A mobile upper-plate harvesting robotic arm

Abstract

A mobile top-loading harvesting robotic arm includes a main frame, a translation module, a lifting module, and a gripping module. The main frame includes a crossbeam with a rack. The translation module includes a main translation beam, a translation servo motor fixed to the main translation beam, and a gear mounted on the output shaft of the servo motor. The gear, in conjunction with the rack, is used for the horizontal movement of the main translation beam. The lifting module is fixed to the main translation beam. The gripping module includes a gripping platform, pneumatic fingers, and grippers. The gripping platform is fixed to the lifting module, and the pneumatic fingers are connected to the grippers to drive their opening and closing gripping action. This structure is simple and highly adaptable.

Description

Technical Field

[0001] This utility model relates to the field of facility agriculture technology, and more specifically to a mobile upper-plate harvesting robotic arm, particularly to a mobile upper-plate harvesting robotic arm that can be used for automatically loading and unloading seedling trays in a rotary three-dimensional forage planting device. Background Technology

[0002] From the perspective of agricultural modernization, in recent years, my country's agricultural planting has gradually moved towards large-scale and mechanized production. The widespread use of large rice transplanters, combine harvesters, and other equipment has placed higher demands on the standardized and intensive production of seedlings. Traditional seedling raising equipment is mostly linear, with low space utilization and limited seedling production capacity, making it difficult to match the seedling demand of large-scale planting. Moreover, some equipment has a single function, only able to complete a single step such as sowing or soil spreading, requiring multiple machines to work together, resulting in cumbersome operation procedures and low equipment coordination efficiency. In addition, under the concept of green agriculture development, the traditional seedling raising process uses a high amount of chemical fertilizers and pesticides, resulting in serious water waste, which is inconsistent with the trend of low-carbon and environmentally friendly agricultural development. There is an urgent need for new seedling raising equipment that takes into account high efficiency, energy saving, and environmental protection, and the structural design and functional characteristics of W-type seedling raising equipment perfectly meet these needs. With the national subsidy policy, W-type seedling raising equipment is also becoming increasingly popular. However, the harvesting efficiency required by the harvesting time limit has become a problem, because seedling raising is different from other planting methods that can be harvested slowly. Due to the limitation of the transplanting period, seedlings need to be harvested in a timely manner after raising. Utility Model Content

[0003] To address the aforementioned problems, the purpose of this utility model is to provide a mobile upper-plate harvesting robotic arm.

[0004] According to this utility model, a mobile upper-plate harvesting robotic arm is provided, comprising: a main frame, a translation module, a lifting module, and a gripping module. The main frame includes a crossbeam with a rack. The translation module includes a translation main beam, a translation servo motor fixed to the translation main beam, and a gear mounted on the output shaft of the translation servo motor. The gear, in conjunction with the rack, is used for the horizontal movement of the translation main beam. The lifting module is fixed on the translation main beam. The gripping module includes a gripping platform, pneumatic fingers, and grippers. The gripping platform is fixed to the lifting module, and the pneumatic fingers are connected to the grippers to drive the opening and closing gripping action of the grippers.

[0005] Preferably, the main frame includes two parallel crossbeams, with racks correspondingly arranged on the crossbeams. The translation module includes two translation servo motors fixed to the translation main beam and gears respectively mounted on the output shafts of the corresponding translation servo motors.

[0006] Preferably, the mobile upper-plate harvesting robotic arm further includes a ground rail for moving the main frame along the ground rail to the corresponding position of the seedling tray to be grasped.

[0007] Preferably, the lifting module includes a lifting linear module, and the gripping platform is fixedly connected to the linear module.

[0008] Preferably, a guide rail I is fixedly installed on the crossbeam, and the translation module also includes a slider I fitted onto the corresponding guide rail I.

[0009] Preferably, the gripping module further includes a slider II and a guide rail II, with the guide rail II fixed to the gripping platform and the slider II fitting into the guide rail II.

[0010] Preferably, the mobile upper-plate harvesting robotic arm is equipped with multiple grippers arranged in a manner corresponding to the length of multiple seedling trays.

[0011] The advantages of this invention are: simple structure and strong adaptability. It can grasp objects even when the support platform is significantly deformed. It can grasp objects even when the seedling trays are severely misaligned. Compared with existing mechanical grippers on the market, this invention has better adaptability and can be used in glass greenhouses, industrial plants, and other similar locations. Attached Figure Description

[0012] Figure 1 A perspective view of a mobile upper-plate harvesting robotic arm according to an embodiment is schematically shown.

