Novel full-automatic garlic shoot extraction agricultural robot

Abstract

The novel full-automatic garlic shoot extracting agricultural robot relates to the field of agricultural instruments and comprises a supporting frame, a cross beam is fixedly installed at the top of the supporting frame, an auxiliary supporting column is fixedly installed at the top of the cross beam and is arranged in an inclined mode, and a photovoltaic panel is arranged on the edge of the top of the supporting frame. The bottom of the photovoltaic panel is fixedly connected with the top end of an auxiliary supporting column, a connecting support is fixedly installed at the bottom of the cross beam, a mechanical arm unit is arranged at the bottom of the connecting support, and a manipulator unit is arranged at the bottom of the mechanical arm unit. According to the novel full-automatic garlic shoot extraction agricultural robot, mature garlic shoots are recognized through a camera, walking wheels are driven to drive a device to move, garlic plants are gathered to the inner side of a divider, steel needles are inserted into the garlic plants till the bottoms of the garlic shoots are separated from the garlic plants, and a mechanical arm unit drives a manipulator unit to extract the garlic shoots from the garlic plants; the damage degree to garlic plants during garlic shoot picking is reduced, and meanwhile, the finished product qualification rate of garlic shoot picking is increased.

Description

Technical Field

[0001] This utility model relates to agricultural machinery technology, specifically to a novel fully automatic garlic scape harvesting agricultural robot. Background Technology

[0002] Garlic scapes are the tender stems that grow during the growth of garlic plants. Also called garlic shoots or garlic cores, they typically emerge in spring. They resemble scallions in appearance but taste closer to garlic. Garlic scapes are a popular culinary ingredient, widely used in cooking, often stir-fried or added to soups. They are rich in nutrients such as vitamin C and selenium, which help boost immunity and promote health.

[0003] Chinese invention patent CN108781727A discloses a pull-out garlic scape harvester. This harvester gathers garlic scapes at the gathering opening under the support of a gathering plate. The active rotating shaft rotates inward, and the scape-pulling blades push the garlic scapes backward while the grinding teeth on the outer edges of the active and driven pressure rollers crush the lower end of the garlic scapes into a fragile state. Then, the upper end of the garlic scape is inserted into the gap between two spiral rollers. The upward rotation of the rotating roller pulls the garlic scapes upward, causing them to break off from the garlic stalks at the crushing point. The spiraling roller also drives the fallen garlic scapes backward. Finally, the scape-feeding shaft rotates, and the lower end of the scape-feeding brush orderly brushes the garlic scapes onto the horizontal section of the conveyor belt. Driven by the drive wheel, the conveyor belt pushes the garlic scapes upward. On the inclined section of the conveyor belt, the garlic scapes are arranged in an orderly manner on the upper part of the push plate under the action of gravity, so that the garlic scapes are stored in the scape-collecting bin in an orderly manner.

[0004] On the same plot of land, garlic scapes mature at different times. Existing devices can only harvest garlic scapes growing on the garlic stalks at the same time. Moreover, when harvesting garlic scapes, the connection between the scape and the stalk is broken by squeezing the bottom of the stalk, which damages the stalk. However, the stalk still needs to provide the nutrients required for the growth of the garlic bulb, which reduces the garlic yield. Furthermore, the uniform harvesting results in a large number of immature garlic scapes being collected, leading to waste. Utility Model Content

[0005] The purpose of this invention is to provide a new type of fully automatic garlic scape harvesting agricultural robot to address the shortcomings of existing technologies, such as the need to damage garlic plants during garlic scape harvesting, which reduces garlic yield, and the waste caused by harvesting immature garlic scapes.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a novel fully automatic garlic scape harvesting agricultural robot, comprising a support frame, a crossbeam fixedly installed on the top of the support frame, an auxiliary support column fixedly installed on the top of the crossbeam, the auxiliary support column being inclined, a photovoltaic panel being provided on the top edge of the support frame, the bottom of the photovoltaic panel being fixedly connected to the top of the auxiliary support column, a connecting bracket being fixedly installed on the bottom of the crossbeam, a robotic arm unit being provided on the bottom of the connecting bracket, a robotic hand unit being provided on the bottom of the robotic arm unit, the robotic arm unit being used to drive the robotic hand unit to move, the robotic hand unit being used to pick up garlic scapes, a separator being provided in the middle of the bottom of the support frame, the separator being used to pierce into the garlic plant to separate the garlic scapes from the garlic plant, and a camera being provided on the top of one side of the support frame.

