Picking mechanical arm

Abstract

The utility model is suitable for the field of mechanical arms, and discloses a picking mechanical arm which comprises a base, a first joint, a second joint, a third joint, a fourth joint, a first driving assembly, a second driving assembly, a third driving assembly, a fourth driving assembly, an end effector and a clamping jaw assembly. The first driving assembly is used for driving the first joint to rotate, the second driving assembly is arranged on the first joint and used for driving the second joint to rotate, the third driving assembly is used for driving the third joint to rotate, the fourth driving assembly is used for driving the fourth joint to rotate, and the end effector is installed on the fourth joint. The clamping jaw assembly is connected with the output end of the end effector, the clamping jaw assembly is used for clamping a target to-be-picked object, and the picking mechanical arm can achieve complex three-dimensional space movement through series connection design of the four joints and the end effector, and flexibly meets the fruit picking requirements of different heights, angles and positions.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and more particularly to a harvesting robotic arm. Background Technology

[0002] Harvesting robots need to move and operate in hilly and mountainous areas with varied terrain, steep slopes, and numerous bends. To ensure the robot's center of gravity stability and the flexibility of the harvesting equipment under complex terrain conditions, a lightweight harvesting robotic arm needs to be designed. Current solutions for lightweight harvesting robots include reducing the number of motion axes, but this results in a lack of flexibility in the robot's harvesting and makes it difficult to cope with narrow and complex harvesting scenarios. Other solutions use carbon fiber and aluminum alloys for structural design, but this approach is complex, has a high overall cost, and is not conducive to widespread application.

[0003] Therefore, existing technologies still need improvement and development. Utility Model Content

[0004] The purpose of this utility model is to provide a harvesting robotic arm that solves the technical problem that existing harvesting robotic arms cannot simultaneously possess both lightweight and flexibility.

[0005] To achieve the above objectives, the solution provided by this utility model is as follows:

[0006] A harvesting robotic arm includes a base, a first joint, a second joint, a third joint, a fourth joint, a first drive assembly, a second drive assembly, a third drive assembly, a fourth drive assembly, an end effector, and a gripper assembly. The first drive assembly is mounted on the base. The first joint is connected to the output end of the first drive assembly, and the first drive assembly drives the first joint to rotate. The second drive assembly is disposed on the first joint. The second joint is a V-shaped joint, and the bent portion of the second joint is connected to the output end of the second drive assembly. The second drive assembly drives the second joint to rotate. The third drive assembly includes a third drive member and a first transmission component. The third drive member is mounted on the first end of the second joint. The joint is rotatably disposed at the second end of the second joint, and the third driving member is rotatably connected to the third joint through the first transmission component. The third driving member is used to drive the third joint to rotate through the first transmission component. The fourth driving assembly includes a fourth driving member and a second transmission component. The fourth driving member is installed at the first end of the third joint, and the fourth joint is rotatably disposed at the second end of the third joint. The fourth driving member is rotatably connected to the fourth joint through the second transmission component. The fourth driving member is used to drive the fourth joint to rotate through the second transmission component. The end effector is installed on the fourth joint, and the gripper assembly is connected to the output end of the end effector. The gripper assembly is used to grip the target harvested item.

[0007] Preferably, the base is an aluminum alloy base, and the first joint, the second joint, the third joint and the fourth joint are all aluminum alloy joints.

[0008] Preferably, the first joint is provided with a first mounting groove, the first drive assembly includes a first drive member, a first coupling and a first encoder, the first drive member is mounted on the base, the first coupling is mounted on the output end of the first drive member, the first joint and the first encoder are respectively mounted on the first coupling, and the first encoder is located in the first mounting groove.

[0009] Preferably, the first joint is provided with a second mounting groove, the second drive assembly includes a second drive member and a second encoder, the second drive member is mounted on the first joint, the second encoder is mounted on the second drive member and located in the second mounting groove, and the bent portion of the second joint is connected to the output shaft of the second drive member.

[0010] Preferably, the first transmission component includes a first synchronous pulley, a second synchronous pulley, a first transmission member, and a first connecting shaft. The output shaft of the third drive member extends out of the second joint. The first connecting shaft is mounted on the third joint and extends through the second end of the second joint. The first synchronous pulley is mounted on the output shaft of the third drive member. The second synchronous pulley is mounted on the end of the first connecting shaft that extends through the second joint. The first synchronous pulley and the second synchronous pulley are connected by the first transmission member.

