Drip irrigation, picking and sorting integrated robot

Abstract

The utility model relates to a drip irrigation, picking and sorting integrated robot which comprises a robot body and further comprises a main mechanical arm arranged on the robot body. The auxiliary mechanical arm comprises a drip irrigation mechanical arm and a picking and sorting mechanical arm which can be detachably connected to the main mechanical arm, the drip irrigation mechanical arm is provided with a spray head, the spray head is used for spraying drip irrigation liquid, any one picking and sorting mechanical arm is provided with built-in scissors and at least three mechanical claws, and the three mechanical claws are used for fixing a picked object; the built-in scissors are used for cutting roots of picked objects; any picking and sorting mechanical arm is provided with the conveying pipeline, the conveying pipeline is provided with an input port and an output port, the input port is located under the three mechanical claws, the output port communicates with a storage box located on the robot body, and flexible buffering shifting pieces are evenly arranged on the inner surface of the conveying pipeline; the drip irrigation, picking and sorting all-in-one machine can execute drip irrigation, picking and sorting tasks, so that the working efficiency is improved, and the damage to picked objects can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural automation, in particular to a robot integrating drip irrigation, picking and sorting. Background Art

[0002] With the rapid development of technology, various robots have begun to enter people's lives, providing many conveniences and pleasures. With the advent of an aging society and the sharp decline of rural young labor force, this has promoted the rapid development of robots in the agricultural field. They play an increasingly important role in improving work efficiency and making up for the shortage of labor. However, there are few types of currently developed agricultural robots, and the degree of functional integration is not high enough. They cannot perform multiple tasks simultaneously. For different tasks, different robots are needed to complete them. For example, drip irrigation tasks, picking tasks, and sorting tasks are all completed by different robots. This undoubtedly increases the complexity of the work process and reduces work efficiency. Moreover, the current picking robots on the market are all single-claw picking, with low picking efficiency and more damage to the picked objects during the sorting process. Summary of the Utility Model

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the problem that robots in the prior art cannot complete multiple tasks simultaneously, resulting in low work efficiency and more damage to the picked objects. Furthermore, a robot integrating drip irrigation, picking and sorting is provided, which can perform multiple tasks, improve work efficiency, and reduce damage to the picked objects.

[0004] To solve the above technical problem, the utility model provides a robot integrating drip irrigation, picking and sorting, which includes a robot body, and also includes,

[0005] A main robotic arm, which is arranged on the robot body;

[0006] A sub-robotic arm, which includes a plurality of drip irrigation robotic arms and a plurality of picking and sorting robotic arms that can be detachably connected to the main robotic arm. Any one of the drip irrigation robotic arms is provided with a nozzle for spraying drip irrigation liquid. Any one of the picking and sorting robotic arms is provided with an internal scissors and at least three robotic claws. The three robotic claws are used to fix the picked object, and the internal scissors are used to cut the root of the picked object. Among them, the robotic claws on different picking and sorting robotic arms have different closing amplitudes to fix picked objects of different sizes;

[0007] A transportation pipeline. Any one of the picking and sorting robotic arms is configured with the transportation pipeline. The transportation pipeline is provided with an input port and an output port. The input port is located directly below the three robotic claws, and the output port communicates with a storage box arranged on the robot body. The inner surface of the transportation pipeline is evenly provided with flexible buffer paddles.

[0008] In an embodiment of the present utility model, it further includes a driving module disposed on the robot body. The driving module includes a main driving wheel and a secondary driving wheel. The main driving wheel and the secondary driving wheel independently drive the robot body to move respectively. Among them, the secondary driving wheel is configured with an independent power source.

[0009] In an embodiment of the present utility model, it further includes a control module disposed on the robot body. The control module is electrically connected to the driving module, the main robotic arm, and the secondary robotic arm.

[0010] In an embodiment of the present utility model, it further includes a main switch and a control panel provided on the robot body. Both the main switch and the control panel are electrically connected to the control module. The control panel is provided with a switching button, and the picking mode or the drip irrigation mode can be switched through the switching button.

[0011] In an embodiment of the present utility model, the control module is provided with a data line interface, and the control module is electrically connected to the main robotic arm through the data line interface.

