Leaf plant picking robot

Abstract

The utility model discloses a leaf plant picking robot which comprises a grabbing and clamping mechanism, a chassis movement mechanism and a picking arm mechanism, the chassis movement mechanism is used for driving the leaf plant picking robot to move, and the picking arm mechanism is arranged on the chassis movement mechanism; the grabbing and clamping mechanism is arranged on the picking arm mechanism; the grabbing and clamping mechanism comprises a picking clamping jaw, and the picking clamping jaw is used for picking leaves from branches of plants. According to the picking robot, the leaves can be mechanically picked through the picking clamping jaw of the picking robot, traditional manual picking is replaced, in other words, compared with traditional manual picking, the picking robot can reduce the number of workers, the working efficiency is improved, and meanwhile the production cost is reduced. Meanwhile, the picking robot also conforms to the planting production development concept of a new generation of agriculture which is helped by science and technology.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery and equipment, in particular to a leaf picking robot. Background Art

[0002] The existing mulberry leaf picking operation is mainly manual picking or manual picking using picking tools. This picking method requires a lot of labor and labor time. On the one hand, manual picking takes a long time, has high labor intensity, low efficiency, and high picking costs. Long-term picking is also likely to cause hand injuries to the pickers. On the other hand, manual picking obviously no longer meets the development requirements of mulberry silkworm breeding and mulberry tree planting. Utility Model Content

[0003] Aiming at the above problems, the utility model proposes a leaf picking robot.

[0004] The technical solution adopted by the utility model is as follows:

[0005] The present application provides a leaf picking robot, comprising a gripping mechanism, a chassis motion mechanism and a picking arm mechanism.

[0006] The chassis motion mechanism is used to drive the leaf picking robot to move, and the picking arm mechanism is arranged on the chassis motion mechanism;

[0007] The gripping mechanism is arranged on the picking arm mechanism, and the gripping mechanism is used for picking leaves from the leaf plants.

[0008] By using a picking robot to pick leaves from leaf plants, compared to traditional manual picking, the number of workers can be reduced, work efficiency can be improved, and production costs can be reduced. At the same time, the picking robot also conforms to the new generation of agricultural planting and production development concept of science and technology to help farmers.

[0009] Furthermore, the gripping mechanism includes a picking jaw, and the picking jaw is used to pick leaves from branches of the plant;

[0010] The picking clamp comprises a picking clamp plate, a mounting plate and a power source, wherein the picking clamp plate is connected to an output shaft of the power source, the power source is arranged on the mounting plate, and the power source is used to drive the picking clamp plate to perform shearing and clamping motion.

[0011] Under the action of the picking arm mechanism, the picking claws can pick the leaves, replacing traditional manual picking.

[0012] Furthermore, the picking clamp also includes a displacement sensor, a fixing plate and a blocking plate, and the fixing plate is fixed on the picking clamp;

[0013] The displacement sensor has a fixed end and a telescopic end connected to the fixed end, the fixed end is fixedly mounted on the picking clamp, and the telescopic end passes through the fixed plate and is connected to the blocking plate;

[0014] When the picking jaws are performing picking operations and the barrier plate encounters an obstacle along the telescopic direction of the displacement sensor, the resistance exerted on the barrier plate can be converted into the displacement of the telescopic end along the telescopic direction; when the displacement reaches a set value, the picking jaws stop moving toward the obstacle.

[0015] A displacement sensor is provided to automatically stop the movement of the picking claws, thereby preventing the picking claws from continuing to move after reaching the root of the branches and damaging the plants or the picking claws.

[0016] Furthermore, a limiting column is arranged on one side of the blocking plate close to the fixing plate, and the limiting column is used to prevent the telescopic end of the displacement sensor from excessively displacing and damaging the displacement sensor.

[0017] Furthermore, the picking splint includes two hinged support splints, and a concave groove is formed on the support splint. When the picking splint is closed, two opposite concave grooves form a limiting hole structure;

[0018] The limiting hole structure is used to be clamped on the branches of the plant. When the picking arm mechanism moves, the picking claws pick the leaves from the branches through the limiting hole structure.

