A styling, pruning and cutting tying robot

Abstract

The utility model relates to the technical field of gardening flower bed processing, disclose a modeling pruning and cutting grafting bundling robot. The robot includes chassis module, lifting module and mechanical arm module, lifting module sets up on the chassis module, and mechanical arm module sets up on the lifting module, mechanical arm module includes bundling cutting grafting arm and pruning arm, and bundling cutting grafting arm and pruning arm are detachably set up on the lifting module respectively, and bundling cutting grafting arm is used for cutting grafting and bundling to branch, and pruning arm is used for pruning to branch. The utility model can effectively solve the problem of complicated work and high artificial proportion in the process of annual orange planting.

Description

Technical Field

[0001] This utility model belongs to the field of horticultural nursery treatment technology, specifically relating to a robot for shaping, pruning, and cutting binding. Background Technology

[0002] A potted kumquat tree has a growth cycle of at least two years, during which it is susceptible to various pests and diseases, such as thrips, spider mites, and Huanglongbing (HLB). Pest control, propagation by cuttings, and pruning all require the grower's personal attention. While a scale of several thousand pots may not seem large, the total investment, excluding labor, reaches hundreds of thousands of yuan. From tender seedlings to mature bonsai, kumquat trees require several prunings, repotting, watering, fertilization, pest control, and shaping… the entire process takes approximately 2-4 years, a relatively long growth cycle. Generally, customers highly value the regularity of the bonsai's shape (spherical or cylindrical), and secondly, they require the fruit to be evenly distributed on the outer edge. Currently, bamboo poles are typically inserted into the pots, and branches are tied to the poles with wire to control the shape. Due to the long growth cycle of kumquat bonsai, this requires long-term, extensive manual labor, increasing costs. Furthermore, manual handling can lead to inconsistent treatment for each bonsai, resulting in varying quality and affecting the selling price.

[0003] In conclusion, growing kumquats requires significant labor and management costs. Therefore, it is necessary to develop a robot that can reduce manual labor and facilitate orchard management for growers to address this issue. This new robot should be reliable, easy to maintain, and capable of replacing manual labor to meet the needs of growers.

[0004] In existing technologies, such as the "Greenery Shaping and Pruning Robot" disclosed in Chinese Utility Model Patent CN218831392U by Su Guanling et al., the focus is more on the shaping of green flower beds and cannot achieve a series of smooth flower bed management functions. However, the planting of kumquats is a comprehensive task. While there are requirements for shaping, they are not that high. Furthermore, the planting process requires simple but repeated pruning and tying. The flexibility of the machine is needed to effectively reduce manual labor, and existing tools cannot meet the requirements. Utility Model Content

[0005] In order to at least solve one of the problems of existing technology, this utility model provides a shaping, pruning and cutting bundling robot, which can effectively solve the problems of tedious work, long planting cycle and high manual labor ratio in the process of kumquat planting, and realize efficient production of kumquat planting.

[0006] To achieve the purpose of this utility model, this utility model provides a styling, trimming, and cutting binding robot, including a chassis module, a lifting module, and a robotic arm module; The lifting module is mounted on the chassis module, and the robotic arm module is mounted on the lifting module. The robotic arm module includes a tying and pruning arm, which are detachably mounted on the lifting module. The tying and pruning arm is used for inserting and tying cuttings, while the pruning arm is used for pruning the cuttings. The tying and pruning arm can be used interchangeably.

[0007] Furthermore, the chassis module includes a chassis frame and wheels mounted on the chassis frame, with each wheel connected to the chassis frame via a corresponding suspension mechanism.

[0008] Furthermore, the suspension mechanism includes a suspension body, a fixed plate, and a rocker arm. The fixed plate is fixed to the chassis frame with bolts, and the rocker arm moves in a circular motion around the suspension body.

[0009] Furthermore, each wheel is independently controlled by an electronic control panel.

[0010] Furthermore, the chassis frame is also equipped with a crash barrier.

[0011] Furthermore, the lifting module is located in the center of the chassis frame to better maintain the stability of the vehicle's center of gravity.

