All-terrain tobacco leaf picking robot

Abstract

The present application relates to the technical field of tobacco production, and particularly relates to a full-terrain tobacco leaf picking robot, which comprises a base, a tobacco leaf picking assembly, a tobacco leaf collecting assembly and a multi-legged walking assembly; the tobacco leaf picking assembly, the tobacco leaf collecting assembly and the multi-legged walking assembly are connected with the base; the present application can mechanically and automatically complete picking and collecting of tobacco leaves, and movement of the robot in a field and on a road during picking and transfer of the robot; the picking mechanical hand of the tobacco leaf picking assembly and the transfer mechanical hand of the tobacco leaf collecting assembly are reasonably arranged, so that the picked tobacco leaves can be smoothly and efficiently transferred to the collecting cylinder for placement, the efficiency is improved, and damage to the tobacco leaves is avoided; the multi-legged walking assembly ensures that the robot can smoothly walk in the field, and the applicability of the device is further improved through switching of the two types of walking modules; for tobacco, tea and other picking devices, the picking function in the field is ensured to be smoothly implemented.

Description

Technical Field

[0001] This invention relates to the field of tobacco production technology, and in particular to an all-terrain tobacco leaf harvesting robot. Background Technology

[0002] Tobacco leaf harvesting, commonly known as "tobacco leaf picking," is one of the most time-consuming and labor-intensive, yet crucial, steps in tobacco production. Traditionally, tobacco leaf harvesting relies entirely on manual labor. Considering that tobacco leaves mature in batches from the bottom up (usually 5-7 times), rather than all at once, harvesting must be done in multiple stages. Therefore, the research and application of related equipment is undergoing a transformation from manual labor to mechanization and intelligent systems.

[0003] When harvesting tobacco leaves in tobacco fields, the existing equipment is not very convenient due to the large variations in the growth morphology of tobacco plants, their scattered distribution, varying heights, and inconsistent vertical distribution distances. The harvesting efficiency is still not high, and the rate of damage to tobacco leaves during transfer to the equipment storage location and storage on the equipment remains relatively high, requiring further improvement. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned background technology by providing a solution that offers high tobacco harvesting efficiency, reasonable tobacco transfer and storage design, better avoids tobacco damage, and is applicable to tobacco fields in various terrains.

[0005] To achieve the above objectives, the present invention provides an all-terrain tobacco harvesting robot, comprising a base, a tobacco harvesting component, a tobacco collecting component, and a multi-legged walking component; the tobacco harvesting component, the tobacco collecting component, and the multi-legged walking component are all connected to the base; The tobacco leaf picking assembly includes an arm, a hand joint, a picking claw, and a first flexible suction cup. The arm includes multiple arm units connected in sequence, with adjacent arm units connected via the hand joint. The picking claw is movably connected to one of the arm units. The picking claw includes a gripping part and a cutting part. The gripping part is used to grip the tobacco stem to maintain relative stability between the tobacco stem and the picking claw. The cutting part is used to cut the root of the tobacco leaf from the tobacco stem. The first flexible suction cup is disposed on the multiple arm units. The first flexible suction cup is used to flexibly pick up and position the tobacco leaf, so that when the root of the tobacco leaf is cut from the tobacco stem, the entire tobacco leaf can be flatly adsorbed by the first flexible suction cup. The tobacco leaf collection assembly includes a collection cylinder, a transfer robot, second flexible suction cups, and a screw mechanism. The collection cylinder is placed on the base and has multiple collection layers inside. Adjacent collection layers are separated by a partition structure. The collection cylinder has notches distributed at the bottom of the collection cylinder and on the partition structure. The transfer robot is located inside the collection cylinder and has multiple second flexible suction cups. The second flexible suction cups are used to adsorb and transfer tobacco leaves on the first flexible suction cups. The screw mechanism is connected to the transfer robot and is used to drive the transfer robot to move up, down, and rotate relative to the collection cylinder. The multi-legged walking component is used to control the movement or adjust the posture of the all-terrain tobacco harvesting robot.

[0006] Furthermore, the clamping part includes a pair of clamping fingers arranged opposite each other, and the cutting part includes a pair of cutting fingers arranged opposite each other. The surface of the clamping fingers that contacts the cigarette rod is flat, and the surface of the cutting fingers that contacts the cigarette rod is provided with a cutting blade. The clamping fingers and the cutting fingers are driven by the finger driving part to close or open.