[0019] When the picking arm mechanism is working, the limiting hole structure picks leaves in batches by using the method of "pulling" or "pulling". Compared with the traditional method of picking leaves one by one, the work efficiency is greatly improved.

[0020] Furthermore, the picking claw also includes a steering gear, one end of which is arranged on the mounting plate, and the other end is connected to the picking arm mechanism, and the steering gear is used to drive the picking claw to rotate to adapt to branches in different directions.

[0021] Furthermore, the picking arm mechanism includes a first telescopic assembly, a first sliding assembly and a second sliding assembly;

[0022] The first sliding assembly is vertically arranged on the chassis motion mechanism;

[0023] The second sliding component is horizontally arranged on the first sliding component, and the second sliding component can slide along the z-axis direction through the first sliding component;

[0024] The first telescopic component is horizontally arranged on the second sliding component, and the first telescopic component can slide along the y-axis direction through the second sliding component;

[0025] The telescopic direction of the first telescopic component is perpendicular to the sliding direction of the second sliding component, the picking claw is installed on the first telescopic component, and the picking claw can be moved along the x-axis direction through the first telescopic component;

[0026] The picking clamp, the first telescopic assembly and the second sliding assembly also form a first picking mechanism, and at least one first picking mechanism is installed on the first sliding assembly.

[0027] Furthermore, the gripping mechanism also includes a plant orientation clamp; the plant orientation clamp is used to clamp on the plant to orient the plant, for example, to make the trunk of the plant vertical, so as to facilitate the picking clamp to pick leaves from the side branches of the plant;

[0028] The picking arm mechanism also includes a second telescopic assembly and a third sliding assembly.

[0029] The third sliding component is horizontally arranged above or below the second sliding component, and the third sliding component is relatively fixed to the first sliding component;

[0030] The second telescopic component is horizontally arranged on the third sliding component, and the second telescopic component can slide along the y-axis direction through the third sliding component;

[0031] The telescopic direction of the second telescopic component is perpendicular to the sliding direction of the third sliding component, the plant orientation clamp is installed on the second telescopic component, and the plant orientation clamp can be moved along the x-axis direction through the second telescopic component;

[0032] The plant orientation clamp, the second telescopic assembly and the third sliding assembly also constitute a second picking mechanism, and at least one second picking mechanism is installed on the first sliding assembly.

[0033] Furthermore, the plant orienting clamp is detachably mounted on the second telescopic assembly.

[0034] Furthermore, a buffer pad is provided on the plant orientation clamping jaws, and the buffer pad is used to prevent the plant from being injured by the clamping.

[0035] Furthermore, the first sliding assembly, the second sliding assembly and the third sliding assembly are all linear modules;

[0036] The first telescopic assembly and the second telescopic assembly respectively include a mounting seat, a telescopic rod, and a power source for driving the telescopic rod to extend and retract;

[0037] The mounting seat is used to fix the telescopic rod on the third sliding assembly or the second sliding assembly;

[0038] The picking clamp and the plant orientation clamp are respectively fixed on the telescopic rods of the first telescopic assembly and the second telescopic assembly.

[0039] Furthermore, the linear module includes a motor, a linear guide rail and a slide seat, the slide seat is slidably arranged on the linear guide rail, and the motor is used to drive the slide seat to move.

[0040] The linear module is a synchronous belt linear module or a ball screw linear module.

[0041] In actual use, the synchronous belt linear module is preferred. The synchronous belt linear module has a larger load-bearing capacity and is more affordable than the ball screw linear module.

[0042] Furthermore, the picking arm mechanism further comprises a gantry-type mounting frame, and the mounting frame is fixed on the chassis motion mechanism;

[0043] The first sliding components include two groups, and the two groups of first sliding components are respectively located on two vertical arms of the gantry type mounting frame.

[0044] Furthermore, the gripping mechanism also includes a pruning claw, and the pruning claw is used to cut the branches of the plant;

[0045] The picking clamp is detachably mounted on the picking arm mechanism. When pruning operations are required, the picking clamp can be detached from the picking arm mechanism and replaced with a pruning clamp.

[0046] Furthermore, the pruning jaws are provided with branch shears, and the branch shears are used for cutting branches. When pruning is required, the picking jaws or the plant orientation jaws are removed and replaced with pruning jaws.

