A yellow flower harvesting device based on parallel robot

Abstract

This application provides a daylily harvesting device based on a parallel robot, relating to the field of agricultural harvesting technology. The device includes a frame; the parallel harvesting device comprises multiple sets of drive arm assemblies, a motion platform, and an end-effector. One end of each drive arm assembly is connected to the motion platform via a transmission connection. The end-effector is mounted on the motion platform and used to perform the harvesting action. Each rotary drive assembly is connected to the frame, and the multiple rotary drive assemblies are respectively connected to the drive arm assemblies via a transmission connection. These rotary drive assemblies drive the end-effector to the corresponding position of the daylily to be harvested via the motion platform, allowing the end-effector to harvest the daylily. The rotary drive assemblies of the parallel robot-based daylily harvesting device are mounted on the frame, effectively reducing the inertia of the drive arm assemblies during movement. This allows the harvesting device to flexibly adjust the position of the end-effector, thus making the harvesting process more flexible.

Description

Technical Field

[0001] This application relates to the field of agricultural harvesting technology, specifically to a daylily harvesting device based on a parallel robot. Background Technology

[0002] Daylilies, also known as golden needle flowers, are rich in various nutrients. The best time to pick daylilies is in the early morning or late evening when the light intensity is weak. The flowers should be of suitable length and still in bud. Picking them too early or too late will affect the yield or result in poor coloring, greatly damaging the appearance and quality.

[0003] With the development of the daylily industry, the planting area has continued to increase. For a long time, daylily harvesting has mainly relied on manual labor. Workers need to harvest daylilies in a short period of time, which is labor-intensive and inefficient. Daylily planting methods are diverse, and the growth conditions of plants vary. The existing series harvesting device directly installs the drive motor on the drive arm, which increases the overall weight of the drive arm. When the drive arm is working, the inertia increases, making it difficult to adjust the posture. Especially when picking carefully, the flexibility is poor, which affects the harvesting efficiency and quality.

[0004] Therefore, there is an urgent need for a daylily harvesting device based on parallel robots to solve the above problems. Utility Model Content

[0005] The purpose of this application is to provide a daylily harvesting device based on a parallel robot to address the above problems, thereby solving the issues of large overall weight of the drive arm and poor inertia and flexibility caused by the serial robot.

[0006] This application provides a daylily harvesting device based on a parallel robot, comprising: frame; A parallel harvesting device includes multiple sets of drive arm assemblies, a motion platform, and an end clamping device. One end of each drive arm assembly is connected to the motion platform for transmission. The end clamping device is mounted on the motion platform for performing harvesting actions. Multiple sets of rotary drive components are provided, each of which is connected to the frame and is also connected to the drive arm assembly for transmission. The drive arm assembly drives the end clamping device to move to the position corresponding to the daylily to be harvested via the motion platform, so that the end clamping device can pick the daylily to be harvested.

[0007] According to the technical solutions provided in certain embodiments of this application, the rotary drive assembly includes a first drive member, a second drive member, and a third drive member. The first drive member is mounted on the frame and is drive-connected to the second drive member and the third drive member, so that the second drive member and the third drive member have a first planar degree of freedom. The second drive member and the third drive member are respectively drive-connected to the drive arm assembly, so that the drive arm assembly has a second planar degree of freedom.

[0008] According to the technical solutions provided in certain embodiments of this application, the drive arm assembly includes a first drive arm, a second drive arm, and a third drive arm: One end of the first drive arm is connected to the second drive member for driving the first drive arm to rotate around the axis of the second drive member, and the other end of the first drive arm is rotatably connected to the third drive arm. The second drive arm includes an active arm and a driven arm. One end of the active arm is connected to the third drive member for driving the active arm to rotate around the axis of the third drive member. The other end of the active arm is rotatably connected to one end of the driven arm, and the other end of the driven arm is rotatably connected to the third drive arm. One end of the third drive arm is rotatably connected to the first drive arm and the driven arm, so that the drive arm assembly has a second planar degree of freedom; the other end of the third drive arm is drive-connected to the motion platform, so that the motion platform has a third planar degree of freedom, a fourth planar degree of freedom and a fifth planar degree of freedom.

[0009] According to the technical solutions provided in certain embodiments of this application, a first transmission connection mechanism is provided between the first driving member and the second and third driving members. The first transmission connection mechanism has a fixed plate and a mounting plate symmetrically arranged relative to the axis of the first driving member. The fixed plate is fixedly connected to the first driving member, and the mounting plate is connected to the second and third driving members respectively, so that the second and third driving members can rotate around the axis of the first driving member with the fixed plate, thereby giving the second and third driving members a first planar degree of freedom.