[0012] In an embodiment of the present utility model, it further includes a vision module electrically connected to the control module. The vision module judges the color and size of the picking object and detects the distance between the robotic claw and the picking object.

[0013] In an embodiment of the present utility model, it further includes a main power source disposed on the robot body. The main power source supplies power to the main driving wheel, the secondary robotic arm, the main robotic arm, the control module, and the vision module.

[0014] In an embodiment of the present utility model, the storage box is equipped with a refrigerator and a weighing scale. The storage box is provided with at least three independent storage bins, and the output ports of the plurality of transportation pipelines are respectively communicated with the plurality of storage bins.

[0015] In an embodiment of the present utility model, both the main robotic arm and the secondary robotic arm are provided with data line interfaces, and the main robotic arm and the secondary robotic arm are electrically connected through the data line interfaces.

[0016] In an embodiment of the present utility model, the main driving wheel is set as an internal brake wheel, and the internal brake wheel is wrapped by a crawler matching the track.

[0017] The above technical solution of the present utility model has the following beneficial effects compared with the prior art:

[0018] The integrated drip irrigation, picking and sorting robot described in the utility model is provided with a drip irrigation robotic arm and a picking and sorting robotic arm on the main robotic arm. The drip irrigation robotic arm is used for drip irrigation, and the picking and sorting robotic arm is used for picking and sorting, so that the robot can complete the tasks of drip irrigation, picking and sorting, improving work efficiency; the picking and sorting robotic arm is provided with an internal scissors and three robotic claws, and the three robotic claws are used for fixing the picking object, and the internal scissors are used for cutting the root of the picking object, avoiding accidental injury to the picking object by the robotic claws and scissors; during the process of the picking object falling into the storage box, the flexible buffer flap is used for buffering and decelerating the picking object, avoiding damage to the picking object due to hard landing; multiple picking and sorting robotic arms are respectively used for picking and sorting small, medium and large picking objects, further improving the sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the content of the utility model easier to be clearly understood, the following further details the utility model according to the specific embodiments of the utility model in conjunction with the attached drawings, wherein

[0020] Figure 1 is a schematic structural diagram of the front view of the integrated drip irrigation, picking and sorting robot in the preferred embodiment of the utility model.

[0021] Figure 2 is Figure 1 a schematic structural diagram of the mounting seat and the auxiliary robotic arm of the shown integrated drip irrigation, picking and sorting robot.

[0022] Figure 3 is Figure 1 a schematic structural diagram of the sectional view of the transport pipeline of the shown integrated drip irrigation, picking and sorting robot.

[0023] Figure 4 is a schematic structural diagram of the robotic claw and the internal scissors in the preferred embodiment of the utility model.

[0024] Explanation of the reference numerals in the drawings: 1, main power supply; 2, auxiliary driving wheel; 3, main driving wheel; 4, storage box; 5, transport pipeline; 51, output port; 52, input port; 6, main robotic arm; 7, control panel; 8, internal scissors; 9, auxiliary robotic arm; 91, robotic claw; 10, vision module; 11, data cable interface; 12, robotic arm fixing position; 121, robotic arm fixing seat; 13, buffer flap; 131, guiding inclined surface. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following further describes the utility model in conjunction with the attached drawings and specific embodiments, so that those skilled in the art can better understand the utility model and be able to implement it, but the examples given are not intended to limit the utility model.

[0026] Embodiment

[0027] Referring to Figure 1 as shown, in an embodiment of the present utility model, an integrated robot for drip irrigation, picking and sorting includes a robot body, and the robot body serves as the torso of the entire robot to play a supporting role. The robot further includes,

[0028] A main robotic arm 6, which is arranged on the robot body. The main robotic arm 6 is arranged to be vertically telescopic. The output end of the main robotic arm 6 is connected with a robotic arm fixing seat 121. The robotic arm fixing seat 121 is provided with a plurality of fixing positions 12. In other embodiments, the main robotic arm 6 can be arranged as a multi-axis robotic arm;