[0047] Furthermore, it also includes a controller and a GPS navigation device connected to the controller by electrical signals, wherein the GPS navigation device is used to implement automatic positioning and navigation;

[0048] The controller is also connected to the picking arm mechanism and the grasping and clamping mechanism respectively by electrical signals, and the controller is used to control the picking arm mechanism and the grasping and clamping mechanism to perform picking work.

[0049] The beneficial effects of the utility model are:

[0050] (1) By using a picking robot and a picking gripper combined with a picking arm mechanism, the limit hole structure uses a "pulling" or "pulling" method to pick leaves in batches. Compared with the traditional leaf-by-leaf picking method, the work efficiency is greatly improved and the production cost is reduced. At the same time, the picking robot also conforms to the new generation of agricultural production development concept of science and technology to help farmers.

[0051] (2) The picking claws are provided with displacement sensors and other components, so that the picking claws automatically stop moving after reaching the root of the branches, to prevent the picking claws from damaging the plants or the picking claws. The gripping mechanism is provided with plant-oriented claws, which cooperate with the picking claws to pick leaves, which has higher picking efficiency and can protect the plants.

[0052] (3) The gripping mechanism is also equipped with pruning claws. When pruning operations are required, the picking claws or plant orientation claws are removed and replaced with pruning claws. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the axial structure of the leaf picking robot according to an embodiment of the utility model;

[0054] Figure 2 yes Figure 1 A is a schematic diagram of the partially enlarged structure of the middle part;

[0055] Figure 3 It is a schematic diagram of the axial structure of the picking clamping claw of the utility model embodiment;

[0056] Figure 4 It is a schematic diagram of the axial structure of the plant orientation clamping jaws of the utility model embodiment;

[0057] Figure 5 The utility model is a schematic diagram of the axial structure of the pruning clamp in the embodiment of the utility model.

[0058] The reference numerals in the figures are:

[0059] 10. Chassis movement mechanism; 20. Picking arm mechanism; 210. First telescopic component; 220. First sliding component; 230. Second sliding component; 240. Second telescopic component; 250. Third sliding component; 30. Grasping mechanism; 310. Picking claw; 311. Picking splint; 3111. Concave groove; 3112. Limiting hole structure; 312. Mounting plate; 313. Power source; 314. Displacement sensor; 3141. Fixed end; 3142. Telescopic end; 315. Fixed plate; 316. Blocking plate; 3161. Limiting column; 317. Servo; 320. Plant orientation claw; 321. Buffer pad; 330. Pruning claw; 331. Branch shears. DETAILED DESCRIPTION

[0060] The utility model is described in detail below in conjunction with the accompanying drawings.

[0061] like Figure 1 to Figure 5 As shown, the present application provides a leaf picking robot, including a gripping mechanism 30, a chassis motion mechanism 10 and a picking arm mechanism 20.

[0062] The chassis motion mechanism 10 is used to drive the leaf picking robot to move, and the picking arm mechanism 20 is arranged on the chassis motion mechanism 10;

[0063] The gripping mechanism 30 is disposed on the picking arm mechanism 20 , and the gripping mechanism 30 is used to pick leaves from the leaf plants.

[0064] By using a picking robot to pick leaves from leaf plants, compared to traditional manual picking, the number of workers can be reduced, work efficiency can be improved, and production costs can be reduced. At the same time, the picking robot also conforms to the new generation of agricultural planting and production development concept of science and technology to help farmers.

[0065] In this embodiment, the gripping mechanism 30 includes a picking jaw 310, and the picking jaw 310 is used to pick leaves from branches of plants;

[0066] The picking clamp 310 includes a picking plate 311, a mounting plate 312 and a power source 313. The picking plate 311 is connected to the output shaft of the power source 313. The power source 313 is arranged on the mounting plate 312. The power source 313 is used to drive the picking plate 311 to perform shearing and clamping movements.

[0067] Under the action of the picking arm mechanism 20, the picking claws 310 can pick the leaves, replacing the traditional manual picking.

[0068] In this embodiment, the power source 313 is a servo motor.