[0012] Furthermore, the lifting module includes a lifting platform that can be raised and lowered, and a bundling cutting arm and a trimming arm are alternatively mounted on the lifting platform.

[0013] Furthermore, the lifting module also includes a lifting motor and a lead screw, with the lead screw connected to the output end of the lifting motor, and the lifting platform mounted on the lead screw.

[0014] Furthermore, the lifting platform is provided with slots, and the binding and cutting arms and the trimming arms are both provided with slots, so that detachable connection can be achieved through the cooperation of the slots and grooves.

[0015] Furthermore, the strapping and inserting arm includes an insert plate, a first robotic arm, a second robotic arm, and a clamping mechanism. The insert plate is detachably connected to the lifting module, and the first robotic arm is rotatably mounted on the insert plate. One end of the second robotic arm is rotatably connected to the first robotic arm, and the other end is provided with the clamping mechanism. The first robotic arm and the second robotic arm can rotate relative to each other.

[0016] Furthermore, the clamping mechanism includes a gripper body, a first gripper, and a second gripper. The first gripper is fixed relative to the second robotic arm, the gripper body is rotatably mounted on the second robotic arm, and the second gripper is fixedly connected to the gripper body. When the gripper body rotates, the second gripper can move relative to the first gripper.

[0017] Furthermore, the gripper body is driven by a servo motor and gears. By rotating the gripper body, the first and second grippers can be used to grip the bamboo pole or tie the wire and branches to the bamboo pole (the wire can be placed at the clamp, and the action of the gripper will deform the wire to tie the branches and bamboo pole together).

[0018] Furthermore, the trimming arm includes a robotic arm mounting platform, a third robotic arm, a cutter head robotic arm, and a cutter disc. The robotic arm mounting platform is detachably connected to the lifting module, and the third robotic arm is rotatably mounted on the robotic arm mounting platform. The cutter head robotic arm is mounted on the third robotic arm, and the cutter disc is rotatably mounted on the cutter head robotic arm.

[0019] Furthermore, the cutting head robotic arm is equipped with a camera module, and / or an indicator light, and / or an infrared sensor. The camera module is used to identify the shape of the potted plant and the location of the kumquat in order to plan the pruning route. The indicator light is used to indicate whether the robot is working properly, and the infrared sensor is used to detect whether someone is approaching the cutting head.

[0020] Furthermore, it also includes ultrasonic sensors to detect whether there are obstacles in front of the robot.

[0021] Furthermore, it also includes a top cover, which is disposed on top of the lifting module, and / or the top cover is a solar panel.

[0022] The technical solution provided by this utility model can basically replace the following manual operations: The robot uses a camera module to create a basic model of the potted plant, distinguishing between leaves and fruits. It then uses a preset model (sphere or cylinder) to prune the kumquat bonsai. It can operate in rainy weather, and its fewer mechanical transmission parts reduce movement problems caused by rainwater erosion. It can also work on muddy and potholed surfaces, with each wheel controlled by an individual motor and equipped with independent suspension. If one wheel gets stuck in mud or potholes, it can be pulled out by the other wheels, providing excellent maneuverability. Steering can be achieved by controlling the different speeds of the four wheels. Compared to manual cultivation, this kumquat shaping, pruning, and cutting bundling robot can work outdoors for extended periods, reducing the impact of human error on the price due to uneven plant shapes. It improves work efficiency, reduces costs, and increases the yield of high-quality products.

[0023] Compared with the prior art, the present invention can achieve at least the following beneficial effects: The robot is highly modular, mainly consisting of a chassis module, a lifting module, and a robotic arm module. This high degree of modularity allows the robot to be scaled up proportionally, enabling the management of potted kumquats of different sizes. It also facilitates future optimization and upgrades. Furthermore, the robot has fewer transmission structures, making installation simple and convenient, ensuring high reliability and ease of maintenance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a robot for shaping, pruning, and binding kumquats, provided as an embodiment of this utility model.

[0025] Figure 2 This is a schematic diagram of the suspension mechanism in an embodiment of the present utility model.

[0026] Figure 3 This is a schematic diagram of the structure of the binding and inserting arm in an embodiment of this utility model.

