counter is provided at the first hole 1121. After the 40th traction part 121 passes through the first hole 1121, it is known that the next one to pass is the 39th traction part 121. By recording the numbers of the traction parts 121 on both sides of the first hole 1121 in the initial state and reading the data of the counter, the number of the next traction part 121 passing through the first hole 1121 can be known, and the specified traction part 121 is solidified to complete the adjustment of the overall posture of the robot 1.

[0028] During actual operation, the robot arm 1 is transported to a predetermined position through a chassis assembly or other devices, and the overall posture of the robot arm 1 is observed by two sets of cameras. Then, the robot arm 1 is controlled to adjust its posture according to actual conditions so as to avoid the branches and camellia flowers of the oil tea tree and prevent the camellia flowers from falling due to collision.

[0029] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A tea oil fruit picking mechanical arm, characterized in that: include: Picking mechanism and robotic arm; One end of the mechanical arm is connected to the picking mechanism; The mechanical arm comprises: a plurality of arm units and ropes; The arm units are connected in sequence to form the mechanical arm; The arm unit comprises: a telescopic assembly and a mounting plate; One end of the telescopic assembly is fixedly connected to the mounting plate, and the other end is fixedly connected to the mounting plate of the adjacent boom unit; The mounting plate is provided with at least three non-collinear first holes; A locking portion is provided at the first hole; One end of the rope is fixedly connected to the winch, and the other end passes through the first holes at the corresponding positions of the mounting plates from one end of the mechanical arm in sequence, and is fixedly connected to the last mounting plate; A plurality of traction parts are arranged on the rope; The locking portion is used to control whether the traction portion can pass through the first hole.

2. The tea oil fruit picking mechanical arm according to claim 1, characterized in that: The traction parts are evenly arranged on the rope.

3. The tea oil fruit picking mechanical arm according to claim 1, characterized in that: The mounting plate is circular; The mounting plate is provided with three first holes, and the first holes are centrally symmetrically distributed.

4. The tea oil fruit picking mechanical arm according to claim 3, characterized in that: The telescopic component is a spring, and the spring is coaxially arranged with the first hole; The rope passes through the inner hole of the spring.

5. The tea oil fruit picking mechanical arm according to claim 4, characterized in that: The locking portion is an annular airbag, and a plurality of branches extend radially from the inner side; The locking portion is filled with electrorheological fluid; The rope passes through the locking portion; Controlling any one or more of the locking parts to enter a locked state; In the locked state, an electric field is applied to the electrorheological fluid or electricity is supplied to solidify the electrorheological fluid, and the traction portion cannot pass through the first hole.

6. The tea oil fruit picking mechanical arm according to claim 1, characterized in that: The traction part is an air bag filled with the electrorheological fluid, and it serves as the locking part; Controlling any one or more of the traction parts to enter a locked state; In the locked state, an electric field is applied to the electrorheological fluid or electricity is supplied to solidify the electrorheological fluid, and the traction portion cannot pass through the first hole.

7. The tea oil fruit picking mechanical arm according to claim 6, characterized in that: A counter is arranged at the first hole.

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