Picking machine with intelligent control bionic mechanical arm

Abstract

The utility model relates to the field of crop picking, in particular to a picking machine with an intelligent control bionic mechanical arm. The picking machine with the intelligent control bionic mechanical arm comprises a mechanical arm, a mechanical arm fixing plate A, a motor A, an end effector, a lifting platform and a shockproof chassis, the mechanical arm is provided with a bionic horse leg structure and comprises an upper thigh, a lower thigh, an upper shank, a lower shank and a hoof, and the uppermost ends of the upper thigh and the lower thigh are movably connected to the right side and the lower right side of the hip respectively. The shank upper part and the shank lower part are movably connected to the lowermost end of the thigh lower part and the lowermost part of the thigh upper part respectively and are movably connected to the rightmost sides of the shank upper part and the shank lower part respectively, and the mechanical arm is fixed above the lifting platform through a mechanical arm fixing plate A and used for driving the mechanical arm to do reciprocating motion. The picking machine with the intelligent control bionic mechanical arm has the advantages of being high in picking efficiency and good in stability.

Description

Technical Field

[0001] The utility model relates to the field of crop picking, in particular to a picking machine with an intelligently controlled bionic mechanical arm. Background Art

[0002] As one of the important economic crops in my country, pepper has a huge market demand. However, the traditional pepper picking method mainly relies on manual labor, which faces problems such as a small number of practitioners, high labor costs, and low efficiency. At the same time, large mechanical harvesters are prone to damage pepper plants during the picking process, affecting the subsequent growth and fruiting of peppers. With the advancement of science and technology, intelligent picking machines have begun to be studied and developed, but the high R&D and manufacturing costs, low efficiency, and domestic technical limitations in intelligent control and structural design have made intelligent picking machines not widely used in the market.

[0003] In the field of pepper picking machines, domestic technology development is still in its early stages; currently, some research institutions and enterprises have begun to explore and develop new pepper picking technologies, including intelligent robot picking, bionic mechanical arm picking, etc.; for example, a utility model patent (CN220528638U) has disclosed a red pepper picking robot, which integrates the functions of identifying, picking, and collecting red peppers through the cooperation of a traveling device, a lateral moving device, a vertical moving device, a mechanical arm device, and a clamping device, thereby greatly improving the picking efficiency; in addition, there is also a patent that proposes a pepper picking device with adjustable row spacing and a hand-held pepper harvester, which can adapt to the harvest of peppers with different planting row spacings by adjusting the installation position of the row spacing adjustment device on the frame, thereby improving the clean picking rate;

[0004] Although some technical solutions for pepper picking machines have been proposed, the existing picking machines still have many shortcomings in terms of cost control, picking efficiency, and protection of plants. Therefore, this solution proposes an intelligent bionic robotic arm picking machine to address the problems of pepper picking on the current market. The machine achieves continuous picking of peppers through the cooperation of a robotic arm, a lifting platform, an end effector, and a chassis, aiming to solve the problems of high labor costs and great damage to plants caused by large harvesting machines. At the same time, this solution also adopts a bionic horse leg configuration design, aiming to reduce R&D and manufacturing costs, improve picking efficiency, and protect pepper plants from damage.

[0005] Therefore, it is necessary to provide a new picking machine with an intelligent bionic robotic arm to solve the above technical problems. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides a picking machine with an intelligently controlled bionic mechanical arm.