[0027] Figure 4 This is a schematic diagram showing the cooperation between the cutter head robotic arm and the cutter disc in an embodiment of this utility model. Detailed Implementation

[0028] To make the purpose, technical solutions, and advantages of this utility model's embodiments clearer, the technical solutions in this utility model's embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of this utility model's embodiments, not all of the embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] The present invention will be further described below with reference to implementation examples: like Figures 1-4 As shown in the figure, the present invention provides a tangerine shaping, pruning, cutting and binding robot, which includes a chassis module, a lifting module and a robotic arm module. The lifting module is mounted on the chassis module and the robotic arm module is mounted on the lifting module.

[0030] Please see Figure 1 and Figure 2The chassis module includes a chassis frame 103, wheels 101, and a suspension mechanism. In one embodiment of this invention, wheels 101 are respectively provided at each of the four corners of the chassis frame 103, and each wheel is connected to the chassis frame 103 through a corresponding suspension mechanism. The wheel motor that drives the rotation of the wheel 101 is mounted on the suspension mechanism. In this embodiment, each wheel 101 is equipped with a corresponding suspension mechanism, and each wheel 101 is independently controlled by an electronic control board. Each wheel can move independently. When one wheel 101 loses power, the other three wheels 101 help it get out of trouble, meaning the four wheels are not linked. When one wheel loses power, that wheel will automatically stop rotating, and the other three wheels will carry the robot out of the original position. Through the four independent suspensions, the robot can maintain stability in muddy working environments. The robot achieves steering function through the differential speed of the four wheels 101. During forward movement, ultrasonic sensors 111 are used to detect whether there are obstacles ahead, ensuring the safety of the robot's working space.

[0031] In one embodiment of this utility model, please refer to Figure 2 The suspension mechanism is distributed on both sides of the chassis frame 103. The suspension mechanism includes a suspension body 104, a fixing plate 201, a rocker arm 204, and a limiting member 202. The fixing plate 201 is fixed to the chassis frame 103 by bolts. The rocker arm 204 moves in a circular motion around a rotating joint connected to the suspension body 104. A spring 203 is provided on the rocker arm 204. The two ends of the limiting member 202 are connected to the suspension body 104 and the rocker arm 204 by bolts and nuts, respectively. The limiting member 202 is used to limit the movement trajectory of the rocker arm 204 and can also enhance the structural rigidity.

[0032] In one embodiment of this utility model, the suspension mechanism is provided with bolt holes, and the shock absorption effect of the suspension is enhanced by the cooperation of spring washers and bolts.

[0033] The chassis module also includes anti-collision frames, which are provided on both the front and rear sides of the chassis frame 103. In one embodiment of this utility model, please refer to... Figure 1 The crash barrier is constructed using a zigzag-shaped large-section steel frame, with the members connected by a combination of riveting and welding.

[0034] The lifting module is located at the center of the chassis frame 103. The lifting module includes a lifting motor 108, a lead screw, and a lifting platform 102. The output end of the lifting motor 108 is connected to the lead screw, and the lifting platform 102 is mounted on the lead screw. The lifting motor 108 drives the lead screw to rotate, causing the lifting platform 102 to move up and down. The lifting module is used in conjunction with a robotic arm module. The lifting platform 102 of the lifting module has a slot, and the robotic arm module has a slot that mates with the slot. The robotic arm module and the lifting platform 102 are detachably connected via the slot.

[0035] In one embodiment of this utility model, the lifting motor 108 is a stepper motor.

[0036] In one embodiment of this utility model, the lifting module further includes six stabilizing bars symmetrically fixed to the chassis frame 103, and all six stabilizing bars pass through the lifting platform 102 (the fixed bars are clearance-fitted with the lifting platform 102, without affecting the lifting of the lifting platform 102). The symmetrically distributed six stabilizing bars provide redundancy for the stability of the robot's operation. The lifting module 102 accounts for a large portion of the vehicle's mass and is located in the center of the chassis frame 103, which can better maintain the stability of the robot's center of gravity.

[0037] In one embodiment of this utility model, a top cover 109 is further included, which is disposed on the top of the fixing rod. The top cover 109 serves to both fix the stabilizing rod and provide rain protection, preventing rust caused by direct contact of large amounts of rainwater with the lead screw and stabilizing rod. Preferably, the top cover 109 is a solar panel.