[0011] Preferably, the second transmission component includes a third synchronous pulley, a fourth synchronous pulley, a second transmission member, and a second connecting shaft. The fourth driving member is mounted on the first end of the third joint, and the output shaft of the fourth driving member extends out of the third joint. The second connecting shaft is mounted on the fourth joint, and the second connecting shaft extends out of the second end of the third joint. The third synchronous pulley is connected to the output shaft of the fourth driving member. The fourth synchronous pulley is mounted on the end of the second connecting shaft that extends out of the third joint. The third synchronous pulley and the fourth synchronous pulley are connected by the second transmission member.

[0012] Preferably, the end effector includes a fifth drive member, a second coupling, and a fifth encoder. The fifth drive member is mounted on the fourth joint, the second coupling is mounted on the output shaft of the fifth drive member and is connected to the gripper assembly, and the fifth encoder is disposed on the fifth drive member.

[0013] Preferably, the first joint includes a first horizontal plate and a first vertical plate connected to the first horizontal plate, the first horizontal plate is connected to the first drive assembly, the second drive assembly is disposed on the first vertical plate, the fourth joint includes a second horizontal plate and a second vertical plate connected to the second horizontal plate, the second vertical plate is rotatably disposed at the second end of the third joint, and the end effector is mounted on the second horizontal plate.

[0014] Preferably, the gripper assembly includes a gripper connector and a flexible gripper disposed on the gripper connector. The outer side wall of the flexible gripper is serrated, and an inflation tube is disposed on the flexible gripper. At least two flexible grippers are provided, and the two or more flexible grippers enclose a clamping space.

[0015] Preferably, the harvesting robotic arm further includes an image acquisition device, which is mounted on the fourth joint and located beside the gripper assembly.

[0016] The harvesting robotic arm provided by this utility model can be integrated into outdoor automated harvesting equipment to perform fruit harvesting actions. Through the series design of four joints and end effectors, the harvesting robotic arm can achieve complex three-dimensional spatial movements, flexibly adapting to the fruit harvesting needs at different heights, angles, and positions. It is effectively suitable for robotic operations in the hilly and mountainous terrain of the Lingnan region. Furthermore, by optimizing the structural design of the harvesting robotic arm, while meeting the rigidity required in the harvesting process, the weight of the outdoor automated harvesting equipment is reduced, and the overall load of the outdoor automated harvesting equipment is reduced. This helps to extend the overall battery life of the automated harvesting equipment, improve the operating range, and enhance the operational flexibility. At the same time, by balancing the center of gravity of the drive motor of the harvesting robotic arm on the corresponding joint arm, the length of the lever arm is reduced, which can optimize the drive load ratio of the harvesting robotic arm. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the harvesting robotic arm provided in this embodiment of the utility model. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the structure of the harvesting robotic arm provided in this embodiment of the utility model. Figure 2 .

[0020] Explanation of icon numbers:

[0021] 31. Base; 32. First joint; 321. First mounting slot; 322. Second mounting slot; 323. First horizontal plate; 324. First vertical plate; 325. L-shaped support rib; 33. Second joint; 34. Third joint; 341. First limiting block; 342. Second limiting block; 35. Fourth joint; 351. Second horizontal plate; 352. Second vertical plate; 36. First drive assembly; 361. First drive component; 362. First coupling; 363. First encoder; 37. Second drive assembly; 371. Second drive component; 372. Second encoder; 38. Third drive assembly; 381. Third drive component; 382. First synchronous pulley; 383. Second synchronous pulley; 84. First transmission component; 385. First connecting shaft; 386. First idler wheel; 387. Second idler wheel; 388. Third encoder; 389. Bearing; 39. Fourth drive assembly; 391. Fourth drive component; 392. Third synchronous pulley; 393. Fourth synchronous pulley; 394. Second transmission component; 395. Second connecting shaft; 396. Fourth encoder; 397. Tensioner; 40. End effector; 41. Fifth drive component; 42. Second coupling; 43. Fifth encoder; 44. Grip assembly; 441. Grip connector; 442. Flexible gripper; 443. Inflation tube; 444. Anti-slip stripe; 45. Image acquisition device; 451. Camera bracket; 452. Camera. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0024] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or may have an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or may have an intervening component present.

