Intelligent cutting and grabbing collection of fruit crops mechanical arm

Abstract

The utility model provides a kind of intelligent cutting and grasping collection fruit crops mechanical arm, comprising: lifting assembly;Lifting power component, including optical axis fixing piece, motor fixing piece, motor and power transmission shaft;Optical axis fixing piece is connected with lifting assembly;Motor fixing piece is connected and fixed with optical axis fixing piece;Motor is installed on motor fixing piece;Power transmission shaft is installed on motor fixing piece, and power transmission shaft is connected with motor transmission;Cutting and grasping component, with power transmission shaft transmission connection;Power component, with cutting and grasping component connection;Lifting power component is used to control cutting and grasping component to move up and down;Power component is used to control cutting and grasping component to move back and forth.The utility model provides mechanical arm, can realize the efficient, intelligent operation of whole process from picking to harvest.The mechanical arm has good topographic adaptability, accurate operation execution mechanism and efficient work flow, and can comprehensively improve the automation level and economic benefit of agricultural production.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural automation equipment technology, specifically, it relates to an intelligent robotic arm for cutting, grasping and collecting fruit crops. Background Technology

[0002] my country's agricultural automation level has been increasing year by year. Against this backdrop, utilizing modern technologies such as artificial intelligence and robotics to promote the transformation of traditional agriculture into smart agriculture has become a key path to achieving agricultural modernization. Smart agriculture, through mechanization, informatization, and intelligentization, can effectively improve crop planting efficiency, optimize resource utilization, reduce labor intensity, and increase the yield and quality of agricultural products.

[0003] However, in fruit harvesting, current automated harvesting of fruit crops mainly relies on two types of equipment: vibratory drop harvesters and traditional robotic arm harvesters. Vibratory drop harvesters cause fruit to fall from the tree trunk by vibrating. They suffer from high damage rates when harvesting fragile fruits such as berries and citrus, and cannot selectively harvest ripe fruit. Traditional robotic arm harvesters use a general-purpose industrial robotic arm in conjunction with a simple gripper, relying on pre-programmed paths. They suffer from limited end effector functionality (only gripping or only cutting), requiring secondary operations leading to low efficiency; their rigid structure easily scratches the fruit peel; and they lack an adaptive lifting system, resulting in poor compatibility with plants of varying heights (such as strawberry and apple trees).

[0004] Therefore, we need a multifunctional agricultural robotic arm that can be compatible with most plant fruit harvesting operations and reduce fruit loss rates. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent robotic arm for cutting, grasping, and collecting fruit crops, in order to solve the technical problems existing in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is: to provide an intelligent robotic arm for cutting, grasping, and collecting fruit crops, comprising:

[0007] Lifting assembly;

[0008] A lifting power assembly includes an optical axis fixing component, a motor fixing component, a motor, and a power transmission shaft; the optical axis fixing component is connected to the lifting assembly; the motor fixing component is connected and fixed to the optical axis fixing component; the motor is mounted on the motor fixing component; the power transmission shaft is mounted on the motor fixing component and is drively connected to the motor;

[0009] The cutting and gripping component is connected to the power transmission shaft.

[0010] The power unit is connected to the cutting and gripping component;

[0011] The lifting power component is used to control the cutting and gripping component to move up and down, thereby determining the picking position; the power component is used to control the cutting and gripping component to move back and forth.

[0012] Preferably, the motor is connected to the power transmission shaft via a gear structure; the gear structure is mounted on the motor mounting component.

[0013] Preferably, the cropping and gripping component includes:

[0014] Connector, which connects to the power assembly;

[0015] A bearing structure is disposed on the connector, and the bearing structure is used to provide guiding support;

[0016] The gripper is connected to the connector via a carbon tube;

[0017] The pressure plate is fixed and set on the connecting member. The pressure plate is fixed and connected to the power transmission shaft through a synchronous belt.

[0018] Preferably, the lifting assembly includes:

[0019] Component skeleton

[0020] A carbon fiber rod, connected to the component skeleton; the carbon fiber rod and the component skeleton are arranged parallel to each other; the carbon fiber rod is used to define the movement path of the cutting and gripping component.