[0029] A secondary robotic arm 9, which includes three drip irrigation robotic arms and three picking and sorting robotic arms that can be detachably connected to the robotic arm fixing seat 121 of the main robotic arm 6. The three picking and sorting robotic arms are arranged to pick picking objects of small, medium and large sizes respectively. The three drip irrigation robotic arms can perform drip irrigation operations simultaneously to improve the operation efficiency; both the drip irrigation robotic arms and the picking and sorting robotic arms are arranged as multi-axis robotic arms. In this embodiment, according to the operation environment, before the operation, the worker manually connects the three drip irrigation robotic arms or the three picking and sorting robotic arms to the fixing positions 12 of the robotic arm fixing seat 121 respectively. In other embodiments, the three drip irrigation robotic arms and the three picking and sorting robotic arms can be installed on the robotic arm fixing seat 121 simultaneously to reduce the workload of frequent disassembly; any one of the drip irrigation robotic arms is provided with a nozzle. A liquid storage tank for storing drip irrigation liquid is arranged on the robot body. The drip irrigation liquid in the liquid storage tank is conveyed to the nozzle through a telescopic infusion tube, and the drip irrigation liquid is sprayed onto the drip irrigation object through the nozzle. Any one of the picking and sorting robotic arms is provided with an internal scissors 8 and three mechanical claws 91. The three mechanical claws 91 are used to fix the picking object. The internal scissors 8 is driven by a cylinder to extend or contract relative to the three mechanical claws 91. The internal scissors 8 is used to cut the root of the picking object. After the three mechanical claws 91 fix the picking object, it extends and cuts the root of the picking object by the drive of the cylinder; the internal scissors 8 is telescopically arranged in the picking and sorting robotic arm and can avoid the picking object to prevent accidental injury to the picking object. The picking objects include fruits, flowers, etc.;

[0030] More specifically, in order for the three mechanical claws of different picking and sorting robotic arms to be able to match picking objects of different sizes, among the three picking and sorting robotic arms, the three mechanical claws on the first picking and sorting robotic arm have a small closing amplitude and are used to fix large-size picking objects; the three mechanical claws on the second picking and sorting robotic arm have a medium closing amplitude and are used to fix medium-size picking objects; the three mechanical claws on the third picking and sorting robotic arm have a large closing amplitude and are used to fix small-size picking objects.

[0031] Transport pipeline 5, and each of the picking and sorting robotic arms is equipped with one such transport pipeline 5. The two ends of the transport pipeline 5 are provided with an input port 52 and an output port 51. The input port 52 is fixed directly below the three mechanical claws 91, and the picking object falls from the mechanical claws 91 into the input port 52. The output port 51 is connected to the storage box 4 located on the robot body. The transport pipeline 5 is preferably set as a telescopic pipeline to flexibly cooperate with the telescopic movement of the main robotic arm 6 and the picking and sorting robotic arms. The inner surface of the transport pipeline 5 is evenly provided with flexible buffer paddles 13. As Figure 3 shown, the flexible buffer paddles 13 are arranged obliquely downward along the conveying direction of the picking object to reduce resistance. The surface of the flexible buffer paddles 13 is provided with a guiding inclined surface 131 for guiding the picking object. The flexible buffer paddles 13 include metal elastic sheets and flexible materials coated on the surfaces of the metal elastic sheets. The flexible materials include sponge, rubber, and plastic, etc.

[0032] In an embodiment of the present invention, referring to Figure 1 shown, it further includes a driving module arranged at the bottom of the robot body. The driving module includes main driving wheels 3 and auxiliary driving wheels 2 both arranged on both sides of the robot body. The main driving wheels 3 and the auxiliary driving wheels 2 independently drive the robot body to move respectively. The main driving wheels 3 provide the main power source for the robot. The auxiliary driving wheels 2 are not generally turned on as a backup power source. When the main driving wheels 3 lose power, the auxiliary driving wheels 2 are automatically turned on to drive the robot to continue moving forward. The auxiliary driving wheels 2 are configured with independent power sources, and these power sources supply electrical energy to the auxiliary driving wheels 2 alone, and are independent of the power supply system of the main driving wheels 3.