[0010] According to the technical solutions provided in certain embodiments of this application, a second transmission connection mechanism is provided between the third drive arm and the motion platform. The second transmission connection mechanism includes: a first connector and a second connector. One end of the first connector is rotatably connected to the third drive arm so that the motion platform has a third planar degree of freedom. One end of the second connector is rotatably connected to the other end of the first connector so that the motion platform has a fourth planar degree of freedom. The other end of the second connector is rotatably connected to the motion platform so that the motion platform has a fifth planar degree of freedom.

[0011] According to the technical solutions provided in certain embodiments of this application, the end-effector includes: A slide rail, which is fixedly connected to the motion platform; The gripping part is slidably connected to the slide rail; A clamping drive assembly is connected to the gripping part for driving the gripping part to slide along the slide rail, so that the gripping part has a sixth plane degree of freedom.

[0012] According to the technical solutions provided in certain embodiments of this application, the clamping drive assembly includes: a transmission component, a crank, and a fourth drive component. The transmission component is fixedly connected to the fourth drive component. One end of the crank is rotatably connected to the transmission component, and the other end is rotatably connected to the gripping part, so that the fourth drive component drives the transmission component to rotate, thereby driving the gripping part to slide along the slide rail through the crank, thereby achieving the clamping of the daylily to be harvested.

[0013] According to certain embodiments of the present application, the technical solution further includes a clamping device, which is disposed on the frame and includes: A first moving mechanism is slidably connected to the frame and can slide relative to the frame along a first direction; The second moving mechanism is slidably connected to the first moving mechanism and can slide relative to the first moving mechanism in a second direction; A third moving mechanism is slidably connected to the second moving mechanism and can slide relative to the second moving mechanism along a third direction; the first direction, the second direction, and the third direction are perpendicular to each other. A clamping mechanism is connected to the third moving mechanism. The clamping mechanism includes two receiving components for receiving the daylilies picked by the end clamping device. The two receiving components can approach each other under the action of driving force to clamp the stems of the daylilies to be picked.

[0014] According to the technical solutions provided in certain embodiments of this application, a storage device is also included, the storage device being disposed on a frame, the storage device comprising: The guide trough is inclined and is used to receive the yellow flowers and guide them to slide towards the discharge end. A collection frame, the inlet of which is connected to the outlet of the guide groove, is used to receive and temporarily store daylilies.

[0015] According to the technical solutions provided in certain embodiments of this application, the frame is further provided with a visual recognition component and a walking component. The visual recognition component is used to identify the position of the daylily to be harvested, and the walking component is used to drive the daylily harvesting device to move to the position of the daylily to be harvested.

[0016] Compared with the prior art, the beneficial effects of this application are as follows: The daylily harvesting device based on parallel robots includes a frame, a parallel harvesting device, and multiple sets of rotary drive components. Each rotary drive component is fixedly connected to the frame, and the multiple sets of rotary drive components are connected to the drive arm assembly. The rotary drive components drive the drive arm and move the end gripper on the motion platform to the daylily harvesting area, so that the end gripper can harvest the daylilies. On the one hand, during the movement, compared with the serial robot harvesting device, the rotary drive components of this application are mounted on the frame instead of moving with the drive arm assembly, effectively reducing the cost of multiple sets of drive components in the parallel harvesting device. The inertia of the arm assembly during movement allows the harvesting device to flexibly adjust the position of the end gripper, thus making the harvesting process more flexible. On the other hand, compared with the workspace of the serial robot harvesting device, which is limited by the sequential superposition of the range of motion of each joint, this application uses multiple sets of drive arm assemblies to drive in coordination from different directions, so that the end gripper on the motion platform can cover a larger workspace. Because the load of the serial robot harvesting device is accumulated step by step along the serial direction, the end joints are subjected to concentrated force, resulting in poor structural stability. In contrast, the load of this application is borne by multiple sets of drive arms, and the force on each joint is even, so that the overall structure is more stable and has a stronger load-bearing capacity.

[0017] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of a daylily harvesting device based on a parallel robot, provided in an embodiment of this application; Figure 2 A schematic diagram of a parallel harvesting device and a rotary drive assembly provided in an embodiment of this application; Figure 3 A schematic diagram of the first transmission connection structure provided in the embodiments of this application; Figure 4 This is a schematic diagram of the second transmission connection structure provided in the embodiments of this application; Figure 5 This is a schematic diagram of the end-effector clamping device provided in the embodiments of this application; Figure 6 This is a schematic diagram of the clamping device provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the visual recognition component provided in the embodiments of this application; Figure 8 This is a schematic diagram of the walking component provided in an embodiment of this application.

