Unmanned aerial vehicle picking device

Abstract

This invention relates to a drone-based fruit harvesting device, comprising: a drone; a quick-release protection mechanism connected at one end to the drone; a robotic arm connected to the other end of the quick-release protection mechanism; an end effector connected to the robotic arm; and a control module electrically connected to the drone, the quick-release protection mechanism, the robotic arm, and the end effector. The control module has a preset overload threshold; when the load on the robotic arm exceeds the overload threshold, the control module controls the quick-release protection mechanism to disconnect from the robotic arm. This drone-based fruit harvesting device connects the drone and the robotic arm via a quick-release protection mechanism, enabling rapid assembly and disassembly of the robotic arm from the drone. Furthermore, during fruit harvesting, if the load exceeds the preset overload threshold, the control module controls the quick-release protection mechanism to disconnect from the robotic arm, improving the maintenance efficiency and safety of drone-based harvesting operations. This invention belongs to the technical field of fruit harvesting equipment.

Description

Technical Field

[0001] This invention relates to the field of fruit picking equipment technology, specifically to a drone picking device. Background Technology

[0002] With the development of intelligent agricultural equipment, drones equipped with multi-degree-of-freedom robotic arms for high-altitude fruit harvesting have become an important solution to the problems of low efficiency and high operational risks associated with manual harvesting in mountainous and steep-slope orchards. Currently, the end-effector robotic arms of drone harvesting systems mostly use bolted connections, flange connections, rigid snap-fit ​​connections, or integrated designs with the drone frame. While these methods ensure connection strength, they have the following significant drawbacks:

[0003] Rigid connections require the use of specialized tools to disassemble and assemble bolts or flanges, which cannot meet the need for rapid switching of end effectors in different scenarios such as picking, pruning, and inspection, and is also not conducive to the on-site replacement of faulty parts. When collisions, jamming, or sudden load changes occur during operation, the impact force is directly transmitted to the drone frame and control module, which can easily lead to loss of flight attitude or even equipment damage, thus restricting the large-scale application of the system.

[0004] Therefore, there is an urgent need for a technical solution that simultaneously features quick disassembly and assembly, active overload protection, and balances maintenance efficiency and system safety in drone harvesting operations. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the purpose of this invention is to provide a drone harvesting device that connects the drone and the robotic arm through a quick-release protection mechanism, enabling rapid assembly and disassembly of the robotic arm and the drone. Furthermore, if the load exceeds a preset overload threshold during fruit harvesting, the control module controls the quick-release protection mechanism to disconnect the connection with the robotic arm, thereby improving the maintenance efficiency and safety of drone harvesting operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A drone harvesting device includes:

[0008] Drones;

[0009] Quick-release protective mechanism, one end of which connects to the drone;

[0010] The robotic arm is connected to the other end of the quick-release protection mechanism;

[0011] End effector, connected to the robotic arm;

[0012] The control module is electrically connected to the drone, quick-release protection mechanism, robotic arm, and end effector, respectively.

[0013] The control module has a preset overload threshold. When the load on the robotic arm exceeds the overload threshold, the control module controls the quick-release protection mechanism to disconnect from the robotic arm.

[0014] Preferably, the quick-release protection mechanism includes a fuselage base and a quick-release main base. The drone is equipped with a first power module. The quick-release main base is equipped with a first coil and a first electromagnet in sequence. One end of the robotic arm is equipped with a second electromagnet. The first coil is electrically connected to the first power module through a power supply line. The power supply line is equipped with a first control switch. The first control switch is electrically connected to the control module.

[0015] When the control module controls the first power module and the first coil to be energized, the first coil generates electromagnetic induction, causing the first electromagnet to generate electromagnetic attraction to attract the second electromagnet, thus completing the connection between the robotic arm and the drone.

[0016] When the load on the robotic arm exceeds the overload threshold, the control module controls the first power module and the first coil to be de-energized, and the first electromagnet and the second electromagnet are disconnected, completing the disassembly between the robotic arm and the drone.

[0017] Preferably, the robotic arm and the end effector are connected via a first detachable structure. The first detachable structure includes a second power module, a second coil, a third electromagnet, and a fourth electromagnet. The second power module, the second coil, and the third electromagnet are all located at the other end of the robotic arm, and the second coil and the third electromagnet are distributed sequentially from the inside to the outside at the other end of the robotic arm. The second power module is electrically connected to the second coil via a wire, and a second control switch is provided on the wire. The fourth electromagnet is located at the end effector. The second control switch is electrically connected to the control module.

