Automatic lotus seedpod picking equipment for lotus field

Abstract

The invention belongs to the technical field of agricultural equipment, and discloses an automatic lotus seedpod picking device for a lotus field, which comprises a bracket, and further comprises a mechanical arm arranged on the outer wall of the bracket through a conveying module, and a feeding vehicle arranged on the outer wall of the bracket; the feeding mechanism is arranged on the outer wall of the mechanical arm; the stretching mechanism is arranged on a tail end executing mechanism of the mechanical arm; wherein the feeding mechanism comprises a fixing block, and the inner wall of the fixing block is fixedly connected with an electric sliding rail; through cooperation of structures such as a sliding block and a gear, after the mechanical arm rotates in a small range to put lotus seedpods into the material box, the material box can be driven by the electric sliding rail to move towards one side of the conveying module, and the internal lotus seedpods are poured on the conveying module to be conveyed in a unified mode; and the mechanical arm does not need to move to a large extent to place the lotus seedpods on the conveying module for feeding after picking each time, so that the picking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural equipment, and particularly relates to a lotus seed automatic picking device for lotus fields. BACKGROUND

[0002] The lotus seed automatic picking device for lotus fields is an agricultural mechanical device for replacing manual picking of lotus seeds, which can improve picking efficiency, reduce labor intensity and safety risks, and adapt to lotus fields with different lotus seed growth heights, so as to improve the automation degree of lotus seed picking and reduce labor costs and labor intensity.

[0003] Some existing technologies pick lotus seeds through mechanical arms and clamping jaws. After picking each lotus seed, the mechanical arm needs to be moved or rotated so that the clamping jaw can place the picked lotus seed on a conveying belt and convey it to a material collecting box. The distance between the mechanical arm and the conveying belt of some devices is relatively far, and the picked lotus seed needs to be placed after a large amount of rotation or movement, which leads to low efficiency. Therefore, the lotus seed automatic picking device for lotus fields is proposed to solve the above problems. SUMMARY

[0004] To solve the problems in the background art, the lotus seed automatic picking device for lotus fields is provided, which solves the problem that the feeding of the picked lotus seeds is inconvenient in the prior art, leading to low efficiency.

[0005] To achieve the above object, the application provides the following technical scheme: a lotus seed automatic picking device for lotus fields, comprising a support, further comprising: a mechanical arm, which is arranged on the outer wall of the support through a conveying module, and the outer wall of the support is provided with a feeding trolley; a feeding mechanism, which is arranged on the outer wall of the mechanical arm; and an extension mechanism, which is arranged on the end effector of the mechanical arm. Preferably, the feeding mechanism comprises a fixed block, the inner wall of the fixed block is fixedly connected with an electric sliding rail, the inner wall of the electric sliding rail is slidably connected with a sliding block, the outer wall of the electric sliding rail is fixedly connected with a fixed plate, the inner wall of the sliding block is slidably connected with a sliding rod, the outer wall of the sliding rod is rotatably connected with a rotating rod, and the outer wall of the rotating rod is fixedly connected with a material box.

[0006] Preferably, the outer wall of the fixed plate is provided with a guide groove, the outer wall of the fixed plate is fixedly connected with a rack, the rotating rod is elastically connected to the outer wall of the sliding rod through a volute spring, and the outer wall of the rotating rod is fixedly connected with a gear.

[0007] Preferably, the fixed block is fixedly connected to the base of the mechanical arm, and the sliding rod is in contact with the inner wall of the guide groove.

[0008] Preferably, one end of the volute spring is fixedly connected to the outer wall of the sliding rod, and the other end of the volute spring is fixedly connected to the inner wall of the rotating rod.

[0009] Preferably, the gear is engaged with the rack, and the guide groove is provided with two sections, one being a straight section and the other being an arc section.

[0010] Preferably, the outer wall of the sliding block is provided with a through groove, and the sliding rod can move up and down in the inner wall of the through groove.

[0011] Preferably, the rotating rod penetrates through the outer wall of the fixed block, and the rotating rod is arranged at one end of the sliding rod away from the sliding block.

[0012] Preferably, the stretching mechanism comprises an electric push rod, the movable end of the electric push rod is fixedly connected with a moving ring, the outer wall of the mechanical arm is hingedly connected with a poking rod, the outer walls of the moving ring and the poking rod are fixedly connected with a connecting block, and the inner wall of the connecting block is hingedly connected with a hinge rod.

