Pneumatic multi-arm cotton picking robot

Abstract

The utility model discloses a pneumatic multi-arm cotton picking robot, which relates to the technical field of cotton picking robots and comprises a frame, crawler wheels, a cotton picking device and an electric control system. The cotton picking devices are fixed to the periphery of the upper portion of the frame, cotton conveying is completed through channels in the cotton picking devices, the crawler wheels are fixedly connected with the two ends of the frame, and the electric control system is installed in the frame. Cotton position information is collected through the camera and transmitted to the controller, the controller controls the mechanical arm to move the picking end of the mechanical arm to be close to cotton to be picked, and the cotton is picked into the cotton collecting box under the suction action of the cotton suction device; the spindle type cotton picker solves the problem that cotton quality is reduced due to the fact that cotton velvet fibers are violently snapped and thinned due to a traditional spindle type cotton picker, cotton quality is improved, and meanwhile the problems that manual harvesting cost is high and labor intensity is large are solved.

Description

TECHNICAL FIELD

[0001] The present technology relates to the field of cotton picking robots BACKGROUND

[0002] "World cotton looks at China, China cotton looks at Xinjiang". Xinjiang cotton yield is high, and the quality is excellent, which is the most important high-quality commercial cotton production base in China. With the continuous growth of Xinjiang cotton yield and the expansion of domestic and foreign market demand, the traditional manual picking method has been difficult to meet the production demand of high efficiency and low cost, especially in the cotton harvesting season, the labor shortage problem is particularly prominent. However, the mainstream picking spindle type cotton picking machine will violently break and thin the cotton fiber in the picking process, greatly reducing the quality of the picked cotton. At the same time, the terrain environment of Xinjiang cotton field is complex and changeable, and large machinery can overcome it, but for small robots, ordinary wheels will not be suitable. Therefore, developing an intelligent and efficient tracked robot suitable for cotton picking has become a problem to be solved by the technical personnel in the field. SUMMARY

[0003] The utility model discloses a pneumatic multi-arm cotton picking robot which is characterized in that it comprises a vehicle frame, tracked wheels, a cotton picking device and an electric control system.

[0004] As a preferred embodiment of the utility model, the tracked wheels comprise driving wheels, guide wheels, load-bearing wheels, tensioning wheels, tracked links, damping devices, large connecting arms and connecting plates. The driving wheels are connected with driving motors and connected with the load-bearing wheels through the large connecting arms. The guide wheels and the tensioning wheels are connected with the vehicle frame. The load-bearing wheels are connected to the vehicle frame through the damping devices and connected with each other through the connecting plates. The tracked links are evenly wrapped outside the wheels.

[0005] As a preferred embodiment of the utility model, the cotton picking device comprises picking mechanical arms, a fan, a cotton conveying pipe, a camera and a cotton collecting box. The picking mechanical arms are connected with the air inlet of the fan. The fan is fixed on the vehicle frame. The two ends of the cotton conveying pipe are connected with the air outlet of the fan and the cotton collecting box respectively. The camera is fixed on the vehicle frame.

[0006] As a preferred embodiment of the utility model, the picking mechanical arm comprises a first end of a mechanical arm joint, a middle end of a mechanical arm joint, a last end of a mechanical arm joint, a control motor and a joint base. The first end of the mechanical arm joint, the middle end of the mechanical arm joint and the last end of the mechanical arm joint are connected with each other through the joint base. The control motor is connected with the joint base.

[0007] As a preferred embodiment of the present invention, the electronic control system includes a battery box, a controller, a drive motor, and a laser radar. The laser radar is fixed above the vehicle frame, and the battery box, controller, and drive motor are all fixed inside the vehicle frame. The battery box is connected to the controller, and the controller is connected to the drive motor.

[0008] Compared with the prior art, the present invention has the following advantages and effects:

[0009] (1) The pneumatic multi-arm cotton picking robot described in the present invention uses pneumatic picking to overcome the problem of cotton fibers being broken and thinned when picking cotton with the spindles of mainstream cotton pickers, and solves the problems of high manual harvesting costs and labor shortages.

[0010] (2) The utility model uses crawler wheels, and the crawler-type picking robot has strong terrain adaptability and can operate stably in the complex and changeable farmland environment in Xinjiang.

[0011] (3) The utility model can accurately locate the cotton target through the visual positioning system, thereby achieving accurate cotton picking and greatly improving the cotton picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0013] Figure 2 It is a structural schematic diagram of the crawler wheel of the utility model.

[0014] Figure 3 It is a schematic diagram of the structure of the cotton picking device and the electric control system of the utility model.

[0015] Among them: 1. Frame, 2. Track wheel, 3. Cotton picking device, 4. Electronic control system, 21. Drive wheel, 22. Guide wheel, 23. Road wheel, 24. Tensioning wheel, 25. Track section, 26. Shock absorber, 27. Large connecting arm, 28. Connecting plate, 31. Picking robotic arm, 32. Fan, 33. Cotton transport pipe, 34. Camera, 35. Cotton collection box, 311. Robotic arm joint head, 312. Robotic arm joint middle, 313. Robotic arm joint end, 314. Control motor, 315. Joint base, 41. Battery box, 42. Controller, 43. Drive motor, 44. LiDAR. DETAILED DESCRIPTION

[0016] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0017] like Figure 1As shown, the pneumatic multi-arm cotton picking robot described in the utility model is characterized by comprising a frame (1), track wheels (2), a cotton picking device (3), and an electronic control system (4). The track wheels (2) are fixed on both sides of the frame (1), the cotton picking device (3) is fixed above the frame (1), and the electronic control system is fixed inside the frame (1).