[0020] The text labels in the image represent: 1. Frame; 2. Parallel harvesting device; 3. Rotary drive assembly; 4. Clamping device; 5. Storage device; 6. Vision recognition assembly; 7. Walking assembly; 21. Drive arm assembly; 22. Motion platform; 23. End clamping device; 31. First drive component; 32. Second drive component; 33. Third drive component; 34. First transmission connection mechanism; 35. Second transmission connection mechanism; 41. First moving mechanism; 42. Second moving mechanism; 43. Third moving mechanism; 44. Clamping mechanism; 51. Guide groove; 52. Harvesting frame; 71. Walking wheel ; 72. Chain drive mechanism; 73. Caster wheel; 211. First drive arm; 212. Second drive arm; 213. Third drive arm; 214. Fixing component; 215. Mounting hole; 216. Rotating connector; 231. Slide rail; 232. Gripping part; 233. Clamping drive assembly; 341. Fixing plate; 342. Mounting plate; 351. First connector; 352. Second connector; 441. Storage component; 2121. Driving arm; 2122. Driven arm; 2331. Transmission component; 2332. Crank; 2333. Fourth drive component. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The descriptions in this section are merely illustrative and explanatory, and should not be construed as limiting the scope of protection of this application. Specifically, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the scope of protection of this invention.

[0022] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0023] As mentioned in the background section, in view of the problems in the prior art, this embodiment provides a daylily harvesting device based on a parallel robot, comprising: Rack 1; Parallel harvesting device 2, the parallel harvesting device 2 includes multiple sets of drive arm assemblies 21, motion platform 22 and end clamping device 23, one end of each drive arm assembly 21 is respectively connected to the motion platform 22 for transmission, and the end clamping device 23 is installed on the motion platform 22 for performing harvesting action; Multiple sets of rotary drive components 3 are connected to the frame 1 and are connected to the drive arm assembly 21 for transmission. They are used to drive the drive arm assembly 21 to move the end clamping device 23 to the position corresponding to the daylily to be harvested through the motion platform 22, so that the end clamping device 23 can pick the daylily to be harvested.

[0024] like Figure 1 As shown, the frame 1 is a symmetrical portal frame structure used to provide support; as Figure 2As shown, there are three sets of drive arm assemblies 21, which are evenly distributed in a circle along the central axis of the frame 1. One end of each drive arm assembly 21 is connected to the motion platform 22. The end clamping device 23 is installed on the motion platform 22 so that the motion platform 22 can drive the end clamping device 23 to move. There are three sets of rotary drive assemblies 3, each of which is fixedly connected to the frame 1. The rotary drive assemblies 3 are respectively connected to the drive arm assemblies 21 for driving the drive arm assemblies 21 to move. This allows the drive arm assemblies 21 to drive the end clamping device 23 on the motion platform 22 to move, so that the end clamping device 23 can move to the position corresponding to the daylily to be harvested and pick the daylily.

[0025] This application uses rotating drive components that are fixedly connected to the frame, and multiple sets of rotating drive components are connected to drive arm components. The rotating drive components drive the drive arm and move the end gripping device on the motion platform to the daylily harvesting area, so that the end gripping device can harvest the daylilies. On the one hand, during the movement, compared with the serial robot harvesting device, the rotating drive components of this application are mounted on the frame instead of moving with the drive arm components, which effectively reduces the inertia of the multiple drive arm components in the parallel harvesting device during the movement, so that the parallel harvesting device can flexibly adjust the position of the end gripping device, thereby making the harvesting process more flexible. On the other hand, compared with the serial robot harvesting device whose working space is limited by the sequential superposition of the movement range of each joint, this application uses multiple sets of drive arm components to drive from different directions, so that the end gripping device on the motion platform can cover a larger working space. Because the load of the serial robot harvesting device is accumulated step by step along the serial direction, the end joints are stressed and the structural stability is poor. In contrast, the load of this application is borne by multiple sets of drive arms, and the stress on each joint is even, so that the overall structure is more stable and has a stronger load-bearing capacity.

[0026] In a preferred embodiment, the rotary drive assembly 3 includes a first drive member 31, a second drive member 32, and a third drive member 33. The first drive member 31 is mounted on the frame 1 and is driveably connected to the second drive member 32 and the third drive member 33, so that the second drive member 32 and the third drive member 33 have a first planar degree of freedom. The second drive member 32 and the third drive member 33 are respectively driveably connected to the drive arm assembly 21, so that the drive arm assembly 21 has a second planar degree of freedom.