[0025] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0026] like Figures 1 to 2 As shown, this is a harvesting robotic arm according to one embodiment of the present invention.

[0027] Please see Figures 1-2 As shown, the harvesting robotic arm of this embodiment includes a base 31, a first joint 32, a second joint 33, a third joint 34, a fourth joint 35, a first drive assembly 36, a second drive assembly 37, a third drive assembly 38, a fourth drive assembly 39, an end effector 40, and a gripper assembly 44. The first drive assembly 36 is mounted on the base 31. The first joint 32 is connected to the output end of the first drive assembly 36, and the first drive assembly 36 is used to drive the first joint 32 to rotate. The second drive assembly 37 is disposed on the first joint 32. The second joint 33 is a V-shaped joint, and the bent portion of the second joint 33 is connected to the output end of the second drive assembly 37, which is used to drive the second joint 33 to rotate. The third drive assembly 38 includes a third drive member 381 and a first transmission component. The third drive member 381 is mounted on the base 31. The third joint 34 is rotatably disposed at the second end of the second joint 33, and the third drive member 381 is connected to the third joint 34 through the first transmission member. The third drive member 381 is used to drive the third joint 34 to rotate through the first transmission member. The fourth drive assembly 39 includes a fourth drive member 391 and a second transmission member. The fourth drive member 391 is mounted on the first end of the third joint 34, and the fourth joint 35 is rotatably disposed at the second end of the third joint 34. The fourth drive member 391 is connected to the fourth joint 35 through the second transmission member. The fourth drive member 391 is used to drive the fourth joint 35 to rotate through the second transmission member. The end effector 40 is mounted on the fourth joint 35. The gripper assembly 44 is connected to the output end of the end effector 40. The gripper assembly 44 is used to grip the target picking item.

[0028] The working principle of the harvesting robotic arm in this embodiment is as follows:

[0029] When the first drive component 36 is activated, it drives the first joint 32 to rotate, providing basic direction and angle adjustment for the overall movement of the picking robot arm, enabling the picking robot arm to move toward the target picking area.

[0030] When the second drive component 37 is activated, it drives the second joint 33 to rotate, further adjusting the posture and position of the picking robot arm to adapt to picking targets at different heights.

[0031] When the third drive unit 381 is activated, it drives the third joint 34 to rotate through the first transmission component, thereby enabling further adjustment of the harvesting robot arm in the horizontal or vertical direction.

[0032] When the fourth drive unit 391 is activated, it drives the fourth joint 35 to rotate through the second transmission component, providing the final precise position and posture adjustment for the picking robot arm.

[0033] When the end effector 40 is activated, it uses the rotation control gripper assembly 44 to pick the target item from the tree or other growing environment.

[0034] The harvesting robotic arm of this utility model embodiment can be integrated into outdoor automated harvesting equipment to perform fruit harvesting actions. Through the series design of four joints and end effector 40, the harvesting robotic arm can achieve complex three-dimensional spatial movements, flexibly adapting to the fruit harvesting needs of different heights, angles and positions, and is effectively suitable for robotic operations in the hilly and mountainous terrain of Lingnan region. Furthermore, by optimizing the structural design of the harvesting robotic arm, while meeting the rigidity required in the harvesting process, the weight of the outdoor automated harvesting equipment is reduced, and the overall load of the outdoor automated harvesting equipment is reduced. This helps to extend the overall battery life of the automated harvesting equipment, improve the working range and working flexibility. At the same time, by balancing the center of gravity of the drive motor of the harvesting robotic arm on the corresponding joint arm, the length of the lever arm is reduced, which can optimize the drive load ratio of the harvesting robotic arm.

[0035] Please see Figure 1 and Figure 2 As shown in this embodiment, for example, the base 31 is an aluminum alloy base 31, and the first joint 32, the second joint 33, the third joint 34, and the fourth joint 35 are all aluminum alloy joints. By optimizing the structural design of the picking robot arm and combining the advantages of lightweight aluminum alloy materials, the weight of the fruit picking robot is reduced to the greatest extent while meeting the rigidity required for the picking process, thereby reducing the overall load of the outdoor automated picking equipment.