[0007] The utility model provides an intelligent bionic robotic arm harvesting machine comprising: a robotic arm, a hip, an upper thigh, a lower thigh, an upper calf, a lower calf, a hoof, an A robotic arm fixing plate, an A motor, an end effector, a lifting platform and a shockproof chassis. The robotic arm has a bionic horse leg structure, the top of the thigh is hinged to the upper right side of the hip, the top of the lower thigh is hinged to the lower right side of the hip, one end of the calf is hinged to the bottom end of the lower thigh, one end of the lower calf is hinged to the bottom end of the thigh, the hoof is movably connected to the rightmost side of the upper calf and the lower calf, and the robotic arm is fixed above the lifting platform through the A robotic arm fixing plate. Motor A is used to drive the reciprocating motion of the robot arm. Motor A is fixed on the A robot arm fixing plate, and transmits power to the intermediate shaft through the synchronous belt, A synchronous pulley and B synchronous pulley, and then the intermediate shaft transmits power to the thigh through the power rod. A robot arm fixing rod is fixed on the left side of the robot arm fixing plate 12, and the other end of the robot arm fixing rod is hinged to the left side of the hip. The end effector is fixed on the hoof of the robot arm, including motor B, end shaft and spring teeth, which are used to complete pepper picking. The lifting platform is installed above the shockproof chassis. The lifting platform includes: an electric push rod, a cross-connection structure and upper and lower brackets hinged thereto, which are used to adjust the picking height range of the end effector. The shockproof chassis is installed below the lifting platform to provide power for the entire device and can automatically travel along the ridge under the control of the main control.

[0008] Preferably, the end effector has three rows of spring teeth, each row has a plurality of spring teeth evenly installed, and every two rows of spring teeth are 120° apart, so as to improve picking efficiency and reduce damage to pepper fruits.

[0009] Preferably, the lifting platform can identify the position of pepper fruits in real time through the OpenMV mounted on the robotic arm under the control of the main controller, and drive the cross-link structure through the electric push rod to rotate it along the intersection, thereby changing the distance between the upper and lower brackets, thereby changing the height, and then adjusting the picking range of the end effector to achieve precise picking.

[0010] Preferably, the shockproof chassis can automatically travel along the ridges under the control of the main controller, providing a stable mobile platform for the entire device.

[0011] Preferably, the shockproof chassis is further provided with a navigation module for realizing autonomous navigation and positioning of the machine in the field.

[0012] Preferably, the spring teeth of the end effector are made of flexible material and are provided with an adaptive adjustment mechanism.

[0013] Preferably, the bionic horse leg structure and the end effector of the robotic arm adopt a modular design.

[0014] Preferably, there is a movable connection position on the calf and the thigh, and the left 1 / 4 of the calf is movably connected to the upper and lower 1 / 7 of the thigh.

[0015] Compared with the related art, the picking machine with intelligent control bionic mechanical arm provided by the utility model has the following beneficial effects:

[0016] The design of the mechanical arm with bionic horse leg structure: This design simplifies the complex picking action into a bionic reciprocating motion, improves the picking efficiency and stability, and is one of the key points of the present invention.

[0017] Height adjustment and precise positioning: Through the automatic adjustment of the lifting platform, the height of the pepper fruits can be accurately positioned, ensuring the accuracy and efficiency of picking.

[0018] Special design of the end effector: The end effector adopts a three-row spring tooth design, with every two rows of spring teeth separated by 120°, which ensures that the pepper fruits can be effectively clamped and released during the picking process, which is another key point of the present invention.

[0019] Intelligent control of the main control system: The main control system is responsible for the movement, height adjustment, robotic arm motion control and end effector action control of the entire picking machine, realizing intelligent and automated picking operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of a picking machine with an intelligently controlled bionic mechanical arm provided by the utility model;

[0021] Figure 2 for Figure 1 The structural schematic diagram of the mechanical arm fixing rod shown;

[0022] Figure 3 for Figure 1 The structural schematic diagram of the spring teeth shown;

[0023] Figure 4 for Figure 1 The structural schematic diagram of the lifting platform shown;

[0024] Figure 5 for Figure 1 Schematic diagram of the structure of the shockproof chassis shown.

[0025] Numbers in the figure: 1. Robotic arm; 2. End effector; 3. Lifting platform; 4. Shockproof chassis; 5. Hip; 6. Robotic arm fixing rod; 7. Synchronous belt; 8. Upper thigh; 9. A motor; 10. A synchronous pulley; 11. Lower thigh; 12. A robot arm fixing plate; 13. B synchronous pulley; 14. Power rod; 15. Intermediate shaft; 16. Intermediate fixing piece; 17. B robot arm fixing plate; 18. Upper calf; 19. Hoof; 20. Lower calf; 21. B motor; 22. End shaft; 23. Spring tooth. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0027] The specific implementation of the present utility model is described in detail below in conjunction with specific embodiments.