[0027] like Figure 2As shown, the first driving member 31 is mounted on the frame 1 via a fixing member 214. The second driving member 32 and the third driving member 33 are connected to the first driving member 31 in a transmission manner, so that the second driving member 32 and the third driving member 33 can rotate around the axis of the first driving member 31, thereby giving the second driving member 32 and the third driving member 33 a first planar degree of freedom. The second driving member 32 and the third driving member 33 are respectively connected to the driving arm assembly 21 in a transmission manner, so that the driving arm assembly 21 can rotate in a second plane, thereby giving the driving arm assembly 21 a second planar degree of freedom. The axis of the second driving member 32 coincides with the axis of the third driving member 33. It is understood that the fixing member 214 can be a shrink sleeve component, or the fixing member 214 can be set as other fixing members. The first driving member 31, the second driving member 32, and the third driving member 33 can be a drive motor, or other driving members with driving function. The specific settings and adjustments can be made according to the actual situation, and no specific limitation is made here.

[0028] In a preferred embodiment, the drive arm assembly includes a first drive arm 211, a second drive arm 212, and a third drive arm 213: One end of the first drive arm 211 is connected to the second drive member 32 for driving the first drive arm 211 to rotate around the axis of the second drive member 32, and the other end of the first drive arm 211 is rotatably connected to the third drive arm 213. The second drive arm 212 includes an active arm 2121 and a driven arm 2122. One end of the active arm 2121 is connected to the third drive member 33 for driving the active arm 2121 to rotate around the axis of the third drive member 33. The other end of the active arm 2121 is rotatably connected to one end of the driven arm 2122, and the other end of the driven arm 2122 is rotatably connected to the third drive arm 213. One end of the third drive arm 213 is rotatably connected to the first drive arm 211 and the driven arm 2122, so that the drive arm assembly 21 has a second planar degree of freedom; the other end of the third drive arm 213 is drive-connected to the motion platform 22, so that the motion platform 22 has a third planar degree of freedom, a fourth planar degree of freedom and a fifth planar degree of freedom.

[0029] like Figure 2As shown, the first drive arm 211 is a rectangular rod structure. Mounting holes 215 are provided at both ends of the first drive arm 211. The mounting holes 215 near the frame 1 are connected to the second drive member 32 through the fixing member 214, so that the second drive member 32 drives the first drive arm 211 to rotate around the axis of the second drive member 32. The mounting holes 215 away from the frame 1 are used to be rotatably connected to the third drive arm 213 through the rotating connector 216, so that when the first drive arm 211 moves, it drives the third drive arm 213 to move. The second drive arm 212 includes a driving arm 2121 and a driven arm 2122. Both the driving arm 2121 and the driven arm 2122 are rectangular rod-shaped structures, and both have mounting holes 215 at both ends. The mounting hole 215 of the driving arm 2121 near the frame 1 is connected to the third drive member 33 through a fixing member 214. The other mounting hole 215 is rotatably connected to one of the mounting holes 215 of the driven arm 2122 through a rotating connector 216, so that the third drive member 33 drives the driving arm 2121 to rotate around the frame 1. When the axis of the driving member 33 rotates, it synchronously drives the driven arm 2122 to move. Another mounting hole 215 of the driven arm 2122 is connected to the third driving arm 213 via a rotating connector 216. One end of the third driving arm 213 is rotatably connected to the first driving arm 211 and the driven arm 2122, so that the second driving member 32 drives the first driving arm 211 to rotate. When the third driving member 33 drives the driving arm 2121 to rotate and drives the driven arm 2122 to move, the third driving arm 213 can move along with the first driving arm 211 and the driven arm 2122. Arm 2122 moves synchronously, so that the drive arm assembly 21 has a second planar degree of freedom; the other end of the third drive arm 213 is connected to the motion platform 22 for transmission, so that the motion platform 22 has a third planar degree of freedom, a fourth planar degree of freedom and a fifth planar degree of freedom; it can be understood that the rotating connector 216 can be composed of a stepped shaft, a pair of flange bearings, two locking nuts and two washers, or other rotating connectors with rotating structures can be selected. The specific settings and adjustments can be made according to the actual situation, and no specific limitation is made here.

[0030] In a preferred embodiment, a first transmission connection mechanism 34 is provided between the first driving member 31 and the second driving member 32 and the third driving member 33. The first transmission connection mechanism 34 has a fixing plate 341 and a mounting plate 342 symmetrically arranged relative to the axis of the first driving member 31. The fixing plate 341 is fixedly connected to the first driving member 31, and the mounting plate 342 is connected to the second driving member 32 and the third driving member 33 respectively, so that the second driving member 32 and the third driving member 33 can rotate around the axis of the first driving member 31 with the fixing plate 341, thereby giving the second driving member 32 and the third driving member 33 a first planar degree of freedom.