[0007] Furthermore, the first flexible suction cup is disposed on several arm units near the picking gripper. During the process of picking tobacco leaves, the arm units with the first flexible suction cup are adjusted to a horizontal state so that the first flexible suction cup is vertically upward.

[0008] Furthermore, the second flexible suction cup is configured to point vertically downwards.

[0009] Furthermore, the lead screw mechanism includes a lead screw, a mounting block, a guide rod, a rotating platform, a first rotating drive unit, and a second rotating drive unit. The rotating platform is rotatably connected to the base. The second rotating drive unit drives the rotating platform to rotate relative to the base. The rotating platform has a notch. The first end of the lead screw is rotatably connected to the rotating platform. The first rotating drive unit drives the lead screw to rotate relative to the rotating platform. The first end of the guide rod is fixedly connected to the rotating platform. The mounting block has a screw hole and a guide hole. The mounting block is threadedly engaged with the lead screw through the screw hole and slidably engaged with the guide rod through the guide hole. The transfer robot is connected to the mounting block.

[0010] Furthermore, the base is provided with multiple sets of the tobacco leaf collecting components and multiple sets of the tobacco leaf picking components.

[0011] Furthermore, the notch at the bottom of the collection cylinder and the notch in the partition structure are aligned.

[0012] Furthermore, the multi-legged walking assembly includes multiple walking legs, each of which includes a rotating base, a first connecting arm, a second connecting arm, a module mounting base, a support rod walking module, and a track walking module. The rotating base is disposed on the base, the first end of the first connecting arm is rotatably connected to the rotating base, the first end of the second connecting arm is rotatably connected to the second end of the first connecting arm, the module mounting base is rotatably connected to the second connecting arm, and both the support rod walking module and the track walking module are disposed on the module mounting base. When the module mounting base rotates relative to the second connecting arm to a first angle or a second angle, it can switch the support rod walking module or the track walking module to a vertical state.

[0013] Furthermore, a first driving unit is provided between the rotating seat and the base, a second driving unit is provided between the first connecting arm and the rotating seat, a third driving unit is provided between the second connecting arm and the first connecting arm, and a fourth driving unit is provided between the module mounting seat and the second connecting arm.

[0014] Furthermore, the support rod walking module includes a support rod and a base disposed at the end of the support rod. The base is fixedly connected to the support rod, and the support rod is fixedly connected to the module mounting base. The outer shell of the track walking module is fixedly connected to the module mounting base.

[0015] The above-described solution of the present invention has the following beneficial effects: The all-terrain tobacco harvesting robot provided by this invention, through the configuration of a tobacco harvesting component, a tobacco collection component, and a multi-legged walking component, can mechanize and automate the harvesting and collection of tobacco leaves, as well as the robot's movement in fields and roads during harvesting and transfer. The harvesting manipulator of the tobacco harvesting component and the transfer manipulator of the tobacco collection component are reasonably configured, which can smoothly and efficiently transfer the harvested tobacco leaves to the collection bin, improving efficiency while better avoiding damage to the tobacco leaves. The multi-legged walking component ensures that the robot can move smoothly in the field, and has the advantages of less soil, less damage to crops, and flexibility when moving in the field. At the same time, by switching between the two types of walking modules, the applicability of the device is further improved, ensuring the smooth implementation of its harvesting function in the field for tobacco, tea, and other harvesting equipment. Other beneficial effects of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the tobacco leaf harvesting component of the present invention; Figure 3 This is a schematic diagram of the removal gripper of the present invention; Figure 4 This is a detailed schematic diagram of the tobacco leaf collecting assembly of the present invention; Figure 5 This is a schematic diagram of the transfer robot of the present invention; Figure 6 This is a top view of the collection tube of the present invention; Figure 7 This is a schematic diagram of the rotating seat in the multi-legged walking assembly of the present invention.