[0028] See also Figures 1 to 5 A picking machine with an intelligent bionic robot arm, the picking machine with an intelligent bionic robot arm comprising: a robot arm 1, an A robot arm fixing plate 12, an A motor 9, an end effector 2, a lifting platform 3 and a shockproof chassis 4, the robot arm 1 having a bionic horse leg structure, the robot arm 1 comprising: an upper thigh 8, a lower thigh 11, an upper calf 18, a lower calf 20 and a hoof 19, the upper ends of the upper thigh 8 and the lower thigh 11 are respectively movably connected to the right side and the lower right side of the hip 5, the upper calf 18 and the lower calf 20 are respectively movably connected to the right side and the lower right side of the hip 5, The mechanical arm 1 is fixed on the lifting platform 3 through the A mechanical arm fixing plate 12, and is used to drive the reciprocating motion of the mechanical arm 1. The A motor 9 is fixed on the A mechanical arm fixing plate 12, and transmits the power to the intermediate shaft 15 through the synchronous belt 7, the A synchronous pulley 10 and the B synchronous pulley 13, and then the intermediate shaft 15 is transmitted to the thigh 8 through the power rod 14. The mechanical arm is fixed A mechanical arm fixing rod 6 is fixed on the left side of the plate 12, which is fixed on the hoof 19 of the mechanical arm 1, including a B motor 21, an end shaft 22 and a spring tooth 23, which is used to complete the picking of peppers, and is installed above the shockproof chassis 4, and is used to adjust the picking height range of the end actuator 2. It is installed below the lifting platform 3 to provide power for the entire device, and can automatically travel along the ridge under the control of the main control. The hip 5 of the mechanical arm 1 is movably connected to the top of the mechanical arm fixing plate 12 through the mechanical arm fixing rod 6, and the upper ends of the upper thigh 8 and the lower thigh 11 are movably connected to the right and lower right sides of the hip 5, respectively, and the upper calf 18 and the lower calf 20 are movably connected to the lower end of the lower thigh 11 and the lower end of the upper thigh 8, respectively. The hoof 19 is movably connected to the rightmost side of the upper calf 18 and the lower calf 20; the power of the mechanical arm 1 drives the synchronous pulley 10 and the synchronous belt 7 through the motor 9, and the power is transmitted to the intermediate shaft 15, and then transmitted to the upper thigh 8 by the intermediate shaft 15 through the power rod 14, thereby driving the mechanical arm 1 to complete reciprocating motion.

[0029] It should be noted that: the robot 1 is fixed above the lifting platform 3 through the robot arm fixing plate 17, the robot arm fixing plate 12 is fixed on the robot arm fixing plate 17 to form a fixed frame of the entire robot arm, the robot arm fixing rod 6 is fixed on the left side of the robot arm fixing plate 12, the hip 5 is movably connected above the robot arm fixing rod 6, the uppermost end of the thigh 8 is movably connected to the rightmost side of the hip 5, the uppermost end of the lower thigh 11 is movably connected to the lower right side of the hip 5, and the leftmost end of the calf 18 is movably connected to the lower thigh 1 1 is the lowest end, the left 1 / 4 of the calf 18 is movably connected to the lower 1 / 7 of the thigh 8, the leftmost part of the lower calf 20 is movably connected to the lower part of the thigh 8, the left side of the shoe 19 is movably connected to the rightmost part of the calf, and the right side of the shoe 19 is movably connected to the rightmost part of the lower calf 20, the intermediate fixing member 16 is fixed to the mechanical arm fixing plate 17, the motor 9 is fixed to the left side of the mechanical arm fixing plate 12, and provides power for the operation of the entire mechanical arm, the synchronous pulley 10 is fixed to the rotating shaft of the motor 9, and as the The synchronous belt 7 is mounted on the synchronous pulley 10 and the synchronous pulley 13 and is in a taut state, and is used to transmit the power of the motor 9 to the synchronous pulley 13. The synchronous pulley 13 is fixed in the middle position of the intermediate shaft 15, and is used to transmit the power of the motor 9 to the intermediate shaft. The intermediate shaft 15 is movably connected to the upper part of the intermediate fixing member 16 at a distance of 1 / 3 from the end, and is used to fix the movement center of the robot arm 1, so that the relative position of the rotation center of the intermediate shaft 15 and the robot arm fixing plate 17 is maintained. The power rod 14 remains unchanged, and the upper end of the power rod 14 is fixed to the end of the intermediate shaft 15. During the operation of the motor 9, the power rod 14 and the intermediate shaft 15 remain relatively still, and the relative position of the rotation center of the intermediate shaft 15 and the mechanical arm fixing plate 17 remains unchanged, so that the lower end of the power rod 14 makes a circular motion around the upper end, and the lower end of the power rod 14 is movably connected to the thigh 8 at a position 3 / 7 of the top, so as to transmit the power of the motor 9 to the thigh 8, so that the mechanical arm 1 completes reciprocating motion driven by the motor 9.