[0036] Understandably, the base 31, the first joint 32, the second joint 33, the third joint 34, and the fourth joint 35 can be made of other lightweight materials, such as magnesium alloys, titanium alloys, high-strength steel, and carbon fiber composites.

[0037] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the first joint 32 is provided with a first mounting groove 321. The first drive assembly 36 includes a first drive member 361, a first coupling 362, and a first encoder 363. The first drive member 361 is mounted on the base 31, the first coupling 362 is mounted on the output end of the first drive member 361, the first joint 32 and the first encoder 363 are respectively mounted on the first coupling 362, and the first encoder 363 is located within the first mounting groove 321. The first drive member 361, the first coupling 362, and the first encoder 363 are tightly integrated around the first joint 32, forming a compact and efficient drive system. This reduces the number of connecting parts and transmission devices between components, thereby reducing the complexity and weight of the overall structure. Moreover, the first mounting groove 321 provided on the first joint 32 provides a mounting position for the first encoder 363, ensuring that the first encoder 363 can be securely fixed on the first joint 32 without occupying additional space, which helps to reduce the size and weight of the entire drive system, making it more compact and lightweight.

[0038] In this embodiment, the first driving component 361 is a motor. When the motor rotates, it drives the first joint 32 and the first encoder 363 to rotate through the first coupling 362.

[0039] In this embodiment, the first encoder 363 can accurately measure the rotation angle of the first joint 32, thereby achieving precise positioning of the overall movement direction of the picking robot arm.

[0040] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the first joint 32 is provided with a second mounting groove 322. The second drive assembly 37 includes a second drive member 371 and a second encoder 372. The second drive member 371 is mounted on the first joint 32, and the second encoder 372 is mounted on the second drive member 371 and located within the second mounting groove 322. The bent portion of the second joint 33 is connected to the output shaft of the second drive member 371. The second mounting groove 322 on the first joint 32 provides a mounting position for the second encoder 372, ensuring that the second encoder 372 can be securely fixed on the second joint 33 without occupying additional space. This helps to reduce the size and weight of the entire drive system, making it more compact and lightweight.

[0041] In this embodiment, the second driving component 371 is a motor. The rotation of the motor drives the second joint 33 and the second encoder 372 to rotate through the coupling.

[0042] In this embodiment, the second encoder 372 can accurately measure the rotation angle of the second joint 33, thereby achieving precise positioning of the overall movement direction of the picking robot arm.

[0043] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the first transmission component includes a first synchronous pulley 382, ​​a second synchronous pulley 383, a first transmission member 384, and a first connecting shaft 385. A third driving member 381 is mounted on the first end of the second joint 33, and the output shaft of the third driving member 381 extends out of the second joint 33. The first connecting shaft 385 is mounted on the third joint 34, and extends out of the second end of the second joint 33. The first synchronous pulley 382 is mounted on the output shaft of the third driving member 381, and the second synchronous pulley 383 is mounted on the end of the first connecting shaft 385 extending out of the second joint 33. The first synchronous pulley 382 and the second synchronous pulley 383 are connected by the first transmission member 384. The first synchronous pulley 382 and the second synchronous pulley 383 are located at opposite ends of the second joint 33. This arrangement fully utilizes the space inside the joint, making the overall structure more compact.

[0044] Optionally, the first transmission component further includes a first idler wheel 386 and a second idler wheel 387, the first idler wheel 386 and the second idler wheel 387 being rotatably disposed on the second joint 33, and the first transmission component 384 surrounding the first synchronous wheel 382, ​​the second synchronous wheel 383, the first idler wheel 386 and the second idler wheel 387.

[0045] In this embodiment, the first synchronous pulley 382 and the second synchronous pulley 383 can be either pulleys or sprockets. When the first synchronous pulley 382 and the second synchronous pulley 383 are pulleys, the first transmission member 384 is a synchronous belt. When the first synchronous pulley 382 and the second synchronous pulley 383 are sprockets, the first transmission member 384 is a transmission chain.