[0018] When the control module controls the second power module and the second coil to be energized, the third electromagnet attracts the fourth electromagnet.

[0019] Preferably, the quick-release protection mechanism includes a first connecting base, a second connecting base, a drive unit, and a transmission assembly. The first connecting base is connected to the bottom of the drone, the second connecting base is connected to the robotic arm, the first connecting base and the second connecting base are slidably connected, the transmission assembly is disposed between the first connecting base and the second connecting base, the drive unit is connected to the transmission assembly, and the drive unit is electrically connected to the control module.

[0020] Preferably, the first connecting base has an inwardly recessed groove in the middle, and the two ends of the groove penetrate the first connecting base. The sliding groove has limiting blocks extending towards the middle of the groove on both sides of the groove opening, forming a sliding groove for the second connecting base to move.

[0021] The second connecting base is slidably connected to the sliding groove;

[0022] The distance between the two limiting blocks is greater than the width or diameter of the robotic arm, and the distance between the two limiting blocks is less than the width of the second connecting base.

[0023] Preferably, the limiting block and the bottom of the groove form a transmission area, and the transmission component includes a transmission rack and a transmission gear.

[0024] The transmission rack is fixed to the plane of the second connecting base facing the limiting block, the transmission gear is connected to the drive unit, and the transmission gear meshes with the transmission rack;

[0025] The transmission gear is located between the transmission rack and the limiting block. The transmission gear rotates relative to the first connecting base, and the two ends of the transmission rack face the two ports of the groove respectively.

[0026] Preferably, there are two transmission racks, two transmission gears, and two drive units. The two transmission racks are symmetrically distributed on the second connecting base and are located in two transmission areas formed by the two limiting blocks and the bottom of the grooves, respectively. The two transmission gears are connected to the two drive units, and the two transmission gears mesh with the transmission racks. The drive units are conventional drive motors.

[0027] Preferably, an auxiliary gear is rotatably connected to the sidewall of the groove. The auxiliary gear is located within the transmission area and is spaced apart from the transmission gear.

[0028] Preferably, the end of the robotic arm is a hollow structure, with a first rack inside the end of the robotic arm, and a first motor installed on the outside of the robotic arm. The output shaft of the first motor extends from the outside of the end of the robotic arm to the inside of the end of the robotic arm. The output shaft of the first motor extending into the end of the robotic arm is connected to a drive gear, which meshes with the first rack. One end of the first rack extends outward from the end of the robotic arm, and the end of the first rack extending outward from the end of the robotic arm is connected to an end effector.

[0029] In summary, the present invention has the following advantages:

[0030] The drone harvesting device of the present invention connects the drone and the robotic arm through a quick-release protection mechanism, enabling the rapid assembly and disassembly of the robotic arm and the drone. Furthermore, if the load received during fruit harvesting exceeds a preset overload threshold, the control module controls the quick-release protection mechanism to disconnect from the robotic arm, thereby improving the maintenance efficiency and safety of drone harvesting operations. Attached Figure Description

[0031] Figure 1 This is a perspective view of the drone harvesting device in Example 1.

[0032] Figure 2 This is a front view of the drone harvesting device in Example 1.

[0033] Figure 3This is a side view of the drone harvesting device in Embodiment 1.

[0034] Figure 4 This is an exploded view of the quick-release protection mechanism of Example 1.

[0035] Figure 5 This is an exploded view of the first detachable structure in Embodiment 1.

[0036] Figure 6 This is a schematic diagram of the robotic arm of a drone harvesting device in a folded state.

[0037] Figure 7 This is a perspective view of the drone harvesting device in Example 2.

[0038] Figure 8 This is a perspective view of the quick-release protection mechanism in Embodiment 2.

[0039] Figure 9 This is a perspective view of the quick-release protection mechanism of Embodiment 2, in which the first connecting base and the second connecting base are in a state ready to detach.

[0040] Figure 10 This is a perspective view of the second detachable structure in Embodiment 2.

[0041] Among them, 1 is the drone, 2 is the quick-release protection mechanism, 3 is the robotic arm, and 4 is the end effector.

[0042] 11 is the fuselage base, 12 is the first coil, 13 is the first electromagnet, and 14 is the second electromagnet.

[0043] 21 is the second power supply module, 22 is the wire, 23 is the second coil, 24 is the third electromagnet, and 25 is the fourth electromagnet.

[0044] 31 is the first connecting base, 32 is the transmission rack, 33 is the second connecting base, 34 is the limiting block, 35 is the driving part, 36 is the transmission gear, and 37 is the auxiliary gear.