[0038] The robotic arm module includes a bundling and propagation arm and a trimming arm, which are detachably mounted on the lifting platform 102. In one embodiment of this invention, the bundling and propagation arm and the trimming arm are alternately mounted on the lifting platform 102. A slot is provided on the side wall of the lifting platform 102, and both the bundling and propagation arm have slots that mate with the slots. When it is necessary to propagate and bundle kumquats, the bundling and propagation arm is assembled onto the lifting platform 102 through the engagement of the slots and slots. When it is necessary to trim the kumquats, the bundling and propagation arm is detached from the slots, and the trimming arm is assembled onto the lifting platform 102 through the engagement of the slots and slots.

[0039] The strapping and inserting arm 301 operates on the side of the robot body, and is fixed to the slotted lifting platform 102 via an insert plate 304. (See also...) Figure 3 The binding and inserting arm 301 includes an insert plate 304, a first robotic arm 303, a second robotic arm 305, and a clamping mechanism. The insert plate 304 is used to mate with a slot in the lifting platform 102. One end of the first robotic arm 303 is connected to the insert plate 304 via a first servo motor, and the other end is connected to one end of the second robotic arm 305 via a second servo motor. The clamping mechanism is provided on the second robotic arm 305. The rotation of the first robotic arm 303 and the second robotic arm 305 is controlled by the first and second servo motors, respectively.

[0040] The clamping mechanism 301 includes a clamping jaw body, a first clamping jaw and a second clamping jaw. The first clamping jaw is relatively fixed, one end of the second clamping jaw is fixedly connected to the clamping jaw body, and the clamping jaw body is rotatably disposed on the second mechanical arm 305. When the clamping jaw body rotates, it can drive the second clamping jaw fixedly connected thereto to move toward the first clamping jaw to perform a clamping action, and the clamping mechanism 301 cooperates with the mechanical arm to perform cutting and bundling operations.

[0041] In one embodiment of the present utility model, the clamping mechanism further includes a driving steering gear and a driving gear 302 connected to the output end of the driving steering gear. The clamping jaw body is provided with teeth, and the driving gear 302 is in meshing transmission with the clamping jaw body. The driving steering gear controls the driving gear 302 to rotate, and the driving gear 302 drives the clamping mechanism 301 to achieve deceleration and torque increase, so as to improve the clamping stability of the clamping mechanism 301. Preferably, the clamping jaw body is fan-shaped.

[0042] The bundling and cutting arm includes three steering gears, one steering gear controls the rotation of the gear 302 to control the clamping mechanism 301 to perform clamping and bundling actions, and the remaining two steering gears control the rotation of the first mechanical arm 305 and the second mechanical arm 303 to realize the cutting and moving actions of the mechanical arms.

[0043] In one embodiment of the present utility model, the cross-sectional shapes of the first mechanical arm 303 and the second mechanical arm 305 are in the shape of two stacked squares.

[0044] The first steering gear and the second steering gear respectively control the first mechanical arm 303 and the second mechanical arm 305 to rotate around the center of gravity of the steering gear disc, simulating the movement of a human arm when inserting a rod, so as to realize the cutting actions of the first mechanical arm 303 and the second mechanical arm 305. Specifically, the two actions of inserting a bamboo pole and bundling an iron wire are carried out separately. The bamboo pole is inserted into the potted New Year orange through the clamping of the mechanical arm and the clamping mechanism, then the clamping mechanism is released, the iron wire is placed on the clamping jaw, and the clamping jaw is clamped, so that the branches of the New Year orange are tied to the bamboo pole through the iron wire.

[0045] In one embodiment of the present utility model, the insert plate 304 is provided with ribs to improve stability.

