Multifunctional butterfly grabbing robot for rubber garden

Abstract

The invention discloses a multifunctional butterfly grabbing robot for a rubber garden, and belongs to the field of agricultural robots. The butterfly robot comprises a butterfly robot body, a left front wing, a left front driving mechanism, a right front wing, a right front driving mechanism, a left rear wing, a left rear driving mechanism, a right rear wing, a right rear driving mechanism and a sensing monitoring mechanism, and is characterized by comprising an anti-collision mechanism, a profiling supporting foot and a grabbing terminal mechanism; the grabbing terminal mechanism comprises a terminal lifting device, a rotary switching device, an L-shaped support, a grabbing device, a bowl carrying device, a leveling supporting plate device, a supporting plate rotating device and a supporting plate lifting device. On the basis of a traditional flying robot, an anti-collision function, a grabbing function, a bowl carrying function, a lifting function, a leveling function and the like are added, and the multifunctional butterfly robot is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural robots, in particular to a multifunctional butterfly robot for rubber plantation. BACKGROUND

[0002] Rubber plantation, also known as rubber forest, as a typical economic forest, its planting environment has the characteristics of dense canopy layer, serious GPS signal blocking and uneven terrain, which brings great challenges to automatic inspection, monitoring and management. At present, the robots applied in the field of agriculture and forestry are mainly ground mobile platforms or multi-rotor unmanned aerial vehicles. The ground robot can be configured to realize the multifunctional mechanical arm of tapping, scraping and collecting rubber, but due to the limited passability of the ground robot, it is difficult to work in rugged forest land, and it cannot be well applied to rubber plantation. The traditional multi-rotor unmanned aerial vehicle is easy to collide and crash, and is mainly used for cruising and inspection, and cannot realize multifunctional operation. In order to solve the above problems, the present application provides a butterfly robot suitable for rubber plantation, which not only can protect the robot, but also can realize the functions of collecting rubber, replacing rubber bowl and grabbing objects. SUMMARY

[0003] To solve the above technical problems, the technical scheme of the present application is: a multifunctional butterfly robot for rubber plantation, comprising a butterfly body, a left front wing, a left front driving mechanism, a right front wing, a right front driving mechanism, a left rear wing, a left rear driving mechanism, a right rear wing, a right rear driving mechanism and a sensing and monitoring mechanism, further comprising: A collision avoidance mechanism comprising a front collision avoidance device and a rear collision avoidance device, one end of the front collision avoidance device extending to the front between the left front wing and the right front wing, the other end of the front collision avoidance device being connected to the butterfly body through an avoidance rotating device, the avoidance rotating device being capable of controlling the front collision avoidance device to rotate between a horizontal state and a vertical upward state; one end of the rear collision avoidance device is installed on the butterfly body, and the other end of the rear collision avoidance device extends rearward between the left rear wing and the right rear wing; A profiled support foot is provided and located below the butterfly body; A grabbing terminal mechanism is located below the front of the butterfly body and between the left front wing and the right front wing, comprising a terminal lifting device, a rotating switching device, an L-shaped bracket, a grabbing device, a bowl carrying device, a leveling support plate device, a support plate rotating device and a support plate lifting device; The top end of the terminal lifting device is connected to the butterfly machine body, the corner of the L-shaped support is connected to the lifting slider of the terminal lifting device through the rotation switching device, and the grabbing device and the bowl carrying device are respectively installed at the two ends of the L-shaped support. The leveling plate device comprises two left and right matched leveling plate arms, one end of each of the two leveling plate arms is rotatably installed on a leveling plate mounting frame through a leveling plate rotating shaft, the two leveling plate rotating shafts are in gear engagement transmission, one of the leveling plate rotating shafts is provided with an opening and closing rudder, and the other end of each of the two leveling plate arms is provided with a lifting flat plate. The two lifting flat plates are controlled to rotate by the opening and closing rudder. The two lifting flat plates are semicircular plates. When the two semicircular plates are combined in the same direction, a round plate is formed to level the rubber bowl. When the two semicircular plates are combined in the opposite direction, the two semicircular plates can clamp the article.

[0004] As a preferred technical solution, the front anti-collision device comprises a front support rod, a front anti-collision arc plate is connected to the front end of the front support rod through a front elastic member, and the left and right sides of the front anti-collision arc plate are bent towards the rear side. The rear end of the front support rod is rotatably connected to the butterfly machine body through an avoidance rotating shaft. The avoidance rotating device comprises an avoidance rudder installed on the butterfly machine body, and the output end of the avoidance rudder is connected to the avoidance rotating shaft.