[0045] 41 is the first motor, 42 is the drive gear, and 43 is the first rack. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to specific embodiments.

[0047] Example 1:

[0048] like Figure 1-6 As shown, this embodiment provides a drone harvesting device, including: drone 1;

[0049] Quick-release protective mechanism 2, one end of which is connected to drone 1;

[0050] The robotic arm 3 is connected to the other end of the quick-release protection mechanism 2;

[0051] End effector 4 is connected to robotic arm 3;

[0052] The control module is electrically connected to the UAV 1, the quick-release protection mechanism 2, the robotic arm 3, and the end effector 4, respectively; it should be noted that the control module is the flight control system of the UAV.

[0053] The control module has a preset overload threshold. When the load on the robotic arm 3 exceeds the overload threshold, the control module controls the quick-release protection mechanism 2 to disconnect from the robotic arm 3.

[0054] In some embodiments, the quick-release protection mechanism 2 includes a fuselage base 11 and a quick-release main base. The drone 1 is provided with a first power module. The quick-release main base is provided with a first coil 12 and a first electromagnet 13 in sequence. One end of the robotic arm 3 is provided with a second electromagnet 14. The first coil 12 is electrically connected to the first power module through a power supply line. The power supply line is provided with a first control switch. The first control switch is electrically connected to the control module.

[0055] When the control module controls the first power module to be energized and the first coil 12 is powered on, the first coil 12 generates electromagnetic induction, causing the first electromagnet 13 to generate electromagnetic attraction to attract the second electromagnet 14, thus completing the connection between the robotic arm 3 and the drone 1.

[0056] When the load on the robotic arm 3 exceeds the overload threshold, the control module controls the first power module to disconnect from the first coil 12, and the first electromagnet 13 and the second electromagnet 14 are disconnected, thus completing the disassembly between the robotic arm 3 and the drone 1.

[0057] When the drone 1 is powered on, the first power module simultaneously supplies power to the quick-release protection mechanism 2 through the power supply line connected to the fuselage base 11. The first coil 12 generates electromagnetic induction when energized, which causes the first electromagnet 13 to form a strong electromagnetic attraction. This attraction can firmly attract the second electromagnet 14 embedded in the robotic arm 3, so that the fuselage base 11 can firmly attract the connection end of the robotic arm 3.

[0058] Through the above design, it is ensured that the robotic arm 3 is firmly and reliably connected to the drone 1 during operation, meeting the connection strength requirements in complex outdoor operation scenarios. When it is necessary to disassemble, maintain, or replace the robotic arm 3, the control module only needs to cut off the power supply to the quick-release protection mechanism 2, and the electromagnetic attraction will also dissipate. At this time, without the need for any special tools, the robotic arm 3 can be easily removed from the base 11, greatly simplifying the disassembly and assembly process, significantly improving the overall disassembly and assembly efficiency of the robotic arm 3, and effectively solving the problem of cumbersome, time-consuming, and labor-intensive disassembly and assembly of the existing robotic arm 3.

[0059] In some embodiments, the robotic arm 3 and the end effector 4 are connected by a first detachable structure, which includes a second power module 21, a second coil 23, a third electromagnet 24, and a fourth electromagnet 25. The second power module 21, the second coil 23, and the third electromagnet 24 are all located at the other end of the robotic arm 3, and the second coil 23 and the third electromagnet 24 are distributed sequentially from the inside to the outside at the other end of the robotic arm 3. The second power module 21 is electrically connected to the second coil 23 through a wire 22, and a second control switch is provided on the wire 22. The fourth electromagnet 25 is located on the end effector 4. The second control switch is electrically connected to the control module.

[0060] When the control module controls the second power module 21 and the second coil 23 to be energized, the third electromagnet 24 attracts the fourth electromagnet 25.

[0061] The principle of the first detachable structure is the same as that of the quick-release protection mechanism 2. The second coil 23 is powered by the second power module 21 inside the end of the robotic arm 3. The electromagnetic induction generated by the second coil 23 causes the third electromagnet 24 at the end of the robotic arm 3 to generate a strong attraction. This attraction can firmly attract the fourth electromagnet 25 embedded in the end effector 4, so that the end of the robotic arm 3 can firmly attract the connection end of the end effector 4.

[0062] The end effector of the robotic arm 3 can be disassembled and installed quickly, allowing for the rapid replacement of various end tools such as grippers, trimmers, detection probes, and work actuators. No special tools or disassembly of the robotic arm 3 are required, enabling it to quickly adapt to the task requirements of different work scenarios and completely solving the problems of cumbersome end-effector load replacement and poor scenario adaptability of existing robotic arm 3.