[0007] Furthermore, the robotic arm unit includes a fixed plate, a moving unit, and a driven plate:

[0008] A fixing plate is fixedly installed at the bottom of the connecting bracket;

[0009] Several moving units are disposed on one side of a fixed plate. The moving units are evenly arranged and each moving unit includes a drive source, an active arm, a first hinge, a driven arm, and a second hinge.

[0010] The drive source is fixedly mounted on one side of the mounting plate;

[0011] The active arm, whose rotating shaft is connected by a coupling, is fixedly mounted to the output end of the drive source;

[0012] The driven arm is located on the side of the driving arm away from the drive source, and the driven arm and the driving arm are connected by a first hinge.

[0013] The second hinge is located at the bottom of the driven boom;

[0014] A driven plate is disposed at the bottom of several driven arms, and the driven plate and the driven arms are connected by a second hinge.

[0015] Furthermore, the robotic arm unit includes finger one, finger two, connecting plate, power source, fixed shaft, transmission rod, driven gear one, driving gear, driven rod and auxiliary rod;

[0016] A connecting plate, which is fixedly installed on one side of the driven plate;

[0017] The power source is fixedly installed on one side of the connecting plate;

[0018] Two fixed shafts are symmetrically arranged on one side of the connecting plate. The fixed shafts pass through the connecting plate and extend to the other side of the connecting plate. The fixed shafts are fixedly connected to the connecting plate.

[0019] Two transmission rods are rotatably mounted on one end of a fixed shaft;

[0020] Two driven teeth are rotatably mounted on the other end of the fixed shaft, and the two driven teeth are meshed together.

[0021] The driving tooth is engaged with the outer side of any of the driven teeth;

[0022] A power source is fixedly installed on one side of the connecting plate, and the output end of the power source is fixedly connected to the drive gear via a connecting shaft connected by a coupling.

[0023] The driven rod is rotatably mounted between the transmission rod and the driven gear.

[0024] An auxiliary rod is rotatably mounted on one side of the connecting plate, and the auxiliary rod is located below the driven tooth.

[0025] One finger is fixedly installed at the bottom of the driven rod;

[0026] The second finger is fixedly installed at the bottom of another driven rod, and the second finger is slidably connected to the first finger.

[0027] Furthermore, several collection chambers are fixedly installed on the bottom outer side of the support frame, and the collection chambers are used to collect garlic scapes.

[0028] Furthermore, the divider includes two symmetrically arranged arc-shaped gathering plates and a steel needle located between the arc-shaped gathering plates. The arc-shaped gathering plates are fixedly installed on one side of the bottom of the support frame, and the steel needle is fixedly connected to one side of the bottom of the support frame.

[0029] Furthermore, the four corners of the bottom of the support frame are rotatably equipped with wheels.

[0030] Compared with existing technologies, this utility model provides a novel fully automatic garlic scape harvesting agricultural robot. It identifies mature garlic scapes through a camera, drives the walking wheels to move the device, causing the garlic plants to gather inside the separator. A steel needle is inserted into the garlic plant until the bottom of the garlic scape separates from the plant. The robotic arm unit drives the robotic hand unit to pull the garlic scape from the plant, reducing the damage to the garlic plant during harvesting and improving the yield of qualified garlic scapes. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0032] Figure 1 This is a first schematic diagram of the overall structure provided for an embodiment of the present utility model;

[0033] Figure 2 This is a second schematic diagram of the overall structure provided for an embodiment of the present utility model;

[0034] Figure 3 This is a schematic diagram of the structure of the robotic arm unit and robotic hand unit provided in the embodiments of this utility model;

[0035] Figure 4 This is a schematic diagram of the driven plate and the robot arm unit structure provided in an embodiment of the present utility model;

[0036] Figure 5 This is a schematic diagram of the robotic arm unit structure provided in an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Support frame; 2. Photovoltaic panel; 3. Crossbeam; 4. Auxiliary support column; 5. Camera; 6. Robotic arm unit; 7. Collection compartment; 8. Robotic hand unit; 9. Divider; 10. Walking wheel; 11. Connecting bracket; 61. Fixing plate; 62. Drive source; 63. Active arm; 64. First hinge; 65. Driven arm; 66. Second hinge; 67. Driven plate; 81. Finger one; 82. Finger two; 83. Connecting plate; 84. Power source; 85. Fixed shaft; 86. Transmission rod; 87. Driven gear one; 88. Active gear; 89. Driven rod; 810. Auxiliary rod. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0040] Example 1:

[0041] Please see Figures 1-5 A novel fully automatic garlic scape harvesting agricultural robot includes a support frame 1, a crossbeam 3 fixedly installed on the top of the support frame 1, an auxiliary support column 4 fixedly installed on the top of the crossbeam 3, the auxiliary support column 4 being inclined, a photovoltaic panel 2 being installed on the top edge of the support frame 1, the bottom of the photovoltaic panel 2 being fixedly connected to the top of the auxiliary support column 4, a connecting bracket 11 being fixedly installed on the bottom of the crossbeam 3, a robotic arm unit 6 being installed on the bottom of the connecting bracket 11, a robotic hand unit 8 being installed on the bottom of the robotic arm unit 6, the robotic arm unit 6 being used to drive the robotic hand unit 8 to move, the robotic hand unit 8 being used to pick up garlic scapes, a divider 9 being installed in the middle of the bottom of the support frame 1, the divider 9 being used to pierce into the garlic plant to separate the garlic scapes from the garlic plant, and a camera 5 being installed on the top of one side of the support frame 1.

[0042] The specific implementation method is as follows: Camera 5 adopts a high-resolution industrial camera and uses computing devices such as NVIDIA Jetson Nano or Raspberry Pi 4 for image processing, model inference, task scheduling, data storage and transmission, and user interaction. The software part is based on the Ubuntu or Raspberry Pi operating system, uses the Python programming language, and combines TensorFlow. This system utilizes deep learning frameworks such as OW and PyTorch, as well as image processing libraries such as OpenCV and PIL. It employs pre-trained models or custom CNNs for model training and inference, covering image acquisition, preprocessing (denoising, enhancement, cropping, and scaling), feature extraction (color, texture, and shape), model training (data augmentation, model selection, and training), object detection and segmentation (YOLO, U-Net, etc.), classification and recognition (maturity classification and score prediction), post-processing (result optimization and visualization), and system integration (real-time processing and user interface development). It supports scheduled tasks for automatically acquiring and recognizing mature garlic scapes. This is existing technology. Camera 5 is used for real-time identification of garlic scape maturity. Camera 5 is fixedly connected to support frame 1. A separator 9 is used to separate the garlic scapes from the garlic plant. A robotic arm unit 6 drives a robotic hand unit 8 to extract the garlic scapes from the garlic plant. Support frame 1 serves as the main support structure of the entire robot and is made of robust and durable materials to ensure the robot's stability and durability.

[0043] The photovoltaic panel 2 is installed on the top edge of the support frame 1 and fixedly connected to the top of the auxiliary support column 4. The photovoltaic panel 2 is used to collect solar energy and convert it into electrical energy to provide the power required for the operation of the entire device.

[0044] The crossbeam 3 is fixedly installed on the top of the support frame 1, serving as the installation base for the auxiliary support column 4 and the connecting bracket 11.

[0045] The auxiliary support column 4 is inclinedly set on the top of the crossbeam 3 to enhance the stability of the overall structure and support the photovoltaic panel 2. The auxiliary support column 4 and the crossbeam 3 are fixedly connected together by welding.

[0046] Robotic arm unit 6 includes a fixed plate 61, a moving unit, and a driven plate 67.

[0047] The fixing plate 61 is fixedly installed at the bottom of the connecting bracket 11;

[0048] A plurality of moving units are disposed on one side of the fixed plate 61. The plurality of moving units are evenly arranged. Each moving unit includes a drive source 62, an active arm 63, a first hinge 64, a driven arm 65, and a second hinge 66.

[0049] The drive source 62 is fixedly mounted on one side of the mounting plate 61;

[0050] The active arm 63, whose rotating shaft is connected by a coupling, is fixedly mounted to the output end of the drive source 62;

[0051] The driven arm 65 is located on the side of the driving arm 63 away from the drive source 62, and the driven arm 65 and the driving arm 63 are hinged together by the first hinge 64.

[0052] The second hinge 66 is located at the bottom of the driven boom 65;

[0053] A driven plate 67 is disposed at the bottom of a plurality of driven arms 65, and the driven plate 67 and the driven arms 65 are hinged together by a second hinge 66.

[0054] The specific implementation method is as follows: the robotic arm unit 6 is used to drive the robotic hand unit 8 to move.

[0055] The fixing plate 61 is fixed to the bottom of the connecting bracket 11 by welding or bolting, and serves as the base of the robotic arm unit 6.

