A six-axis robotic arm for agricultural picking

Abstract

The present invention relates to the field of picking robot arms, specifically a six-axis robot arm for agricultural picking, comprising a robot arm and a mounting plate arranged on the robot arm, and also comprising: a clamp, the clamp has two relatively rotating parts arranged on the mounting plate, and the fruit stems are cut off by the clamp; a reciprocating mechanism, the reciprocating mechanism is arranged on the mounting plate. The six-axis robot arm for agricultural picking, the first conveying mechanism follows the clamp to open and close synchronously, while the clamp cuts the fruit stems, the first conveying mechanism clamps and conveys the fruit, the first conveying mechanism and the second conveying mechanism cooperate to efficiently convey the fruit to the inside of the robot arm, so that the effective working depth is increased through the two-stage conveying design, and the second conveying mechanism cooperates with the first conveying mechanism to convey the fruit to a corrugated pipe, shortening the moving path of the robot arm when collecting the fruit, not only improving the overall work efficiency, but also reducing the loss of the robot arm and extending its service life.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking robot arms, and in particular relates to a six-axis robot arm for agricultural picking. Background Art

[0002] The agricultural harvesting robot arm is an advanced agricultural automation equipment designed to simulate the movements of the human arm to achieve precise picking of various crops. The six-axis robot arm can easily shuttle between tree branches and use the onboard visual recognition system to accurately locate ripe fruits. The intelligent control system controls the coordinated operation of each joint based on feedback information, driving the end effector to gently and accurately grasp and pick the target crops.

[0003] At present, the end effector of the harvesting robot arm generally picks fruits by shearing, clamping, etc., and the clamping and pulling method can easily cause excessive vibration of the fruit tree, which in turn causes the adjacent fruits to fall off. At the same time, regardless of the shearing or clamping method, the picked fruits need to be moved a long distance by the robot arm for placement. This not only affects the picking efficiency, but also increases the wear and tear of the robot arm and shortens its service life. For this reason, a six-axis robot arm for agricultural picking is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-axis robotic arm for agricultural picking that can move short distances and penetrate into narrow areas in order to solve the above problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A six-axis robotic arm for agricultural harvesting, comprising a robotic arm body and a mounting plate disposed on the robotic arm body, and further comprising:

[0007] Two clamps are provided and rotatably mounted on the mounting plate, and the fruit stems are cut off by the clamps;

[0008] A reciprocating mechanism, the reciprocating mechanism being disposed on a mounting plate and driving the clamp to open and close via the mounting plate;

[0009] a first conveying mechanism, the first conveying mechanism being provided on the clamp and moving the fruit toward the inner side of the robot arm body through the first conveying mechanism;

[0010] The second conveying mechanism is arranged below the mounting plate and connected to the first conveying mechanism, and the fruit conveying distance is extended by the second conveying mechanism.

[0011] As a further optimization scheme of the present invention, the first conveying mechanism includes two connecting shells, and the two connecting shells are respectively arranged on the clamps, and a vertical rod 1 is provided on the connecting shell, and the vertical rod 1 is rotatably arranged on the connecting shell, and at the same time, the vertical rod 1 passes through the mounting plate, and a first pulley is provided on both the vertical rod 1 and the connecting shell, the first pulley is fixedly connected to the vertical rod 1, and the other first pulley is rotatably connected to the connecting shell, and a first belt is provided between the first pulleys, and the outer surfaces of the two first belts are provided with teeth and grooves that cooperate with each other.

[0012] As a further optimization scheme of the present invention, the second conveying mechanism includes two vertical poles 2, and the vertical pole 2 is rotatably set on the mounting plate. Second pulleys are fixedly set on the vertical pole 2 and the vertical pole 1, and a second belt is set between the second pulleys. A connecting gear is fixedly set on the upper end of the vertical pole 2, and the two connecting gears are engaged with each other, and the two second belts are provided with teeth and grooves that cooperate with each other.

