Multifunctional modularized agricultural mechanical arm and operating system thereof

Abstract

The invention provides a multifunctional modularized agricultural mechanical arm and an operation system thereof, and relates to the technical field of agricultural mechanical arms, the multifunctional modularized agricultural mechanical arm comprises an execution arm A, and a quick release base is fixedly mounted at the end of an execution joint; the bottom end of the quick-release base is fixedly provided with a quick-release insertion cylinder. A shrinkage groove is formed in the circumferential inner wall of the quick release insertion cylinder; a limiting clamping block is slidably mounted in the contraction groove. And a retaining clamping groove is formed in the circumferential outer wall of the quick release insertion cylinder. A universal base and a universal inserting column are uniformly arranged at the connecting end of a module execution hand with each function, meanwhile, a quick-release inserting barrel is arranged at the connecting end of an execution joint, and when the universal inserting column is in butt joint with the quick-release inserting barrel, quick disassembly and assembly between the mechanical hand and a mechanical arm can be achieved; the problems that the replacement process of a mechanical arm to a manipulator is tedious, the risk of thread damage is likely to occur, the use efficiency of the mechanical arm is reduced, and the equipment maintenance cost and the operation preparation time are invisibly increased are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanical arms, and in particular to a multifunctional modular agricultural mechanical arm and an operating system thereof. Background Art

[0002] The agricultural robotic arm is an innovative achievement in the field of modern agricultural equipment. It imitates the flexible structure of the human arm and is equipped with high-precision sensors and intelligent control systems. It can carry a variety of end effectors to perform complex agricultural operations such as sowing, fertilizing, spraying, and picking.

[0003] At present, in agricultural mechanized operation scenarios, the end effectors (i.e., manipulators) of most agricultural mechanical arms are still directly connected to the manipulator ports using traditional bolt fastening methods. Although this structure can ensure basic operation stability, it is relatively limited under the diversified operation needs of modern agriculture. When faced with differentiated tasks such as picking, pruning, and spraying, it is necessary to frequently replace adaptive manipulators, and the bolt fixing method greatly restricts the disassembly and assembly efficiency. Operators need to remove multiple fasteners in turn, and repeatedly calibrate the installation holes during the process, resulting in a lengthy replacement process and a risk of thread damage. This not only reduces the efficiency of the use of the manipulator, but also invisibly increases equipment maintenance costs and operation preparation time. Summary of the invention

[0004] The present invention relates to a multifunctional modular agricultural mechanical arm and an operating system thereof, which arranges a universal base and a universal plug column at the connection ends of different module execution hands, and arranges a quick-release plug cylinder at the connection end of the execution joint. Through the cooperation of the universal plug column and the quick-release plug cylinder, the rapid disassembly and assembly between the mechanical hand and the mechanical arm can be quickly realized, so that the mechanical arm can be easily replaced with different mechanical hand structures, and can complete differentiated tasks such as picking, pruning, spraying, etc., without lowering the use efficiency of the mechanical arm due to the inconvenience of replacement.

[0005] In the first aspect of the present invention, a multifunctional modular agricultural robotic arm and its operating system are provided, specifically including: an execution arm A, on which a driving device A is provided, and the execution arm B is installed on the execution arm A through the driving device A; a driving device B is provided on the execution arm B, and the execution arm C is installed on the execution arm B through the driving device B; a driving device C is provided on the execution arm C, and the execution arm D is installed on the execution arm C through the driving device C; a driving device D is provided on the execution arm D, and the execution joint is installed on the execution arm D through the driving device D; a quick-release base is fixedly installed at the end of the execution joint; a quick-release insertion cylinder is fixedly installed at the bottom end of the quick-release base; a contraction groove is formed on the circumferential inner wall of the quick-release insertion cylinder; a limiting block is slidably installed inside the contraction groove; a force-receiving groove is formed at the bottom of the limiting block; a holding card slot is formed on the circumferential outer wall of the quick-release insertion cylinder; a quick-release sliding groove is also formed on the circumferential outer wall of the quick-release insertion cylinder; a quick-release sliding disk is sleeved and slid on the quick-release insertion cylinder; a pushing member is fixedly installed on the circumferential inner wall of the quick-release sliding disk; a limiting insertion block is fixedly installed at the bottom end of the quick-release sliding disk; a sealed telescopic sleeve is provided between the top of the quick-release sliding disk and the quick-release base; a universal insertion column is inserted into the quick-release insertion cylinder; a limiting card slot is formed on the circumferential outer wall of the universal insertion column; the limiting block is inserted into the limiting card slot; a universal base is fixedly installed at the bottom end of the universal insertion column; a docking groove is formed at the top of the universal base; a travel groove is formed on the circumferential inner wall of the docking groove; a holding card column is slidably installed inside the travel groove; a module execution hand is fixedly installed at the bottom of the universal base.