[0017] [Explanation of Labels in the Attached Image] 100-Base; 200-Tobacco leaf picking assembly; 201-Arm; 202-Hand joint; 203-Picking gripper; 204-First flexible suction cup; 205-Gripper mounting base; 206-Finger gripping; 207-Finger cutting; 208-Cutting blade; 209-Gripping drive shaft; 210-Cutting drive shaft; 300-Tobacco leaf collecting assembly; 301-Collection cylinder; 302-Transfer robot; 303-Collection layer; 304-Notch; 305-Second flexible suction cup; 306-Screw rod; 307-Mounting block; 308-Guide rod; 309-Rotating platform; 310-Connecting seat; 400-Multi-legged walking assembly; 401-Rotating seat; 402-First connecting arm; 403-Second connecting arm; 404-Module mounting base; 405-Support rod walking module; 406-Crawler walking module; 500-Image acquisition assembly. Detailed Implementation

[0018] To make the technical problems, solutions, and advantages of this invention clearer, a detailed description will be provided below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a locking connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] like Figure 1 As shown, an embodiment of the present invention provides an all-terrain tobacco harvesting robot, including a base 100, a tobacco harvesting component 200, a tobacco collection component 300, and a multi-legged walking component 400. The base 100 serves as the mounting and support for the entire all-terrain tobacco harvesting robot, and the tobacco harvesting component 200, tobacco collection component 300, and multi-legged walking component 400 are all connected to the base 100. The tobacco harvesting component 200 is used to harvest tobacco leaves from tobacco plants in the field and then transfer them to the tobacco collection component 300. The tobacco collection component 300 is used to store the harvested tobacco leaves. When the tobacco collection component 300 is completely full, the robot returns from the tobacco field and transports the tobacco leaves using transport vehicles. The multi-legged walking component 400 is used to control the robot's movement or adjust its posture, and can switch between field walking mode and road walking mode to adapt to different road surfaces.

[0022] At the same time, such as Figure 2 , Figure 3 As shown, in this embodiment, the tobacco leaf picking assembly 200 includes a picking robot arm, which is located below the base 100 and includes an arm 201, a hand joint 202, a picking gripper 203, and a first flexible suction cup 204. The arm 201 is composed of multiple (multi-segment) arm units, with adjacent arm units connected by the hand joint 202. This allows the multiple arm units to form a complete arm 201 with multiple degrees of freedom, enabling flexible picking of tobacco leaves. The picking gripper 203 is located at the end of the last arm unit and is movably connected to it, giving the picking gripper 203 a degree of freedom similar to that of a human wrist, further enhancing operational freedom. The first flexible suction cup 204 is installed on multiple arm units for flexible suction and positioning of tobacco leaves. This allows the tobacco leaves to be flatly suctioned by the suction component when the root of the tobacco leaf is cut from the tobacco stem, avoiding damage to the tobacco leaves during the cutting process such as folding. It also keeps the tobacco leaves flat when they are subsequently transferred to the tobacco leaf collection component 300 to avoid damage during handling.

[0023] The first arm unit is also connected to the base 100 via a hand joint 202. Each hand joint 202 includes a first motor (with a reducer) and a first rotating shaft. The first motor is fixedly connected to the preceding arm unit, and its output end (via a reducer, etc.) is connected to the first rotating shaft to transmit torque. The first rotating shaft is connected to the following arm unit and rotates synchronously, while simultaneously being rotatably connected to the preceding arm unit (via a bearing, etc.). Therefore, driven by the first motor, the following arm unit can rotate relative to the preceding arm unit around the axis of the corresponding first rotating shaft. For the arm 201 with multiple arm units, this allows for relatively flexible posture adjustment.

[0024] As shown in the figure, in this embodiment, the gripper 203 includes a gripper mounting base 205, a second motor and a third motor connected to the gripper mounting base 205, and a clamping part and a shearing part that are driven by the third motor. The gripper mounting base 205 has a connecting end, which is inserted into the connecting hole of the last arm unit and rotatably connected to the arm unit (via bearings, etc.). The second motor is connected to the last arm unit, and its output end is driven by the connecting end of the gripper mounting base 205 to drive the gripper mounting base 205 to rotate relative to the arm unit. The output shaft of the second motor can be coaxially arranged with the connecting end of the gripper mounting base 205 (coupling) or vertically arranged (via bevel gear sets, etc.). The clamping part and shearing part are correspondingly arranged on the same gripper 203. When the picking gripper 203 is in the posture of clamping the tobacco stem and cutting the tobacco leaf, the gripper mounting base 205 is parallel to the horizontal plane. At this time, the clamping part is located at the upper height position, and the cutting part is located at the lower height position. During operation, the tobacco stem is first clamped by the clamping part to keep the tobacco stem and the picking gripper 203 relatively stable. After the first flexible suction cup 204 firmly adheres to the tobacco leaf, the cutting part cuts the root of the tobacco leaf from the tobacco stem, thereby completing the picking of the tobacco leaf.