[0013] Figure 2 A schematic top view of the mobile upper-plate harvesting robot is shown.

[0014] Figure 3 This schematically shows another perspective view of the mobile upper-plate harvesting robot arm.

[0015] Figure 4 A schematic 3D view of the grabbing module is shown. Detailed Implementation

[0016] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the drawings are intended to teach the principles of the present invention, enabling those skilled in the art to implement and use the present invention in various environments and for various applications. Therefore, the scope of protection of the present invention is defined by the appended claims, and the exemplary embodiments are not intended, and should not be considered, a limiting description of the scope of protection of the present invention. Furthermore, for ease of description, the dimensions of the various parts shown in the drawings are not necessarily drawn to actual scale. Orientation descriptions, such as longitudinal directions along the track, and indications of directions or positional relationships such as up, down, left, right, top, and bottom, are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or partial structures will be omitted where they may cause confusion or make the understanding of the present disclosure difficult to observe. Unless otherwise specifically stated, the order and numerical values ​​of the components and assembly steps described in the embodiments do not limit the scope of this invention.

[0017] like Figures 1-4 As shown, this utility model provides a mobile upper-plate harvesting robotic arm as a gripping device for seedling tray 26, which includes: a power source (not shown), a main frame 1, a translation module 2, a lifting module 3 including, for example, a lifting linear module 31, a gripping module 4, and a ground rail 5.

[0018] The device is powered by a motor and an air pump (not shown), primarily controlled by a servo motor and supplemented by a pneumatic structure. The power source moves the main frame 1 along the ground rail 5 to the corresponding position of the seedling tray 26 to be grasped. The translation module 2 and lifting module 3 are used to adjust the fit position of the grasping module 4, which then performs the grasping and placing operations on the seedling tray 26.

[0019] The seedling tray 26 is configured, for example, in a rectangular concave groove shape. Figure 1 The simulation also shows the many seedlings generated within it.

[0020] The main frame 1, for example, adopts a truss structure, including a movable base 6, a frame body 7, and a support section 8. On the main frame 1, the translation module 2 primarily drives the entire lifting module 3 and the gripping module 4 to move back and forth (corresponding to each other). Figure 2 Translation (vertical direction on the paper).

[0021] In one embodiment, the support portion 8 is configured as two parallel crossbeams 9, and guide rails I 14 are fixedly installed on the crossbeams 9 along the longitudinal direction by corresponding bolts, and racks 15 are fixedly installed on them by means of angle brackets and bolts.

[0022] The translation module 2 mainly consists of: a translation main beam 11, two translation servo motors 12, gears 13, and slider I (not shown). The two translation servo motors 12 are fixed to the translation main beam 11 by bolts, for example, at both ends. The gears 13 are fixed to the output shafts of the corresponding translation servo motors 12 by keyways. The translation servo motors 12 drive the gears 13 to rotate, and the gears 13, in conjunction with the rack 15, achieve the horizontal movement of the translation main beam 11. Both ends of the translation main beam 11 are connected to slider I by bolts. Slider I is fitted onto the corresponding guide rail I 14 to guide the translation main beam 11.

[0023] The lifting module 3 mainly consists of two linear modules 31. Each lifting linear module 31 is fixed to the translation main beam 11 by corresponding bolts. The lifting and lowering of the gripping module 4 is precisely controlled by the servo motor built into the lifting linear module 31.

[0024] The gripping module 4 mainly consists of a gripping platform 21, a slider II 22, a guide rail II 23, pneumatic fingers 24, and grippers 25. The gripping platform 21 is fixed to the lifting module 3 by connecting to the linear module 31 with fixing bolts. The pneumatic fingers 24 are fixed to the gripping platform 21 by mounting bolts, and the guide rail II 23 is also fixed to the gripping platform 21. The grippers 25 are fixed to the slider II 22 by bolts, and the slider II 22 fits into the guide rail II 23. The pneumatic fingers 24 are connected to the grippers 25 by bolts. The opening and closing of the pneumatic fingers 24 drives the opening and closing of the grippers 25 located on both sides of the seedling tray 26, realizing the gripping action of the seedling tray 26 from opposite sides. The slider II 22 and guide rail II 23 mainly serve to support and guide the suspended grippers 25 and the seedling tray 26 during operation.