[0013] Preferably, the electric push rod is fixedly connected to the outer wall of the mechanical arm, and the moving ring is slidingly connected to the outer wall of the mechanical arm.

[0014] Preferably, the moving ring is a circular ring, the poking rod is L-shaped, and the poking rod is arranged on the end effector of the mechanical arm.

[0015] Compared with the prior art, the present application has the following advantages: By cooperating the sliding block and the gear, after the mechanical arm rotates slightly to put the lotus into the material box, the material box can be driven to move to one side of the conveying module by the electric slide rail, and the material box will be automatically turned over during the movement, so that the opening of the material box faces downward and is opposite to the conveying module, and the lotus inside the material box is poured on the conveying module for unified conveying, so that the process is more efficient, and the mechanical arm does not need to move a large amplitude to place the lotus on the conveying module for feeding after each picking, thereby improving the picking efficiency. By cooperating the fixed plate and the sliding rod, during the movement of the material box driven by the electric slide rail, the sliding rod moves along the arc section of the guide groove and drives the material box to move up and down continuously, so that the lotus in the material box is shaken and dispersed more uniformly, so as to prevent the lotus from being pushed and crowded in the material box, thereby preventing the problem of blockage or jamming caused by the accumulation of the lotus poured on the conveying module. By cooperating the poking rod and the moving ring, during the movement of the mechanical arm to the lotus, the multiple groups of poking rods can be closed to prevent the damage of the end gripper of the mechanical arm caused by the collision with other obstacles, and after moving to the vicinity of the lotus rhizome, the poking rods can be unfolded to push away the obstacles near the rhizome, so as to prevent the problem of affecting the picking accuracy of the gripper caused by too many obstacles near the rhizome of the lotus. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the main structure of the present application. Figure 2 This is a schematic diagram of the feeding mechanism, extension mechanism, and robotic arm structure of the present invention; Figure 3 This is a schematic diagram of the feeding mechanism and extension mechanism of the present invention; Figure 4 This is a cross-section of the fixing block, the electric slide rail, and an exploded structural diagram of the material box of the present invention. Figure 5 This is an exploded cross-sectional view of the fixed plate, electric slide rail, rotating rod, and gear of the present invention. Figure 6 This is a schematic diagram of the extension mechanism structure of the present invention.

[0017] In the diagram: 100, bracket; 200, robotic arm; 300, feeding mechanism; 301, fixing block; 302, fixing plate; 303, material box; 304, guide groove; 305, rack; 306, electric slide rail; 307, slider; 308, sliding rod; 309, rotating rod; 310, gear; 311, spiral spring; 400, extension mechanism; 401, electric push rod; 402, moving ring; 403, hinge rod; 404, connecting block; 405, actuating rod; 500, conveying module; 600, feeding trolley. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1 to 6 As shown, the present invention provides an automatic lotus pod harvesting device for lotus fields, including a support frame 100, and further including: a robotic arm 200, which is mounted on the outer wall of the support frame 100 via a conveying module 500; a feeding cart 600 is mounted on the outer wall of the support frame 100; a feeding mechanism 300, which is mounted on the outer wall of the robotic arm 200; and an extension mechanism 400, which is mounted on the end effector of the robotic arm 200. The feeding mechanism 300 includes a fixed block 301, an electric slide rail 306 fixedly connected to the inner wall of the fixed block 301, a slider 307 slidably connected to the inner wall of the electric slide rail 306, a fixed plate 302 fixedly connected to the outer wall of the electric slide rail 306, a sliding rod 308 slidably connected to the inner wall of the slider 307, a rotating rod 309 rotatably connected to the outer wall of the sliding rod 308, and a material box 303 fixedly connected to the outer wall of the rotating rod 309.

[0020] Adopt the above scheme: support 100 can be inserted in the lotus field, conveying module 500 is a conveying belt, mechanical arm 200 is arranged on the slide rail of conveying module 500 side, and the lateral movement of mechanical arm 200 can be controlled through the slide rail, the arm body of mechanical arm 200 can be turned over, the position of the end effector is adjusted, the end effector is a gripper for picking lotus pods, and a visual identification system is further arranged on conveying module 500, the above equipment is prior art, and the equipment can be electrically connected with each part through a control system to control the operation of the equipment.