[0046] Optionally, a first limiting block 341 is provided on the third joint 34 near the second joint 33, and a bearing 389 is provided on the first connecting shaft 385. A limiting groove is provided at the bottom of the bearing 389. The rotation angle of the third joint 34 can be limited by the cooperation of the limiting groove and the first limiting block 341.

[0047] Furthermore, the third drive assembly 38 also includes a third encoder 388, which is disposed on the third drive assembly 381.

[0048] In this embodiment, the third driving component 381 is a motor. The rotation of the motor drives the first synchronous pulley 382 and the third encoder 388 to rotate. At the same time, the first synchronous pulley 382 drives the second synchronous pulley 383 to rotate through the transmission component, thereby driving the third joint 34 to rotate through the first connecting shaft 385.

[0049] In this embodiment, the third encoder 388 can accurately measure the rotation angle of the third joint 34, thereby achieving precise positioning of the overall movement direction of the picking robot arm.

[0050] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the second transmission component includes a third synchronous pulley 392, a fourth synchronous pulley 393, a second transmission member 394, and a second connecting shaft member 395. A fourth driving member 391 is mounted on the first end of the third joint 34, and the output shaft of the fourth driving member 391 extends out of the third joint 34. The second connecting shaft member 395 is mounted on the fourth joint 35, and extends out of the second end of the third joint 34. The third synchronous pulley 392 is connected to the output shaft of the fourth driving member 391. The fourth synchronous pulley 393 is mounted on one end of the second connecting shaft member 395 extending out of the third joint 34. The third synchronous pulley 392 and the fourth synchronous pulley 393 are connected by the second transmission member 394. The third synchronous pulley 392 and the fourth synchronous pulley 393 are respectively mounted on both ends of the third joint 34. This arrangement makes full use of the space inside the joint, resulting in a more compact overall structure.

[0051] Optionally, the second transmission component further includes a tensioning wheel 397, which is rotatably mounted on the third joint 34, and the second transmission component 394 surrounds the third synchronous wheel 392, the fourth synchronous wheel 393 and the tensioning wheel 397.

[0052] In this embodiment, the third synchronous pulley 392 and the fourth synchronous pulley 393 can be either pulleys or sprockets. When the third synchronous pulley 392 and the fourth synchronous pulley 393 are pulleys, the second transmission member 394 is a synchronous belt. When the third synchronous pulley 392 and the fourth synchronous pulley 393 are sprockets, the second transmission member 394 is a transmission chain.

[0053] Optionally, a second limiting block 342 is provided at the position of the third joint 34 near the fourth joint 35. By setting the second limiting block 342, the rotation range of the third joint 34 can be limited to prevent the gripper assembly 44 from turning to the inside of the picking robot arm.

[0054] Furthermore, the fourth drive assembly 39 also includes a fourth encoder 396, which is disposed on the fourth drive member 391.

[0055] In this embodiment, the fourth driving component 391 is a motor. The rotation of the motor drives the third synchronous wheel 392 and the fourth encoder 396 to rotate. At the same time, the third synchronous wheel 392 drives the fourth synchronous wheel 393 to rotate through the transmission component, thereby driving the fourth joint 35 to rotate through the second connecting shaft 395.

[0056] In this embodiment, the fourth encoder 396 can accurately measure the rotation angle of the fourth joint 35, thereby achieving precise positioning of the overall movement direction of the picking robot arm.

[0057] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the end effector 40 includes a fifth drive member 41, a second coupling 42, and a fifth encoder 43. The fifth drive member 41 is mounted on the fourth joint 35, the second coupling 42 is mounted on the output shaft of the fifth drive member 41 and is connected to the gripper assembly 44, and the fifth encoder 43 is disposed on the fifth drive member 41.

[0058] In this embodiment, the fifth encoder 43 can accurately measure the rotation angle of the end effector 40, thereby achieving precise positioning of the overall movement direction of the picking robot arm.

[0059] In this embodiment, the fifth driving component 41 is a motor. The rotation of the motor drives the gripper assembly 44 to rotate, thereby enabling the target picking item to be picked from the tree or other growing environment.

