Combined vibration harvesting device for tree bodies with polymorphic characteristics

Abstract

The utility model discloses a combined vibration harvesting device aiming at tree bodies with polymorphic characteristics. The combined vibration harvesting device comprises a trunk vibration mechanical arm, a side branch vibration mechanical arm and a vehicle body, the main vibration mechanical arm comprises a main vibration excitation device, a connecting rod, a main clamping jaw and a main bidirectional telescopic air cylinder. The trunk vibration excitation device is flexibly connected with a sliding block on one guide rail, the lateral branch vibration mechanical arm comprises a lateral branch vibration excitation device, a six-axis mechanical arm, a magnetic induction metal frame, a lateral branch clamping jaw and a lateral branch bidirectional telescopic air cylinder, and one end of the six-axis mechanical arm is flexibly connected with a sliding block on the other guide rail. The lateral branch vibration mechanical arm is a six-axis freedom degree mechanical arm, it is ensured that the lateral branch vibration mechanical arm can clamp lateral branches from a proper angle, and in addition, a stable non-uniform magnetic field is applied between a clamping jaw and an arm body of the lateral branch vibration mechanical arm. The tree harvesting machine can adapt to tree bodies with different morphological characteristics, the harvesting efficiency is improved, the harvesting time and cost are reduced, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic walnut picking, in particular to a combined vibration harvesting device for tree bodies with multi-form characteristics. Background Technique

[0002] The vibratory walnut picker is one of the main devices in the process of automatic walnut picking. It is mainly used to separate walnut fruits from trees during the mature period of walnuts. Vibration is generated through the high-speed centrifugal motion of the eccentric block in the vibration head, and the vibration is transmitted to the fruits through the tree body, enabling the fruits to obtain the acceleration to break away from the tree body and thus fall off. The existing vibratory walnut picker has only one vibrating robotic arm. In the actual picking process, the characteristics of tree bodies are diverse. Some trees have obvious trunk characteristics, while some do not have obvious trunk characteristics but form branches near the ground, resulting in mutual obstruction between branches. It is difficult for the vibrating robotic arm to embrace the branches, and using a robotic arm that vibrates the main trunk with too much vibration force will damage the branches of the tree body. Therefore, during the harvesting process, generally, the tree with obvious trunk characteristics is vibrated first by the vibrating robotic arm, and then the vibrating robotic arm returns to adjust the vibration force and then vibrates the side branches without obvious trunk characteristics, with low efficiency. Now, a combined vibration harvesting device for multi-form tree bodies is proposed to solve the above-mentioned problems. Summary of the Invention

[0003] The purpose of the utility model is to provide a combined vibration harvesting device for multi-form tree bodies to solve the problems such as damage to branches (side branches) caused by too much vibration energy of the robotic arm vibrating the main trunk and the time consumed by vibrating the tree with obvious trunk characteristics first and then returning to adjust the vibration force to vibrate the tree without obvious trunk characteristics as mentioned in the above background technique.

[0004] To achieve the above technical purpose, the technical solution adopted by the utility model is as follows:

[0005] A combined vibration harvesting device for tree bodies with multi-form characteristics includes a main trunk vibrating robotic arm, a side branch vibrating robotic arm, and a vehicle body; two guide rails are arranged on the top of the vehicle body;

[0006] The main trunk vibrating robotic arm includes a main trunk excitation device, a connecting rod, main trunk claws, and a main trunk double-acting telescopic cylinder; the main trunk excitation device is flexibly connected to a slider on one guide rail, one end of the connecting rod is connected to the main trunk excitation device, the other end of the connecting rod is connected to a main trunk slide rail, the main trunk claws include two main trunk claws, both main trunk claws are slidably connected to the main trunk slide rail, the main trunk double-acting telescopic cylinder is fixedly connected to the middle of the main trunk slide rail and is located between the two main trunk claws, one telescopic end of the main trunk double-acting telescopic cylinder is connected to one main trunk claw, and the other telescopic end is connected to the other main trunk claw;

[0007] The side branch vibrating robotic arm includes a side branch excitation device, a six-axis robotic arm, a magnetic induction metal frame, side branch grippers, and a side branch double-acting telescopic cylinder. One end of the six-axis robotic arm is flexibly connected to a slider on another guide rail, and the other end of the six-axis robotic arm is connected to the magnetic induction metal frame. The magnetic induction metal frame is connected with a side branch slide rail. The side branch grippers include two side branch claws, and both side branch claws are slidably connected to the side branch slide rail. The side branch double-acting telescopic cylinder is fixedly connected to the middle of the side branch slide rail and is located between the two side branch claws. One telescopic end of the side branch double-acting telescopic cylinder is connected to one side branch claw, and the other telescopic end is connected to the other side branch claw; Side branch excitation devices are arranged inside both of the two side branch claws.