[0021] As shown in Figures 1 to 3 , the feeding mechanism 300 can move a small amplitude after the mechanical arm 200 picks the lotus pod, and the end effector can put the lotus pod into the hopper 303 for temporary storage. When the hopper 303 is full, it can automatically move and transport the lotus pods inside to the conveying module 500, and then to the feeding trolley 600 through the conveying module 500. The feeding trolley 600 can transport the lotus pods to the final collection hopper, avoiding the problem that the mechanical arm 200 needs to move a large amplitude to place the lotus pod on the conveying module 500 after picking each lotus pod, and then continue to pick, thereby improving the picking efficiency.

[0022] As shown in Figures 2 to 5 , the outer wall of the fixed plate 302 is provided with a guide groove 304, the outer wall of the fixed plate 302 is fixedly connected with a rack 305, the rotating rod 309 is elastically connected to the outer wall of the sliding rod 308 through the volute spring 311, and the outer wall of the rotating rod 309 is fixedly connected with a gear 310.

[0023] Adopt the above scheme: the base under the mechanical arm 200 is slidably connected with the slide rail on one side of the conveying module 500, the fixed block 301 is fixed on the base, and the length of the fixed block 301 is shorter than the length of the mechanical arm 200, so that the fixed block 301 will not contact other aquatic plants in the lotus field during the movement of the mechanical arm 200; the hopper 303 is located below the end effector of the mechanical arm 200, one side of the hopper 303 is provided as an inclined surface, and the lotus pods are easy to roll from the inclined surface to the conveying module 500 when the hopper 303 is turned over to discharge; the electric slide rail 306 can drive the sliding block 307 to move, and the sliding block 307 moves to drive the sliding rod 308, the rotating rod 309 and the hopper 303 to move synchronously, thereby conveying the lotus pods in the hopper 303.

[0024] As shown in Figures 2 to 5 , the fixed block 301 is fixedly connected to the base of the mechanical arm 200, and the sliding rod 308 is in contact with the inner wall of the guide groove 304; one end of the volute spring 311 is fixedly connected to the outer wall of the sliding rod 308, and the other end of the volute spring 311 is fixedly connected to the inner wall of the rotating rod 309; the gear 310 is engaged with the rack 305, and the guide groove 304 is provided with two sections, one section is a straight section, and the other section is an arc section.

[0025] The above solution involves the following: When the slider 307 moves, it drives the sliding rod 308, rotating rod 309, and material box 303 to move synchronously. The sliding rod 308 moves along the inner wall of the guide groove 304. Since the sliding rod 308 can only move vertically, it will continuously move up and down under the guidance of the arc segment of the guide groove 304, driving the rotating rod 309 and material box 303 to move synchronously. This allows the continuous vibration of the material box 303 to distribute the lotus pods inside more evenly, avoiding the problem that after the robotic arm 200 puts the lotus pods into the material box 303, the lotus pods may accumulate in one place in the material box 303, causing the lotus pods to accumulate on the conveying module 500 after the material box 303 is fed onto the conveying module 500, resulting in jamming or blockage of the conveying module 500, or even the lotus pods falling off the conveying module 500.

[0026] When the slider 307 moves the sliding rod 308 from the arc section of the guide groove 304 to the straight section, the sliding rod 308 stops reciprocating up and down, causing the material box 303 to move smoothly upward towards the conveying module 500. When it moves to the point where the gear 310 on the outer wall of the rotating rod 309 meshes with the rack 305, the gear 310 and the teeth of the rack 305 will abut. Since the rack 305 is fixed while the gear 310 moves continuously, the gear 310 will rotate, causing the rotating rod 309 and the material box 303 to rotate synchronously. Since the sliding rod 308 cannot rotate, the spiral spring 311 will be compressed. After the slider 307 moves to the end of the electric slide rail 306, the material box 303 will rotate 180°, with the opening facing downward and directly facing the conveying module 500, so that the lotus seedpod can be poured onto the conveying module 500 for the next step of conveying.

[0027] like Figures 4 to 5 As shown, the outer wall of the slider 307 has a through groove, and the sliding rod 308 can move up and down in the inner wall of the through groove; the rotating rod 309 passes through the outer wall of the fixed block 301 and is located on the end of the sliding rod 308 away from the slider 307.

[0028] The above scheme is adopted as follows: During the process of the robotic arm 200 picking lotus pods, the sliding rod 308 is located on one side of the arc section of the guide groove 304. Due to the influence of the elastic force of the spiral spring 311, the rotating rod 309 and the sliding rod 308 remain fixed in a fixed state without the influence of external force. The opening of the material box 303 always faces directly upward. When the robotic arm 200 puts the lotus pods into the material box 303, since its end gripper is close to the material box 303, it does not need to rotate a large range to put them into the material box 303, saving the feeding time. After the lotus pods fall into the material box 303, the impact force will cause the material box 303 to vibrate slightly, but it will quickly return to its original position under the action of the elastic force of the spiral spring 311, maintaining a stable state with the opening facing upward.