[0046] The trimming arm operates on the side of the robot body. Please refer to Figure 1 and Figure 4The pruning arm includes a robotic arm mounting platform 106, a third robotic arm 105, a cutting head robotic arm 401, a cutting head motor 403, and a cutting disc 404. The robotic arm mounting platform 106 is provided with a slot, which mates with the slot of the lifting platform 102 to assemble the pruning arm onto the lifting platform 102. One end of the third robotic arm 105 is rotatably mounted on the robotic arm mounting platform 106, and the cutting head robotic arm 401 is rotatably mounted on the other end of the third robotic arm 105. The cutting head motor 403 is mounted on the cutting head robotic arm 401, and the cutting disc 404 is connected to the output end of the cutting head motor 403. Driven by the cutting head motor 403, the cutting disc 404 can rotate at high speed to prune the leaves of the tangerine potted plant.

[0047] The cutter head 404 is controlled by the cutter head motor 403, which controls the cutter head 404 to rotate around the center point of the output end of the cutter head motor 403. The forward and backward movement of the third robotic arm 105 and the up and down movement of the lifting platform 102 work together to achieve all-round pruning of potted plants.

[0048] In one embodiment of the present invention, a cutting head robotic arm drive servo motor 110 is also included. The cutting head robotic arm drive servo motor 110 is mounted on the third robotic arm 105, and its output end is connected to the cutting head robotic arm 401 to drive the cutting head robotic arm 401 to rotate relative to the third robotic arm 105.

[0049] In one embodiment of this utility model, a camera module 10 is also provided on the cutting head robotic arm 401. The camera module 107 is fixed to the cutting head robotic arm 401 by bolts and is used to identify the shape of the potted plant and the position of the kumquat. The cutting head robotic arm 401 can visually detect the fruit and leaves through the camera module 107, so as to automatically avoid the fruit during pruning and plan the pruning route (the identification of the camera module 107 and the planning of the route are existing technologies, and this utility model does not involve improvements to the method).

[0050] In one embodiment of this utility model, the cutting head robotic arm 401 is also provided with an indicator light 402 to indicate whether the robot is working normally. When working normally, the indicator light 402 shows a green light, and when a safety problem occurs and the robot stops, it shows a red light.

[0051] In one embodiment of this utility model, the cross-sectional shape of the cutting head robotic arm 401 is L-shaped.

[0052] In one embodiment of this utility model, the third robotic arm 105 achieves the rotation of two joints through a belt drive and a servo motor, thereby realizing forward and backward movement.

[0053] In one embodiment of this utility model, the cutter head motor 403 is a brushless motor.

[0054] In one embodiment of this utility model, ribs are provided on the robotic arm mounting platform 106 to improve stability.

[0055] In one embodiment of this invention, the robot further includes an ultrasonic sensor 111 and an infrared sensor. The ultrasonic sensor 111 is mounted on the lifting platform 102, and the infrared sensor is mounted on the cutting head robotic arm 401. The ultrasonic sensor 111 is perpendicular to the working direction and is used to detect whether there are foreign objects in front of the vehicle. The cutting head robotic arm 401 is equipped with an infrared sensor, which stops the cutting tool when human body temperature is detected, requiring manual intervention. The various sensors ensure the safe operation of this robot.

[0056] To address the problems associated with traditional manual management, the kumquat shaping, pruning, and cutting bundling robot provided in the aforementioned embodiments of this utility model has the following advantages: I. Automation and Intelligence With technological advancements, various industries are moving towards automation and intelligentization. As a labor-intensive industry, bonsai kumquat cultivation should naturally incorporate intelligent and automated technologies to reduce costs and increase efficiency across the entire sector. This utility model's robot, in conjunction with infrared sensors, can utilize existing tool path algorithms to perform tasks such as fixed-rod cutting and branch binding during the shaping and management of bonsai plants, reducing manual operations and lowering labor costs. Simultaneously, through automation and intelligent technologies, the quality of bonsai kumquats becomes more controllable, enabling quantitative management of costs and profits.

[0057] II. Modularization and Standardization For the robot used for shaping, pruning, and propagating kumquats, the modular design facilitates the manufacture of robots of different sizes, meeting the management needs of kumquat bonsai of varying sizes. This also helps shorten the equipment's development cycle and reduce development costs. Standardized design, on the other hand, promotes product interchangeability, reduces component production costs, and further lowers usage costs for growers. A key feature of this robot is its high degree of modularity. Each functional module can be flexibly disassembled for maintenance or iterative upgrades.