[0008] As a further improved technical solution of the present utility model, it further includes a machine vision device arranged on the vehicle body. The machine vision device includes a binocular camera and a data processing and feedback device. The binocular camera is connected to the data processing and feedback device, and the data processing and feedback device is used to control the strokes of the main trunk double-acting telescopic cylinder and the side branch double-acting telescopic cylinder.

[0009] As a further improved technical solution of the present utility model, the vehicle body includes a top-layer load-bearing platform. Two guide rails are fixedly connected to the top-layer load-bearing platform, and both guide rails adopt electric linear guide rails. The motors in the electric linear guide rails are connected to the data processing and feedback device.

[0010] As a further improved technical solution of the present utility model, the main trunk excitation device is flexibly connected to a slider on one guide rail through a rubber sleeve or a chain.

[0011] As a further improved technical solution of the present utility model, one end of the six-axis robotic arm is flexibly connected to a slider on another guide rail through a rubber sleeve or a chain.

[0012] The beneficial effects of the present utility model are as follows:

[0013] The combined vibration harvesting device of the present utility model can flexibly switch between two different vibration devices (i.e., the main trunk vibrating robotic arm and the side branch vibrating robotic arm) to vibrate tree bodies with different morphological characteristics, improving the harvesting efficiency of walnuts, reducing the time cost of harvesting, having a relatively high level of automation, and avoiding damage to the tree body caused by excessive vibration energy when using only one vibration device.

[0014] The main trunk excitation device in the main trunk vibrating robotic arm of the present utility model has a large vibration force and is used to vibrate walnut trees with obvious main trunk characteristics. The side branch excitation device in the side branch vibrating robotic arm has a large vibration force and is used to vibrate walnut trees (or branches, side branches) without obvious main trunk characteristics, such as walnut trees that form branches starting from near the ground.

[0015] The lateral branch vibrating robotic arm of the present utility model adopts a six-axis robotic arm, that is, a six-axis degree-of-freedom robotic arm. The six-axis robotic arm has more flexible movement, which can make the lateral branch gripper approach the branch, embrace the branch, and clamp the branch at a suitable angle and inclination direction, ensuring that it can clamp the lateral branch (branch) at a suitable angle. The vibration force of the lateral branch vibrating robotic arm is relatively small and will not damage the tree branches. Moreover, the main trunk vibrating robotic arm and the lateral branch vibrating robotic arm can also be flexibly switched according to actual needs, with high harvesting efficiency, overcoming the problems of more time and manpower consumed by the existing single vibrating robotic arm, which first vibrates the trees with obvious main trunk characteristics and then returns to adjust the vibration force to vibrate the trees without obvious main trunk characteristics.

[0016] When the lateral branch vibrating robotic arm is vibrating, the magnetic induction metal frame will generate electromagnetic damping due to forced vibration, greatly reducing the vibration of the six-axis robotic arm and avoiding the loosening of the connection between the six-axis robotic arm and the magnetic induction metal frame. A stable non-uniform magnetic field is applied between the lateral branch gripper of the lateral branch vibrating robotic arm and the six-axis robotic arm. The present utility model can adapt to tree bodies with different morphological characteristics, improve the harvesting efficiency, reduce the harvesting time cost, and improve the harvesting efficiency. Brief Description of the Drawings

[0017] Figure 1 It is a side view of the combined vibration harvesting device for tree bodies with multiple morphological characteristics.

[0018] Figure 2 It is a front view of the combined vibration harvesting device for tree bodies with multiple morphological characteristics.

[0019] Figures 3 - 4 It is a three-dimensional view of the combined vibration harvesting device for tree bodies with multiple morphological characteristics.

[0020] Figures 5 - 6 It is a schematic structural diagram of the main trunk vibrating robotic arm.

[0021] Figures 7 - 8 It is a schematic structural diagram of the lateral branch vibrating robotic arm.

[0022] Figure 9 It is an example diagram of a tree body with multiple morphological characteristics.

[0023] Figure 9 In (a) is an example diagram of a tree with obvious main trunk characteristics.

[0024] Figure 9 In (b) is an example diagram of a tree without obvious main trunk characteristics.