[0018] like Figure 2 As shown, the track wheel (2) in this embodiment includes a driving wheel (21), a guide wheel (22), a load-bearing wheel (23), a tension wheel (24), a track joint (25), a shock absorber (26), a large connecting arm (27), and a connecting plate (28). The driving wheel (21) is connected to the driving motor (43) and is connected to the load-bearing wheel (23) through the large connecting arm (27). The guide wheel (22) and the tension wheel (24) are both connected to the vehicle frame (1), the load-bearing wheel (23) is connected to the vehicle frame (1) through the shock absorber (26), and the load-bearing wheels (23) are connected to each other through the connecting plate (28). The track joint (25) is evenly wrapped around the outside of each wheel.

[0019] like Figure 3 As shown, the cotton picking device (3) in this embodiment includes a picking mechanical arm (31), a fan (32), a cotton conveying pipe (33), a camera (34), and a cotton collecting box (35). The picking mechanical arm (31) is connected to the air inlet of the fan (32), the fan (32) is fixed on the vehicle frame (1), the two ends of the cotton conveying pipe (33) are respectively connected to the air outlet of the fan (32) and the cotton collecting box (35), and the camera (34) is fixed on the vehicle frame (1).

[0020] like Figure 3 As shown, the picking robot arm (31) in this embodiment includes a robot arm joint head end (311), a robot arm joint middle end (312), a robot arm joint end end (313), a control motor (314), and a joint base (315). The robot arm joint head end (311), the robot arm joint middle end (312), and the robot arm joint end end (313) are connected to each other via the joint base (315), and the control motor (314) is connected to the joint base (315).

[0021] like Figure 3 As shown, the electric control system (4) in this embodiment includes a battery box (41), a controller (42), a drive motor (43), and a laser radar (44). The laser radar (44) is fixed above the vehicle frame (1), and the battery box (41), the controller (42), and the drive motor (43) are all fixed inside the vehicle frame (1). The battery box (41) is connected to the controller (42), and the controller (42) is connected to the drive motor (43).

[0022] The usage process of the best embodiment of the present utility model is as follows: First, the battery box 41 is connected to the power supply to power the cotton picking robot. In the cotton field, the laser radar 44 senses the terrain, the controller 42 plans the driving route and controls the movement, the camera 34 is responsible for identifying the cotton, and after processing the identified cotton position information, the controller 42 calculates the movement trajectory of each picking robot arm 31. When the robot arm joint end 313 reaches above the cotton, the negative pressure generated by the fan 32 is used to pick the cotton and send it to the cotton collection box 35 through the cotton conveying pipe 33.

[0023] The above description is merely a preferred embodiment of the present invention. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A pneumatic multi-arm cotton picking robot, characterized by: The invention comprises a vehicle frame (1), track wheels (2), a cotton picking device (3), and an electric control system (4); the track wheels (2) are fixed on both sides of the vehicle frame (1), and comprise a driving wheel (21), a guide wheel (22), a road wheel (23), a tensioning wheel (24), a track joint (25), a shock absorbing device (26), a large connecting arm (27), and a connecting plate (28); the cotton picking device (3) is fixed above the vehicle frame (1), and comprises a picking mechanical arm (31), a fan (32), a cotton conveying pipe (33), a camera (34), and a cotton collecting box (35); and the electric control system (4) is fixed inside the vehicle frame (1).

2. The pneumatic multi-arm cotton picking robot according to claim 1, characterized in that: The driving wheel (21) is connected to the driving motor (43) and is connected to the road wheel (23) through a large connecting arm (27). The guide wheel (22) and the tension wheel (24) are both connected to the vehicle frame (1). The road wheel (23) is connected to the vehicle frame (1) through a shock absorbing device (26). The road wheels (23) are connected to each other through a connecting plate (28). The track section (25) is evenly wrapped around the outside of each wheel.

3. The pneumatic multi-arm cotton picking robot according to claim 1, characterized in that: The picking mechanical arm (31) is connected to the air inlet of the fan (32), the fan (32) is fixed on the vehicle frame (1), the two ends of the cotton conveying pipe (33) are respectively connected to the air outlet of the fan (32) and the cotton collecting box (35), and the camera (34) is fixed on the vehicle frame (1).

4. The pneumatic multi-arm cotton picking robot according to claim 1, characterized in that: The picking robot arm (31) comprises a robot arm joint head end (311), a robot arm joint middle end (312), a robot arm joint end (313), a control motor (314), and a joint base (315); the robot arm joint head end (311), the robot arm joint middle end (312), and the robot arm joint end (313) are respectively connected via the joint base (315); and the control motor (314) is connected to the joint base (315).

5. The pneumatic multi-arm cotton picking robot according to claim 1, characterized in that: The electric control system (4) comprises a battery box (41), a controller (42), a drive motor (43), and a laser radar (44). The laser radar (44) is fixed above the vehicle frame (1). The battery box (41), the controller (42), and the drive motor (43) are all fixed inside the vehicle frame (1). The battery box (41) is connected to the controller (42), and the controller (42) is connected to the drive motor (43).

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