[0031] like Figure 3 As shown, the first transmission connection mechanism 34 has a fixed plate 341 and a mounting plate 342 symmetrically arranged relative to the axis of the first driving member 31. The fixed plate 341 is fixedly connected to the first driving member 31 so that the first driving member 31 can drive the fixed plate 341 to rotate around the axis of the first driving member 31. The mounting plate 342 is connected to the second driving member 32 and the third driving member 33 respectively, so that when the first driving member 31 drives the fixed plate 341 to rotate around its axis, the fixed plate 341 can drive the second driving member 32 and the third driving member 33 on the mounting plate 342 to rotate around the axis of the first driving member 31, so that the second driving member 32 and the third driving member 33 have a first planar degree of freedom.

[0032] In a preferred embodiment, a second transmission connection mechanism 35 is provided between the third drive arm 213 and the motion platform 22. The second transmission connection mechanism 35 includes: a first connector 351 and a second connector 352. One end of the first connector 351 is rotatably connected to the third drive arm 213 so that the motion platform 22 has a third planar degree of freedom. One end of the second connector 352 is rotatably connected to the other end of the first connector 351 so that the motion platform 22 has a fourth planar degree of freedom. The other end of the second connector 352 is rotatably connected to the motion platform 22 so that the motion platform 22 has a fifth planar degree of freedom.

[0033] like Figure 4 As shown, the second transmission connection mechanism 35 includes: a first connector 351 and a second connector 352. The first connector 351 is an open annular structure with a connecting post on one side. The third drive arm 213 is rotatably connected to the connecting post so that the motion platform 22 can rotate around its axis with the first connector 351, thereby giving the motion platform 22 a third degree of freedom in the plane. One end of the second connector 352 is rotatably connected to the other end of the first connector 351 so that the motion platform 22 can rotate around the axis of the connecting post, thereby giving the motion platform 22 a fourth degree of freedom in the plane. The other end of the second connector 352 is rotatably connected to the motion platform 22 so that the motion platform 22 can rotate around the second connector 352, thereby giving the motion platform 22 a fifth degree of freedom in the plane.

[0034] In a preferred embodiment, the end-effector 23 includes: Slide rail 231, which is fixedly connected to motion platform 22; The gripping part 232 is slidably connected to the slide rail 231; A clamping drive assembly 233 is connected to the gripping part 232 for driving the gripping part 232 to slide along the slide rail 231 so that the gripping part 232 has a sixth plane degree of freedom.

[0035] like Figure 5 As shown, the slide rail 231 is fixedly connected to the motion platform 22 and is used to guide the gripping part 232; the gripping part 232 has two grippers, the gripping part 232 is slidably connected to the slide rail 231, and the clamping drive assembly 233 is drively connected to the gripping part 232 so that the clamping drive assembly 233 drives the two grippers of the gripping part 232 to slide along the slide rail 231, thereby giving the gripping part 232 a degree of freedom in the sixth plane.

[0036] In a preferred embodiment, the clamping drive assembly 233 includes: a transmission member 2331, a crank 2332, and a fourth drive member 2333. The transmission member 2331 is fixedly connected to the fourth drive member 2333. One end of the crank 2332 is rotatably connected to the transmission member 2331, and the other end is rotatably connected to the gripping part 232, so that the fourth drive member 2333 drives the transmission member 2331 to rotate, thereby driving the gripper of the gripping part 232 to slide along the slide rail 231 through the crank 2332, thereby achieving the clamping of the daylily to be harvested.

[0037] like Figure 5 As shown, the transmission component 2331 is a rectangular plate. The transmission component 2331 is fixedly connected to the fourth driving component 2333. Both ends of the transmission component 2331 are rotatably connected to one end of each of the two cranks 2332. The other ends of the two cranks 2332 are rotatably connected to the gripping part 232. This allows the fourth driving component 2333 to drive the transmission component 2331 to rotate around itself, thereby moving the cranks 2332 and causing the gripping part 232 to slide along the slide rail 231. This converts the circular oscillation of the transmission component 2331 into linear motion of the gripping part 232, allowing the two grippers of the gripping part 232 to pick the daylilies when they approach each other under the driving force and to release the picked daylilies when they move away from each other under the driving force. It is understood that the gripping part 232 can use flexible grippers, or other components with clamping functions. The specific design and adjustment can be made according to actual conditions, and no specific limitations are made here. In a preferred embodiment, a clamping device 4 is further included, which is disposed on the frame 1, and the clamping device 4 includes: A first moving mechanism 41 is slidably connected to the frame 1 and can slide relative to the frame 1 in a first direction; The second moving mechanism 42 is slidably connected to the first moving mechanism 41 and can slide relative to the first moving mechanism 41 in a second direction. The third moving mechanism 43 is slidably connected to the second moving mechanism 42 and can slide relative to the second moving mechanism 42 along a third direction; the first direction, the second direction and the third direction are perpendicular to each other. The clamping mechanism 44 is connected to the third moving mechanism 43. The clamping mechanism 44 includes two storage members 441. The storage members 441 are used to receive the daylilies picked by the end clamping device 23, and the two storage members 441 can approach each other under the action of driving force to clamp the stems of the daylilies to be picked.