[0006] Further, the inner end of the limiting block is of an inclined structure; a spring A is jointly embedded between the outer side of the limiting block and the inner wall of the contraction groove; the bottom end of the force-receiving groove is of an inclined structure.

[0007] Further, the quick-release sliding groove is of a U-shaped structure, and the top end of the quick-release sliding groove is communicated with the contraction groove; the pushing member is of a U-shaped structure.

[0008] Further, the pushing member is also slidably installed inside the quick-release sliding groove; an operation handle is fixedly installed on the circumferential outer wall of the quick-release sliding disk.

[0009] Further, a spring B is embedded between the top of the quick-release sliding disk and the quick-release base; a holding through groove is formed on the outer periphery of the top of the universal base.

[0010] Further, the spring B is located inside the sealed telescopic sleeve; the travel groove is communicated with the holding through groove.

[0011] Further, the bottom end of the quick-release insertion cylinder is also inserted into the docking groove.

[0012] Further, the inner end of the retaining stud is in a hemispherical structure; the hemispherical structure of the retaining stud is clamped inside the retaining slot; a limiting slot is formed on the circumferential outer wall of the retaining stud.

[0013] Further, the bottom end of the limiting insert block passes through the retaining through slot and inserts into the limiting slot; a spring C is jointly installed between the outer end of the retaining stud and the inside of the pair of travel slots.

[0014] Further, it includes the following steps:

[0015] (1) Adjust the angular states of the execution arm B, execution arm C, execution arm D, execution joint and module execution hand by running the execution arm A;

[0016] (2) Adjust the angular states of the execution arm C, execution arm D, execution joint and module execution hand by running the execution arm B;

[0017] (3) Adjust the angular states of the execution arm D, execution joint and module execution hand by running the execution arm C;

[0018] (4) Adjust the angular states of the execution joint and module execution hand by running the execution arm D;

[0019] (5) Adjust the angular state of the module execution hand by running the execution joint;

[0020] (6) After the angle adjustment is completed, the module execution hand runs to process the crops.

[0021] The present invention provides a multifunctional modular agricultural robotic arm and its operating system, which has the following beneficial effects:

[0022] 1. By uniformly configuring a universal base and universal studs at the connection ends of the module execution hands of each function, and at the same time setting a quick-release insertion cylinder at the connection end of the execution joint, when the universal stud is docked with the quick-release insertion cylinder, the quick disassembly and assembly between the robotic hand and the robotic arm can be realized. This design greatly improves the modular adaptation ability of the robotic arm, enabling it to conveniently replace the robotic hand structures with different functions and easily handle diverse operation tasks such as picking, pruning, spraying, etc., and solves the problem of efficiency loss caused by inconvenient replacement.