[0069] like Figure 1 and Figure 3 As shown, in this embodiment, the picking clamp 310 further includes a displacement sensor 314, a fixing plate 315 and a blocking plate 316, and the fixing plate 315 is fixed on the picking clamp plate 311;

[0070] The displacement sensor 314 has a fixed end 3141 and a telescopic end 3142 connected to the fixed end 3141, the fixed end 3141 is fixedly mounted on the picking clamping plate 311, and the telescopic end 3142 passes through the fixed plate 315 and is connected to the blocking plate 316;

[0071] When the picking jaw 310 performs a picking operation and the blocking plate 316 encounters an obstacle along the extension direction of the displacement sensor 314, the resistance exerted on the blocking plate 316 can be converted into the displacement of the extension end 3142 along the extension direction; when the displacement reaches the set value, the picking jaw 310 stops moving toward the obstacle.

[0072] The displacement sensor 314 is provided to automatically stop the movement of the picking jaw 310, thereby preventing the picking jaw 310 from continuing to move after reaching the root of the branch and damaging the plant or the picking jaw 310.

[0073] In this embodiment, a limiting column 3161 is disposed on one side of the blocking plate 316 close to the fixing plate 315 , and the limiting column 3161 is used to prevent the telescopic end 3142 of the displacement sensor 314 from excessively displacing and damaging the displacement sensor 314 .

[0074] In this embodiment, the picking clamp 311 includes two hinged support clamps, and a concave groove 3111 is formed on the support clamp. When the picking clamp 311 is closed, the two opposite concave grooves 3111 form a limiting hole structure 3112;

[0075] The limiting hole structure 3112 is used to be clamped on the branches of the plant. When the picking arm mechanism 20 moves, the picking claw 310 picks the leaves from the branches through the limiting hole structure 3112.

[0076] When the picking arm mechanism 20 is working, the limiting hole structure 3112 picks leaves in batches by using the method of "pulling" or "pulling". Compared with the traditional method of picking leaves one by one, the work efficiency is greatly improved.

[0077] In this embodiment, the picking jaw 310 also includes a servo 317. One end of the servo 317 is disposed on the mounting plate 312, and the other end is connected to the picking arm mechanism 20. The servo 317 is used to drive the picking jaw 310 to rotate to adapt to branches in different directions.

[0078] like Figure 1 and Figure 2 As shown, in this embodiment, the picking arm mechanism 20 includes a first telescopic assembly 210, a first sliding assembly 220 and a second sliding assembly 230;

[0079] The first sliding assembly 220 is vertically disposed on the chassis movement mechanism 10;

[0080] The second sliding assembly 230 is horizontally disposed on the first sliding assembly 220, and the second sliding assembly 230 can slide along the z-axis direction through the first sliding assembly 220;

[0081] The first telescopic assembly 210 is horizontally disposed on the second sliding assembly 230, and the first telescopic assembly 210 can slide along the y-axis direction through the second sliding assembly 230;

[0082] The telescopic direction of the first telescopic assembly 210 is perpendicular to the sliding direction of the second sliding assembly 230. The picking claw 310 is installed on the first telescopic assembly 210. The picking claw 310 can move along the x-axis direction through the first telescopic assembly 210.

[0083] The picking claw 310, the first telescopic assembly 210 and the second sliding assembly 230 also constitute a first picking mechanism, and a first picking mechanism is installed on the first sliding assembly 220. In actual use, two first picking mechanisms can be set on the first sliding assembly 220, and the picking claw 310 of one of the first picking mechanisms is replaced with the pruning claw 330, so that the work of picking leaves and pruning branches can be realized.

[0084] In this embodiment, the gripping mechanism 30 further includes a plant orientation clamp 320; the plant orientation clamp 320 is used to clamp on the plant to orient the plant, for example, to make the trunk of the plant vertical, so as to facilitate the picking clamp 310 to pick leaves from the side branches of the plant;

[0085] The picking arm mechanism 20 further includes a second telescopic assembly 240 and a third sliding assembly 250.

[0086] The third sliding assembly 250 is horizontally disposed above or below the second sliding assembly 230, and the third sliding assembly 250 is relatively fixed to the first sliding assembly 220;

[0087] The second telescopic assembly 240 is horizontally disposed on the third sliding assembly 250, and the second telescopic assembly 240 can slide along the y-axis direction through the third sliding assembly 250;

[0088] The telescopic direction of the second telescopic assembly 240 is perpendicular to the sliding direction of the third sliding assembly 250. The plant orientation clamp 320 is installed on the second telescopic assembly 240. The plant orientation clamp 320 can move along the x-axis direction through the second telescopic assembly 240.