[0030] See also Figure 1 and Figure 2 The spring teeth 23 of the end effector 2 are arranged in three rows, and a plurality of spring teeth 23 are evenly installed in each row. The spring teeth 23 in every two rows are spaced 120 degrees apart, so as to improve the picking efficiency and reduce the damage to the pepper fruit.

[0031] See also Figure 4 Under the control of the main control, the lifting platform 3 can identify the position of the pepper fruit in real time through the OpenMV mounted on the robotic arm 1, and automatically adjust the height of the lifting platform 3, thereby adjusting the picking range of the end effector 2 to achieve precise picking.

[0032] See also Figure 1 and Figure 5 The shockproof chassis 4 can automatically move along the ridges under the control of the main controller, providing a stable mobile platform for the entire device.

[0033] See also Figure 1 and Figure 2 The bionic horse leg structure mechanical arm 1 simplifies the complex picking action and realizes the reciprocating motion of picking and placing peppers driven by the A motor 9, thereby improving the picking efficiency and reducing energy consumption.

[0034] See also Figure 1 and Figure 4 The shockproof chassis 4 is further provided with a navigation module for realizing autonomous navigation and positioning of the machine in the field, thereby ensuring the efficiency and accuracy of the picking operation.

[0035] See also Figure 2 The spring teeth 23 of the end effector 2 are made of flexible material and are provided with an adaptive adjustment mechanism to adapt to pepper fruits of different sizes and shapes and reduce damage during the picking process.

[0036] See also Figure 2 The bionic horse leg structure and the end effector 2 of the robotic arm 1 adopt a modular design, which is convenient for replacement and maintenance of components and reduces maintenance costs.

[0037] The working principle of the picking machine of the intelligent control bionic mechanical arm provided by the utility model is as follows:

[0038] 1. System startup and movement

[0039] The system is first started by the main control system to control the shockproof chassis 4 to perform autonomous navigation and movement; the design of the shockproof chassis 4 allows it to travel stably in complex field terrain and automatically travel along the ridges to the work site;

[0040] 2. Height adjustment and positioning

[0041] When arriving at the picking area, the main control system will accurately adjust and position the picking height of the end effector 2 by controlling the lifting and lowering of the lifting platform 3 according to the preset picking height or the height of the pepper fruit detected in real time;

[0042] 3. Bionic movement of the robotic arm

[0043] The robot arm 1 adopts a bionic horse leg structure design, which is driven by the A motor 9, and transmits power to the power rod 14 through the transmission of the A synchronous pulley 10, the synchronous belt 7, the B synchronous pulley 13 and the intermediate shaft 15, thereby driving the upper thigh 8, the lower thigh 11, the upper calf 18, the lower calf 20 and the hoof 19 to perform bionic reciprocating motion; this design simplifies the complex picking action into a motor-driven bionic motion, thereby improving the picking efficiency and stability;