[0025] In this embodiment, the clamping part includes a pair of clamping fingers 206 arranged opposite each other, and the cutting part includes a pair of cutting fingers 207 arranged opposite each other. The surface of the clamping fingers 206 that contacts the tobacco stem is flatter to improve the stability of clamping the tobacco stem. The surface of the cutting fingers 207 that contacts the tobacco stem is provided with a cutting blade 208, which is sharp to quickly and sharply cut the root of the tobacco leaf from the tobacco stem, avoiding damage to the tobacco leaf. It should be noted that when cutting, the cutting fingers 207 first close together, so that the cutting blade 208 contacts the tobacco stem, and then the grasping gripper 203 moves upward as a whole, that is, moves along the axis of the tobacco stem, so that the cutting blade 208 cuts through the root of the tobacco leaf. This method can cut the root of the tobacco leaf more quickly and accurately, avoiding damage to the tobacco leaf. The clamping fingers 206 and the cutting fingers 207 are driven by the finger driving part to close or open. One specific implementation involves using finger cylinders. The two ends of the two gripping fingers are connected to the corresponding output ends of the finger cylinders, and the two ends of the two shearing fingers are connected to the corresponding output ends of another finger cylinder, thus controlling the operation through the finger cylinders. Another specific implementation, as shown in the figure, includes a gripping drive shaft 209 and a shearing drive shaft 210, respectively. One of the two gripping fingers 206 is fixedly connected to the gripping drive shaft 209 and rotates synchronously. A planetary gear set is provided between the other gripping finger and the gripping drive shaft 209. The gripping drive shaft 209 is fixedly connected to the sun gear of the planetary gear set, and the other gripping finger 206 is fixedly connected to the outer gear ring of the planetary gear set. The planetary gears mesh between the sun gear and the outer gear ring. Simultaneously, the planetary gears are fixedly positioned relative to the gripper mounting base 205. Therefore, when the gripping drive shaft 209 rotates clockwise or counterclockwise, this gripping finger 206 will rotate in the opposite direction, meaning the two gripping fingers 206 rotate in opposite directions, completing the action of gripping or releasing the cigarette holder. The process is similar for the shearing drive shaft 210 and the shearing finger 207, and will not be described further here. Both the clamping drive shaft 209 and the shearing drive shaft 210 are driven to rotate by a third motor. Two third motors can be used to drive the clamping drive shaft 209 and the shearing drive shaft 210 to rotate respectively. Alternatively, only one third motor can be used, with its output shaft connected to both the clamping drive shaft 209 and the shearing drive shaft 210 via a bevel gear set, thus simultaneously driving their rotation. In this case, the output shaft of the third motor is connected to a driving bevel gear, allowing the clamping drive shaft 209 and the shearing drive shaft 210 to rotate synchronously, requiring only one driven bevel gear. Alternatively, each of the clamping drive shaft 209 and the shearing drive shaft 210 can be equipped with a driven bevel gear, maintaining opposite rotation.

[0026] In this embodiment, the first flexible suction cup 204 is disposed on multiple arm units, which are several arm units located near the picking gripper 203, to adsorb the tobacco leaves and keep them in the state picked up by the arm 201 for subsequent transfer to the tobacco leaf collection point. Simultaneously, a vacuum unit is also disposed inside the corresponding arm unit, which is connected to the first flexible suction cup 204. For example, a miniature vacuum pump is used to create negative pressure in the first flexible suction cup 204 to firmly adsorb the tobacco leaves.

[0027] It should be noted that when the shearing part is ready to cut during the tobacco leaf picking process, the arm units connected to the first flexible suction cup 204 have been adjusted to a near-horizontal state. At this time, the first flexible suction cup 204 is vertically upward, which matches the natural unfolding posture of the tobacco leaf, so as to fully contact and firmly adhere to the lower surface of the tobacco leaf, improve the reliability of tobacco leaf picking, and at the same time, the docking with the tobacco leaf collection component is more reasonable and convenient.

[0028] At the same time, such as Figures 4-6 As shown, the tobacco leaf collecting assembly 300 includes a collecting cylinder 301, a transfer robot 302, and a screw mechanism. The collecting cylinder 301 is cylindrical and contains multiple collecting layers 303, separated from adjacent layers by a partition structure (plate-like or mesh-like). The collecting cylinder 301 also has notches 304, which can be fan-shaped, distributed at the bottom and on the partition structure. This allows tobacco leaves (or other leaf-like materials) to enter the collecting cylinder 301 through the notches 304 at the bottom and then be transferred to the corresponding collecting layer 303 through the notches 304 in the partition structure, thus ensuring the orderly storage of tobacco leaves in the different collecting layers 303 of the collecting cylinder 301. Therefore, the tobacco leaf collecting assembly 300 not only facilitates the transport of tobacco leaves from below into the collecting cylinder 301, simplifying the transfer between the picking robot and the transfer robot 302, but also better prevents damage to the tobacco leaves at the bottom of the collecting cylinder 301 due to folding and pressure.