[0089] The plant orientation clamp 320 , the second telescopic assembly 240 and the third sliding assembly 250 further constitute a second picking mechanism, and at least one second picking mechanism is installed on the first sliding assembly 220 .

[0090] In this embodiment, the plant orienting clamp 320 is detachably mounted on the second telescopic assembly 240 .

[0091] like Figure 1 and Figure 4 As shown, in this embodiment, a buffer pad 321 is provided on the plant orientation clamp 320, and the buffer pad 321 is used to prevent the plant from being clamped.

[0092] In this embodiment, the first sliding assembly 220 , the second sliding assembly 230 , and the third sliding assembly 250 are all linear modules;

[0093] The first telescopic assembly 210 and the second telescopic assembly 240 respectively include a mounting seat, a telescopic rod, and a power source 313 for driving the telescopic rod to extend and retract, and the power source 313 is a servo motor;

[0094] The mounting seat is used to fix the telescopic rod on the third sliding assembly 250 or the second sliding assembly 230;

[0095] The picking jaws 310 and the plant orienting jaws 320 are fixed on the telescopic rods of the first telescopic assembly 210 and the second telescopic assembly 240 respectively.

[0096] In this embodiment, the linear module includes a motor, a linear guide rail and a slide seat. The slide seat is slidably disposed on the linear guide rail, and the motor is used to drive the slide seat to move.

[0097] The linear module is a synchronous belt linear module or a ball screw linear module.

[0098] In this embodiment, the picking arm mechanism 20 further includes a gantry-type mounting frame, which is fixed on the chassis motion mechanism 10;

[0099] The first sliding assembly 220 includes two groups, and the two groups of first sliding assemblies 220 are respectively located on two vertical arms of the gantry type mounting frame.

[0100] In this embodiment, the gripping mechanism 30 further includes a pruning claw 330, and the pruning claw 330 is used to cut the branches of the plant;

[0101] The picking clamp 310 can be detachably mounted on the picking arm mechanism 20 . When pruning operations are required, the picking clamp 310 can be detached from the picking arm mechanism 20 and replaced with the pruning clamp 330 .

[0102] like Figure 1 and Figure 5 As shown, in this embodiment, a branch shear 331 is provided on the pruning clamp 330, and the branch shear 331 is used for cutting branches. When pruning is required, the picking clamp 310 or the plant orientation clamp 320 is removed and replaced with the pruning clamp 330.

[0103] In this embodiment, a controller (not shown) and a GPS navigation device connected to the controller by electrical signals are also included, and the GPS navigation device is used to implement automatic positioning and navigation;

[0104] The controller is also connected to the picking arm mechanism 20 and the grasping and clamping mechanism 30 via electrical signals, and is used to control the picking arm mechanism 20 and the grasping and clamping mechanism 30 to perform picking operations.

[0105] In actual use, the chassis motion mechanism 10 is a crawler chassis, and the GPS navigation system is installed on the chassis motion mechanism 10 .

[0106] The above are only preferred embodiments of the present invention, and the patent protection scope of the present invention is not limited thereto. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, are also included in the protection scope of the present invention.

Claims

1. A leaf picking robot, characterized in that: It includes a gripping mechanism, a chassis movement mechanism and a picking arm mechanism. The chassis motion mechanism is used to drive the leaf picking robot to move, and the picking arm mechanism is arranged on the chassis motion mechanism; The gripping mechanism is arranged on the picking arm mechanism, and the gripping mechanism is used to pick leaves from the leaf plants; The gripping mechanism comprises a picking jaw, and the picking jaw is used to pick leaves from branches of plants; The picking clamp comprises a picking clamp plate, a mounting plate and a power source, wherein the picking clamp plate is connected to an output shaft of the power source, the power source is arranged on the mounting plate, and the power source is used to drive the picking clamp plate to perform shearing and clamping motion; The gripping mechanism also includes a pruning claw, which is used to cut the branches of the plant; The picking clamp is detachably mounted on the picking arm mechanism. When pruning operations are required, the picking clamp can be detached from the picking arm mechanism and replaced with a pruning clamp.