[0038] like Figure 6 As shown, the first moving mechanism 41 is slidably connected to the frame 1. Under the action of driving force, the first moving mechanism 41 slides relative to the frame 1 in a first direction through a transmission mechanism (e.g., a ball screw). The second moving mechanism 42 is slidably connected to the first moving mechanism 41, so that the second moving mechanism 42 slides relative to the first moving mechanism 41 in a second direction under the action of driving force. The third moving mechanism 43 is slidably connected to the second moving mechanism 42, so that the third moving mechanism 43 can slide in a third direction under the action of a driving mechanism (e.g., a push rod motor), and the second moving mechanism 42 can drive the third moving mechanism 43 to slide relative to the first moving mechanism 41 in a second direction, so that the clamping mechanism 44 can cover the area of ​​daylilies to be harvested. The first direction is the sliding direction of the first moving mechanism 41 on the frame 1, and the second direction is the sliding direction of the second moving mechanism 42 relative to the first moving mechanism 41. The direction of upward sliding is perpendicular to the first direction, and the third direction is perpendicular to the plane formed by the first and second directions; the clamping mechanism 44 includes two storage components 441, each of which is a semi-circular hollow cavity that is wider at the top and narrower at the bottom. The two storage components 441 are symmetrically distributed along the central axis of the third moving mechanism 43. The hollow cavities are used to receive the daylilies picked by the end clamping device 23. The semi-circular hollow cavities on the outer surface of the side of the storage components 441 that are close to each other are provided with U-shaped grooves. The space formed by the two U-shaped grooves is used to clamp the stems of the daylilies to be harvested and to fix the daylilies to be harvested. It can be understood that the second moving mechanism 42 can be a slider or other moving mechanism, and the driving mechanism of the third moving mechanism can be a push rod motor or other driving mechanism with driving function. The specific settings and adjustments can be made according to the actual situation, and no specific limitation is made here.

[0039] In a preferred embodiment, a storage device 5 is further included, which is disposed on the frame 1, and the storage device 5 includes: The guide groove 51 is inclined and is used to receive yellow flowers and guide them to slide towards the discharge end. The collection frame 52 has an inlet that is connected to the outlet of the guide groove 51 and is used to receive and temporarily store daylilies.

[0040] like Figure 1 As shown, the guide groove 51 is an inclined curved groove body and is set on the frame 1 so that the yellow flowers temporarily stored by the clamping mechanism 44 fall into the guide groove 51 and slide along the inclined curved surface to the discharge end under the action of gravity, reducing the collision damage to the yellow flowers; the collection frame 52 is a rectangular cavity, and the inlet of the collection frame 52 is connected to the discharge end of the guide groove 51 to receive and temporarily store the yellow flowers that slide down from the guide groove 51.

[0041] In a preferred embodiment, the frame 1 is further provided with a visual recognition component 6 and a walking component 7. The visual recognition component 6 is used to identify the location of the daylily to be harvested, and the walking component 7 is used to drive the daylily harvesting device to move to the location of the daylily to be harvested.

[0042] like Figure 7 As shown, the visual recognition component 6 is mounted on the frame 1, and the visual recognition component 6 is used to identify the location of the daylilies to be harvested; as Figure 8 As shown, the walking assembly 7 includes a walking wheel 71, a chain drive mechanism 72, and a universal wheel 73. The chain drive mechanism 72 drives the walking wheel 71 to move under the action of driving force, and the universal wheel 73 can flexibly turn to meet the needs of traveling in different directions, so that the daylily harvesting device can move to the position of the daylily to be harvested.