[0029] like Figure 3 , Figure 5As shown, the extension mechanism 400 includes an electric push rod 401, a movable ring 402 is fixedly connected to the movable end of the electric push rod 401, a lever 405 is hinged to the outer wall of the robotic arm 200, and a connecting block 404 is fixedly connected to the outer walls of both the movable ring 402 and the lever 405, and a hinge rod 403 is hinged to the inner wall of the connecting block 404.

[0030] The above solution involves multiple sets of actuating rods 405 in the extension mechanism 400. These actuating rods 405 can be separated or combined. When combined, they can protect the gripper at the end of the robotic arm 200, preventing the robotic arm 200 from being exposed and damaged by collisions with the roots of other, harder aquatic plants during its movement to the vicinity of the lotus pod. After the gripper at the end of the robotic arm 200 moves to the vicinity of the lotus pod to be harvested, it may encounter other plant roots growing in clusters nearby, and the roots are close together, making it difficult to accurately move to the root of the lotus pod. By extending the multiple sets of actuating rods 405, all other roots near the lotus pod can be pushed aside, allowing the gripper to accurately grasp the root of the lotus pod to be harvested and harvest it.

[0031] like Figure 3 , Figure 5 As shown, the electric push rod 401 is fixedly connected to the outer wall of the robotic arm 200, and the moving ring 402 is slidably connected to the outer wall of the robotic arm 200; the moving ring 402 is circular, and the actuating rod 405 is L-shaped and is set on the end effector of the robotic arm 200.

[0032] Using the above scheme: After the electric push rod 401 is started, its movable end can drive the moving ring 402 to move on the surface of the robotic arm 200. During the movement, it will drive the connecting block 404 on its outer wall to move synchronously, so that the connection between the hinge rod 403 and the connecting block 404 moves synchronously. The other end of the hinge rod 403 will drive the connecting block 404 and the actuating rod 405 to move. Since the bottom end of the actuating rod 405 is hinged to the surface of the robotic arm 200, it can only be flipped up and down, which will cause the hinge rod 403 to flip, driving the actuating rod 405 to flip to a separated or merged state, protecting the end gripper or clearing away other roots and stems near the lotus seedpod.

[0033] Working principle and usage process of this invention: After the bracket 100 is fixedly inserted into the designated position in the lotus field, the control system is activated. The visual recognition system on the conveying module 500 scans the lotus field in real time, identifies the position of mature lotus pods, stem angles and surrounding obstacles, and transmits the coordinate information to the control system.

[0034] The control system drives the robotic arm 200 to move laterally along the base slide rail, while adjusting the arm angle to ensure that the end effector is precisely aligned with the target lotus root. During the movement, the movable end of the electric push rod 401 is extended, keeping the multiple sets of actuating rods 405 in a combined state to protect the end gripper of the robotic arm 200 from collisions with other aquatic plants or obstacles.

[0035] When the gripper approaches the lotus seedpod, the electric push rod 401 is activated, pushing the moving ring 402 to slide along the outer wall of the robotic arm 200. The hinge rod 403 flips, causing the actuating rod 405 to flip and open, changing from a closed state to an extended state, clearing away the miscellaneous roots and stems around the lotus seedpod to expose the stems to be harvested. The gripper closes according to the visual positioning information, accurately gripping the root of the lotus seedpod stem.

[0036] After the gripper closes, the lotus pod is separated from the stem by rotating the wrist of the robotic arm 200 or by a slight lifting motion. The robotic arm 200 then moves the gripper slightly to place the harvested lotus pod into the material box 303 below. Since the material box 303 opens upwards and is close to the gripper, the placement process is efficient and does not require a large movement to the conveyor module 500 for placement, saving time.

[0037] When there are many lotus pods in the material box 303, the electric slide rail 306 drives the slider 307 to move towards the conveying module 500. The sliding rod 308 slides along the arc section of the guide groove 304. The sliding rod 308 moves up and down reciprocally under the guidance of the arc groove. Through the rotating rod 309, it drives the material box 303 to move up and down synchronously. The continuous vibration of the material box 303 can make the lotus pods inside evenly dispersed and prevent local accumulation.