[0021] Preferably, the power assembly includes:

[0022] Base;

[0023] The first synchronous pulley is mounted on the base;

[0024] The second synchronous pulley is mounted on the base.

[0025] A power control module is installed on the base; the power control module is communicatively connected to the cutting and gripping component and the lifting power component.

[0026] Preferably, the power assembly includes:

[0027] Base;

[0028] The first synchronous pulley is mounted on the base;

[0029] The second synchronous pulley is mounted on the base.

[0030] A power control module is installed on the base; the power control module is communicatively connected to the cutting and gripping component and the lifting power component.

[0031] Preferably, the power assembly further includes a flat-head pin for aligning the first synchronous pulley with the second synchronous pulley.

[0032] Preferably, the lifting power assembly further includes a gasket connected to the motor fixing component.

[0033] Preferably, the lifting power assembly further includes a battery holder connected to the motor fixing member, the battery holder being used to hold a battery electrically connected to the motor.

[0034] The beneficial effects of the intelligent cutting and grasping robotic arm for collecting fruit crops provided by this utility model are as follows: Compared with the prior art, the intelligent cutting and grasping robotic arm for collecting fruit crops of this utility model can realize efficient and intelligent operation from picking to harvesting. Furthermore, this robotic arm has good terrain adaptability, a precise operation execution mechanism, and an efficient operation process, which can comprehensively improve the automation level and economic benefits of agricultural production. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 these drawings without creative effort.

[0036] Figure 1 A schematic diagram of the structure of an intelligent cutting and grasping robotic arm for collecting fruit crops provided in this embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the lifting power assembly used in an intelligent cutting and grasping robotic arm for collecting fruit crops, provided in this embodiment of the utility model. Figure 1 ;

[0038] Figure 3 A schematic diagram of the lifting power assembly used in an intelligent cutting and grasping robotic arm for collecting fruit crops, provided in this embodiment of the utility model. Figure 2 ;

[0039] Figure 4 A schematic diagram of the power component used in an intelligent cutting and grasping robotic arm for collecting fruit crops, provided as an embodiment of this utility model. Figure 1 ;

[0040] Figure 5A schematic diagram of the power component used in an intelligent cutting and grasping robotic arm for collecting fruit crops, provided as an embodiment of this utility model. Figure 2 ;

[0041] Figure 6 A schematic diagram of the cutting and grasping component used in an intelligent cutting and grasping robotic arm for collecting fruit crops, provided in an embodiment of this utility model;

[0042] Figure 7 This is a schematic diagram showing the connection between the lifting component and the lifting power component of an intelligent cutting and grasping robotic arm for collecting fruit crops, provided as an embodiment of this utility model.

[0043] In the diagram: 1. Lifting assembly; 11. Assembly frame; 12. Carbon fiber rod; 2. Power assembly; 21. First synchronous pulley; 22. Flat-head pin; 23. Second synchronous pulley; 24. Power control module; 3. Cutting and gripping assembly; 31. First bearing; 32. Second bearing; 33. Third bearing; 34. Fourth bearing; 35. Carbon fiber tube; 36. Forearm wrist motor fixing; 37. Gripper; 38. Synchronous belt pressure plate; 39. Pressure plate fixing; 4. Lifting power assembly; 41. Power transmission shaft; 42. Shim; 43. Shim fixing; 44. Optical shaft fixing component; 45. Motor fixing component; 46. Motor; 47. Gear structure; 48. Battery holder. Detailed Implementation

[0044] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0045] Please refer to the following: Figures 1 to 7 This invention provides a description of an intelligent cutting and grasping robotic arm for collecting fruit crops. This intelligent cutting and grasping robotic arm for collecting fruit crops can be specifically applied to large-scale harvesting in intelligent agriculture, suitable for fully automated harvesting of various fruits in agricultural automation production. Specifically, it includes: a lifting component 1, a power component 2, a cutting and grasping component 3, and a lifting power component 4. The lifting power component 4 is installed at the bottom of the lifting component 1. The power component 2 is drivenly connected to the cutting and grasping component 3. That is, the power component 2 is mounted on the lifting component 1. The power component 2 can control the forward and backward movement of the cutting and grasping component 3, thereby realizing the harvesting of the fruit. The lifting power component 4 is installed at the bottom of the lifting component 1, serving as the overall motor control for the robotic arm. The lifting power component 4 and the lifting component 1 work together to control the up and down movement of the entire cutting and grasping component 3, realizing the function of determining the harvesting position of the fruit.