[0063] In the above embodiments, the first detachable structure and the quick-release protection mechanism 2 both have overload protection mechanisms. Their overload thresholds can be adjusted in the control module. When the load on the robotic arm 3 exceeds its overload threshold, the overload protection mechanism is automatically triggered, and the control module automatically cuts off the power to perform electromagnetic quick release, ensuring the safety and stability of the drone 1.

[0064] The solution provided by the above embodiments combines the electromagnetic quick-release function of the drone 1 and the robotic arm 3 with the all-round protection function. This not only solves the problems of low disassembly and assembly efficiency and inconvenient replacement of the existing robotic arm 3, but also achieves impact protection, which greatly improves the operational reliability and service life of the drone 1 and the robotic arm 3 in complex outdoor environments.

[0065] The connection between the drone 1 and the robotic arm 3, as well as between the end effector 4 and the robotic arm 3, is achieved through electromagnetic attraction. When powered on, the electromagnetic attraction generated by the corresponding coil provides a stable and reliable connection strength; when powered off, the electromagnetic attraction disappears, allowing for the disassembly and replacement of the robotic arm 3 or the end effector 4 within seconds without the need for special tools. Compared to existing rigid bolt / flange connections, the disassembly and assembly time is significantly reduced. The robotic arm 3 can be quickly adapted to different operational scenarios such as grasping, trimming, and inspection without disassembling it, completely solving the problems of cumbersome end effector 4 replacement and poor scenario adaptability in existing solutions, greatly improving operational flexibility and on-site maintenance efficiency.

[0066] Specifically, the overload protection function can actively intervene in the connection status through the control module logic, and the overload threshold can be adjusted in the control module: when the robotic arm 3 experiences a collision, jamming, sudden load change, or external impact during operation, the control module can actively control the corresponding coil to cut off power by detecting the load current, the joint torque of the robotic arm 3, or the external impact signal, so that the robotic arm 3 can quickly separate from the drone 1, avoiding the direct transmission of impact force to the drone 1. Compared with existing passive mechanical protection solutions (such as shear pins and flexible couplings), this invention can achieve flexible control of the protection timing and triggering method, avoiding the risks of drone 1 losing control and irreversible equipment damage caused by rigid connection, and significantly improving the operational safety and equipment reliability in complex outdoor environments.

[0067] The robotic arm 3 can adopt a multi-joint foldable structure, which can be folded under the fuselage of the drone 1 when not in operation, greatly reducing the overall space occupied. Compared with the traditional fixed robotic arm 3, no additional large protective box is required during transportation, relocation and storage, which greatly reduces the transportation volume and packaging cost, while reducing the risk of damage to the arm due to bumps and scratches during transportation, and significantly improving the portability and environmental adaptability of the equipment.

[0068] In summary, the solution in this embodiment integrates the quick-release protection mechanism 2, the overload protection logic, and the foldable robotic arm 3 into a single unit through integrated design. This effectively addresses multiple technical pain points of existing drone 1 harvesting devices, such as low assembly / disassembly efficiency, poor scene adaptability, lack of active safety protection, inconvenient transportation and storage, and weak adaptability to complex environments. It combines rapid assembly / disassembly, active protection, portable storage, and high reliability, significantly improving the operational efficiency, safety, portability, and lifespan of the drone 1 operating system, demonstrating significant engineering application value and promising prospects for widespread adoption.

[0069] Example 2:

[0070] like Figure 7-10As shown, the quick-release protection mechanism 2 in this embodiment includes a first connecting base 31, a second connecting base 33, a drive unit 35, and a transmission assembly. The first connecting base 31 is connected to the bottom of the drone 1, the second connecting base 33 is connected to the robotic arm 3, the first connecting base 31 and the second connecting base 33 are slidably connected, the transmission assembly is disposed between the first connecting base 31 and the second connecting base 33, the drive unit 35 is connected to the transmission assembly, and the drive unit 35 is electrically connected to the control module.

[0071] The first connecting base 31 has an inwardly recessed groove in the middle, and the two ends of the groove pass through the first connecting base 31. Limiting blocks 34 extending towards the middle of the groove are provided on both sides of the groove opening, forming a sliding groove for the second connecting base 33 to move.

[0072] The second connecting base 33 is slidably connected to the slide groove;

[0073] The distance between the two limiting blocks 34 is greater than the width or diameter of the robotic arm 3, and the distance between the two limiting blocks 34 is less than the width of the second connecting base 33.