[0033] In an embodiment of the present invention, referring to Figure 1 shown, it further includes a control module arranged on the robot body. The control module includes a programmable logic controller, etc.; the control module is electrically connected to the driving module, the main robotic arm 6, and the auxiliary robotic arm 9 for controlling and coordinating the actions of the entire robot.

[0034] In an embodiment of the present invention, referring to Figure 1 shown, it further includes a main switch and a control panel 7 arranged on the robot body. Both the main switch and the control panel 7 are electrically connected to the control module. The main switch is used to turn on or off the robot. The control panel 7 is provided with a switching button and an adjustment button. The switching button is used to switch to the picking mode or the drip irrigation mode, and the adjustment button is used to set the parameters of the robot.

[0035] In an embodiment of the present invention, referring to Figure 1As shown, the control module is provided with a USB data cable interface 11, and the control module is electrically connected to the main robotic arm 6 through the USB data cable interface 11 so that the instructions of the control module are transmitted to the main robotic arm 6.

[0036] In an embodiment of the present invention, referring to Figure 1 As shown, it further includes a vision module 109 electrically connected to the control module. The vision module 109 is arranged on the robotic arm fixing seat 121. The vision module 109 includes a vision camera. The vision module 109 judges the color and size of the picking object and detects the distance between the mechanical claw 91 and the picking object, so that the robot judges the maturity and drives the corresponding picking and sorting robotic arm according to the size of the picking object to achieve picking and sorting; the vision module 109 also detects the distance between the drip irrigation object and the nozzle, so that the nozzle is aligned with the drip irrigation object.

[0037] In an embodiment of the present invention, referring to Figure 1 As shown, it further includes a main power supply 1 arranged on the robot body. The main power supply 1 supplies power to the main drive wheel 3, the auxiliary robotic arm 9, the main robotic arm 6, the control module and the vision module 109.

[0038] In an embodiment of the present invention, referring to Figure 1 As shown, the storage box is equipped with a refrigerator and a weighing scale. The refrigerator is used to refrigerate the storage box to keep the freshness of the picking object; the weighing scale is used to detect the total weight of the storage box 4 and feedback it to the control module, so that the robot transports the full storage box back to the starting point. The storage box 4 is provided with three independent storage bins, and the three independent storage bins are respectively used to store small, medium and large picking objects. The output ports 51 of the three transport pipes 5 are respectively communicated with the three storage bins. In this way, small, medium and large picking objects can enter the three independent storage bins for separate storage.

[0039] In an embodiment of the present invention, referring to Figure 1 As shown, both the main robotic arm 6 and the auxiliary robotic arm 9 are provided with USB data cable interfaces 11. The main robotic arm 6 and the auxiliary robotic arm 9 are electrically connected through the USB data cable interfaces 11 so that the instructions of the control module are transmitted to the auxiliary robotic arm 9.

[0040] In an embodiment of the present invention, referring to Figure 1 As shown, the main drive wheel 3 is set as an internal brake wheel. The internal brake wheel is wrapped by a crawler matching the track. The internal brake wheel converts the electrical energy of the main power supply into mechanical energy to drive the crawler to rotate.

[0041] In an embodiment of the present utility model, the secondary drive wheel 2 is provided as an internal brake wheel, and the internal brake wheel converts the electrical energy of an independent power source into mechanical energy to drive the robot to move forward.

[0042] The working principle of the integrated drip irrigation, picking and sorting robot of the present utility model is as follows:

[0043] The robot is started by a switch. After the robot completes self-check, the control panel 7 is powered on, and it is manually switched to the picking mode or the drip irrigation mode according to the working environment. The main drive wheel 3 drives the robot to move to the operation area. If the picking mode is selected, the vision module 109 measures the distance and size of the picking object, judges the maturity, and finally locks the picking object. Assuming that the size of the picking object is small, the control module drives the main robotic arm 6 and the picking and sorting robotic arm responsible for picking small-sized picking objects to extend according to the size of the picking object, drives the three mechanical claws 91 to approach the picking object. After the three mechanical claws 91 are closed to fix the picking object, the built-in scissors 8 extend to cut off the root of the picking object and then contract, and the mechanical claws 91 open to release the picking object. The picking object falls into the input port 52, enters the transportation pipeline 5 and slides downwards, and finally enters the storage box 4 through the output port 51 for refrigeration. When the weight scale detects that the total weight of the storage box has reached the rated weight, the main drive wheel 3 drives the robot to return to the starting point, and manual loading and unloading are carried out, and this cycle continues. If the drip irrigation mode is selected, after the vision module 109 locks the drip irrigation object, the main robotic arm 6 and the drip irrigation robotic arm extend to the longest, so that the nozzle is aligned with the drip irrigation object and drip irrigation is carried out; during the movement of the robot, if the main drive wheel 3 fails or the electrical energy of the main power source 1 is exhausted, the secondary drive wheel 2 automatically starts to convert the electrical energy of the independent power source into mechanical energy to drive the robot back to the starting point and issue a maintenance alarm.

[0044] Obviously, the above embodiments are only examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present utility model.

Claims

1. A drip irrigation, picking and sorting integrated robot, comprising a robot body, characterized in that: Also includes, A main robot arm, which is arranged on the robot body; A secondary robotic arm, comprising a plurality of drip irrigation robotic arms and a plurality of picking and sorting robotic arms that can be detachably connected to the main robotic arm, any one of the drip irrigation robotic arms is provided with a nozzle for spraying drip irrigation liquid, any one of the picking and sorting robotic arms is provided with built-in scissors and at least three mechanical claws, the three mechanical claws are used to fix the picking objects, and the built-in scissors are used to cut the roots of the picking objects, wherein the mechanical claws on different picking and sorting robotic arms have different closing ranges to fix the picking objects of different sizes; A transport pipeline, any one of the picking and sorting robotic arms is equipped with the transport pipeline, the transport pipeline is provided with an input port and an output port, the input port is located directly below the three robotic claws, the output port is connected to the storage box located on the robot body, and the inner surface of the transport pipeline is evenly provided with flexible buffer paddles.

2. The drip irrigation, picking and sorting integrated robot according to claim 1, characterized in that: It also includes a driving module arranged on the robot body, the driving module includes a main driving wheel and a secondary driving wheel, the main driving wheel and the secondary driving wheel independently drive the robot body to move, wherein the secondary driving wheel is equipped with an independent power supply.

3. The drip irrigation, picking and sorting integrated robot according to claim 2, characterized in that: It also includes a control module arranged on the robot body, and the control module is electrically connected to the driving module, the main robot arm and the auxiliary robot arm.

4. The drip irrigation, picking and sorting integrated robot according to claim 3, characterized in that: The robot body is also provided with a main switch and a control panel, both of which are electrically connected to the control module, and the control panel is provided with a switching button, which is used to switch to a picking mode or a drip irrigation mode.

5. The drip irrigation, picking and sorting integrated robot according to claim 3, characterized in that: The control module is provided with a data line interface, and the control module is electrically connected to the main robot arm through the data line interface.

6. The drip irrigation, picking and sorting integrated robot according to claim 3, characterized in that: It also includes a visual module electrically connected to the control module, and the visual module determines the color and size of the picking object, and detects the distance between the mechanical claw and the picking object.

7. The drip irrigation, picking and sorting integrated robot according to claim 6, characterized in that: It also includes a main power supply arranged on the robot body, and the main power supply supplies power to the main driving wheel, the auxiliary robot arm, the main robot arm, the control module and the vision module.

8. The drip irrigation, picking and sorting integrated robot according to claim 1, characterized in that: The storage box is equipped with a refrigerator and a weight scale. The storage box is provided with at least three independent storage bins. The output ports of the plurality of transport pipelines are respectively connected to the plurality of storage bins.

9. The drip irrigation, picking and sorting integrated robot according to claim 1, characterized in that: The main robotic arm and the auxiliary robotic arm are both provided with a data line interface, and the main robotic arm and the auxiliary robotic arm are electrically connected via the data line interface.

10. The drip irrigation, picking and sorting integrated robot according to claim 2, characterized in that: The main driving wheel is configured as a built-in brake wheel, and the built-in brake wheel is wrapped by a crawler track matching the track.

Images