[0005] As a preferred technical solution, the rear anti-collision device comprises a rear support rod, a rear anti-collision arc plate is connected to the rear end of the rear support rod through a rear elastic member, and the left and right sides of the rear anti-collision arc plate are bent towards the front side.

[0006] As a preferred technical solution, the profiled support foot comprises a support leg one connected to the butterfly machine body, a walking rudder is connected to the bottom end of the support leg one, a support leg two is connected to the output end of the walking rudder, a support foot seat is connected to the bottom end of the support leg two through a support elastic member, a walking wheel is installed at the bottom end of the support foot seat, two support foot claws are arranged at the left and right sides of the walking wheel, and the support foot claws are connected to the support foot seat through a support rudder.

[0007] As a preferred technical scheme, the terminal lifting device comprises a terminal fixed top plate and a terminal fixed bottom plate, a plurality of guide columns are fixedly connected between the terminal fixed top plate and the terminal fixed bottom plate, a lifting stud is also rotatably installed between the terminal fixed top plate and the terminal fixed bottom plate, the lifting sliding block is threadedly connected to the lifting stud and slides along the guide column, and a lifting steering engine is further arranged on the terminal fixed bottom plate, and an output end of the lifting steering engine is fixed to an end of the lifting stud.

[0008] As a preferred technical scheme, the rotating switching device comprises a connecting seat fixed to the lifting sliding block, a switching pivot is rotatably installed at a corner of the L-shaped support on the connecting seat, a switching steering engine is installed at the connecting seat, and power transmission is achieved between the switching steering engine and the switching pivot through a gear.

[0009] As a preferred technical scheme, the grabbing device comprises a claw clamp mounting seat, a claw clamp steering engine one is connected to the L-shaped support through the top end of the claw clamp mounting seat, a plurality of claw clamp supports are arranged at the bottom end of the claw clamp mounting seat, a claw clamp steering engine two is arranged on the outer side of the claw clamp support, a claw clamp swing arm one is horizontally arranged and connected to the output end of the claw clamp steering engine two, a claw clamp steering engine three is installed at the other end of the claw clamp swing arm one, a claw clamp swing arm two is horizontally arranged and connected to the output end of the claw clamp steering engine three, a claw clamp steering engine four is installed at the other end of the claw clamp swing arm two, the output end axis of the claw clamp steering engine four is perpendicular to the output end axis of the claw clamp steering engine two, and an arc-shaped claw clamp is installed at the output end of the claw clamp steering engine four.

[0010] As a preferred technical scheme, the bowl carrying device comprises a bowl carrying mounting seat fixed to the L-shaped support, a bowl carrying steering engine is installed on the bowl carrying mounting seat, a bowl carrying lead screw is connected to the output end of the bowl carrying steering engine, a bowl carrying sliding block is connected to the bowl carrying lead screw, a plurality of bowl carrying arms are arranged around the bowl carrying mounting seat, the bowl carrying arms are rotatably connected to the bowl carrying mounting seat, the bowl carrying arms and the bowl carrying sliding block are further hingedly connected through a bowl carrying swing arm, and a bowl carrying claw is arranged at the bottom end of the bowl carrying arm.

[0011] As a preferred technical scheme, the supporting plate lifting device comprises an electric telescopic rod, the top end of the electric telescopic rod is fixed to the L-shaped support, the supporting plate rotating device comprises a rotating steering engine connected to the bottom end of the electric telescopic rod, and the leveling supporting plate device is connected to the rotating end of the rotating steering engine.

[0012] The beneficial effects of the present application are as follows: based on the traditional flying robot, the present application adds anti-collision function, grabbing function, bowl carrying function, lifting function, leveling function and the like, so as to realize a multifunctional butterfly robot, and the various functions are not independently arranged but interact with each other, so as to better realize the multifunctional grabbing effect and better adapt to the carrying of rubber bowls, articles and the like in a rubber garden. BRIEF DESCRIPTION OF DRAWINGS