[0029] In this embodiment, the transfer robot 302 is disposed inside the collection cylinder 301 and connected to a lead screw mechanism, which drives the transfer robot 302 to rise, fall, and rotate relative to the collection cylinder 301. Meanwhile, as... Figure 3As shown, the transfer robot 302 is connected to multiple second flexible suction cups 305. These second flexible suction cups 305 can contact the surface of the tobacco leaves and adsorb them. The second flexible suction cups 305 are also connected to a corresponding vacuum unit, such as a miniature vacuum pump, to generate negative pressure, ensuring a firm adsorption and allowing the negative pressure to be disengaged when the tobacco leaves need to be placed. It is worth noting that in this embodiment, the second flexible suction cups 305 on the transfer robot 302 are positioned vertically downwards to facilitate docking with the harvesting robot and to contact and adsorb the upper surface of the tobacco leaves. This design also facilitates the transfer robot 302 moving to the designated collection layer 303 of the collection cylinder 301, where the tobacco leaves can be placed. The tobacco leaves can then fall under gravity and detach from the transfer robot 302.

[0030] In this embodiment, the lead screw mechanism includes a lead screw 306, a mounting block 307, a guide rod 308, a rotating platform 309, a first rotating drive unit, and a second rotating drive unit. The rotating platform 309 is rotatably connected to the base 100 (via bearings, etc.), and the second rotating drive unit is mounted on the base 100 to drive the rotating platform 309 to rotate relative to the base 100. The lead screw 306 is arranged vertically, and its first end is rotatably connected to the rotating platform 309 (via bearings, etc.). The first rotating drive unit is mounted on the rotating platform 309 to drive the lead screw 306 to rotate. The guide rod 308 is also arranged vertically, and its first end is fixedly connected to the rotating platform 309. The mounting block 307 has a screw hole and a guide hole. It is fitted onto the lead screw 306 through the screw hole and threadedly engaged with the lead screw 306. It is fitted onto the guide rod 308 through the guide hole and slidably engaged with the guide rod 308. The transfer robot 302 is connected to the mounting block 307. When the first rotary drive unit drives the lead screw 306 to rotate, the mounting block 307 can move along the direction of the lead screw 306, i.e., the vertical direction, so that the transfer robot 302 can enter the collection layer 303 at different height positions in the collection cylinder 301. When the second rotary drive unit drives the rotary platform 309 to rotate, the lead screw 306, the mounting block 307 and the transfer robot 302 can rotate as a whole, so that the transfer robot 302 can rotate from the angle position of the notch 304 in the corresponding collection layer 303 to other angle positions, so as to place the adsorbed tobacco leaves and ensure that each collection layer 303 is filled as much as possible.

[0031] The first rotary drive unit comprises a fourth motor and a coupling, with the fourth motor connected to the lead screw 306 via the coupling. The second rotary drive unit includes a fifth motor and a transmission assembly, which can be a belt drive assembly or a gear drive assembly. Of course, the first and second rotary drive units can also be configured in other ways, and those skilled in the art can choose based on the actual situation.

[0032] In this embodiment, the notch 304 at the bottom of the collecting cylinder 301 and the notch 304 in the partition structure are aligned, meaning they are at the same angular position relative to the central axis of the collecting cylinder 301. This ensures that the rotating platform 309 maintains the same angular position when the transfer robot 302 moves up and down. The rotating platform 309 also has a notch 304. When the rotating platform 309 is at the aforementioned angular position, the notch 304 of the rotating platform 309 is aligned with the notch 304 at the bottom of the collecting cylinder 301 and the notch 304 in the partition structure. The size of the notch 304 can be slightly larger or slightly smaller than the size of the tobacco leaf, so that the tobacco leaf can enter the collecting cylinder 301 through the notch 304 under the action of the transfer robot 302. Meanwhile, a clearance space is provided at the central axis of the collection cylinder 301 to allow clearance for the lead screw 306 and guide rod 308, ensuring that the lead screw 306 and guide rod 308 do not contact the collection cylinder 301 when it is placed on the base 100, thus avoiding interference with the rotation of the lead screw 306. The notch 304 is connected to the clearance space, ensuring that the mounting block 307 and the transfer robot 302 are not obstructed by the collection cylinder 301 when moving along the lead screw 306 and guide rod 308 through different collection layers 303. Furthermore, the second end of the lead screw 306 is connected to the second end of the guide rod 308 via a connecting seat 310. The connecting seat 310 is fixedly connected to the second end of the guide rod 308, and rotatably connected to the second end of the lead screw 306 (via bearings, etc.) to improve overall stability.