[0043] The daylily harvesting device based on parallel robots provided in this application has each rotary drive component fixedly connected to the frame, and multiple sets of rotary drive components are respectively connected to drive arm components. The rotary drive components drive the drive arm and move the end gripper on the motion platform to the daylily harvesting area, so that the end gripper can harvest the daylilies. On the one hand, during the movement, compared with the serial robot harvesting device, the rotary drive components of this application are mounted on the frame instead of moving with the drive arm components, which effectively reduces the inertia of the multiple drive arm components of the parallel harvesting device during the movement, so that the parallel harvesting device can flexibly adjust the position of the end gripper, thereby making the harvesting process more flexible. On the other hand, compared with the serial robot harvesting device, The working space of robotic harvesting devices is limited by the sequential superposition of the range of motion of each joint. However, this application uses multiple sets of drive arm assemblies to drive the devices from different directions in a coordinated manner, so that the end gripping device on the motion platform can cover a larger working space. In serial robotic harvesting devices, the load is accumulated step by step along the serial direction, and the force on the end joints is concentrated, resulting in poor structural stability. In contrast, the load of this application is shared by multiple sets of drive arms, and the force on each joint is evenly distributed, making the overall structure more stable and with stronger load-bearing capacity. In addition, the frame is also equipped with a gripping device, a storage device, a vision recognition component, and a walking component. The gripping device, storage device, and vision recognition component work together to achieve integrated identification, picking, and storage of daylilies to be harvested, thereby improving the efficiency of daylily harvesting.

[0044] To facilitate understanding by those skilled in the art, the working principle of the daylily harvesting device based on parallel robots provided in this application is as follows: The walking component 7 moves the daylily harvesting device to the position of the daylily to be harvested. The visual recognition component 6 identifies the specific position of the daylily to be harvested. Based on the position identified by the visual recognition component 6, the clamping device 4, under the action of driving force, causes the first moving mechanism 41, the second moving mechanism 42, and the third moving mechanism 43 to move the clamping mechanism 44 to the position of the daylily to be harvested. Under the action of driving force, the clamping mechanism 44 brings the two storage components 441 closer together, so that the U-shaped grooves on the storage components 441 clamp and fix the stems of the daylily to be harvested. At this time, the first driving component 31 drives the second driving component 32 and the third driving component 33 to rotate around the first driving component 31. The second driving component 32 drives the first driving arm 211 to rotate around the axis of the second driving component 32. The third driving component 33 drives the second driving arm 212 to rotate around the axis of the third driving component 33, so that the first driving arm 211 and the second driving arm 212 drive the third driving arm to move. Arm 213 rotates relative to the first connecting member 351, the first connecting member 351 rotates relative to the second connecting member 352, and the second connecting member 352 rotates relative to the motion platform 22, so that the end gripping device 23 on the motion platform 22 moves to the position where the daylilies are to be harvested. At this time, the gripping drive assembly 233 drives the gripping part 232 to slide along the slide rail 231, so that the grippers of the gripping part 232 move closer to each other and pick the daylilies. After the daylilies are picked, the grippers of the gripping part 232 are... Under the action of driving force, the yellow flowers separate and fall into the storage component 441 of the clamping device 4 under the action of gravity. Under the action of driving force, the first moving mechanism 41, the second moving mechanism 42 and the third moving mechanism 43 drive the clamping mechanism 44 to the guide groove position of the storage device 5. Under the action of driving force, the storage component 441 is opened, and under the action of gravity, the yellow flowers inside the storage component 441 fall into the guide groove 51 and slide along the inclined curved surface of the guide groove 51 to the collection frame 52, completing the harvesting.

[0045] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A daylily harvesting device based on parallel robots, characterized in that, include: Rack (1); Parallel harvesting device (2), the parallel harvesting device (2) includes multiple sets of drive arm assemblies (21), motion platform (22) and end clamping device (23), one end of each drive arm assembly (21) is connected to the motion platform (22) for transmission, and the end clamping device (23) is installed on the motion platform (22) for performing harvesting action; Multiple sets of rotary drive components (3) are connected to the frame (1) respectively. The multiple sets of rotary drive components (3) are connected to the drive arm assembly (21) respectively. They are used to drive each drive arm assembly (21) to drive the end clamping device (23) to move to the position corresponding to the daylily to be harvested through the motion platform (22), so that the end clamping device (23) can pick the daylily to be harvested.

2. The daylily harvesting device based on parallel robots according to claim 1, characterized in that, The rotary drive assembly (3) includes a first drive member (31), a second drive member (32), and a third drive member (33). The first drive member (31) is mounted on the frame (1) and is drivenly connected to the second drive member (32) and the third drive member (33) so that the second drive member (32) and the third drive member (33) have a first planar degree of freedom. The second drive member (32) and the third drive member (33) are drivenly connected to the drive arm assembly (21) so that the drive arm assembly (21) has a second planar degree of freedom.