[0013] The following drawings are only intended to illustrate and explain the present application and do not limit the scope of the present application. Among them: Figure 1 is a structural schematic diagram of an embodiment of the present application; Figure 2 is a top view schematic diagram of an embodiment of the present application; Figure 3 is an enlarged schematic diagram of a partial structure of an embodiment of the present application; Figure 4 is a top view schematic diagram of a front anti-collision mechanism of an embodiment of the present application; Figure 5 is a top view schematic diagram of a rear anti-collision mechanism of an embodiment of the present application; Figure 6 is a structural schematic diagram of a profiled supporting foot of an embodiment of the present application; Figure 7 is a structural schematic diagram of a grabbing terminal mechanism of an embodiment of the present application; Figure 8 is a partial structural schematic diagram of a grabbing terminal mechanism of an embodiment of the present application; Figure 9 is a structural schematic diagram of a grabbing device of an embodiment of the present application; Figure 10 is a side view of a grabbing device of an embodiment of the present application; Figure 11 is a top view of a rubber bowl grabbed by an arc-shaped claw in a horizontal state of an embodiment of the present application; Figure 12 is a side view of a rubber bowl grabbed by an arc-shaped claw in a horizontal state of an embodiment of the present application; Figure 13 is a side view of an article grabbed by an arc-shaped claw in a vertical state of an embodiment of the present application; Figure 14 is a structural schematic diagram of a bowl carrying device of an embodiment of the present application; Figure 15 is a structural schematic diagram of a leveling plate device of an embodiment of the present application; Figure 16 is a top view of a rubber bowl held by a lifting plate after the lifting plate is forwardly combined of an embodiment of the present application; Figure 17 is a top view of an article held by a lifting plate after the lifting plate is reversely combined of an embodiment of the present application; Figure: 100 - body of butterfly machine; 200 - left front wing; 300 - right front wing; 400 - left rear wing; 500 - right rear wing; 600 - anti-collision mechanism; 610 - front anti-collision device; 611 - front support rod; 612 - front elastic member; 613 - front anti-collision arc plate; 614 - avoidance steering engine; 620 - rear anti-collision device; 621 - rear support rod; 622 - rear elastic member; 623 - rear anti-collision arc plate; 700 - profiled support foot; 701 - support leg one; 702 - walking steering engine; 703 - support leg two; 704 - support elastic member; 705 - support foot seat; 706 - walking wheel; 707 - support foot claw; 708 - support steering engine; 800 - grabbing terminal mechanism; 810 - terminal lifting device; 811 - terminal fixed top plate; 812 - terminal fixed bottom plate; 813 - lifting stud; 814 - lifting sliding block; 815 - guide column; 816 - lifting steering engine; 820 - rotary switching device; 821 - connecting seat; 822 - switching pivot; 823 - switching steering engine; 824 - gear; 830 - L-shaped support; 840 - grabbing device; 841 - claw clamp mounting seat; 842 - claw clamp steering engine one; 843 - claw clamp support; 844 - claw clamp steering engine two; 845 - claw clamp swing arm one; 846 - claw clamp steering engine three; 847 - claw clamp swing arm two; 848 - claw clamp steering engine four; 849 - arc-shaped claw clamp; 850 - bowl carrying device; 851 - bowl carrying mounting seat; 852 - bowl carrying steering engine; 853 - bowl carrying lead screw; 854 - bowl carrying sliding block; 855 - bowl carrying arm; 856 - bowl carrying swing arm; 857 - bowl carrying claw; 860 - leveling support plate device; 861 - support plate arm; 862 - support plate mounting frame; 863 - opening and closing steering engine; 864 - lifting flat plate; 870 - support plate rotating device; 880 - support plate lifting device. DETAILED DESCRIPTION

[0014] The application is further described below in conjunction with the drawings and examples. In the following detailed description of the application, certain exemplary embodiments of the application are described by way of illustration only. It will be apparent to those skilled in the art that the embodiments described can be practiced in various ways without deviating from the spirit and scope of the application. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0015] As Figures 1 to 3As shown, a multifunctional grabbing butterfly robot for rubber garden includes a butterfly body 100, a left front wing 200, a left front driving mechanism, a right front wing 300, a right front driving mechanism, a left rear wing 400, a left rear driving mechanism, a right rear wing 500, a right rear driving mechanism, a sensing and monitoring mechanism, a collision avoidance mechanism 600, a profiled support foot 700, and a grabbing terminal mechanism 800. Among them, the butterfly body 100, the left front wing 200, the left front driving mechanism, the right front wing 300, the right front driving mechanism, the left rear wing 400, the left rear driving mechanism, the right rear wing 500, the right rear driving mechanism and the sensing and monitoring mechanism are all selected from the commonly used structures on the existing flying robot. The present application adds functions such as collision avoidance function, grabbing function, bowl carrying function, lifting function, leveling function and the like on the basis of the existing flying robot, and realizes a multifunctional butterfly robot.