[0025] Reference Signs:

[0026] 1. Main trunk vibrating robotic arm; 101. Main trunk excitation device; 102. Connecting rod; 103. Main trunk gripper; 1031. Main trunk claw; 104. Main trunk double-acting telescopic cylinder; 105. Main trunk slide rail;

[0027] 2. Lateral branch vibrating robotic arm; 202. Six-axis robotic arm; 203. Magnetic induction metal frame; 204. Lateral branch gripper; 2041. Lateral branch claw; 205. Lateral branch double-acting telescopic cylinder; 206. Lateral branch slide rail;

[0028] 3. Machine vision device; 301. Binocular camera; 302. Data processing and feedback device;

[0029] 4. Vehicle body; 401. Top-layer object-carrying platform; 402. Crawler; 403. Engine; 404. Guide rail; 4041. Slide block. Detailed implementation manners

[0030] The following further describes the detailed implementation manners of the present utility model with reference to the accompanying drawings:

[0031] As Figures 1 - 4 shown, a combined vibration harvesting device for multi-morphological feature tree bodies includes a main trunk vibrating robotic arm 1, a lateral branch vibrating robotic arm 2, a machine vision device 3, and a vehicle body 4; two guide rails 404 are provided at the top of the vehicle body 4. Both of the two guide rails 404 adopt electric linear guide rails. Among them, the multi-morphological feature tree bodies include tree bodies with obvious main trunk features and tree bodies without obvious main trunk features. The specific division method for tree bodies with obvious main trunk features and tree bodies without obvious main trunk features can be distinguished according to the actual situation and by using existing means.

[0032] As Figures 5 - 6As shown in the figure, the main trunk vibrating robotic arm 1 includes a main trunk excitation device 101, a connecting rod 102, a main trunk gripper 103, a main trunk double-acting telescopic cylinder 104, and a main trunk slide rail 105; the structure of the main trunk excitation device 101 adopts the existing vibrator structure. The main trunk excitation device 101 is flexibly connected to a slider 4041 on a guide rail 404. One end of the connecting rod 102 is connected to the main trunk excitation device 101, and the other end of the connecting rod 102 is connected to a main trunk slide rail 105. The main trunk gripper 103 includes two main trunk claws 1031, and both of the two main trunk claws 1031 are slidably connected to the main trunk slide rail 105. The main trunk double-acting telescopic cylinder 104 is fixedly connected to the middle of the main trunk slide rail 105 and is located between the two main trunk claws 1031. One telescopic end of the main trunk double-acting telescopic cylinder 104 is connected to one main trunk claw 1031 by screws or by welding, and the other telescopic end is connected to the other main trunk claw 1031 by screws or by welding. When the two telescopic ends of the main trunk double-acting telescopic cylinder 104 contract, both of the two main trunk claws 1031 move inward along the main trunk slide rail 105 to clamp the tree trunk. When the two telescopic ends of the main trunk double-acting telescopic cylinder 104 extend, both of the two main trunk claws 1031 move outward along the main trunk slide rail 105 to open the main trunk gripper 103.

[0033] The branch vibrating robotic arm 2 includes a branch excitation device, a six-axis robotic arm 202 (i.e., a six-axis degree-of-freedom robotic arm), a magnetic induction metal frame 203, a branch gripper 204, a branch double-acting telescopic cylinder 205, and a branch slide rail 206. One end of the six-axis robotic arm 202 is flexibly connected to a slider 4041 on another guide rail 404. The other end of the six-axis robotic arm 202 is connected to the magnetic induction metal frame 203 by screws or by welding. The magnetic induction metal frame 203 is connected to a branch slide rail 206 by screws or by welding. The branch gripper 204 includes two branch claws 2041, and both of the two branch claws 2041 are slidably connected to the branch slide rail 206. The branch double-acting telescopic cylinder 205 is fixedly connected to the middle of the branch slide rail 206 and is located between the two branch claws 2041. One telescopic end of the branch double-acting telescopic cylinder 205 is connected to one branch claw 2041 by screws or by welding, and the other telescopic end is connected to the other branch claw 2041 by screws or by welding; branch excitation devices are arranged inside both of the two branch claws 2041. When the two telescopic ends of the branch double-acting telescopic cylinder 205 contract, both of the two branch claws 2041 move inward along the branch slide rail 206 to clamp the tree trunk. When the two telescopic ends of the branch double-acting telescopic cylinder 205 extend, both of the two branch claws 2041 move outward along the branch slide rail 206 to open the branch gripper 204. The six-axis robotic arm 202 adopts the existing structure.

[0034] The specific function of the magnetic induction metal frame 203 is to reduce the transmission of the exciting force of the eccentric block of the side branch exciting device in the side branch gripper 204 to the six-axis robotic arm 202. The principle is electromagnetic damping. When the magnetic induction metal frame 203 is driven to vibrate, the magnetic flux passing through the magnetic induction metal frame 203 changes, generating an induced current, and then generating a force in the direction opposite to the forced vibration to prevent the vibration of the magnetic induction metal frame 203.