[0013] As a further optimization scheme of the present invention, a mounting cover 1 is fixedly provided on the upper surface of the mounting plate, a mounting cover 2 is fixedly provided on one side of the mounting cover 1, a mounting cover 3 is fixedly provided on the lower surface of the mounting plate, a fruit stalk moving groove is opened on the mounting plate, a connecting plate is fixedly provided at one end of the mounting plate, the mounting plate is fixedly connected to one end of the robot arm body through the connecting plate, and a visual detection device is provided on the connecting plate.

[0014] As a further optimization scheme of the present invention, the reciprocating movement mechanism includes a reciprocating rod, which is slidably arranged on the mounting cover 2, and a slotted plate is provided at one end of the reciprocating rod away from the clamp, and a transverse groove is provided on the slotted plate. A driving rod is rotatably arranged through the mounting plate, and a rotating plate is fixedly provided on the upper end of the driving rod, and a protrusion 1 is provided on the rotating plate near the edge, and the protrusion 1 is embedded in the slotted plate for sliding, and a driving motor 2 is provided on the mounting plate, and bevel gears are provided on the output end of the driving motor 2 and the driving rod, and the two bevel gears are engaged with each other, and the bevel gears are provided in the mounting cover 3.

[0015] As a further optimization solution of the present invention, a rotating shaft is fixedly provided on the clamp, and blades that cooperate with each other are provided on the two clamps, and an oblique groove is opened on the clamp.

[0016] As a further optimization solution of the present invention, a U-shaped plate is provided at the other end of the reciprocating rod, and two protrusions are provided at both ends of the U-shaped plate. The two protrusions are respectively embedded and slidably provided in two inclined grooves.

[0017] As a further optimization solution of the present invention, the clamp is rotatably arranged on the second mounting cover via a rotating shaft, and the first vertical pole is coaxially arranged with the rotating shaft.

[0018] As a further optimization solution of the present invention, a driving motor 1 is fixedly installed on the mounting cover 1, and a driving gear is provided on the output end of the driving motor 1 after passing through the mounting cover 1, and the driving gear is engaged with one of the connecting gears.

[0019] As a further optimization solution of the present invention, a rotating connecting seat is provided at the lower end of the driving rod, and the rotating connecting seat is arranged below the second conveying mechanism. A hole is opened at one end of the rotating connecting seat, and a bellows is provided through the hole.

[0020] The beneficial effects of the present invention are:

[0021] 1. Different from existing technologies, in actual use, the first conveying mechanism opens and closes synchronously with the clamp. While the clamp cuts the fruit stem, the first conveying mechanism clamps and conveys the fruit. The first and second conveying mechanisms work together to efficiently convey the fruit to the inside of the robotic arm. This dual-stage conveying design increases the effective working depth, allowing the clamp to penetrate deep into narrow spaces for picking operations.

[0022] 2. Different from the existing technology, in actual use, the second conveying mechanism cooperates with the first conveying mechanism to convey the fruit to the corrugated tube, shortening the moving path of the robotic arm when collecting the fruit, which not only speeds up the overall work efficiency, but also reduces the loss of the robotic arm and extends its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the connection structure of the robot arm of the present invention;

[0025] Figure 3 This is a schematic diagram of the connection structure of the mounting plate of the present invention;

[0026] Figure 4 This invention Figure 3 Another perspective structural diagram;

[0027] Figure 5 This is a schematic diagram of the cross-sectional structure of the mounting plate of the present invention;

[0028] Figure 6 It is a schematic diagram of the clamp structure of the present invention;

[0029] Figure 7 This is a schematic diagram of the cross-sectional structure of the connected shell of the present invention;

[0030] Figure 8 It is a schematic diagram of the clamp connection structure of the present invention.