[0016] Referring to Figure 3 , the collision avoidance mechanism 600 includes a front collision avoidance device 610 and a rear collision avoidance device 620, the front collision avoidance device 610 is used to protect the front of the butterfly body 100, and the rear collision avoidance device 620 is used to protect the rear of the butterfly body 100.

[0017] Referring to Figure 3 , one end of the front collision avoidance device 610 extends to the front between the left front wing 200 and the right front wing 300, and the other end of the front collision avoidance device 610 is connected with the butterfly body 100 through an avoidance rotating device. The avoidance rotating device can control the front collision avoidance device 610 to rotate and switch between the horizontal state and the vertical upward state. When the butterfly robot is in the flying state, the avoidance rotating device rotates the front collision avoidance device 610 to the horizontal forward, which can protect the butterfly body 100. When it is needed to take and place rubber bowl or grab objects, the avoidance rotating device rotates the front collision avoidance device 610 to the vertical upward state for avoidance, which facilitates the grabbing terminal mechanism 800 to approach the rubber tree for operation.

[0018] Referring to Figure 4The front anti-collision device 610 comprises a front supporting rod 611, a front anti-collision arc plate 613 is connected to the front end of the front supporting rod 611 through a front elastic member 612, the two ends of the front elastic member 612 are fixed to the front supporting rod 611 and the front anti-collision arc plate 613 respectively, a guide column limiting the expansion and contraction of the spring along the axis is arranged between the front anti-collision arc plate 613 and the front supporting rod 611, and the left and right sides of the front anti-collision arc plate 613 are curved towards the rear side; the front anti-collision arc plate 613 is used for shielding the butterfly machine body 100, and when the front anti-collision arc plate 613 collides with a hard object, the front elastic member 612 serves as a buffer to reduce the impact on the butterfly machine body 100. The rear end of the front supporting rod 611 is rotationally connected to the butterfly machine body 100 through an avoidance rotating shaft, the front supporting rod 611 is fixedly connected with the avoidance rotating shaft, and the avoidance rotating shaft is rotationally connected to a rotating seat of the butterfly machine body 100. The avoidance rotating device comprises an avoidance steering engine 614 mounted on the butterfly machine body 100, the output end of the avoidance steering engine 614 is fixedly connected with the avoidance rotating shaft, the rotation of the avoidance rotating shaft is controlled through the operation of the avoidance steering engine 614, so that the rotation of the front supporting rod 611 is driven, and the position of the front anti-collision arc plate 613 is changed.

[0019] Referring to Figure 3 One end of the rear anti-collision device 620 is mounted on the butterfly machine body 100, and the other end of the rear anti-collision device 620 extends rearward between the left rear wing 400 and the right rear wing 500. Referring to Figure 5 The rear anti-collision device 620 comprises a rear supporting rod 621, a rear anti-collision arc plate 623 is connected to the rear end of the rear supporting rod 621 through a rear elastic member 622, the two ends of the rear elastic member 622 are fixed to the rear supporting rod 621 and the rear anti-collision arc plate 623 respectively, a guide column limiting the expansion and contraction of the spring along the axis is arranged between the rear anti-collision arc plate 623 and the rear supporting rod 621, the left and right sides of the rear anti-collision arc plate 623 are curved towards the front side, and the rear anti-collision arc plate 623 is used for shielding the butterfly machine body 100, when the rear anti-collision arc plate 623 collides with a hard object, the rear elastic member 622 serves as a buffer to reduce the impact on the butterfly machine body 100.

[0020] Referring to Figure 3 The profiled supporting feet 700 are arranged on the left and right sides below the butterfly machine body 100, and are used for assisting in supporting the butterfly machine body 100.

[0021] Referring to Figure 6The profiled supporting foot 700 comprises a supporting leg 701 connected to the butterfly fuselage 100, the bottom end of the supporting leg 701 is connected with a walking steering engine 702, the output end of the walking steering engine 702 is connected with a supporting leg 703, the bottom end of the supporting leg 703 is connected with a supporting foot base 705 through a supporting elastic member 704, the two ends of the supporting elastic member 704 are fixed to the supporting leg 703 and the supporting foot base 705 respectively, a guide column limiting the expansion and contraction of the spring along the axis is arranged between the supporting leg 703 and the supporting foot base 705, the bottom end of the supporting foot base 705 is installed with a walking wheel 706, two supporting foot claws 707 are arranged on the left and right sides of the walking wheel 706, the supporting foot claws 707 are connected to the supporting foot base 705 through a supporting steering engine 708. The walking steering engine 702 is used to change the angle of the supporting leg 703 relative to the supporting leg 701, the supporting steering engine 708 is used to change the angle of the supporting foot claws 707 relative to the supporting foot base 705, and the supporting elastic member 704 is used to reduce the impact when the butterfly fuselage 100 lands.