[0035] In this embodiment, as Figures 1 - 4 shown, the machine vision device 3 provided on the vehicle body 4 includes two binocular cameras 301 and a data processing and feedback device 302. The two binocular cameras 301 are connected to the data processing and feedback device 302 through data lines. The data processing and feedback device 302 is used to control the strokes of the main trunk double-acting telescopic cylinder 104 and the side branch double-acting telescopic cylinder 205. The connection method and control method of the data processing and feedback device 302 with the main trunk double-acting telescopic cylinder 104 and the side branch double-acting telescopic cylinder 205 adopt the prior art, and the control of the cylinders can be realized through solenoid valves. The data processing and feedback device 302 is connected to the six-axis robotic arm 202 and is used to control the rotation of the six motors in the six-axis robotic arm 202 to realize the movement of the joint axes in the six-axis robotic arm 202.

[0036] In this embodiment, as Figure 3 shown, the vehicle body 4 includes a top-layer load-bearing platform 401. Two guide rails 404 are fixedly connected to the top-layer load-bearing platform 401. Both of the two guide rails 404 adopt electric linear guide rails. The motors in the electric linear guide rails are connected to the data processing and feedback device 302. The data processing and feedback device 302 can control the operation of the motors to control the movement of the sliders 4041 on the two guide rails 404. The data processing and feedback device 302 is fixedly placed on the second-layer load-bearing platform of the vehicle body 4 and is surrounded by tempered glass. The data processing and feedback device 302 is also connected to the engine 403, the wheel steering device, the main trunk vibrating robotic arm 1, and the side branch vibrating robotic arm 2 on the vehicle body 4 through data lines.

[0037] In this embodiment, the main trunk exciting device 101 is flexibly connected to the slider 4041 on one guide rail 404 through three rubber sleeves (i.e., rubber connecting strips with sleeves) or an iron chain. The connection points on the main trunk vibrating robotic arm 1 and the slider 4041 are triangular respectively, which is more stable.

[0038] In this embodiment, one end of the six-axis robotic arm 202 is flexibly connected to the slider 4041 on the other guide rail 404 through three rubber sleeves (i.e., rubber connecting strips with sleeves) or an iron chain. The connection points on the side branch vibrating robotic arm 2 and the slider 4041 are triangular respectively, which is more stable.

[0039] The working process of this embodiment is as follows: The binocular camera 301 on the vehicle body 4 starts to collect data of the surrounding environment in real time and transmits it into the data processing and feedback device 302 through a data line. The data processing and feedback device 302 calculates the spatial position of the walnut tree from the collected data, further calculates the distance that the vehicle body 4 needs to move by using this, and feeds back signals to the engine 403 and the wheel steering device of the vehicle body 4. After receiving the signals, the engine 403 and the wheel steering device will drive the crawler 402 to move beside the tree. When arriving, the data processing and feedback device 302 will judge whether the walnut tree has obvious main trunk features (obtained by combining the instance segmentation algorithm and selecting the distance threshold from the bifurcation point to the ground, using the existing technology), and select a suitable vibrating robotic arm (main trunk vibrating robotic arm 1 or side branch vibrating robotic arm 2). As Figure 9 shown in (a) of Figure 9 , when the tree has obvious main trunk features, the data processing and feedback device 302 controls the motor in one of the guide rails 404 on the vehicle body 4 to work, which will make the slider 4041 on this guide rail 404 move, so that the main trunk vibrating robotic arm 1 extends. The main trunk double-acting telescopic cylinder 104 contracts to make the main trunk gripper 103 hold the tree tightly (when the vehicle body 4 drives beside the walnut tree, it will first calculate the specific spatial coordinates of the grasping point, and then move the reference point on the gripper 4 [which can be the exact middle between the two main trunk claws 1031] to coincide with this coordinate, then the tree can be held tightly). After that, the main trunk excitation device 101 in the main trunk vibrating robotic arm 1 starts to vibrate, and the connecting rod 102 transmits the vibration to the main trunk gripper 103. The main trunk gripper 103 vibrates to drive the whole tree to vibrate, so that the walnuts fall off the tree. As shown in (b) of