[0074] The limiting block 34 and the bottom of the groove form a transmission area, and the transmission components include a transmission rack 32 and a transmission gear 36.

[0075] The transmission rack 32 is fixed to the plane of the second connecting base 33 facing the limiting block 34, the transmission gear 36 is connected to the drive unit 35, and the transmission gear 36 meshes with the transmission rack 32;

[0076] The transmission gear 36 is located between the transmission rack 32 and the limiting block 34. The transmission gear 36 rotates relative to the first connecting base 31, and the two ends of the transmission rack 32 are respectively facing the two ports of the groove.

[0077] There are two transmission racks 32, two transmission gears 36, and two drive units 35. The two transmission racks 32 are symmetrically distributed on the second connecting base 33 and are located in two transmission areas formed between the two limiting blocks 34 and the bottom of the groove. The two transmission gears 36 are connected to the two drive units 35 respectively, and the two transmission gears 36 mesh with the transmission racks 32 respectively.

[0078] An auxiliary gear 37 is rotatably connected to the side wall of the groove. The auxiliary gear 37 is located within the transmission area and is spaced apart from the transmission gear 36. By forming a "double gear backlash elimination" layout through the two gears on the same rack, the unavoidable meshing backlash in rack transmission is eliminated by utilizing the simultaneous contact of the two gears with the tooth surfaces on both sides of the rack. This suppresses the lateral sway and vibration of the rack during transmission, significantly improving the transmission stiffness and motion smoothness of the gear-rack pair. At the same time, the meshing relationship between the auxiliary gear 37 and the transmission rack 32 can rely on the self-locking and limiting effect of the tooth shape to ensure that the robotic arm will not loosen during flight, improving the safety of the entire mechanism.

[0079] When the robotic arm 3 needs to be installed, the second connecting base 33 is inserted into the first connecting base 31. The control module sends a forward rotation command to the drive unit 35. The drive unit 35 drives the transmission gear 36 to rotate. The transmission gear 36 drives the transmission rack 32 to move linearly, so that the second connecting base 33 is completely inserted into the groove of the first connecting base 31, ensuring that the robotic arm 3 is stably and reliably connected to the drone 1 during operation.

[0080] Disassembly and separation process:

[0081] When it is necessary to disassemble the robotic arm 3, the control module sends a reverse command to the drive motor. The drive motor drives the transmission gear 36 to rotate in the opposite direction. The transmission gear 36 drives the transmission rack 32 to move linearly, automatically pushing the second connecting base 33 out of the first connecting base 31, thus achieving rapid separation of the robotic arm 3 from the drone 1. The entire process requires no manual operation or special tools, and a single disassembly action can be completed within seconds.

[0082] In some embodiments, the end of the robotic arm 3 is a hollow structure, and a first rack 43 is provided inside the end of the robotic arm 3. A first motor 41 is installed on the outside of the robotic arm 3. The output shaft of the first motor 41 extends from the outside of the end of the robotic arm 3 to the inside of the end of the robotic arm 3. The output shaft of the first motor 41 extending into the end of the robotic arm 3 is connected to a drive gear 42. The drive gear 42 meshes with the first rack 43. One end of the first rack 43 extends outward from the end of the robotic arm 3. The end of the first rack 43 extending outward from the end of the robotic arm 3 is connected to an end effector 4.

[0083] It should be noted that the first rack 43, the drive gear 42, and the first motor 41 form the second detachable structure of the robotic arm 3 and the end effector 4.

[0084] When the end effector 4 needs to be installed, the first rack 43 connected to the end effector 4 is inserted into the end of the robotic arm 3. The control module sends a forward rotation command to the first motor 41. The first motor 41 drives the drive gear 42 to rotate. The drive gear 42 drives the first rack 43 to lock, thus firmly fixing the end effector 4 to the end of the robotic arm 3.

[0085] When the end effector 4 needs to be replaced, the control module sends a reverse command to the first motor 41. The first motor 41 drives the drive gear 42 to rotate in the opposite direction. The drive gear 42 drives the first rack 43 to move in the releasing direction, and the end effector 4 automatically disengages. The operator can directly remove the original end effector 4, replace it with different working tools such as gripping fixtures, trimming tools, and detection probes, and then send a locking command again to complete the fixation. There is no need to disassemble the entire robotic arm 3, and no special tools are required.

[0086] The quick-release protection mechanism 2 and the connection structure between the end effector 4 and the robotic arm 3 in the above embodiments have active overload protection functions. Overload thresholds (such as the joint torque threshold of the robotic arm 3, the drive motor current threshold, etc.) can be adjusted separately in the control module.