[0031] In the figure: In the figure: 1. Robot arm body; 2. Mounting plate; 21. Mounting cover 1; 22. Mounting cover 2; 23. Mounting cover 3; 24. Connecting plate; 25. Fruit stem moving groove; 3. Clamp; 31. Blade; 32. Inclined groove; 33. Rotating shaft; 4. First conveying mechanism; 41. First belt; 42. Vertical pole 1; 43. First pulley; 44. Connecting shell; 5. Second conveying mechanism; 51. Second belt; 52. Vertical pole 2; 53. Second pulley; 54. Connecting gear; 6. Driving motor 1; 61. Driving gear; 7. Reciprocating mechanism; 71. Reciprocating rod; 72. Slotted plate; 73. Driving rod; 731. Rotating plate; 732. Bump 1; 74. Driving motor 2; 741. Bevel gear; 8. U-shaped plate; 81. Bump 2; 9. Rotating connecting seat; 10. Bellows; 11. Collecting basket; 12. Track moving seat. DETAILED DESCRIPTION

[0032] The present application is described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0033] Example 1

[0034] like Figure 1 - Figure 8 As shown, a six-axis robot arm for agricultural picking includes a robot arm body 1 and a mounting plate 2 arranged on the robot arm body 1. The robot arm body 1 is mounted on a crawler moving seat 12 to achieve field maneuverability. It also includes: two clamps 3 arranged on the mounting plate 2 for relative rotation, and the fruit stems are cut off by the opening and closing action of the clamps 3. There is also a reciprocating mechanism 7 arranged on the mounting plate 2, which drives the clamps 3 to open and close through the mounting plate 2, and a first conveying mechanism 4 arranged on the clamps 3, which moves the fruit to the inside of the robot arm body 1 through the first conveying mechanism 4. A second conveying mechanism 5 is provided below the mounting plate 2 and connected to the first conveying mechanism 4, and the fruit conveying distance is extended by the second conveying mechanism 5.

[0035] like Figure 6 - Figure 7As shown, the first conveying mechanism 4 includes two connecting shells 44, and the two connecting shells 44 are respectively arranged on the clamps 3. A vertical rod 42 is provided on the connecting shell 44, and the vertical rod 42 is rotatably arranged on the connecting shell 44. At the same time, the vertical rod 42 passes through the mounting plate 2. A first pulley 43 is provided on the vertical rod 42 and the connecting shell 44. The first pulley 43 is fixedly connected to the vertical rod 42, and the other first pulley 43 is rotatably connected to the connecting shell 44. A first belt 41 is provided between the first pulleys 43, and the outer surfaces of the two first belts 41 are provided with mutually matching tooth grooves. After the clamps 3 are closed, the two first belts 41 are also completely closed, thereby clamping the cut fruit stalks and transporting the fruits. The first belt 41 that follows the clamp 3 to cut deeply is protected by the provided connecting shell 44 to prevent leaves from interfering with the first belt 41.

[0036] like Figure 4 - Figure 5 As shown, the second conveying mechanism 5 includes two vertical rods 52, and the vertical rod 2 52 is rotatably set on the mounting plate 2. The vertical rod 2 52 and the vertical rod 1 42 are fixedly provided with a second pulley 53, and a second belt 51 is provided between the second pulleys 53. In this way, the vertical rod 2 52 and the vertical rod 1 42 form a linkage, so that the first belt 41 and the second belt 51 can perform transportation actions synchronously. A connecting gear 54 is fixedly provided on the upper end of the vertical rod 2 52, and the two connecting gears 54 are engaged with each other. The two vertical rods 2 52 are rotated in opposite directions through the connecting gear 54, and the two second belts 51 are provided with tooth grooves that cooperate with each other, so that the fruit stems can be clamped and transported. When the fruit has not separated from the first belt 41, the second belt 51 has already clamped the fruit stem. In this way, under the relay transportation of the first conveying mechanism 4 and the second conveying mechanism 5, the transportation distance of the fruit is further extended, ensuring that the fruit can be safely and stably transported to the collection position.

[0037] like Figure 3 As shown, a mounting cover 1 21 is fixedly provided on the upper surface of the mounting plate 2, a mounting cover 2 22 is fixedly provided on one side of the mounting cover 1 21, and a mounting cover 3 23 is fixedly provided on the lower surface of the mounting plate 2. The transmission components arranged on the mounting plate 2 are shielded and protected by the mounting cover 1 21, the mounting cover 2 22 and the mounting cover 3 23 to prevent branches and leaves from interfering with the transmission components. A fruit stalk moving groove 25 is provided on the mounting plate 2 to provide space for the movement of the fruit stalk. A connecting plate 24 is fixedly provided at one end of the mounting plate 2, and a visual detection device (which can be an industrial camera or a 3D camera, etc.) is provided on the connecting plate 24 to select the fruit to be picked. The mounting plate 2 is fixedly connected to one end of the robot arm body 1 through the connecting plate 24.