[0046] As one specific implementation of this utility model, please refer to the following: Figures 1 to 7 The lifting assembly 1 includes a component frame 11 and a carbon fiber rod 12 connected and fixed to the component frame 11. The carbon fiber rod 12 is arranged parallel to the component frame 11. The carbon fiber rod 12 is used to limit the movement path of the cutting and gripping assembly 3, prevent the cutting and gripping assembly 3 from deviating during movement, and ensure the stability of the cutting and gripping assembly 3 during movement. Specifically, a snap-fit ​​component is fixedly connected to the upper end of the component frame 11, and the snap-fit ​​component has a snap-fit ​​position, on which the carbon fiber rod 12 snaps into the snap-fit ​​position.

[0047] In some feasible embodiments, the component frame 11 is a sheet metal structure. Three sets of carbon fiber rods 12 are provided. Two sets of carbon fiber rods 12 are respectively located on the sides and rear of the component frame 11; that is, one carbon fiber rod 12 is located on the left side of the component frame 11, another carbon fiber rod 12 is located on the right side of the component frame 11, and the last carbon fiber rod 12 is located on the rear side of the component frame 11. A lifting power assembly 4 is connected and fixed to the front of the component frame 11. The carbon fiber rods 12 are used to provide stability for the entire lifting boom.

[0048] In any feasible embodiment, the component frame 11 is made of European standard aluminum material with dimensions of 20×20×600 mm, which can provide high-strength and lightweight structural support. The 20mm×20mm cross-section is suitable for small lifting requirements, and the 600mm length defines the lifting stroke range, while also facilitating assembly with other structures.

[0049] As one specific implementation of this utility model, please refer to the following: Figures 1 to 7 The lifting power assembly 4 includes a light shaft fixing component 44, a motor fixing component 45, a motor 46, a gear structure 47, and a power transmission shaft 41. The light shaft fixing component 44 is connected and fixed to the carbon fiber rod 12. The light shaft fixing component 44 has a pin adapted to the carbon fiber rod 12. The carbon fiber rod 12 is inserted into the light shaft fixing component 44 through the pin and then locked with screws and nuts, thus achieving the connection and fixation between the two. The motor fixing component 45 is connected and fixed to the light shaft fixing component 44, and the light shaft fixing component 44 is connected and fixed to the motor fixing component 45 by screws and nuts. The motor 46 is mounted on the motor fixing component 45. The gear structure 47 is mounted on the motor fixing component 45 and meshes with the motor 46. The power transmission shaft 41 is mounted on the motor fixing component 45 and is rotatably connected to the motor fixing component 45. The power transmission shaft 41 is drive-connected to the gear structure 47. The power transmission shaft 41 is connected and fixed to the power assembly 2 via a synchronous belt. The lifting power component 4 can drive the power component 2 and the cutting and gripping component 3 to reciprocate along the vertical direction.

[0050] In some feasible embodiments, the lifting power assembly 4 also includes a battery holder 48 connected to the motor mounting member 45. The battery holder 48 is used to place and secure the battery to provide power to the system, ensuring stable power supply and facilitating battery removal and maintenance. The battery is electrically connected to the motor 46. The battery holder 48 is U-shaped. The outer edge of the opening of the battery holder 48 is fixed to the pre-drilled holes in the motor mounting member 45 by screws. The size of the battery holder 48 is the same as the size of the battery, so the battery can be directly inserted during installation.

[0051] In some feasible embodiments, the lifting power assembly 4 further includes a gasket 42 connected to the motor mounting member 45, the gasket 42 serving to buffer and adapt. The gasket 42 is mounted and fixed to the motor mounting member 45 by a gasket fixing 43.