2. A leaf picking robot as claimed in claim 1, characterized in that: The picking clamp also includes a displacement sensor, a fixing plate and a blocking plate, wherein the fixing plate is fixed to the picking clamp; The displacement sensor has a fixed end and a telescopic end connected to the fixed end, the fixed end is fixedly mounted on the picking clamp, and the telescopic end passes through the fixed plate and is connected to the blocking plate; When the picking jaws are performing picking operations and the barrier plate encounters an obstacle along the telescopic direction of the displacement sensor, the resistance exerted on the barrier plate can be converted into the displacement of the telescopic end along the telescopic direction; when the displacement reaches a set value, the picking jaws stop moving toward the obstacle.

3. The leaf picking robot according to claim 1, characterized in that: The picking splint comprises two hinged support splints, and a concave groove is formed on the support splint. When the picking splint is closed, two opposite concave grooves form a limiting hole structure; The limiting hole structure is used to be clamped on the branches of the plant. When the picking arm mechanism moves, the picking claws pick the leaves from the branches through the limiting hole structure.

4. The leaf picking robot according to claim 1, characterized in that: The picking clamp also includes a steering gear, one end of which is arranged on the mounting plate, and the other end is connected to the picking arm mechanism. The steering gear is used to drive the picking clamp to rotate to adapt to branches in different directions.

5. The leaf picking robot according to claim 1, characterized in that: The picking arm mechanism includes a first telescopic assembly, a first sliding assembly and a second sliding assembly; The first sliding assembly is vertically arranged on the chassis motion mechanism; The second sliding component is horizontally arranged on the first sliding component, and the second sliding component can slide along the z-axis direction through the first sliding component; The first telescopic component is horizontally arranged on the second sliding component, and the first telescopic component can slide along the y-axis direction through the second sliding component; The telescopic direction of the first telescopic component is perpendicular to the sliding direction of the second sliding component, the picking claw is installed on the first telescopic component, and the picking claw can be moved along the x-axis direction through the first telescopic component; The picking clamp, the first telescopic assembly and the second sliding assembly also form a first picking mechanism, and at least one first picking mechanism is installed on the first sliding assembly.

6. A leaf picking robot as claimed in claim 5, characterized in that: The gripping mechanism also includes a plant orientation clamp; the plant orientation clamp is used to clamp on the plant to orient the plant, so as to facilitate the picking clamp to pick leaves; The picking arm mechanism also includes a second telescopic assembly and a third sliding assembly. The third sliding component is horizontally arranged above or below the second sliding component, and the third sliding component is relatively fixed to the first sliding component; The second telescopic component is horizontally arranged on the third sliding component, and the second telescopic component can slide along the y-axis direction through the third sliding component; The telescopic direction of the second telescopic component is perpendicular to the sliding direction of the third sliding component, the plant orientation clamp is installed on the second telescopic component, and the plant orientation clamp can be moved along the x-axis direction through the second telescopic component; The plant orientation clamp, the second telescopic assembly and the third sliding assembly also constitute a second picking mechanism, and at least one second picking mechanism is installed on the first sliding assembly.

7. A leaf picking robot as claimed in claim 6, characterized in that: The first sliding assembly, the second sliding assembly and the third sliding assembly are all linear modules; The first telescopic assembly and the second telescopic assembly respectively include a mounting seat, a telescopic rod, and a power source for driving the telescopic rod to extend and retract; The mounting seat is used to fix the telescopic rod on the third sliding assembly or the second sliding assembly; The picking clamp and the plant orientation clamp are respectively fixed on the telescopic rods of the first telescopic assembly and the second telescopic assembly.

8. The leaf picking robot according to claim 1, characterized in that: It also includes a controller and a GPS navigation device connected to the controller by electrical signals, wherein the GPS navigation device is used to implement automatic positioning and navigation; The controller is also connected to the picking arm mechanism and the grasping and clamping mechanism respectively by electrical signals, and the controller is used to control the picking arm mechanism and the grasping and clamping mechanism to perform picking work.

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