[0038] like Figure 3 and Figure 5As shown, the reciprocating mechanism 7 includes a reciprocating rod 71, which is slidably arranged on the mounting cover 22, and a slotted plate 72 is provided at one end of the reciprocating rod 71 away from the clamp 3. The slotted plate 72 is provided with a transverse groove, and a driving rod 73 is rotatably provided on the mounting plate 2. A rotating plate 731 is fixedly provided on the upper end of the driving rod 73, and a protrusion 732 is provided near the edge of the rotating plate 731. The protrusion 732 is embedded in the slotted plate 72 for sliding. In this way, the reciprocating rod 71 can be driven to move when the protrusion 732 rotates. A second drive motor 74 is provided on the mounting plate 2. The second drive motor 74 rotates back and forth 180 degrees on the mounting plate 2. A bevel gear 741 is provided on the output end of the second drive motor 74 and the drive rod 73. The bevel gears 741 are engaged with each other. The bevel gears 741 are arranged in the mounting cover 3 23. The second drive motor 74 is used as the power source. The drive rod 73 is driven to rotate through the bevel gear 741. The protrusion 732 on the rotating plate 731 cooperates with the slotted plate 72 to drive the reciprocating rod 71 to move stably on the mounting cover 2 22.

[0039] like Figure 6 As shown, a rotating shaft 33 is fixed on the clamp 3, and the clamp 3 is rotatably set on the mounting cover 22 through the rotating shaft 33. The two clamps 3 are provided with blades 31 that cooperate with each other. The clamps 3 drive the blades 31 to open and close to accurately cut the fruit stems. The operation precision is high, ensuring the integrity of the fruit stems when picking the fruit.

[0040] like Figure 8 As shown, a U-shaped plate 8 is provided at the other end of the reciprocating rod 71, and two protrusions 81 are provided at both ends of the U-shaped plate 8. An inclined groove 32 is provided on the clamp 3, and the two protrusions 81 are respectively embedded and slidably set in the two inclined grooves 32. The U-shaped plate 8 moves synchronously with the reciprocating rod 71. When the U-shaped plate 8 moves, the protrusion 81 moves in the inclined groove 32, driving the clamp 3 to rotate on the mounting cover 22, thereby causing the clamp 3 to form an opening and closing action.

[0041] like Figure 6 As shown, the vertical rod 42 is coaxially arranged with the rotating shaft 33 , so that when the clamp 3 drives the connecting shell 44 to rotate, the vertical rod 42 can still be in a rotating state and will not interfere with the first belt 41 .

[0042] like Figure 5 As shown, a driving motor 6 is fixedly provided on the mounting cover 21, and a driving gear 61 is provided at the output end of the driving motor 6 after passing through the mounting cover 21. The driving gear 61 is engaged with one of the connecting gears 54. The driving motor 6 serves as the starting end of the power transmission between the first conveying mechanism 4 and the second conveying mechanism 5. The driving gear 61 at the output end is engaged with the connecting gear 54 to accurately drive the entire conveying system to operate, thereby providing continuous and stable power for the transportation of fruits and ensuring the efficiency and smoothness of the transportation process.

[0043] like Figure 2 and Figure 4 - Figure 5 As shown, a rotating connecting seat 9 is provided at the lower end of the driving rod 73, and the rotating connecting seat 9 is provided below the second conveying mechanism 5. A hole is opened at one end of the rotating connecting seat 9, and a bellows 10 is provided through the hole. A collecting basket 11 is provided on the crawler moving seat 12, and the collecting basket 11 is connected to the other end of the bellows 10. In this way, the fruit enters the collecting basket 11 to be collected after being buffered and decelerated by the bellows 10. At the same time, the bellows 10 is driven to swing synchronously by the rotating connecting seat 9, and the posture of the bellows 10 is changed by the swing of the bellows 10, thereby accelerating the falling of the fruit and preventing the fruit from accumulating at the bending part of the bellows 10.