[0056] The moving unit includes a drive source 62, an active arm 63, a first hinge 64, a driven arm 65, and a second hinge 66. The drive source 62 drives the active arm 63 to rotate. The active arm 63 is hinged to the driven arm 65 via the first hinge 64. The bottom of the driven arm 65 is hinged to the driven plate 67 via the second hinge 66. The drive source 62 includes, but is not limited to, an electric motor, which is electrically connected to an external power source and controlled by an external PLC programming program. Multiple moving units are evenly arranged on one side of the fixed plate 61, enabling the fixed plate 61 to move flexibly in multiple directions.

[0057] The robotic arm unit 8 includes finger 1 81, finger 2 82, connecting plate 83, power source 84, fixed shaft 85, transmission rod 86, driven gear 1 87, driving gear 88, driven rod 89 and auxiliary rod 810;

[0058] Connecting plate 83 is fixedly installed on one side of driven plate 67;

[0059] The power source 84 is fixedly installed on one side of the connecting plate 83;

[0060] Two fixed shafts 85 are symmetrically arranged on one side of the connecting plate 83. The fixed shafts 85 pass through the connecting plate 83 and extend to the other side of the connecting plate 83. The fixed shafts 85 are fixedly connected to the connecting plate 83.

[0061] Two transmission rods 86 are rotatably mounted on one end of a fixed shaft 85;

[0062] Two driven teeth 87 are rotatably mounted on the other end of the fixed shaft 85, and the two driven teeth 87 are meshed together;

[0063] The driving tooth 88 is engaged with the outer side of any driven tooth 87;

[0064] The power source 84 is fixedly installed on one side of the connecting plate 83. The output end of the power source 84 is fixedly connected to the drive gear 88 via a connecting shaft connected by a coupling.

[0065] Driven rod 89 is rotatably mounted between transmission rod 86 and driven gear 87;

[0066] Auxiliary rod 810 is rotatably mounted on one side of connecting plate 83, and auxiliary rod 810 is located below driven gear 87;

[0067] Finger 81 is fixedly installed at the bottom of the driven rod 89;

[0068] Finger 2 82 is fixedly installed at the bottom of another driven rod 89, and finger 2 82 is slidably connected to finger 1 81.

[0069] The specific implementation method is as follows: the robotic arm unit 8 is used to grip garlic scapes. The robotic arm unit includes a connecting plate 83, which is fixedly installed on one side of the driven plate 67 as the mounting base of the robotic arm unit 8.

[0070] The power source 84 includes, but is not limited to, an electric motor, which is electrically connected to an external power supply and controlled by an external PLC programming program. The power source 84 is used to drive the movement of finger 81 and finger 82 of the robotic arm unit 8. The output end of the power source 84 is fixedly connected to the driving gear 88 via a connecting shaft connected by a coupling. The driving gear 88 is engaged with the outer side of the driven gear 87, thereby driving the rotation of the transmission rod 86 and the driven rod 89.

[0071] Finger 1 (81) and finger 2 (82) are fixedly installed at the bottom of the two driven rods (89) for gripping garlic scapes. Finger 1 (81) and finger 2 (82) are slidably connected to each other to ensure the stability and flexibility of gripping.

[0072] Several collection chambers 7 are fixedly installed on the bottom outer side of the support frame 1. The collection chambers 7 are used to collect garlic scapes.

[0073] The divider 9 includes two symmetrically arranged arc-shaped gathering plates and a steel needle located between the arc-shaped gathering plates. The arc-shaped gathering plates are fixedly installed on one side of the bottom of the support frame 1, and the steel needle is fixedly connected to one side of the bottom of the support frame 1.

[0074] The specific implementation is as follows: The divider 9 includes two symmetrically arranged arc-shaped gathering plates and a steel needle located between the arc-shaped gathering plates. The arc-shaped gathering plates are fixedly installed on one side of the bottom of the support frame 1, and the steel needle is fixedly connected to one side of the bottom of the support frame 1. The steel needle of the divider 9 is used to pierce into the garlic stalk to separate the garlic scape from the garlic stalk, and the arc-shaped gathering plates are used to gather the garlic stalk towards the steel needle.

[0075] The collection chamber 7 is fixedly installed on the bottom outer side of the support frame 1 and is used to collect the garlic scapes extracted by the robotic arm unit 8.

[0076] Example 2:

[0077] Please see Figure 1 and Figure 2 This embodiment provides a technical solution based on embodiment one: the four corners of the bottom of the support frame 1 are rotatably mounted with traveling wheels 10.

[0078] The walking wheels 10 can be driven manually or electrically to move the entire device, allowing it to move freely in the farmland.