[0033] In a preferred embodiment, a limiting ring platform can also be provided on the base 100. The size of the limiting ring platform matches the size of the collecting cylinder 301, and is used to limit the collecting cylinder 301 so that it can be accurately placed at the corresponding position on the base 100. Of course, a positioning groove can also be further provided. The positioning groove cooperates with the positioning block at the bottom of the collecting cylinder 301 to ensure that the angle position of the notch 304 is at a preset position after the collecting cylinder 301 is placed. Therefore, the rotating platform 309 can be accurately rotated to align with the notch 304 of the collecting cylinder 301.

[0034] In a preferred embodiment, the base is provided with multiple sets of tobacco leaf collection components 300 and multiple sets of tobacco leaf picking components 200 to simultaneously pick tobacco leaves from multiple tobacco plants, thereby further improving tobacco leaf picking efficiency.

[0035] In this embodiment, the multi-legged walking component 400 is provided with multiple walking legs, for example... Figure 1 The six shown are designed for highly flexible movement in the field. Each walking foot includes a rotating base 401, a first connecting arm 402, a second connecting arm 403, a module mounting base 404, a support rod walking module 405, and a track walking module 406.

[0036] The rotating base 401 is connected to the base 100. The first end of the first connecting arm 402 is rotatably connected to the rotating base 401, allowing the first connecting arm 402 to rotate relative to the rotating base 401. The first end of the second connecting arm 403 is rotatably connected to the second end of the first connecting arm 402, allowing the second connecting arm 403 to rotate relative to the first connecting arm 402. The module mounting base 404 is rotatably connected to the second connecting arm 403, allowing the module mounting base 404 to rotate relative to the second connecting arm 403. Both the support rod walking module 405 and the track walking module 406 are mounted on the module mounting base 404. When the module mounting base 404 rotates relative to the second connecting arm 403 to a first angle or a second angle, the support rod walking module 405 or the track walking module 406 can be switched to a vertical state to contact the ground, thus switching the entire robot to either support rod walking mode or track walking mode.

[0037] In this embodiment, the support rod walking module 405 includes a support rod and a base disposed at the end of the support rod. The base and the support rod, and the support rod and the module mounting base 404 are fixedly disposed (e.g., directly welded). Therefore, when switching to the support rod walking state, stability is improved by the base contacting the ground, preventing the robot from sinking into the soil. For the robot, in the support rod walking state, some of its walking legs are supported on the ground, while the other walking legs change posture through the adjustment of the first connecting arm 402, the second connecting arm 403, and the rotating seat 401, allowing the device to move flexibly in the field. For the tracked walking module 406, its outer shell is connected to the module mounting base 404 through a connecting rod. The tracked walking module 406 itself can adopt a common form, with the active track wheel rotating through the walking drive motor and power supply inside the outer shell. The track is wound between the active wheel and multiple support wheels and driven track wheels, and may also include a tension wheel. Each tracked walking module 406 is miniaturized and positioned at the end of a single walking foot. This increases walking speed when walking on roads and provides a larger contact area compared to the support walking module 405 when walking in special fields (such as areas with very loose soil), further enhancing adaptability.