[0022] Referring to Figure 7 and Figure 8The terminal grabbing mechanism 800 is located below the front of the butterfly body 100 and between the left front wing 200 and the right front wing 300, and comprises a terminal lifting device 810, a rotary switching device 820, an L-shaped support 830, a grabbing device 840, a bowl carrying device 850, a leveling tray device 860, a tray rotating device 870, and a tray lifting device 880. The terminal lifting device 810 is used to adjust the height of the terminal mechanism, the top end of the terminal lifting device 810 is connected to the butterfly body 100, the corner of the L-shaped support 830 is connected to the lifting slider of the terminal lifting device 810 through the rotary switching device 820, the grabbing device 840 and the bowl carrying device 850 are respectively installed at the two ends of the L-shaped support 830, the rotary switching device 820 can drive the L-shaped support 830 to rotate 90° in the positive and negative directions, so that the grabbing device 840 and the bowl carrying device 850 are respectively placed at the axis between the left front wing 200 and the right front wing 300. The top end of the tray lifting device 880 is connected to the L-shaped support 830, the leveling tray device 860 is horizontally connected to the bottom end of the tray lifting device 880 through the tray rotating device 870, the tray rotating device 870 can drive the leveling tray device 860 to rotate and switch below the grabbing device 840 and the bowl carrying device 850, and assist the grabbing device 840 and the bowl carrying device 850 to level the rubber bowl and clamp the article. The grabbing device 840 in the application can not only grab articles, but also grab empty rubber bowls and rubber bowls filled with rubber solution. The bowl carrying device 850 is mainly used for grabbing empty rubber bowls. After the grabbing device 840 takes down the rubber bowl filled with rubber solution beside the rubber tree, the bowl carrying device 850 places the carried empty rubber bowl beside the rubber tree, realizes rapid replacement of the rubber bowl, and avoids waste of rubber solution. The leveling tray device 860 serves as a special auxiliary tool for helping the grabbing device 840 and the bowl carrying device 850 to level the rubber bowl, avoiding liquid spilling and falling due to unclamping of the inclined rubber bowl during flight. Meanwhile, the leveling tray device 860 also has a clamping function, which can help the grabbing device 840 to clamp articles together.

[0023] Referring to Figure 7The terminal lifting device 810 includes a terminal fixed top plate 811 and a terminal fixed bottom plate 812, a plurality of guide columns 815 are fixedly connected between the terminal fixed top plate 811 and the terminal fixed bottom plate 812, a lifting stud 813 is also rotatably installed between the terminal fixed top plate 811 and the terminal fixed bottom plate 812, a lifting sliding block 814 is threadedly connected to the lifting stud 813 and slides up and down along the guide column 815, a lifting servo 816 is further arranged on the terminal fixed bottom plate 812, and an output end of the lifting servo 816 is fixed to an end portion of the lifting stud 813. When the lifting servo 816 operates, the lifting stud 813 is driven to rotate, so that the lifting sliding block 814 rises and falls along the guide column 815, thereby driving the grabbing device 840, the bowl carrying device 850 and other structures to rise and fall together, the relative height between the bowl, the article and the structures can be adjusted, and all the structures can be retracted without affecting the support of the profiling support foot 700.

[0024] Referring to Figure 8 The rotating switching device 820 includes a connecting seat 821 fixed to the lifting sliding block 814, a corner of the L-shaped support 830 is rotatably installed on the connecting seat 821 through a switching rotating shaft 822, the L-shaped support 830 is fixedly connected with the switching rotating shaft 822, the switching rotating shaft 822 is rotatably connected with the connecting seat 821, a switching servo 823 is installed at the connecting seat 821, and the switching servo 823 and the switching rotating shaft 822 are power transmission through a gear 824. When the switching servo 823 operates, the switching rotating shaft 822 is driven to rotate through the gear 824, the L-shaped support 830 is driven to rotate 90° in the positive and negative directions, so that the grabbing device 840 and the bowl carrying device 850 can be alternately rotated to a position between the front axes of the left front wing 200 and the right front wing 300, because the position between the front axes of the left front wing 200 and the right front wing 300 has an area suitable for approaching the rubber tree for operation.