[0044] It should be noted that the working principle of the six-axis robot arm for agricultural picking is as follows: the robot arm body 1 is rigidly connected to the mounting plate 2 through the connecting plate 24, and the whole is carried on the crawler moving seat 12 to realize field maneuverability. When the visual detection equipment on the connecting plate 24 recognizes the target fruit, the robot arm body 1 uses multi-joint coordinated movement to accurately position the end effector of the mounting plate 2 to the fruit picking position. At this time, the fruit stem moving groove 25 is aligned with the fruit stem axis, preparing for subsequent shearing and transportation. Then the driving motor 2 74 drives the driving rod 73 to rotate through the bevel gear 741, and the rotating plate 731 at its top is driven by the bump 1 732 cooperates with the slotted plate 72 to drive the reciprocating rod 71 to move back and forth on the mounting cover 22. The U-shaped plate 8 at the end of the reciprocating rod 71 is linked to the inclined slot 32 of the clamp 3 through the protrusion 81 to control the two clamps 3 with blades 31 to open and close around the rotating shaft 33 to complete the fruit stem shearing. When the driving rod 73 rotates, the rotating connecting seat 9 thereon rotates synchronously. In this way, by driving the motor 2 74 to rotate 180° back and forth, the two clamps 3 with blades 31 can complete the shearing action while the rotating connecting seat 9 drives the corrugated pipe 10 to rotate, and the rotating connecting seat 9 is flipped to the bottom of the second conveying mechanism 5.

[0045] The driving motor 16 drives the two connecting gears 54 to rotate synchronously in the opposite direction through the driving gear 61, and drives the second belt 51 and the first belt 41 to operate respectively through the second pulley 53 and the first pulley 43 on the vertical pole 2 52 and the vertical pole 1 42. The toothed belt of the first conveying mechanism 4 conveys the cut fruit to the inside of the robotic arm until the cut fruit is separated from the first conveying mechanism 4. After the fruit is separated from the first conveying mechanism 4, the fruit stem is clamped by the second conveying mechanism 5 and continues to be transported until the fruit stem is separated from the second conveying mechanism 5 and falls into the bellows 10 on the rotating connecting seat 9. When encountering a dense branch and leaf environment, the robotic arm body 1 drives the mounting plate 2 to adjust its posture. Through the arrangement of the first conveying mechanism 4 and the second conveying mechanism 5, the clamp 3 can penetrate into a narrow space to operate and transport the fruit out. At the same time, the protection system composed of the mounting cover 1 21 and the mounting cover 2 22 can prevent branches and leaves from interfering with the internal transmission mechanism.

[0046] A collecting basket 11 is provided on the crawler movable seat 12, and the collecting basket 11 is connected to the other end of the bellows 10. The bellows 10 extends into the collecting frame 11. When the fruit stem separates from the second conveying mechanism 5, the fruit falls accurately into the entrance of the bellows 10 of the rotating connecting seat 9. The flexible bellows 10 and the collecting basket 11 on the crawler movable seat 12 form a closed conveying channel. The fruit slides into the collecting basket 11 after being buffered by the bellows 10, completing lossless collection.