[0038] At the same time, such as Figure 7As shown, in this embodiment, the rotating base 401 includes a fixed sub-base and a rotating sub-base. The fixed sub-base is fixedly connected to the base 100, and the rotating sub-base is rotatably connected to the first connecting arm 402, and the rotating sub-base is also rotatably connected to the fixed sub-base. A first linear drive unit is also provided between the rotating base 401 and the base 100. The first linear drive unit can be an electric actuator or a cylinder, etc. The fixed end of the first linear drive unit is rotatably connected to the base 100, and the telescopic end of the first linear drive unit is rotatably connected to the rotating sub-base of the rotating base 401. Therefore, when the first linear drive unit extends or retracts, it can drive the rotating sub-base to rotate relative to the fixed sub-base. A second linear drive unit is also provided between the first connecting arm 402 and the rotating base 401. The second linear drive unit can also be an electric actuator or a cylinder, etc. The fixed end of the second linear drive unit is rotatably connected to the rotating sub-base of the rotating base 401, and the telescopic end of the second linear drive unit is rotatably connected to the first connecting arm 402. Therefore, when the second linear drive unit extends or retracts, it can drive the first connecting arm 402 to rotate relative to the rotating sub-base. A third linear drive unit is also provided between the second connecting arm 403 and the first connecting arm 402. This third linear drive unit can also be an electric actuator or a cylinder. The fixed end of the third linear drive unit is rotatably connected to the first connecting arm 402, and the telescopic end is rotatably connected to the second connecting arm 403. Therefore, when the third linear drive unit extends or retracts, it can drive the second connecting arm 403 to rotate relative to the first connecting arm 402. A third rotary drive unit is provided between the module mounting base 404 and the second connecting arm 403. This third rotary drive unit can be a travel switching motor. The travel switching motor is connected to the rotating shaft of the module mounting base 404 via a reducer or other transmission components to drive the module mounting base 404 to rotate relative to the second connecting arm 403, thus allowing the support rod travel module 405 or the track travel module 406 to move vertically downwards.

[0039] In a preferred embodiment, the rotation axis of the rotating sub-base of the rotating base 401 relative to the fixed sub-base is set vertically, so that the entire walking foot can swing around the vertical axis. The rotation axes of the first connecting arm 402 relative to the rotating sub-base, the second connecting arm 403 relative to the first connecting arm, and the module mounting base 404 relative to the second connecting arm 403 are all set horizontally, and when the rotating sub-base is in its initial position relative to the fixed sub-base, the directions of these three rotation axes are forward (backward). For example, for six walking feet, the two walking feet at the front and back on one side and the middle walking foot on the other side can stand, while the remaining three walking feet adjust their posture and finally land in the forward position. Then, these three walking feet stand, and the first three walking feet adjust their posture and finally land in the forward position to complete the forward (or backward) movement. In addition, the height of the base 100 (device) can also be adjusted by adjusting the posture of the first connecting arm 402 and the second connecting arm 403, and of course, certain tilt adjustments can also be made. In addition, this embodiment is not limited to the number of the first connecting arm 402 and the second connecting arm 403. More connecting arms can be provided. Those skilled in the art can make the selection based on control difficulty, manufacturing cost, etc.

[0040] In a preferred embodiment, the all-terrain tobacco harvesting robot in this example also includes an image acquisition component 500. The image acquisition component 500 is used to acquire images of tobacco leaves, which can then be uploaded to a system (cloud platform, etc.) to identify the maturity of the tobacco leaves. The image acquisition component 500 is connected to the gripper mounting base 205 of the tobacco harvesting component 200. During the harvesting gripper 203's movement under the corresponding tobacco leaf in preparation for operation, the image acquisition component 500 can instantly acquire tobacco leaf images and upload them to the system. For example, the image acquisition component 500 can be a binocular camera. A binocular camera is a visual camera that mimics biological eyes, consisting of two identical cameras (i.e., a "left eye" and a "right eye") that maintain a fixed distance in the horizontal direction (this distance is called the "baseline"). The binocular camera observes the same scene from two slightly different perspectives, using the principle of triangulation to calculate the depth (distance) information of each point in the scene, thereby reconstructing the three-dimensional structure. Therefore, it can reconstruct the three-dimensional structure of the tobacco leaf for the system to make judgments.