[0052] In any feasible embodiment, the motor mounting bracket 45 provides an installation reference for the motor 46, wherein the motor 46 is fixed by bolts or other means to ensure the stability of the motor 46 during operation, reduce the impact of vibration, and serve as the basic support for power input. The motor 46 is a brushless motor. The gear structure 47 is a belt reduction gear, which adjusts the speed and torque of power transmission through belt drive and gear reduction to meet the specific speed and torque requirements of the acquisition mechanism. The gear structure 47 also drives the power transmission shaft 41 and the motor 46. That is, the motor 46 drives the power transmission shaft 41 to rotate through the gear structure 47. The power transmission shaft 41 drives the power assembly 2 to move up and down through a synchronous belt structure.

[0053] As one specific implementation of this utility model, please refer to the following: Figures 1 to 7The power assembly 2 includes a base, a first synchronous pulley 21, a flat-head pin 22, a second synchronous pulley 23, and a power control module 24. The power control module 24 is mounted on the base. The first synchronous pulley 21 and the second synchronous pulley 23 are connected to the base via the flat-head pin 22. The first synchronous pulley 21 is located on the flat-head pin 22, which has a locking structure at its end, connecting it to the first synchronous pulley 21. The second synchronous pulley 23 is placed directly on the flat-head pin 22 and locked to it with screws. The flat-head pin 22 serves a positioning and connecting function, constraining the two synchronous pulleys and the base. It precisely aligns the first synchronous pulley 21 and the second synchronous pulley 23, preventing misalignment during operation and stabilizing the structure. The flat-head pin 22 rotates with the base. A connecting plate is provided on the base, on which the flat-head pin 22 is rotatably connected. One end of the flat-head pin 22 is fixedly connected to the first synchronous pulley 21, and the other end is fixedly connected to the second synchronous pulley 23. The first synchronous pulley 21 is connected to the power transmission shaft 41 via a synchronous belt. Specifically, the power transmission shaft 41 drives the first synchronous pulley 21 to rotate via the synchronous belt. The component frame 11 has toothed grooves arranged in the vertical direction, and the outer surface of the second synchronous pulley 23 has meshing teeth. The meshing teeth are adapted to the toothed grooves. When the second synchronous pulley 23 rotates, it can drive the power component 2 and the cutting and gripping component 3 to move in the vertical direction. There are mounting holes at the four corners of the base, and each mounting hole has a connecting rod. The connecting rod corresponds to a linear bearing. That is, the linear bearing can reciprocate along the axial direction of the connecting rod. The power control module 24 is used to provide power and signal support, coordinate the movement of each component, and integrates control and status feedback functions. The power control module 24 is communicatively connected to the cutting and gripping component 3 and the lifting power component 4. A third motor is provided on the base, and the third motor is connected to the connecting component via a synchronous belt. When the third motor is working, it can drive the connecting parts to reciprocate along the axis of the connecting rod through the synchronous belt, thereby causing the cutting and gripping assembly 3 to move in the front and back direction.

[0054] As one specific implementation of this utility model, please refer to the following: Figures 1 to 7The cutting and gripping assembly 3 includes: a connector, a first bearing 31, a second bearing 32, a third bearing 33, and a fourth bearing 34 mounted on the connector, a carbon fiber tube 35 mounted on the connector, a forearm wrist motor fixed to the connector 36, a gripper 37 connected to the carbon fiber tube 35, a synchronous belt pressure plate 38 mounted on the connector, and a pressure plate fixed 39. Specifically, the connector is connected to the power assembly. The first bearing 31, second bearing 32, third bearing 33, and fourth bearing 34 are linear bearings, which are used to connect and fix to the connecting rod. The linear bearings provide guidance for linear motion, reduce friction during movement, and ensure the accuracy and smoothness of the movement of related components in the linear direction, providing guidance and support for the movement of the cutting and gripping assembly 3. The carbon fiber tube 35 supports and connects the gripper 37. The carbon fiber tube 35 is lightweight and has relatively high strength, ensuring the rigidity of the overall structure while reducing weight. One end of the carbon fiber tube 35 is connected to the gripper 37, and the other end is connected and fixed to the connector. The forearm and wrist motor mount 36 is used to install and fix the second motor that drives the forearm and wrist movements, providing a stable mounting base for the second motor and ensuring that the power generated by the second motor can be effectively transmitted to the gripper 37 to drive cutting, grasping, and other actions. That is, the second motor is connected to the gripper 37 via transmission. The second motor drives the gripper 37 to perform operations. The synchronous belt pressure plate 38 and pressure plate mount 39 are used to fix the synchronous belt, ensuring the stability of the synchronous belt's position during transmission. The pressure plate mount 39 fixes the synchronous belt pressure plate 38 in a suitable position. Through synchronous belt transmission, power can be transmitted, allowing the upper arm, gripping mechanism, etc., to move according to the set motion trajectory and speed, precisely controlling the movements.