[0025] Referring to Figure 9 and Figure 10The grabbing device 840 comprises a claw mounting seat 841, the top end of the claw mounting seat 841 is connected to the L-shaped support 830 through a claw steering engine 1 842, the claw steering engine 1 842 is fixed to one end of the L-shaped support 830, the claw mounting seat 841 is fixed to the output end of the claw steering engine 1 842, and the claw steering engine 1 842 can drive the claw mounting seat 841 and other structures mounted thereon to rotate horizontally. The bottom end of the claw mounting seat 841 is arranged with a plurality of claw supports 843, the outer side of the claw support 843 is provided with a claw steering engine 2 844, the output end of the claw steering engine 2 844 is horizontally provided and connected with a claw swing arm 1 845, the other end of the claw swing arm 1 845 is mounted with a claw steering engine 3 846, the output end of the claw steering engine 3 846 is horizontally provided and connected with a claw swing arm 2 847, the other end of the claw swing arm 2 847 is mounted with a claw steering engine 4 848, the output end axis of the claw steering engine 4 848 is perpendicular to the output end axis of the claw steering engine 2 844, and the output end of the claw steering engine 4 848 is mounted with an arc-shaped claw 849. The claw steering engine 3 846 can drive the arc-shaped claw 849 to be horizontal or vertical, and the claw steering engine 4 848 can drive the arc-shaped claw 849 to clamp or release. Figure 11 and Figure 12 When the outer wall of the glue bowl filled with glue is adhered to the glue bowl support due to overflow of the glue, the glue bowl is clamped at this time, but the glue bowl cannot be directly taken down, therefore the claw steering engine 1 842 is actuated to drive the claw mounting seat 841 and all components thereon to rotate horizontally, at this time, the adhered glue outside the glue bowl is sheared by rotation to loosen the glue bowl, so that the glue bowl is smoothly taken down. When an article needs to be grabbed, the claw steering engine 3 846 controls each arc-shaped claw to be vertical downward, and the claw steering engine 4 848 controls the arc-shaped claw to swing inward to clamp the periphery of the article, as shown in Figure 13 Therefore, in addition to the functions of grabbing the glue bowl and grabbing the article, the grabbing device 840 can also loosen the glue bowl, and facilitate the glue bowl to be smoothly taken down.

[0026] Referring to Figure 14The bowl carrying device 850 comprises a bowl carrying mounting seat 851 fixed with the L-shaped support 830, a bowl carrying steering engine 852 is installed on the bowl carrying mounting seat 851, a bowl carrying screw rod 853 is connected to the output end of the bowl carrying steering engine 852, a bowl carrying sliding block 854 is connected to the bowl carrying screw rod 853, a plurality of bowl carrying arms 855 are arranged around the bowl carrying mounting seat 851, the bowl carrying arms 855 are rotationally connected to the bowl carrying mounting seat 851, the bowl carrying arms 855 and the bowl carrying sliding block 854 are further hingedly connected through a bowl carrying swing arm 856, and a bowl carrying claw 857 is arranged at the bottom end of the bowl carrying arm 855. When the bowl carrying steering engine 852 operates, the bowl carrying screw rod 853 is driven to rotate, so that the bowl carrying sliding block 854 is lifted and lowered, the bowl carrying arms 855 are opened and closed through the bowl carrying swing arm 856, and the rubber bowl can be gripped. The bowl carrying device 850 is mainly used for carrying empty rubber bowls, and when the rubber bowl filled with glue is taken off, the empty rubber bowl can be timely installed. Of course, the bowl carrying device 850 can also grip the rubber bowl filled with glue. How to use it can be controlled according to the preset program.