[0023] 2. Through the sliding control of the quick-release sliding disk, the intelligent switching of the multi-stage locking mechanism between the quick-release insertion cylinder and the universal stud is realized. This design not only ensures the stability of the connection between the robotic arm and the robotic hand through the multi-stage positioning structure, but also avoids the problem of reducing the connection convenience due to the multi-stage positioning structure. Moreover, the quick-release sliding disk and the sealed telescopic sleeve cooperate to provide all-round sealing protection for the connection structure, effectively preventing water droplets from splashing into the connection part and causing rust damage when the robotic arm performs spraying operations, further improving the reliability and service life of the equipment. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0025] The drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0026] In the drawings:

[0027] Figure 1 A schematic diagram showing the overall structure of the present invention is shown;

[0028] Figure 2 A schematic diagram showing the overall disassembled state structure of the present invention is shown;

[0029] Figure 3 A schematic diagram showing the disassembled state structure of the quick-release plug post and the universal base of the present invention is shown;

[0030] Figure 4 A schematic diagram showing the structure of the universal base and the universal plug post of the present invention is shown;

[0031] Figure 5 A schematic diagram showing the semi-sectional structure of the quick-release socket tube of the present invention is shown;

[0032] Figure 6 A schematic diagram showing the semi-sectional structure of the quick-release socket tube and the universal base of the present invention is shown;

[0033] Figure 7 A schematic diagram showing the structure of the quick-release socket tube and the quick-release sliding plate of the present invention is shown;

[0034] Figure 8 A schematic diagram showing the operating system flow of the present invention is shown;

[0035] List of Reference Numerals

[0036] 1. Execution arm A; 2. Execution arm B; 3. Execution arm C; 4. Execution arm D; 5. Execution joint; 6. Quick-release base; 7. Quick-release socket tube; 8. Shrinkage groove; 9. Limit block;

[0037] 10. Spring A; 11. Force-receiving groove; 12. Retaining groove; 13. Quick-release sliding groove; 14. Quick-release sliding plate; 15. Thrust member; 16. Operating handle; 17. Defining insert block; 18. Sealed telescopic sleeve; 19. Spring B;

[0038] 20. Universal plug post; 21. Limit card slot; 22. Universal base; 23. Docking slot; 24. Retaining through slot; 25. Stroke slot; 26. Retaining post; 27. Defining slot; 28. Spring C; 29. Module execution hand. Detailed Description of the Preferred Embodiments

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0040] Please refer to Figures 1 to 8 : Embodiment 1:

[0041] The present invention provides a multi-functional modular agricultural robotic arm and its operating system, including: an execution arm A1, on which a driving device A is provided, and the execution arm A1 is installed with an execution arm B2 through the driving device A; a driving device B is provided on the execution arm B2, and the execution arm B2 is installed with an execution arm C3 through the driving device B; a driving device C is provided on the execution arm C3, and the execution arm C3 is installed with an execution arm D4 through the driving device C; a driving device D is provided on the execution arm D4, and the execution arm D4 is installed with an execution joint 5 through the driving device D; a quick-release base 6 is fixedly installed at the end of the execution joint 5; a quick-release insertion cylinder 7 is fixedly installed at the bottom of the quick-release base 6; a contraction groove 8 is formed on the inner circumferential wall of the quick-release insertion cylinder 7; a limiting block 9 is slidably installed inside the contraction groove 8; a stress groove 11 is formed at the bottom of the limiting block 9; a holding card slot 12 is formed on the outer circumferential wall of the quick-release insertion cylinder 7; a quick-release sliding groove 13 is also formed on the outer circumferential wall of the quick-release insertion cylinder 7; a quick-release sliding disk 14 is sleeved and slidably installed on the quick-release insertion cylinder 7; a pushing member 15 is fixedly installed on the inner circumferential wall of the quick-release sliding disk 14; a limiting insertion block 17 is fixedly installed at the bottom of the quick-release sliding disk 14; a sealing telescopic sleeve 18 is provided between the top of the quick-release sliding disk 14 and the quick-release base 6; a universal insertion column 20 is inserted inside the quick-release insertion cylinder 7; a limiting card slot 21 is formed on the outer circumferential wall of the universal insertion column 20; the limiting block 9 is inserted inside the limiting card slot 21; a universal base 22 is fixedly installed at the bottom of the universal insertion column 20; a docking groove 23 is formed on the top of the universal base 22; a travel groove 25 is formed on the inner circumferential wall of the docking groove 23; a holding card column 26 is slidably installed inside the travel groove 25; a module execution hand 29 is fixedly installed at the bottom of the universal base 22. By simply controlling the sliding of the quick-release sliding disk 14, the cancellation or completion of multiple rigid fixations between the quick-release insertion cylinder 7 and the universal insertion column 20 can be selectively controlled. Through this design, on one hand, a certain number of positioning structures are used to ensure the connection stability between the robotic arm and the robotic hand, and on the other hand, the connection convenience between the robotic arm and the robotic hand will not be reduced due to excessive number of positioning structures. At the same time, the quick-release sliding disk 14 also cooperates with the sealing telescopic sleeve 18 to achieve the sealing protection of the connection structure, preventing water droplets from splashing on the connection structure during the spraying operation of the robotic arm and causing rust and corrosion to the connection structure.