[0040] , when the tree does not have obvious main trunk features, for example, branches start from the ground, the data processing and feedback device 302 will output signals to control the motor in the other guide rail 404 on the vehicle body 4 to work, which will make the slider 4041 on this guide rail 404 move, and then drive the side branch vibrating robotic arm 2 to move, and calculate the inclination azimuth angle of the side branch in space (obtained by combining the instance segmentation algorithm to get the included angle between the center line of the polygon of the tree area and the straight line where the two binocular cameras 301 are located), and transmit this to the six-axis robotic arm 202. The six-axis robotic arm 202 rotates to make the side branch gripper 204 approach the branch at a suitable angle and inclination direction (when the vehicle body 4 drives beside the walnut tree, it will first calculate the specific spatial coordinates of the grasping point, and then move the reference point on the side branch gripper 204 [which can be the exact middle between the two side branch claws 2041] to coincide with this coordinate). The side branch double-acting telescopic cylinder 205 contracts to make the side branch gripper 204 be able to clamp the side branch. After that, the vibrator (i.e., the side branch excitation device) in the side branch claw 2041 starts to vibrate, transmits the vibration to the whole tree, and the tree vibrates to make the walnuts fall off the tree.

[0040] The above specific data processing process and control process are all completed by using the existing technology.

[0041] The protection scope of the present utility model includes but is not limited to the above embodiments. The protection scope of the present utility model shall be subject to the claims, and any substitutions, deformations, and improvements that are easily conceivable by those skilled in the art to this technology shall fall within the protection scope of the present utility model.

Claims

1. A combined vibration harvesting device for multi-morphological feature tree bodies, characterized in that, It includes a main trunk vibrating robotic arm (1), a side branch vibrating robotic arm (2) and a vehicle body (4); two guide rails (404) are arranged on the top of the vehicle body (4); The main trunk vibrating robotic arm (1) includes a main trunk excitation device (101), a connecting rod (102), a main trunk gripper (103) and a main trunk double-acting telescopic cylinder (104); the main trunk excitation device (101) is flexibly connected to a slider (4041) on one guide rail (404), one end of the main trunk excitation device (101) is connected to the connecting rod (102), the other end of the connecting rod (102) is connected to a main trunk slide rail (105), the main trunk gripper (103) includes two main trunk claws (1031), both of the two main trunk claws (1031) are slidably connected to the main trunk slide rail (105), the main trunk double-acting telescopic cylinder (104) is fixedly connected to the middle of the main trunk slide rail (105) and is located between the two main trunk claws (1031), one telescopic end of the main trunk double-acting telescopic cylinder (104) is connected to one main trunk claw (1031), and the other telescopic end is connected to the other main trunk claw (1031); The side branch vibrating robotic arm (2) includes a side branch excitation device, a six-axis robotic arm (202), a magnetic induction metal frame (203), a side branch gripper (204) and a side branch double-acting telescopic cylinder (205), one end of the six-axis robotic arm (202) is flexibly connected to a slider (4041) on the other guide rail (404), the other end of the six-axis robotic arm (202) is connected to the magnetic induction metal frame (203), the magnetic induction metal frame (203) is connected to a side branch slide rail (206), the side branch gripper (204) includes two side branch claws (2041), both of the two side branch claws (2041) are slidably connected to the side branch slide rail (206), the side branch double-acting telescopic cylinder (205) is fixedly connected to the middle of the side branch slide rail (206) and is located between the two side branch claws (2041), one telescopic end of the side branch double-acting telescopic cylinder (205) is connected to one side branch claw (2041), and the other telescopic end is connected to the other side branch claw (2041); side branch excitation devices are arranged inside both of the two side branch claws (2041).

2. The combined vibration harvesting device for multi-morphological feature tree trunks according to claim 1, wherein, It further includes a machine vision device (3) arranged on the vehicle body (4), the machine vision device (3) includes a binocular camera (301) and a data processing and feedback device (302), the binocular camera (301) is connected to the data processing and feedback device (302), and the data processing and feedback device (302) is used to control the stroke of the main trunk double-acting telescopic cylinder (104) and the side branch double-acting telescopic cylinder (205).

3. The combined vibration harvesting device for multi-morphological feature tree bodies according to claim 2, wherein, The vehicle body (4) includes a top-layer object-carrying platform (401), two guide rails (404) are fixedly connected to the top-layer object-carrying platform (401), both of the two guide rails (404) are electric linear guide rails, and the motors in the electric linear guide rails are connected to the data processing and feedback device (302).

4. The combined vibration harvesting device for multi-morphological feature tree trunks according to claim 1, wherein The main excitation device (101) is flexibly connected to a slider (4041) on a guide rail (404) through a rubber sleeve or a chain.

5. The combined vibration harvesting device for multi-morphological feature tree trunks according to claim 1, characterized in that, One end of the six-axis robotic arm (202) is flexibly connected to a slider (4041) on another guide rail (404) through a rubber sleeve or a chain.

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