[0027] Referring to Figure 15 The leveling support plate device 860 comprises two support plate arms 861 arranged in cooperation, one end of the two support plate arms 861 is rotationally installed on a support plate mounting frame 862 through a support plate rotating shaft, the two support plate rotating shafts are in meshing transmission through a gear 824, one of the support plate rotating shafts is provided with an opening and closing steering engine 863, the other end of the two support plate arms 861 is provided with a lifting flat plate 864, the two lifting flat plates 864 are controlled to rotate by the opening and closing steering engine 863, and the two lifting flat plates 864 are semicircular plates which can level the rubber bowl when being combined in the forward direction, and the state of the two lifting flat plates 864 combined in the forward direction is shown in Figure 16 When the inclined rubber bowl gripped by the gripping device 840 and the bowl carrying device 850 needs to be leveled, the leveling support plate device 860 is rotated to be directly below the corresponding device, and then the inclined rubber bowl is released, and the inclined rubber bowl naturally falls on the two lifting flat plates 864 directly below. Since the lifting flat plates 864 are in a horizontal state, the rubber bowl changes from an inclined state to a vertical state after falling, and at this time, the lifting flat plates 864 are upward, and the rubber bowl is sent from below to the gripping device 840 and the bowl carrying device 850 above, and when the gripping device 840 and the bowl carrying device 850 grip the rubber bowl again, the rubber bowl remains in a vertical state, that is, the leveling of the rubber bowl is completed; when the gripping device 840 and the bowl carrying device 850 are gripping, the lifting flat plates 864 directly below can be combined in the forward direction to assist lifting, so as to ensure the stability and installation during transportation. When the two lifting flat plates 864 are combined in the reverse direction, the two lifting flat plates 864 can grip the articles, and the state of the two lifting flat plates 864 combined in the reverse direction is shown in Figure 17 At this time, the two support plate arms 861 can cooperate to achieve the clamping effect and assist in clamping the articles.

[0028] Referring to Figure 15 The lifting device 880 of the supporting plate comprises an electric telescopic rod, the top end of the electric telescopic rod is fixed on the L-shaped support 830, the rotating device 870 of the supporting plate comprises a rotating rudder connected to the bottom end of the electric telescopic rod, and the leveling device 860 of the supporting plate is connected to the rotating end of the rotating rudder. The lifting of the leveling device 860 of the supporting plate can be realized through the electric telescopic rod, so as to meet different use requirements. The leveling device 860 of the supporting plate can be rotated through the rotating rudder, so that the leveling device 860 of the supporting plate can not only be rotated to the lower side of the grabbing device 840 to assist the grabbing device 840 in leveling the rubber bowl and grabbing the articles, but also can be selected to the lower side of the bowl carrying device 850 to assist the bowl carrying device 850 in leveling the rubber bowl.

[0029] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A multifunctional grabbing butterfly robot for rubber plantation, comprising a butterfly body, a left front wing, a left front driving mechanism, a right front wing, a right front driving mechanism, a left rear wing, a left rear driving mechanism, a right rear wing, a right rear driving mechanism and a sensing monitoring mechanism, characterized in that, Also include: The anti-collision mechanism includes a front anti-collision device and a rear anti-collision device, one end of the front anti-collision device extends to the front between the left front wing and the right front wing, the other end of the front anti-collision device is connected with the butterfly body through the avoidance rotating device, the avoidance rotating device can control the front anti-collision device to rotate between the horizontal state and the vertical upward state; one end of the rear anti-collision device is installed on the butterfly body, the other end of the rear anti-collision device extends to the rear between the left rear wing and the right rear wing; The profiled support foot is provided with a plurality of and is located below the butterfly body; The terminal mechanism is located below the front of the butterfly body and between the left front wing and the right front wing, and includes a terminal lifting device, a rotating switching device, an L-shaped support, a grabbing device, a bowl carrying device, a leveling plate device, a plate rotating device and a plate lifting device. The top end of the terminal lifting device is connected to the butterfly body, the corner of the L-shaped support is connected to the lifting block of the terminal lifting device through the rotating switching device, the grabbing device and the bowl carrying device are respectively installed at the two ends of the L-shaped support, the rotating switching device can drive the L-shaped support to rotate 90° in positive and negative directions, so that the grabbing device and the bowl carrying device are respectively placed at the axis between the left front wing and the right front wing; the top end of the plate lifting device is connected to the L-shaped support, the leveling plate device is horizontally connected to the bottom end of the plate lifting device through the plate rotating device, the plate rotating device can drive the leveling plate device to rotate and switch below the grabbing device and the bowl carrying device, and assist the grabbing device and the bowl carrying device to level the glue bowl and clamp the object; The leveling plate device includes two left and right matched plate arms, one end of each plate arm is rotatably installed on a plate mounting bracket through a plate rotating shaft, the two plate rotating shafts are transmissionally connected through a gear, one of the plate rotating shafts is provided with an opening and closing rudder, and the other end of each plate arm is provided with a lifting flat plate, the two lifting flat plates are controlled to rotate by the opening and closing rudder, the two lifting flat plates are semicircular plates, when the two semicircular plates are combined in the same direction, a circular plate is formed to level the glue bowl, and when the two semicircular plates are combined in the opposite direction, the object can be clamped.