3. The daylily harvesting device based on parallel robots according to claim 2, characterized in that, The drive arm assembly includes a first drive arm (211), a second drive arm (212), and a third drive arm (213): One end of the first drive arm (211) is connected to the second drive member (32) for driving the first drive arm (211) to rotate around the axis of the second drive member (32), and the other end of the first drive arm (211) is connected to the third drive arm (213) for rotation. The second drive arm (212) includes an active arm (2121) and a driven arm (2122). One end of the active arm (2121) is connected to the third drive member (33) for driving the active arm (2121) to rotate around the axis of the third drive member (33). The other end of the active arm (2121) is rotatably connected to one end of the driven arm (2122), and the other end of the driven arm (2122) is rotatably connected to the third drive arm (213). One end of the third drive arm (213) is rotatably connected to the first drive arm (211) and the driven arm (2122) so that the drive arm assembly (21) has a second planar degree of freedom; the other end of the third drive arm (213) is drive-connected to the motion platform (22) so that the motion platform (22) has a third planar degree of freedom, a fourth planar degree of freedom and a fifth planar degree of freedom.

4. The daylily harvesting device based on a parallel robot according to claim 2, characterized in that, A first transmission connection mechanism (34) is provided between the first driving member (31), the second driving member (32), and the third driving member (33). The first transmission connection mechanism (34) has a fixed plate (341) and a mounting plate (342) symmetrically arranged relative to the axis of the first driving member (31). The fixed plate (341) is fixedly connected to the first driving member (31), and the mounting plate (342) is connected to the second driving member (32) and the third driving member (33) respectively, so that the second driving member (32) and the third driving member (33) can rotate around the first driving member (31) axially with the fixed plate (341), thereby giving the second driving member (32) and the third driving member (33) a first planar degree of freedom.

5. The daylily harvesting device based on a parallel robot according to claim 3, characterized in that, A second transmission connection mechanism (35) is provided between the third drive arm (213) and the motion platform (22). The second transmission connection mechanism (35) includes: a first connector (351) and a second connector (352). One end of the first connector (351) is rotatably connected to the third drive arm (213) so that the motion platform (22) has a third planar degree of freedom. One end of the second connector (352) is rotatably connected to the other end of the first connector (351) so that the motion platform (22) has a fourth planar degree of freedom. The other end of the second connector (352) is rotatably connected to the motion platform (22) so that the motion platform (22) has a fifth planar degree of freedom.

6. The daylily harvesting device based on parallel robots according to claim 1, characterized in that, The end-effector (23) includes: The slide rail (231) is fixedly connected to the motion platform (22); The gripping part (232) is slidably connected to the slide rail (231); A clamping drive assembly (233) is connected to the gripping part (232) for driving the gripping part (232) to slide along the slide rail (231) so that the gripping part (232) has a sixth plane degree of freedom.

7. The daylily harvesting device based on a parallel robot according to claim 6, characterized in that, The clamping drive assembly (233) includes: a transmission component (2331), a crank (2332), and a fourth drive component (2333). The transmission component (2331) is fixedly connected to the fourth drive component (2333). One end of the crank (2332) is rotatably connected to the transmission component (2331), and the other end is rotatably connected to the gripping part (232), so that the fourth drive component (2333) drives the transmission component (2331) to rotate, thereby driving the gripping part (232) to slide along the slide rail (231) through the crank (2332), thereby achieving the clamping of the daylily to be harvested.

8. The daylily harvesting device based on parallel robots according to claim 1, characterized in that, It also includes a clamping device (4), which is mounted on the frame (1), and the clamping device (4) includes: The first moving mechanism (41) is slidably connected to the frame (1) and can slide relative to the frame (1) in a first direction; The second moving mechanism (42) is slidably connected to the first moving mechanism (41) and can slide relative to the first moving mechanism (41) in the second direction; The third moving mechanism (43) is slidably connected to the second moving mechanism (42) and can slide relative to the second moving mechanism (42) along a third direction; the first direction, the second direction and the third direction are perpendicular to each other; The clamping mechanism (44) is connected to the third moving mechanism (43). The clamping mechanism (44) includes two storage components (441). The storage components (441) are used to receive the daylilies picked by the end clamping device (23), and the two storage components (441) can approach each other under the action of driving force to clamp the stems of the daylilies to be picked.

9. The daylily harvesting device based on parallel robots according to claim 1, characterized in that, It also includes a storage device (5), which is mounted on the frame (1), and the storage device (5) includes: The guide groove (51) is inclined and is used to receive yellow flowers and guide them to slide towards the discharge end; The inlet of the collection frame (52) is connected to the outlet of the guide groove (51) to receive and temporarily store daylilies.

10. The daylily harvesting device based on a parallel robot according to claim 1, characterized in that, The frame (1) is also provided with a visual recognition component (6) and a walking component (7). The visual recognition component (6) is used to identify the location of the daylily to be harvested, and the walking component (7) is used to drive the daylily harvesting device to move to the location of the daylily to be harvested.

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