[0087] When the control module detects the following abnormalities: the end effector 4 jams, shear overloads, or sudden torque changes; the robotic arm 3 experiences a collision, sudden load changes, or is subjected to external impact.

[0088] The control module automatically triggers corresponding protection actions based on the overload level:

[0089] When the end effector 4 is overloaded, the control module immediately sends a reverse command to the first motor 41, driving the drive gear 42 to drive the first rack 43 to complete the separation action in a very short time (≤100ms), so that the end effector 4 automatically disengages from the robotic arm 3, avoiding the transmission of impact force to the joint of the robotic arm 3.

[0090] When the entire robotic arm 3 is overloaded or collides, the control module immediately sends a reverse command to the drive motor, driving the transmission gear 36 and the transmission rack 32 to perform a separation action, so that the robotic arm 3 can quickly detach from the drone 1, ensuring the safety and stability of the drone 1.

[0091] The parts not mentioned in this embodiment are the same as in Embodiment 1.

[0092] Application Example 1:

[0093] 1. The fuselage base 11 is fixed to the bottom of the drone 1 by 4 M4 stainless steel bolts, and is installed as an integral part of the fuselage of the drone 1 without any additional protruding structure.

[0094] 2. The quick-release main seat is fixed to the bottom of the machine base 11 by flange bolts. The first electromagnet 13 and the first coil 12 are embedded inside. The first coil 12 is connected to the first power module along the power supply line.

[0095] 3. The robotic arm 3 is designed with an installation cavity for an embedded second electromagnet 14. After the second electromagnet 14 is embedded in the robotic arm 3, it is aligned and attracted with the first electromagnet 13 by electromagnetic attraction, so as to realize the rapid connection between the robotic arm 3 and the drone 1.

[0096] 4. A third electromagnet 24 and a second coil 23 are embedded at the end of the robotic arm 3. The lead wire of the second coil 23 is connected to the control module along the internal wiring of the robotic arm 3. The second coil 23 is powered by the second power module 21 installed inside the robotic arm 3 through the wire 22.

[0097] 5. The fourth electromagnet 25 is embedded in the end effector 4. After it is aligned with the third electromagnet 24 in the robotic arm 3, it is quickly attracted and fixed by electromagnetic attraction.

[0098] Parameter settings:

[0099] 1. The diameter of the first electromagnet 13 is 40 mm and the thickness is 10 mm.

[0100] 2. The diameter of the second electromagnet 14 and the third electromagnet 24 is 40 mm, and the thickness is 10 mm.

[0101] 3. The fourth electromagnet 25 has a diameter of 30 mm and a thickness of 8 mm.

[0102] 4. Operating voltage: 24 V DC.

[0103] 5. Rated attraction force: The attraction force of the first electromagnet 13 and the second electromagnet 14 is 300 N, and the attraction force of the third electromagnet 24 and the fourth electromagnet 25 is 180 N.

[0104] 6. Electromagnetic response time: attraction ≤30 ms, separation ≤50 ms.

[0105] 7. Number of coil turns: 12,800 turns for the first coil and 23,600 turns for the second coil.

[0106] 8. Robotic arm has 3 degrees of freedom: 4 rotary joints, with a maximum joint rotation angle of ±90°.

[0107] Working process and control logic:

[0108] Power-on phase: The control module connects the first coil 12 and the second coil 23. The first electromagnet 13 and the second electromagnet 14 generate electromagnetic attraction. The third electromagnet 24 and the fourth electromagnet 25 generate attraction synchronously. The robotic arm 3 and the end effector 4 are firmly attracted together, completing the pre-operation preparation.

[0109] During normal operation: the electromagnetic attraction remains stable, the three joints of the robotic arm complete the extension and bending movements under the command of the control module, the end effector 4 performs the corresponding task, the mechanism is not loose or displaced, and the connection stiffness meets the operation requirements.

[0110] Abnormal protection phase: When the control module detects a shear jamming, overload, or torque surge signal in the end effector 4, it immediately cuts off the power supply to the second coil 23, the electromagnetic attraction disappears, and the end effector 4 automatically separates from the robotic arm 3 within 50 ms, preventing the impact force from being transmitted to the drone 1, thus achieving the protection function; in more critical situations, when the control module detects a jamming, collision, overload, or torque surge signal in the entire robotic arm 3, it immediately cuts off the power supply to the first electromagnet 13 and the first coil 12 of the second electromagnet 14, the electromagnetic attraction disappears, and the robotic arm 3 automatically separates from the drone 1 within 50 ms, thus achieving the protection function.