[0038] When the sliding rod 308 moves from the arc section of the guide groove 304 into the straight section, the material box 303 stops vibrating and moves smoothly with the opening facing upward. During the movement, the gear 310 meshes with the rack 305. The gear 310 is rotated by the abutment of the rack 305 teeth, which drives the rotating rod 309 and the material box 303 to rotate synchronously. The spiral spring 311 is compressed by the force. When the slider 307 moves to the end of the electric slide rail 306, the material box 303 rotates exactly 180°, with the opening facing downward and directly facing the conveyor module 500, unloading all the lotus seeds inside onto the conveyor belt. The conveyor module 500 starts and conveys the lotus seeds towards the feeding car 600.

[0039] After unloading is completed, the electric slide rail 306 drives the slider 307 to move in the opposite direction, the gear 310 disengages from the rack 305, and the spiral spring 311 rebounds, driving the rotating rod 309 and the material box 303 to reset and keep the opening facing upward, waiting for the next round of material reception.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic lotus pod harvesting device for lotus fields, comprising a support frame (100), characterized in that: Also includes: A robotic arm (200) is mounted on the outer wall of a support (100) via a conveying module (500), and a feeding cart (600) is mounted on the outer wall of the support (100). A feeding mechanism (300) is disposed on the outer wall of the robotic arm (200); Extension mechanism (400), the extension mechanism (400) is disposed on the end effector of the robotic arm (200); The feeding mechanism (300) includes a fixed block (301), an electric slide rail (306) is fixedly connected to the inner wall of the fixed block (301), a slider (307) is slidably connected to the inner wall of the electric slide rail (306), a fixed plate (302) is fixedly connected to the outer wall of the electric slide rail (306), a sliding rod (308) is slidably connected to the inner wall of the slider (307), a rotating rod (309) is rotatably connected to the outer wall of the sliding rod (308), and a material box (303) is fixedly connected to the outer wall of the rotating rod (309).

2. The automatic lotus pod harvesting device for lotus fields according to claim 1, characterized in that: The outer wall of the fixed plate (302) is provided with a guide groove (304), and a rack (305) is fixedly connected to the outer wall of the fixed plate (302). The rotating rod (309) is elastically connected to the outer wall of the sliding rod (308) through a spiral spring (311), and a gear (310) is fixedly connected to the outer wall of the rotating rod (309).

3. The automatic lotus pod harvesting device for lotus fields according to claim 1, characterized in that: The fixing block (301) is fixedly connected to the base of the robotic arm (200), and the sliding rod (308) is in contact with the inner wall of the guide groove (304).

4. The automatic lotus pod harvesting device for lotus fields according to claim 2, characterized in that: One end of the spiral spring (311) is fixedly connected to the outer wall of the sliding rod (308), and the other end of the spiral spring (311) is fixedly connected to the inner wall of the rotating rod (309).

5. The automatic lotus pod harvesting device for lotus fields according to claim 2, characterized in that: The gear (310) meshes with the rack (305), and the guide groove (304) is provided with two sections, one of which is a straight section and the other of which is an arc section.

6. The automatic lotus pod harvesting device for lotus fields according to claim 2, characterized in that: The outer wall of the slider (307) is provided with a through groove, and the sliding rod (308) can move up and down in the inner wall of the through groove.

7. The automatic lotus pod harvesting device for lotus fields according to claim 2, characterized in that: The rotating rod (309) penetrates the outer wall of the fixed block (301), and the rotating rod (309) is located on the sliding rod (308) at one end away from the slider (307).

8. The automatic lotus pod harvesting device for lotus fields according to claim 1, characterized in that: The extension mechanism (400) includes an electric push rod (401), the movable end of which is fixedly connected to a moving ring (402), and an actuating rod (405) is hinged to the outer wall of the robotic arm (200). A connecting block (404) is fixedly connected to the outer walls of both the moving ring (402) and the actuating rod (405), and a hinge rod (403) is hinged to the inner wall of the connecting block (404).

9. The automatic lotus pod harvesting device for lotus fields according to claim 8, characterized in that: The electric push rod (401) is fixedly connected to the outer wall of the robotic arm (200), and the moving ring (402) is slidably connected to the outer wall of the robotic arm (200).

10. The automatic lotus pod harvesting device for lotus fields according to claim 8, characterized in that: The moving ring (402) is circular, and the actuating lever (405) is L-shaped. The actuating lever (405) is mounted on the end effector of the robotic arm (200).

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