[0060] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the first joint 32 is L-shaped. The first joint 32 includes a first horizontal plate 323 and a first vertical plate 324 connected to the first horizontal plate 323. The first horizontal plate 323 is connected to the first drive assembly 36, and the second drive assembly 37 is disposed on the first vertical plate 324. The L-shaped arrangement of the first joint 32 allows for effective utilization of both the horizontal and vertical directions, thereby saving space. Simultaneously, the range of motion of the first joint 32 is expanded. Furthermore, the connection between the horizontal and vertical plates forms a stable support frame. This structure can effectively disperse stress and reduce structural deformation when bearing loads, thereby improving the overall structural stability.

[0061] Optionally, the first joint 32 further includes an L-shaped support rib 325, with its two ends connected to the first horizontal plate 323 and the first vertical plate 324, respectively. The presence of the L-shaped support rib 325 can enhance the overall rigidity of the first joint 32 and prevent deformation or damage due to excessive force. Moreover, the L-shaped support rib 325 forms an additional support structure, improving the connection strength between the first horizontal plate 323 and the first vertical plate 324, making the entire first joint 32 more stable.

[0062] Specifically, two L-shaped support ribs 325 are provided, respectively on both sides of the first horizontal plate 323, which can further improve the rigidity and stability of the first joint 32.

[0063] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the fourth joint 35 is arranged in an L-shape. The fourth joint 35 includes a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351. The second vertical plate 352 is rotatably disposed at the second end of the third joint 34. The end effector 40 is mounted on the second horizontal plate 351. The end effector 40 is mounted on the second horizontal plate 351, which makes it easier for the picking robot arm to adapt to various working environments and task requirements, such as moving and rotating in different directions.

[0064] Please see Figure 1 and Figure 2 As shown, in this embodiment, exemplarily, the gripper assembly 44 includes a gripper connector 441 and flexible grippers 442 disposed on the gripper connector 441. The outer side wall of the flexible gripper 442 is serrated, and an inflation tube 443 is disposed on the flexible gripper 442. At least two flexible grippers 442 are provided, and the various flexible grippers 442 enclose a clamping space. When the harvesting machinery reaches the position of the target harvested item, the flexible grippers 442 are inflated through the inflation tube 443. The ends of the flexible grippers 442 bend, and the multiple flexible grippers 442 work together to clamp the target harvested item. The end effector 40 is activated, and the end effector 40 drives the gripper assembly 44 to rotate and harvest the target harvested item from the tree or other growing environment.

[0065] In this embodiment, the inner side of the flexible gripper 442 is provided with anti-slip stripes 444. The design of the anti-slip stripes 444 can increase the friction between the flexible gripper 442 and the target item to be picked. When the flexible gripper 442 is inflated and bent to grip the target item to be picked, the anti-slip stripes 444 can ensure that the gripper holds the target item to be picked more firmly, preventing the target item to slip or fall off during the picking process.

[0066] Please see Figure 1 and Figure 2As shown, in this embodiment, for example, the picking robotic arm also includes an image acquisition device 45, which is mounted on the fourth joint 35 and located beside the gripper assembly 44. By setting the image acquisition device 45, the location of the fruit to be picked can be observed in real time, thereby more accurately controlling the movement of the picking robotic arm and the opening and closing of the gripper assembly 44 to achieve fruit picking operation.

[0067] Understandably, when the harvesting robotic arm is mounted on a mobile cart, the image acquisition device 45 can also be mounted on the mobile cart.

[0068] Optionally, the image acquisition device 45 includes a camera bracket 451 and a camera 452. The camera bracket 451 is arranged in an I-shape, and a bayonet (not shown) is provided at one end of the camera bracket 451 near the fourth joint 35. The bayonet is adapted to the fourth joint 35, and the camera bracket 451 is snapped onto the fourth joint 35 and connected to the fourth joint 35.

[0069] Specifically, the camera bracket 451 is screwed to the second vertical plate 352, and the connection method is simple and reliable.