[0079] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A new type of fully automatic garlic sprout extraction agricultural robot, characterized in that, The system includes a support frame (1), a crossbeam (3) fixedly installed on the top of the support frame (1), an auxiliary support column (4) fixedly installed on the top of the crossbeam (3), the auxiliary support column (4) is inclined, a photovoltaic panel (2) is provided on the top edge of the support frame (1), the bottom of the photovoltaic panel (2) is fixedly connected to the top of the auxiliary support column (4), a connecting bracket (11) is fixedly installed on the bottom of the crossbeam (3), a robotic arm unit (6) is provided on the bottom of the connecting bracket (11), a robotic hand unit (8) is provided on the bottom of the robotic arm unit (6), the robotic arm unit (6) is used to drive the robotic hand unit (8) to move, the robotic hand unit (8) is used to pick up garlic scapes, a divider (9) is provided in the middle of the bottom of the support frame (1), the divider (9) is used to pierce into the garlic plant to separate the garlic scapes from the garlic plant, and a camera (5) is provided on the top of one side of the support frame (1).

2. A new type of fully automatic garlic sprout extraction agricultural robot according to claim 1, characterized in that, The robotic arm unit (6) includes a fixed plate (61), a moving unit, and a driven plate (67): A fixing plate (61) is fixedly installed at the bottom of the connecting bracket (11); A plurality of moving units are disposed on one side of a fixed plate (61). The plurality of moving units are evenly arranged. Each moving unit includes a drive source (62), an active arm (63), a first flap (64), a driven arm (65), and a second flap (66). The drive source (62) is fixedly mounted on one side of the fixing plate (61); The active arm (63) is fixedly mounted on the output end of the drive source (62) via a rotating shaft connected by a coupling; A driven arm (65) is disposed on the side of the driving arm (63) away from the drive source (62), and the driven arm (65) and the driving arm (63) are hinged together by a first hinge (64); The second hinge (66) is located at the bottom of the driven boom (65); A driven plate (67) is disposed at the bottom of a plurality of driven arms (65), the driven plate (67) and the driven arms (65) being hinged together by a second hinge (66).

3. A new type of fully automatic garlic sprout extraction agricultural robot according to claim 2, characterized in that, The robotic arm unit (8) includes finger one (81), finger two (82), connecting plate (83), power source (84), fixed shaft (85), transmission rod (86), driven gear one (87), driving gear (88), driven rod (89) and auxiliary rod (810); A connecting plate (83) is fixedly installed on one side of the driven plate (67); The power source (84) is fixedly installed on one side of the connecting plate (83); Two fixed shafts (85) are symmetrically arranged on one side of the connecting plate (83). The fixed shafts (85) pass through the connecting plate (83) and extend to the other side of the connecting plate (83). The fixed shafts (85) are fixedly connected to the connecting plate (83). Two transmission rods (86) are rotatably mounted on one end of a fixed shaft (85); Two driven teeth (87) are rotatably mounted on the other end of the fixed shaft (85), and the two driven teeth (87) are meshed together. The driving tooth (88) is engaged with the outer side of any of the driven teeth (87); A power source (84) is fixedly installed on one side of a connecting plate (83), and the output end of the power source (84) is fixedly connected to the drive gear (88) via a connecting shaft connected by a coupling. Driven rod (89) is rotatably mounted between transmission rod (86) and driven gear (87); An auxiliary rod (810) is rotatably mounted on one side of a connecting plate (83), and the auxiliary rod (810) is located below the driven tooth (87); Finger 1 (81) is fixedly installed at the bottom of the driven rod (89); Finger 2 (82) is fixedly installed at the bottom of another driven rod (89), and finger 2 (82) is slidably connected to finger 1 (81).

4. A new type of fully automatic garlic sprout extraction agricultural robot according to claim 1, characterized in that, Several collection chambers (7) are fixedly installed on the bottom outer side of the support frame (1), and the collection chambers (7) are used to collect garlic scapes.

5. A new type of fully automatic garlic sprout extraction agricultural robot according to claim 1, characterized in that, The divider (9) includes two symmetrically arranged arc-shaped gathering plates and a steel needle located between the arc-shaped gathering plates. The arc-shaped gathering plates are fixedly installed on one side of the bottom of the support frame (1), and the steel needle is fixedly connected to one side of the bottom of the support frame (1).

6. A new type of fully automatic garlic sprout extraction agricultural robot according to claim 1, characterized in that, The support frame (1) is equipped with rotatable wheels (10) at the four corners of its bottom.

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