[0041] The system is an Internet of Things (IoT) intelligent control system, possessing both local control and AI-based network control capabilities. It not only controls the automatic harvesting, sorting, storage, recording, and transportation of tobacco leaves, but also transmits relevant parameters in real time to tobacco production enterprises, providing a basis for subsequent tobacco production. Furthermore, operational information such as robot operation and fault alarms can be simultaneously sent to management departments and the manufacturer's maintenance units.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An all-terrain tobacco harvesting robot, characterized in that, It includes a base, a tobacco leaf picking component, a tobacco leaf collecting component, and a multi-legged walking component; the tobacco leaf picking component, the tobacco leaf collecting component, and the multi-legged walking component are all connected to the base; The tobacco leaf picking assembly includes an arm, a hand joint, a picking claw, and a first flexible suction cup. The arm includes multiple arm units connected in sequence, with adjacent arm units connected via the hand joint. The picking claw is movably connected to one of the arm units. The picking claw includes a gripping part and a cutting part. The gripping part is used to grip the tobacco stem to maintain relative stability between the tobacco stem and the picking claw. The cutting part is used to cut the root of the tobacco leaf from the tobacco stem. The first flexible suction cup is disposed on the multiple arm units. The first flexible suction cup is used to flexibly pick up and position the tobacco leaf, so that when the root of the tobacco leaf is cut from the tobacco stem, the entire tobacco leaf can be flatly adsorbed by the first flexible suction cup. The clamping part includes a pair of clamping fingers arranged opposite each other, and the shearing part includes a pair of shearing fingers arranged opposite each other. The surface of the clamping fingers that contacts the cigarette rod is flat, and the surface of the shearing fingers that contacts the cigarette rod is provided with a shearing blade. The clamping fingers and the shearing fingers are driven by the finger driving part to close or open. The first flexible suction cup is disposed on several arm units near the picking claw. During the process of picking tobacco leaves, the arm unit with the first flexible suction cup is adjusted to a horizontal state so that the first flexible suction cup is vertically upward. The tobacco leaf collection assembly includes a collection cylinder, a transfer robot, second flexible suction cups, and a screw mechanism. The collection cylinder is placed on the base and has multiple collection layers inside. Adjacent collection layers are separated by a partition structure. The collection cylinder has notches distributed at the bottom of the collection cylinder and on the partition structure. The transfer robot is located inside the collection cylinder and has multiple second flexible suction cups. The second flexible suction cups are used to adsorb and transfer tobacco leaves on the first flexible suction cups. The screw mechanism is connected to the transfer robot and is used to drive the transfer robot to move up, down, and rotate relative to the collection cylinder. The multi-legged walking component is used to control the movement or posture adjustment of the all-terrain tobacco harvesting robot.

2. The all-terrain tobacco harvesting robot according to claim 1, characterized in that, The second flexible suction cup is configured to point vertically downwards.

3. The all-terrain tobacco harvesting robot according to claim 1, characterized in that, The lead screw mechanism includes a lead screw, a mounting block, a guide rod, a rotating platform, a first rotating drive unit, and a second rotating drive unit. The rotating platform is rotatably connected to the base. The second rotating drive unit drives the rotating platform to rotate relative to the base. The rotating platform has a notch. The first end of the lead screw is rotatably connected to the rotating platform. The first rotating drive unit drives the lead screw to rotate relative to the rotating platform. The first end of the guide rod is fixedly connected to the rotating platform. The mounting block has a screw hole and a guide hole. The mounting block is threadedly engaged with the lead screw through the screw hole and slidably engaged with the guide rod through the guide hole. The transfer robot is connected to the mounting block.

4. The all-terrain tobacco harvesting robot according to claim 1, characterized in that, The base is provided with multiple sets of tobacco leaf collection components and multiple sets of tobacco leaf picking components.

5. The all-terrain tobacco harvesting robot according to claim 1, characterized in that, The notch at the bottom of the collection cylinder and the notch in the partition structure are aligned.

6. The all-terrain tobacco harvesting robot according to claim 1, characterized in that, The multi-legged walking assembly includes multiple walking legs. Each walking leg includes a rotating base, a first connecting arm, a second connecting arm, a module mounting base, a support rod walking module, and a track walking module. The rotating base is disposed on the base. The first end of the first connecting arm is rotatably connected to the rotating base. The first end of the second connecting arm is rotatably connected to the second end of the first connecting arm. The module mounting base is rotatably connected to the second connecting arm. The support rod walking module and the track walking module are both disposed on the module mounting base. When the module mounting base rotates relative to the second connecting arm to a first angle or a second angle, it can switch the support rod walking module or the track walking module to a vertical state.

7. The all-terrain tobacco harvesting robot according to claim 6, characterized in that, A first driving unit is provided between the rotating seat and the base, a second driving unit is provided between the first connecting arm and the rotating seat, a third driving unit is provided between the second connecting arm and the first connecting arm, and a fourth driving unit is provided between the module mounting seat and the second connecting arm.

8. The all-terrain tobacco harvesting robot according to claim 7, characterized in that, The support rod walking module includes a support rod and a base disposed at the end of the support rod. The base is fixedly connected to the support rod, and the support rod is fixedly connected to the module mounting base. The outer shell of the track walking module is fixedly connected to the module mounting base.

Images