[0070] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A harvesting robotic arm, characterized in that, The system includes a base, a first joint, a second joint, a third joint, a fourth joint, a first drive assembly, a second drive assembly, a third drive assembly, a fourth drive assembly, an end effector, and a gripper assembly. The first drive assembly is mounted on the base. The first joint is connected to the output end of the first drive assembly, and the first drive assembly drives the first joint to rotate. The second drive assembly is disposed on the first joint. The second joint is a V-shaped joint, and its bent portion is connected to the output end of the second drive assembly. The second drive assembly drives the second joint to rotate. The third drive assembly includes a third drive member and a first transmission member. The third drive member is mounted on the first end of the second joint, and the third joint rotates. The third drive member is disposed at the second end of the second joint, and is connected to the third joint via the first transmission component. The third drive member is used to drive the third joint to rotate via the first transmission component. The fourth drive assembly includes a fourth drive member and a second transmission component. The fourth drive member is mounted at the first end of the third joint, and the fourth joint is rotatably disposed at the second end of the third joint. The fourth drive member is connected to the fourth joint via the second transmission component. The fourth drive member is used to drive the fourth joint to rotate via the second transmission component. The end effector is mounted on the fourth joint, and the gripper assembly is connected to the output end of the end effector. The gripper assembly is used to grip the target harvested item.

2. The harvesting robotic arm as described in claim 1, characterized in that, The base is an aluminum alloy base, and the first joint, the second joint, the third joint and the fourth joint are all aluminum alloy joints.

3. The harvesting robotic arm as described in claim 1, characterized in that, The first joint is provided with a first mounting slot. The first drive assembly includes a first drive member, a first coupling and a first encoder. The first drive member is mounted on the base. The first coupling is mounted on the output end of the first drive member. The first joint and the first encoder are respectively mounted on the first coupling, and the first encoder is located in the first mounting slot.

4. The harvesting robotic arm as described in claim 3, characterized in that, The first joint is provided with a second mounting slot. The second drive assembly includes a second drive member and a second encoder. The second drive member is mounted on the first joint, and the second encoder is mounted on the second drive member and located in the second mounting slot. The bent portion of the second joint is connected to the output shaft of the second drive member.

5. The harvesting robotic arm as described in claim 1, characterized in that, The first transmission component includes a first synchronous pulley, a second synchronous pulley, a first transmission member, and a first connecting shaft. The output shaft of the third drive member extends out of the second joint. The first connecting shaft is mounted on the third joint and extends through the second end of the second joint. The first synchronous pulley is mounted on the output shaft of the third drive member. The second synchronous pulley is mounted on the end of the first connecting shaft that extends through the second joint. The first synchronous pulley and the second synchronous pulley are connected by the first transmission member.

6. The harvesting robotic arm as described in claim 1, characterized in that, The second transmission component includes a third synchronous pulley, a fourth synchronous pulley, a second transmission member, and a second connecting shaft. The fourth driving member is mounted on the first end of the third joint, and the output shaft of the fourth driving member extends out of the third joint. The second connecting shaft is mounted on the fourth joint, and the second connecting shaft extends out of the second end of the third joint. The third synchronous pulley is connected to the output shaft of the fourth driving member. The fourth synchronous pulley is mounted on the end of the second connecting shaft that extends out of the third joint. The third synchronous pulley and the fourth synchronous pulley are connected by the second transmission member.

7. The harvesting robotic arm as described in claim 1, characterized in that, The end effector includes a fifth drive member, a second coupling, and a fifth encoder. The fifth drive member is mounted on the fourth joint, the second coupling is mounted on the output shaft of the fifth drive member and is connected to the gripper assembly, and the fifth encoder is disposed on the fifth drive member.

8. The harvesting robotic arm as described in claim 1, characterized in that, The first joint includes a first horizontal plate and a first vertical plate connected to the first horizontal plate. The first horizontal plate is connected to the first drive assembly. The second drive assembly is disposed on the first vertical plate. The fourth joint includes a second horizontal plate and a second vertical plate connected to the second horizontal plate. The second vertical plate is rotatably disposed at the second end of the third joint. The end effector is mounted on the second horizontal plate.

9. The harvesting robotic arm as described in claim 1, characterized in that, The gripper assembly includes a gripper connector and flexible grippers disposed on the gripper connector. The outer side wall of the flexible gripper is serrated, and an inflation tube is disposed on the flexible gripper. At least two flexible grippers are disposed, and the two or more flexible grippers enclose a clamping space.

10. The harvesting robotic arm as described in claim 1, characterized in that... The harvesting robotic arm also includes an image acquisition device, which is mounted on the fourth joint and located beside the gripper assembly.

Images