[0044] 4. Picking of the end effector

[0045] When the robot arm 1 locates the pepper fruit, the end effector 2 starts to work; the end shaft 22 is driven to rotate by the B motor 21, driving the spring teeth 23 installed on the end shaft 22 to rotate counterclockwise; the special arrangement of the spring teeth 23 (three rows, each row is evenly equipped with multiple spring teeth, and every two rows of spring teeth are 120° apart) ensures that the pepper fruit can be effectively clamped and released during the picking process to complete the picking action;

[0046] 5. Repeated picking and moving

[0047] After completing one picking, the robot arm 1 and the end effector 2 are reset under the control of the main control system to prepare for the next picking; when the pepper fruits in the area are picked, the shockproof chassis 4 is started again to move the picking machine to the next work location to continue the picking operation.

[0048] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A picking machine with an intelligent bionic robotic arm, characterized in that: include: A mechanical arm (1), the mechanical arm (1) having a bionic horse leg structure, specifically comprising: Hip (5); An upper thigh (8) and a lower thigh (11), wherein the top of the upper thigh (8) is hinged to the upper right part of the hip (5), and the top of the lower thigh (11) is hinged to the lower right part of the hip (5); An upper calf (18) and a lower calf (20), one end of the upper calf (18) is hinged to the bottom end of the lower thigh (11), and one end of the lower calf (20) is hinged to the bottom end of the upper thigh (8); Hoof (19), movably connected to the rightmost part of the upper calf (18) and the lower calf (20); A mechanical arm fixing plate (12), the mechanical arm (1) is fixed above the lifting platform (3) through the A mechanical arm fixing plate (12); A motor (9) is used to drive the reciprocating motion of the robot arm (1). The A motor (9) is fixed on the A robot arm fixing plate (12) and transmits power to the intermediate shaft (15) through the synchronous belt (7) and the A synchronous pulley (10) and the B synchronous pulley (13). The intermediate shaft (15) then transmits power to the thigh (8) through the power rod (14). A robot arm fixing rod (6) is fixed on the left side of the robot arm fixing plate (12). The other end of the robot arm fixing rod (6) is hinged to the left side of the hip (5); The end effector (2) is fixed on the hoof (19) of the robot arm (1), and includes a B motor (21), an end shaft (22) and a spring tooth (23), and is used to complete the picking of peppers; A lifting platform (3) is installed above the shockproof chassis (4), and the lifting platform (3) comprises: an electric push rod, a cross-connection structure and upper and lower brackets hinged thereto, and is used to adjust the picking height range of the end effector (2); The shockproof chassis (4) is installed below the lifting platform (3), provides power for the entire device, and can automatically travel along the field ridges under the control of the main control.

2. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The spring teeth (23) of the end effector (2) are arranged in three rows, with a plurality of spring teeth (23) evenly arranged in each row, and the spring teeth (23) in every two rows being spaced 120 degrees apart, so as to improve picking efficiency and reduce damage to pepper fruits.

3. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The lifting platform (3) can, under the control of the main control, identify the position of the pepper fruit in real time through the OpenMV mounted on the mechanical arm (1), and drive the cross-link structure through the electric push rod to rotate it along the intersection, thereby changing the distance between the upper and lower brackets, thereby changing the height, and then adjusting the picking range of the end effector (2) to achieve accurate picking.

4. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The shockproof chassis (4) can automatically move along the field ridges under the control of the main controller, thereby providing a stable mobile platform for the entire device.

5. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The shockproof chassis (4) is further provided with a navigation module for realizing autonomous navigation and positioning of the machine in the field.

6. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The spring teeth (23) of the end effector (2) are made of flexible material and are provided with an adaptive adjustment mechanism.

7. The picking machine with intelligent bionic robotic arm according to claim 1, characterized in that: The bionic horse leg structure and the end effector (2) of the mechanical arm (1) adopt a modular design.

8. The picking machine with intelligent controlled bionic robotic arm according to claim 1, characterized in that: There is a movable connection position between the calf (18) and the thigh (8), and the left 1 / 4 of the calf (18) is movably connected to the lower 1 / 7 of the thigh (8).

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