[0055] In any feasible embodiment, the gripper 37 can be an existing gripper structure that can perform the gripping operation. For example, please refer to... Figure 6 The gripper 37 is elongated and symmetrical at both ends, with a synchronous pulley fixed in the middle that, together with the motor's gears, reduces speed and improves the gripper's rotational stability. The gripper's closure is achieved by a small motor driving a lead screw to rotate, causing the gripper to close and open. The gripper 37's working process is as follows: one end moves forward first, gripping the object; then the entire elongated gripper rotates 180 degrees to the other end, using the other symmetrical end to grip the object. Once both ends have gripped the object, the entire robotic arm rotates to the storage mechanism and releases the grippers, dropping the object into the storage area.

[0056] This invention provides an intelligent robotic arm for cutting, grasping, and collecting fruit crops. Compared with existing technologies, it enables efficient and intelligent operation throughout the entire process from picking to harvesting, and is compatible with most plant fruit harvesting operations while reducing fruit loss. Furthermore, this robotic arm possesses excellent terrain adaptability, a precise operation mechanism, and an efficient workflow, comprehensively improving the automation level and economic benefits of agricultural production.

[0057] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm for intelligently cutting, grasping, and collecting fruit crops, characterized in that, include: Lifting assembly; The lifting power assembly includes an optical shaft fixing component, a motor fixing component, a motor, and a power transmission shaft; The optical axis fixing component is connected to the lifting assembly; The motor mounting component is connected and fixed to the optical axis mounting component; the motor is mounted on the motor mounting component; the power transmission shaft is mounted on the motor mounting component and is connected to the motor in a transmission manner; The cutting and gripping component is connected to the power transmission shaft. The power unit is connected to the cutting and gripping component; The lifting power component is used to control the cutting and gripping component to move up and down, thereby determining the picking position; the power component is used to control the cutting and gripping component to move back and forth.

2. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 1, characterized in that, The motor is connected to the power transmission shaft via a gear structure; the gear structure is mounted on the motor mounting bracket.

3. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in any one of claims 1-2, characterized in that, The cropping and grabbing component includes: Connector, which connects to the power assembly; A bearing structure is disposed on the connector, and the bearing structure is used to provide guiding support; The gripper is connected to the connector via a carbon tube; The pressure plate is fixed and set on the connecting member. The pressure plate is fixed and connected to the power transmission shaft through a synchronous belt.

4. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 1, characterized in that, The lifting assembly includes: Component skeleton A carbon fiber rod, connected to the component skeleton; the carbon fiber rod and the component skeleton are arranged parallel to each other; the carbon fiber rod is used to define the movement path of the cutting and gripping component.

5. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 3, characterized in that, The power assembly includes: Base; The first synchronous pulley is mounted on the base; The second synchronous pulley is mounted on the base. A power control module is installed on the base; the power control module is communicatively connected to the cutting and gripping component and the lifting power component.

6. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 5, characterized in that, The power assembly further includes a flat-head pin for aligning the first synchronous pulley with the second synchronous pulley.

7. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 1, characterized in that, The lifting power assembly also includes a gasket that is connected to the motor mounting component.

8. The intelligent cutting and grasping robotic arm for collecting fruit crops as described in claim 1, characterized in that, The lifting power assembly also includes a battery holder connected to the motor mounting component, the battery holder being used to hold a battery electrically connected to the motor.

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