2. A multifunctional grabbing butterfly robot for a rubber garden as claimed in claim 1, characterized by: The front anti-collision device includes a front support rod, a front anti-collision arc plate is connected to the front end of the front support rod through a front elastic member, and the left and right sides of the front anti-collision arc plate are curved towards the rear side; the rear end of the front support rod is rotatably connected to the butterfly body through an avoidance rotating shaft, and the avoidance rotating device includes an avoidance rudder installed on the butterfly body, and the output end of the avoidance rudder is connected to the avoidance rotating shaft.

3. The multi-functional grabbing butterfly robot for rubber garden of claim 1, wherein: The rear anti-collision device includes a rear support rod, a rear anti-collision arc plate is connected to the rear end of the rear support rod through a rear elastic member, and the left and right sides of the rear anti-collision arc plate are curved towards the front side.

4. The multi-functional grabbing butterfly robot for rubber garden of claim 1, wherein: The profiled supporting foot comprises a supporting leg I connected to the butterfly fuselage, the bottom end of the supporting leg I is connected with a walking steering engine, the output end of the walking steering engine is connected with a supporting leg II, the bottom end of the supporting leg II is connected with a supporting foot base through a supporting elastic element, the bottom end of the supporting foot base is installed with a walking wheel, two supporting foot claws are arranged on the left and right sides of the walking wheel, the supporting foot claws are connected to the supporting foot base through a supporting steering engine.

5. The multi-functional grabbing butterfly robot for a rubber garden according to claim 1, characterized in that: The terminal lifting device comprises a terminal fixed top plate and a terminal fixed bottom plate, a plurality of guide columns are fixedly connected between the terminal fixed top plate and the terminal fixed bottom plate, a lifting screw column is also rotatably installed between the terminal fixed top plate and the terminal fixed bottom plate, a lifting sliding block is threadedly connected to the lifting screw column and slides up and down along the guide column, a lifting steering engine is also arranged on the terminal fixed bottom plate, and the output end of the lifting steering engine is fixed to the end of the lifting screw column.

6. The multifunctional catching butterfly robot for a rubber garden according to claim 1, characterized in that: The rotating switching device comprises a connecting seat fixed to the lifting sliding block, a corner of the L-shaped support is rotatably installed on the connecting seat through a switching rotating shaft, a switching steering engine is installed at the connecting seat, and power transmission is performed between the switching steering engine and the switching rotating shaft through a gear.

7. The multi-functional grabbing butterfly robot for a rubber garden according to claim 1, characterized in that: The grabbing device comprises a claw clamp mounting seat, the top end of the claw clamp mounting seat is connected to the L-shaped support through a claw clamp steering engine I, a plurality of claw clamp supports are arranged at the bottom end of the claw clamp mounting seat, a claw clamp steering engine II is arranged on the outer side of the claw clamp support, the output end of the claw clamp steering engine II is horizontally provided and connected with a claw clamp swing arm I, the other end of the claw clamp swing arm I is installed with a claw clamp steering engine III, the output end of the claw clamp steering engine III is horizontally provided and connected with a claw clamp swing arm II, the other end of the claw clamp swing arm II is installed with a claw clamp steering engine IV, the output end axis of the claw clamp steering engine IV is perpendicular to the output end axis of the claw clamp steering engine II, and the output end of the claw clamp steering engine IV is installed with an arc-shaped claw clamp.

8. The multi-functional grabbing butterfly robot for a rubber garden according to claim 1, characterized in that: The bowl carrying device comprises a bowl carrying mounting seat fixed to the L-shaped support, a bowl carrying steering engine is installed on the bowl carrying mounting seat, a bowl carrying lead screw is connected to the output end of the bowl carrying steering engine, a bowl carrying sliding block is connected to the bowl carrying lead screw, a plurality of bowl carrying arms are arranged around the bowl carrying mounting seat, the bowl carrying arms are rotatably connected to the bowl carrying mounting seat, the bowl carrying arms and the bowl carrying sliding block are also hingedly connected through a bowl carrying swing arm, and a bowl carrying claw is arranged at the bottom end of the bowl carrying arm.

9. The multi-functional grabbing butterfly robot for a rubber garden according to claim 1, characterized in that: The supporting plate lifting device comprises an electric telescopic rod, the top end of the electric telescopic rod is fixed to the L-shaped support, the supporting plate rotating device comprises a rotating steering engine connected to the bottom end of the electric telescopic rod, and the leveling supporting plate device is connected to the rotating end of the rotating steering engine.

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