[0042] Embodiment 2: On the basis of Embodiment 1, the inner end of the limiting block 9 is in an inclined structure; a spring A10 is jointly embedded between the outer side of the limiting block 9 and the inner wall of the contraction groove 8; the bottom end of the force-receiving groove 11 is in an inclined structure; the quick-release sliding groove 13 is in a U-shaped structure, and the top end of the quick-release sliding groove 13 communicates with the contraction groove 8; the pushing member 15 is in a U-shaped structure; the pushing member 15 is also slidably installed inside the quick-release sliding groove 13; an operating handle 16 is fixedly installed on the circumferential outer wall of the quick-release sliding disk 14. By manually sliding the quick-release sliding disk 14 in the direction of the actuating joint 5, the quick-release sliding disk 14 drives the limiting plug 17 to disengage from the inside of the limiting slot 27. After the quick-release sliding disk 14 moves to a certain position, the pushing member 15 on the quick-release sliding disk 14 will push the inclined surface of the force-receiving groove 11, causing it to be forced to drive the limiting block 9 to contract into the contraction groove 8, so that the limiting block 9 disengages from the inside of the limiting card slot 21. At this time, the retaining column 26 is only clamped inside the retaining card slot 12 by the one-way pushing force of the spring C28. Then, only a little force is needed to pull the universal base 22 to detach and separate the universal plug post 20 from the quick-release insertion cylinder 7.

[0043] Embodiment 3: On the basis of Embodiment 2, a spring B19 is embedded between the top of the quick-release sliding disk 14 and the quick-release base 6; a retaining through groove 24 is formed in the outer periphery of the top of the universal base 22; the spring B19 is located inside the sealed telescopic sleeve 18; the stroke groove 25 communicates with the retaining through groove 24; the bottom end of the quick-release insertion cylinder 7 is also inserted into the docking groove 23; the inner end of the retaining column 26 is in a hemispherical structure; the hemispherical structure of the retaining column 26 is clamped inside the retaining card slot 12; a limiting slot 27 is formed in the circumferential outer wall of the retaining column 26; the bottom end of the limiting plug 17 passes through the retaining through groove 24 and is inserted into the limiting slot 27; a spring C28 is jointly embedded between the outer end of the retaining column 26 and the inside of the stroke groove 25. Insert the universal plug post 20 into the quick-release insertion cylinder 7, so that the retaining column 26 is inserted into the retaining card slot 12. Then release the sliding of the quick-release sliding disk 14, and it will be restored under the action of the spring B19. After restoration, the pushing member 15 will cancel the pushing of the inclined surface of the force-receiving groove 11, so that the limiting block 9 is inserted into the limiting card slot 21 under the action of the spring A10, completing the first step of hard fixation of the quick-release insertion cylinder 7 and the universal plug post 20. At the same time, the limiting plug 17 on the quick-release sliding disk 14 will also pass through the retaining through groove 24 and be inserted into the limiting slot 27, so that the position of the retaining column 26 is limited by the limiting plug 17, completing the second step of hard fixation of the quick-release insertion cylinder 7 and the universal plug post 20. Thus, the quick replacement of the module actuating hand 29 is completed.