[0111] End-effector replacement stage: When the end-effector 4 needs to be replaced, a command is sent through the ground control terminal, and the control module cuts off the power supply to the third electromagnet 24 and the second coil 23 of the fourth electromagnet 25. After the electromagnetic attraction disappears, the original end-effector 4 can be removed, a new working tool can be replaced, and the power can be turned on again to complete the attraction and fixation.

[0112] With the above parameter configuration, the attraction force of the first electromagnet 13 and the second electromagnet 14 can meet the maximum load requirement of 300 N, and the attraction force of the third electromagnet 24 and the fourth electromagnet 25 can meet the maximum load requirement of 180 N. At the same time, the separation response speed is guaranteed to be ≤50 ms. This not only avoids the accidental detachment of the robotic arm 3 during operation, but also enables rapid separation under abnormal working conditions, effectively reducing the risk of damage to the drone 1. The length of the robotic arm 3 is greatly reduced after folding, which significantly reduces the storage volume of the drone 1 and improves the convenience of relocation operations.

[0113] Application Example 2:

[0114] This embodiment is a high-load enhanced embodiment, which is basically the same as the overall structure, assembly relationship and working process of application example one. Only the key parameters of the quick-release protection mechanism 2 are optimized and adjusted to adapt to high-load operation scenarios.

[0115] Key parameter changes:

[0116] 1. The diameter of the first electromagnet 13 is 50 mm and the thickness is 12 mm.

[0117] 2. The diameter of the second electromagnet 14 and the third electromagnet 24 is 50 mm, and the thickness is 12 mm.

[0118] 3. The fourth electromagnet 25 has a diameter of 35 mm and a thickness of 10 mm.

[0119] 4. Number of coil turns: 12,1000 turns for the first coil and 23,800 turns for the second coil.

[0120] 5. Operating voltage: 24 V DC.

[0121] 6. Rated attraction force: The attraction force of the first electromagnet 13 and the second electromagnet 14 is 500 N, and the attraction force of the third electromagnet 24 and the fourth electromagnet 25 is 300 N.

[0122] 7. Electromagnetic response time: attraction ≤ 40 ms, separation ≤ 60 ms.

[0123] Suitable scenarios and effects:

[0124] Adaptable Scenarios and Effects: This embodiment increases the electromagnetic attraction force by increasing the size of the electromagnet and the number of coil turns, making it suitable for load requirements of up to 500 N and heavy-duty tasks. The connection stability is significantly improved, with no loosening or displacement during operation. At the same time, the increase in the number of coil turns increases the redundancy of the electromagnetic attraction force, ensuring stable attraction force and improving the environmental adaptability of the mechanism.

[0125] Application Example 3:

[0126] This embodiment is a lightweight and high-speed embodiment. Its overall structure, assembly relationship and working process are basically the same as those of Application Example 1. Only the key parameters of the quick-release protection mechanism 2 are optimized and adjusted for lightweight operation to adapt to lightweight operation and rapid response scenarios.

[0127] Key parameter changes:

[0128] 1. The diameter of the first electromagnet 13 is 35 mm and the thickness is 8 mm.

[0129] 2. The diameter of the second electromagnet 14 and the third electromagnet 24 is 35 mm, and the thickness is 8 mm.

[0130] 3. The fourth electromagnet 25 has a diameter of 25 mm and a thickness of 6 mm.

[0131] 4. Number of coil turns: 12,600 turns for the first coil and 23,400 turns for the second coil.

[0132] 5. Operating voltage: 24 V DC.

[0133] 6. Rated attraction force: The attraction force of the first electromagnet 13 and the second electromagnet 14 is 150 N, and the attraction force of the third electromagnet 24 and the fourth electromagnet 25 is 80 N.

[0134] 7. Electromagnetic response time: attraction ≤ 20 ms, separation ≤ 40 ms.

[0135] 8. The material of robotic arm 3 was changed to carbon fiber composite material, and the overall weight was reduced by 30% compared with Example 1.

[0136] Suitable scenarios and effects:

[0137] This embodiment significantly reduces the overall weight by reducing the size of the electromagnet, the number of coil turns, and using lightweight materials, thereby reducing the load on the drone 1 and extending its operating time. At the same time, the reduction in the number of coil turns shortens the electromagnetic response time, with a separation response speed of ≤40 ms. In rapid collision conditions, this allows for more timely separation of the robotic arm 3 from the drone 1, improving protection efficiency. The lightweight design also reduces the inertia of the robotic arm 3 during movement, improving the control accuracy of the end effector.