[0058] III. Energy Conservation For robots used for shaping, pruning, and bundling kumquats, energy-saving design can reduce energy consumption and operating costs. In this embodiment, the top cover 109 can be made of solar panels. During robot operation, the solar panels generate electricity, achieving self-sufficiency and energy conservation.

[0059] IV. Security Design For the tangerine shaping, trimming, and cutting bundling robot, an infrared sensor is installed on the blade robotic arm. When the blade approaches a human body, the infrared sensor automatically cuts off the power to the blade to prevent injury. Additionally, ultrasonic sensors can be installed on the lifting platform 102 in all directions except the direction of the robotic arm module to detect foreign objects in front and on the sides, ensuring the robot's safe operation.

[0060] V. Simplification For robots used in shaping, pruning, and bundling kumquats, a simplified design can improve the user experience for kumquat growers. The aforementioned embodiments of this invention simplify the robot into three main modules: a chassis module, a lifting module, and a robotic arm module. These modules offer relatively independent control, high reliability, and ease of maintenance.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in the present invention may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot for shaping, pruning, and binding cuttings, characterized in that, Includes chassis module, lifting module and robotic arm module; The lifting module is mounted on the chassis module, and the robotic arm module is mounted on the lifting module. The robotic arm module includes a tying and cutting arm and a pruning arm, which are detachably mounted on the lifting module. The tying and cutting arm is used for cutting and tying branches, while the pruning arm is used for pruning branches.

2. The shaping, trimming, and cutting binding robot according to claim 1, characterized in that, The lifting module includes a lifting platform that can be raised and lowered, with a strapping and cutting arm and a trimming arm alternatively mounted on the lifting platform.

3. The shaping, trimming, and cutting binding robot according to claim 2, characterized in that, The lifting module also includes a lifting motor and a lead screw. The lead screw is connected to the output end of the lifting motor, and the lifting platform is mounted on the lead screw.

4. The shaping, trimming, and cutting binding robot according to claim 2, characterized in that, The lifting platform is equipped with slots, and the binding and cutting arms and the trimming arms are also equipped with slots, which allow for detachable connection through the cooperation of the slots and grooves.

5. The shaping, trimming, and cutting binding robot according to claim 1, characterized in that, The binding and inserting arm includes an insert plate, a first robotic arm, a second robotic arm, and a clamping mechanism. The insert plate is detachably connected to the lifting module, and the first robotic arm is rotatably mounted on the insert plate. One end of the second robotic arm is rotatably connected to the first robotic arm, and the other end is equipped with a clamping mechanism.

6. The shaping, trimming, and cutting binding robot according to claim 5, characterized in that, The clamping mechanism includes a gripper body, a first gripper, and a second gripper. The first gripper is fixed relative to the second robotic arm, the gripper body is rotatably mounted on the second robotic arm, and the second gripper is fixedly connected to the gripper body. When the gripper body rotates, the second gripper can move relative to the first gripper.

7. The shaping, trimming, and cutting binding robot according to claim 1, characterized in that, The trimming arm includes a robotic arm mounting platform, a third robotic arm, a cutter head robotic arm, and a cutter disc. The robotic arm mounting platform is detachably connected to the lifting module, and the third robotic arm is rotatably mounted on the robotic arm mounting platform. The cutter head robotic arm is mounted on the third robotic arm, and the cutter disc is rotatably mounted on the cutter head robotic arm.

8. The shaping, trimming, and cutting binding robot according to claim 7, characterized in that, The robotic arm with the cutting head is equipped with a camera module, and / or an indicator light, and / or an infrared sensor. The camera module is used to identify the shape of the potted plant and the position of the kumquat, the indicator light is used to indicate whether the robot is working properly, and the infrared sensor is used to detect whether someone is approaching the cutting head.

9. The shaping, trimming, and cutting binding robot according to claim 1, characterized in that, It also includes ultrasonic sensors to detect whether there are obstacles in front of the robot.

10. A shaping, trimming, and cutting binding robot according to any one of claims 1-9, characterized in that, It also includes a top cover, which is disposed on top of the lifting module, and / or the top cover is a solar panel.

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