[0044] Among them, it includes the following steps:

[0045] (1) Adjust the angular states of the execution arm B2, execution arm C3, execution arm D4, execution joint 5, and module execution hand 29 by running the execution arm A1;

[0046] (2) Adjust the angular states of the execution arm C3, execution arm D4, execution joint 5, and module execution hand 29 by running the execution arm B2;

[0047] (3) Adjust the angular states of the execution arm D4, execution joint 5, and module execution hand 29 by running the execution arm C3;

[0048] (4) Adjust the angular states of the execution joint 5 and module execution hand 29 by running the execution arm D4;

[0049] (5) Adjust the angular state of the module execution hand 29 by running the execution joint 5;

[0050] (6) After the angular adjustment is completed, the module execution hand 29 runs to process the crops.

[0051] The working principle of this embodiment:

[0052] During disassembly, manually slide the quick-release sliding disk 14 in the direction of the execution joint 5, so that the quick-release sliding disk 14 drives the limiting insert block 17 to disengage from the inside of the limiting slot 27. And after the quick-release sliding disk 14 moves to a certain position, the pushing member 15 on the quick-release sliding disk 14 will push the inclined surface of the force-receiving groove 11, causing it to drive the limiting block 9 to contract into the inside of the contraction groove 8 with force, so that the limiting block 9 disengages from the inside of the limiting card slot 21. At this time, the retaining column 26 is only clamped inside the retaining card slot 12 by the one-way pushing force of the spring C28. Then, only need to slightly pull the universal base 22 to disassemble and separate the universal plug column 20 from the quick-release insertion cylinder 7, disassemble the module execution hand 29 in use, and then replace it with a new module execution hand 29 with a universal base 22. Insert the universal plug column 20 of this module execution hand 29 into the inside of the quick-release insertion cylinder 7, so that the retaining column 26 on the new module execution hand 29 is inserted into the inside of the retaining card slot 12. Then release the sliding of the quick-release sliding disk 14, so that it restores under the action of the spring B19. After restoration, the pushing member 15 will cancel the pushing of the inclined surface of the force-receiving groove 11, so that the limiting block 9 is inserted into the inside of the limiting card slot 21 under the action of the spring A10, completing the first step of rigid fixation of the quick-release insertion cylinder 7 and the universal plug column 20. At the same time, the limiting insert block 17 on the quick-release sliding disk 14 will also pass through the retaining through groove 24 and insert into the inside of the limiting slot 27, so that the retaining column 26 is limited in position by the limiting insert block 17, completing the second step of rigid fixation of the quick-release insertion cylinder 7 and the universal plug column 20. Thus, the quick replacement of the module execution hand 29 is completed. After the replacement is completed, the sealed telescopic sleeve 18 will also seal the connection part to protect the connection part.

[0053] In this article, the following points need attention:

[0054] 1. The accompanying drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0055] 2. Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0056] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multifunctional modular agricultural mechanical arm, comprising: An actuator arm A (1), on which an actuator arm B (2) is mounted; The actuator arm B (2) is mounted with an actuator arm C (3); the actuator arm C (3) is mounted with an actuator arm D (4); the actuator arm D (4) is mounted with an actuator joint (5); the actuator joint (5) is characterized in that a quick-release base (6) is fixedly mounted on the end of the actuator joint (5); a quick-release insert (7) is fixedly mounted on the bottom end of the quick-release base (6); a contraction groove (8) is provided on the circumferential inner wall of the quick-release insert (7); a limiting block (9) is slidably mounted inside the contraction groove (8); a force-bearing groove (11) is provided at the bottom of the limiting block (9); a retaining groove (12) is provided on the circumferential outer wall of the quick-release insert (7); a quick-release slide groove (13) is also provided on the circumferential outer wall of the quick-release insert (7); a quick-release slide disc (14) is slidably mounted on the quick-release insert (7); the circumferential inner wall of the quick-release slide disc (14) is provided with a retaining groove (12); a quick-release slide groove (13) is also provided on the circumferential outer wall of the quick-release insert (7); a quick-release slide disc (14) is slidably mounted on the quick-release slide disc (14); A push piece (15) is fixedly installed on the wall; a limiting plug block (17) is fixedly installed on the bottom end of the quick-release sliding disc (14); a sealing telescopic sleeve (18) is arranged between the top of the quick-release sliding disc (14) and the quick-release base (6); a universal plug post (20) is inserted into the interior of the quick-release plug tube (7); a limiting card slot (21) is provided on the circumferential outer wall of the universal plug post (20); the limiting card block (9) is inserted into the interior of the limiting card slot (21); a universal base (22) is fixedly installed on the bottom end of the universal plug post (20); a docking groove (23) is provided on the top of the universal base (22); a travel groove (25) is provided on the circumferential inner wall of the docking groove (23); a retaining card post (26) is slidably installed inside the travel groove (25); a module actuator (29) is fixedly installed at the bottom of the universal base (22).