[0025] Ground rail 5 mainly drives the left and right sides of the above equipment (see...) Figure 3 The movable base 6 of the main frame 1 can move back and forth along the longitudinal length of the ground track 5 (in the left and right directions on the paper) to reach different workstations and perform grasping work at each workstation.

[0026] The working process of this utility model is as follows: First, the ground rail 5 moves the gripping device to a suitable work position. Then, the translation servo motor 12 precisely moves the gripping module 4 above the clamping position. Next, the linear module 31 precisely drives the gripping module 4 to rise and fall to a vertical position. At this time, the pneumatic finger 24 drives the jaws 25 to close, realizing the action of clamping the seedling tray 26. Then, the lifting linear module 31 raises, and the translation module 2 translates to place the seedling tray 26 on the conveyor line. The entire process is completed.

[0027] This equipment has a simple structure and high adaptability, primarily used with a W-shaped circulating three-dimensional planting rack. The entire gripping platform 21 is moved forward and backward by a translational servo motor 12. The lifting module 3 controls the raising and lowering of the entire gripping platform 21, and pneumatic fingers 24 drive the opening and closing of the grippers 25. Even when the support platform of the seedling trays 26 is significantly deformed, causing severe horizontal misalignment between the seedling trays 26, multiple seedling trays 26 can still be gripped simultaneously using grippers 25 arranged according to the length of the corresponding seedling trays. Compared to existing mechanical grippers on the market, this invention has better adaptability.

[0028] The above example shows that the main frame 1 includes two parallel crossbeams 9, and the translation module 2 includes two translation servo motors 12 fixed to the translation main beam 11, as well as two gears 13, racks 15, etc. arranged accordingly. However, it is not limited to this. Depending on the application scenario, a single crossbeam 9 or more crossbeams 9 and other components may be used in a corresponding configuration.

[0029] In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. Unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Although the present invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention be limited to the described embodiments but will have the full scope defined by the language of the appended claims.

Claims

1. A mobile over-the-top harvesting robot arm, characterized in that, include: The main frame (1), translation module (2), lifting module (3) and gripping module (4) are provided. The main frame (1) includes a crossbeam (9) with a rack (15). The translation module (2) includes a translation main beam (11), a translation servo motor (12) fixed to the translation main beam (11), and a gear (13) mounted on the output shaft of the translation servo motor (12). The gear (13) cooperates with the rack (15) for the horizontal movement of the translation main beam (11). The lifting module (3) is fixed on the translation main beam (11). The gripping module (4) includes a gripping platform (21), pneumatic fingers (24) and grippers (25). The gripping platform (21) is fixed to the lifting module (3). The pneumatic fingers (24) are connected to the grippers (25) to drive the opening and closing gripping action of the grippers (25).

2. The mobile over-the-top harvester arm of claim 1, wherein, The main frame (1) includes two parallel beams (9), and a rack (15) is provided on the beams (9). The translation module (2) includes two translation servo motors (12) fixed to the translation main beam (11) and gears (13) respectively installed on the output shaft of the corresponding translation servo motors (12).

3. A mobile over-the-top harvester arm according to claim 1 or 2, characterized in that It also includes a ground track (5) for moving the main frame (1) along the ground track (5) to the corresponding position of the seedling tray (26) to be grasped.

4. The mobile upper-plate harvesting robotic arm according to claim 1 or 2, characterized in that, The lifting module (3) includes a lifting linear module (31), and the gripping platform (21) is fixedly connected to the linear module (31).

5. The mobile upper-plate harvesting robotic arm according to claim 1 or 2, characterized in that, A guide rail I (14) is fixedly installed on the crossbeam (9), and the translation module (2) also includes a slider I fitted on the corresponding guide rail I (14).

6. The mobile upper-plate harvesting robotic arm according to claim 1 or 2, characterized in that, The gripping module (4) also includes slider II (22) and guide rail II (23). Guide rail II (23) is fixed to gripping platform (21), and slider II (22) is fitted with guide rail II (23).

7. The mobile upper-plate harvesting robotic arm according to claim 1 or 2, characterized in that, Multiple grippers (25) are arranged in a manner corresponding to the length of multiple seedling trays.

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