[0138] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A drone-based harvesting device, characterized in that, include: Drones; Quick-release protective mechanism, one end of which connects to the drone; The robotic arm is connected to the other end of the quick-release protection mechanism; End effector, connected to the robotic arm; The control module is electrically connected to the drone, quick-release protection mechanism, robotic arm, and end effector, respectively. The control module has a preset overload threshold. When the load on the robotic arm exceeds the overload threshold, the control module controls the quick-release protection mechanism to disconnect from the robotic arm.

2. The drone harvesting device according to claim 1, characterized in that, The quick-release protection mechanism includes a fuselage base and a quick-release main base. The drone is equipped with a first power module. The quick-release main base is equipped with a first coil and a first electromagnet in sequence. One end of the robotic arm is equipped with a second electromagnet. The first coil is electrically connected to the first power module through a power supply line. The power supply line is equipped with a first control switch. The first control switch is electrically connected to the control module. When the control module controls the first power module and the first coil to be energized, the first coil generates electromagnetic induction, causing the first electromagnet to generate electromagnetic attraction to attract the second electromagnet, thus completing the connection between the robotic arm and the drone. When the load on the robotic arm exceeds the overload threshold, the control module controls the first power module and the first coil to be de-energized, and the first electromagnet and the second electromagnet are disconnected, completing the disassembly between the robotic arm and the drone.

3. The drone harvesting device according to claim 2, characterized in that, The robotic arm and the end effector are connected via a first detachable structure, which includes a second power module, a second coil, a third electromagnet, and a fourth electromagnet. The second power module, the second coil, and the third electromagnet are all located at the other end of the robotic arm, and the second coil and the third electromagnet are distributed sequentially from the inside to the outside at the other end of the robotic arm. The second power module is electrically connected to the second coil via a wire, and a second control switch is provided on the wire. The fourth electromagnet is located at the end effector. The second control switch is electrically connected to the control module. When the control module controls the second power module and the second coil to be energized, the third electromagnet attracts the fourth electromagnet.

4. The drone harvesting device according to claim 1, characterized in that, The quick-release protection mechanism includes a first connecting base, a second connecting base, a drive unit, and a transmission assembly. The first connecting base is connected to the bottom of the drone, the second connecting base is connected to the robotic arm, the first connecting base and the second connecting base are slidably connected, the transmission assembly is located between the first connecting base and the second connecting base, the drive unit is connected to the transmission assembly, and the drive unit is electrically connected to the control module.

5. The drone harvesting device according to claim 4, characterized in that, The first connecting base has an inwardly recessed groove in the middle, and the two ends of the groove pass through the first connecting base. The two sides of the groove opening are provided with limiting blocks extending towards the middle of the groove opening, forming a sliding groove for the second connecting base to move. The second connecting base is slidably connected to the sliding groove; The distance between the two limiting blocks is greater than the width or diameter of the robotic arm, and the distance between the two limiting blocks is less than the width of the second connecting base.

6. The drone harvesting device according to claim 5, characterized in that, The transmission area is formed between the limiting block and the bottom of the groove, and the transmission components include a transmission rack and a transmission gear. The transmission rack is fixed to the plane of the second connecting base facing the limiting block, the transmission gear is connected to the drive unit, and the transmission gear meshes with the transmission rack; The transmission gear is located between the transmission rack and the limiting block. The transmission gear rotates relative to the first connecting base, and the two ends of the transmission rack face the two ports of the groove respectively.

7. The drone harvesting device according to claim 6, characterized in that, The transmission rack, transmission gear, and drive unit are all in pairs. The two transmission racks are symmetrically distributed on the second connecting base and are located in two transmission areas formed by the two limiting blocks and the bottom of the groove. The two transmission gears are connected to the two drive units respectively, and the two transmission gears mesh with the transmission racks respectively.

8. The drone harvesting device according to claim 6, characterized in that, An auxiliary gear is rotatably connected to the side wall of the groove. The auxiliary gear is located in the transmission area and is spaced apart from the transmission gear.

9. The drone harvesting device according to claim 2 or 4, characterized in that, The end of the robotic arm is hollow, with a first rack inside. A first motor is mounted on the outside of the robotic arm, and the output shaft of the first motor extends from the outside of the end of the robotic arm to the inside. The output shaft of the first motor, which extends into the end of the robotic arm, is connected to a drive gear. The drive gear meshes with the first rack, and one end of the first rack extends outward from the end of the robotic arm. The end of the first rack extending outward from the end of the robotic arm is connected to an end effector.

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