2. A multifunctional modular agricultural mechanical arm according to claim 1, characterized in that: The inner end of the limiting block (9) is in an inclined structure; a spring A (10) is embedded between the outer side of the limiting block (9) and the inner wall of the contraction groove (8); and the bottom end of the force-bearing groove (11) is in an inclined structure.

3. The multifunctional modular agricultural mechanical arm according to claim 2, characterized in that: The quick-release slide groove (13) is a U-shaped structure, and the top end of the quick-release slide groove (13) is connected to the contraction groove (8); the push piece (15) is a U-shaped structure.

4. The multifunctional modular agricultural mechanical arm according to claim 3, characterized in that: The push member (15) is also slidably mounted inside the quick-release slide groove (13); an operating handle (16) is fixedly mounted on the circumferential outer wall of the quick-release slide plate (14).

5. The multifunctional modular agricultural mechanical arm according to claim 4, characterized in that: A spring B (19) is embedded between the top of the quick-release sliding plate (14) and the quick-release base (6); and a retaining groove (24) is provided on the periphery of the top of the universal base (22).

6. The multifunctional modular agricultural mechanical arm according to claim 5, characterized in that: The spring B (19) is located inside the sealing telescopic sleeve (18); the travel groove (25) is connected to the retaining groove (24).

7. The multifunctional modular agricultural mechanical arm according to claim 6, characterized in that: The bottom end of the quick-release insert (7) is also inserted into the interior of the docking groove (23).

8. The multifunctional modular agricultural mechanical arm according to claim 7, characterized in that: The inner end of the retaining clamp column (26) is in a hemispherical structure; the hemispherical structure of the retaining clamp column (26) is clamped inside the retaining clamp groove (12); and a limiting slot (27) is provided on the circumferential outer wall of the retaining clamp column (26).

9. The multifunctional modular agricultural mechanical arm according to claim 8, characterized in that: The bottom end of the limiting plug block (17) passes through the retaining groove (24) and is inserted into the interior of the limiting slot (27); a spring C (28) is embedded between the outer end of the retaining clamping column (26) and the interior of the travel groove (25).

10. An operating system for a multifunctional modular agricultural mechanical arm according to any one of claims 1 to 9, characterized in that: The following steps are involved: (i) adjusting the angle states of the actuator arm B (2), the actuator arm C (3), the actuator arm D (4), the actuator joint (5) and the module actuator hand (29) by operating the actuator arm A (1); (ii) adjusting the angle states of the actuator arm C (3), the actuator arm D (4), the actuator joint (5) and the module actuator hand (29) through the operation of the actuator arm B (2); (iii) adjusting the angle state of the actuator arm D (4), the actuator joint (5) and the module actuator hand (29) by operating the actuator arm C (3); (iv) adjusting the angle state of the execution joint (5) and the module execution hand (29) by operating the execution arm D (4); (v) adjusting the angle state of the module execution hand (29) by operating the execution joint (5); (vi) after the angle adjustment is completed, the module execution hand (29) operates to process the crops.

Images