[0047] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A six-axis robotic arm for agricultural harvesting, comprising a robotic arm body (1) and a mounting plate (2) disposed on the robotic arm body (1), characterized in that: Also included are: Clamps (3), two of which are rotatably mounted on the mounting plate (2) and are used to cut the fruit stems; A reciprocating mechanism (7), the reciprocating mechanism (7) being arranged on the mounting plate (2) and driving the clamp (3) to open and close via the mounting plate (2); a first conveying mechanism (4), the first conveying mechanism (4) being arranged on the clamp (3), and moving the fruit toward the inside of the robotic arm body (1) through the first conveying mechanism (4); a second conveying mechanism (5), the second conveying mechanism (5) being arranged below the mounting plate (2) and connected to the first conveying mechanism (4), and extending the fruit conveying distance through the second conveying mechanism (5); The first conveying mechanism (4) includes two connecting shells (44), the two connecting shells (44) are respectively arranged on the clamp (3), a vertical rod (42) is arranged on the connecting shell (44), the vertical rod (42) is rotatably arranged on the connecting shell (44), and the vertical rod (42) passes through the mounting plate (2), and a first pulley (43) is arranged on the vertical rod (42) and the connecting shell (44), the first pulley (43) is fixedly connected to the vertical rod (42), and the other first pulley (43) is rotatably connected to the connecting shell (44), a first belt (41) is arranged between the first pulleys (43), and the outer surfaces of the two first belts (41) are provided with tooth grooves that match each other; The second conveying mechanism (5) includes two vertical rods (52), the vertical rods (52) are rotatably arranged on the mounting plate (2), the vertical rods (52) and the vertical rods (42) are both fixedly provided with second pulleys (53), a second belt (51) is provided between the second pulleys (53), a connecting gear (54) is fixedly provided on the upper end of the vertical rod (52), the two connecting gears (54) are engaged with each other, and the two second belts (51) are provided with tooth grooves that cooperate with each other; A mounting cover 1 (21) is fixedly provided on the upper surface of the mounting plate (2), a mounting cover 2 (22) is fixedly provided on one side of the mounting cover 1 (21), a mounting cover 3 (23) is fixedly provided on the lower surface of the mounting plate (2), a fruit stem moving groove (25) is provided on the mounting plate (2), a connecting plate (24) is fixedly provided on one end of the mounting plate (2), the mounting plate (2) is fixedly connected to one end of the robot arm body (1) via the connecting plate (24), and a visual detection device is provided on the connecting plate (24); The reciprocating mechanism (7) includes a reciprocating rod (71), the reciprocating rod (71) is slidably arranged on the second mounting cover (22), the reciprocating rod (71) is provided with a slotted plate (72) at one end away from the clamp (3), the slotted plate (72) is provided with a transverse groove, a driving rod (73) is rotatably arranged on the mounting plate (2), a rotating plate (731) is fixedly provided on the upper end of the driving rod (73), a protrusion (732) is provided near the edge of the rotating plate (731), the protrusion (732) is embedded in the slotted plate (72), a driving motor (74) is provided on the mounting plate (2), a bevel gear (741) is provided on the output end of the driving motor (74) and the driving rod (73), the two bevel gears (741) are engaged with each other, and the bevel gear (741) is provided in the mounting cover (23); A rotating connecting seat (9) is provided at the lower end of the driving rod (73), and the rotating connecting seat (9) is arranged below the second conveying mechanism (5). A hole is opened at one end of the rotating connecting seat (9), and a bellows (10) is provided through the hole.

2. The six-axis robotic arm for agricultural harvesting according to claim 1, characterized in that: A rotating shaft (33) is fixedly provided on the clamp (3), blades (31) that cooperate with each other are provided on the two clamps (3), and an inclined groove (32) is provided on the clamp (3).

3. The six-axis robotic arm for agricultural harvesting according to claim 2, characterized in that: A U-shaped plate (8) is provided at the other end of the reciprocating rod (71), and two protrusions (81) are provided at both ends of the U-shaped plate (8). The two protrusions (81) are respectively embedded and slidably provided in two inclined grooves (32).

4. The six-axis robotic arm for agricultural harvesting according to claim 2, characterized in that: The clamp (3) is rotatably mounted on the second mounting cover (22) via a rotating shaft (33), and the first vertical rod (42) is coaxially mounted with the rotating shaft (33).

5. The six-axis robotic arm for agricultural harvesting according to claim 1, characterized in that: A driving motor (6) is fixedly mounted on the mounting cover (21). An output end of the driving motor (6) passes through the mounting cover (21) and is provided with a driving gear (61). The driving gear (61) engages with one of the connecting gears (54).

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