CN104647337A - Dual-arm multifunctional greenhouse robot - Google Patents

Abstract

The invention provides a dual-arm multifunctional greenhouse robot. The dual-arm multifunctional greenhouse robot comprises a seeding function module, an irrigation function module and a picking function module, which are integrated on a working platform, wherein the working platform mainly comprises a pedestal, rolling wheels, a waist joint, a shoulder joint, a big arm joint, a small arm joint, a manipulator and a box body, wherein the waist joint, the shoulder joint, the big arm joint and the small arm joint are connected in series through a moving pair, so that the tail end of the small arm joint has six freedom degrees; the pedestal is used for mounting each module and related components; the rolling wheels are arranged under the pedestal and are used for realizing walking; the box body is arranged on the pedestal and is used for storing vegetables; the manipulator is arranged on the small arm joint and is used for finishing picking. According to the multifunctional robot provided by the invention, three basic functions, i.e. seeding, picking and irrigation functions, are well integrated on a public platform, so that the utilization rate of the robot is greatly improved.

Description

A dual-arm multifunctional greenhouse robot

technical field

The invention relates to an agricultural greenhouse robot, in particular to a dual-arm multifunctional robot capable of sowing, irrigating and picking vegetables.

Background technique

At present, the development of seeders, irrigation machines and pickers for agriculture has been relatively mature. The seeding mechanism is mainly composed of a seed supply system, a seed storage system, a seed separation system, a seed arrangement system, and a ditching mechanism. Existing sowing techniques are mainly three types: external grooved wheel type, type hole type, and pneumatic type. Among them, for smaller seeds, pneumatic sowing can better balance the uniformity of seeding and the speed of sowing.

The irrigation mechanism is mainly composed of a water supply system, a control system and related components. Existing irrigation technologies are divided into sprinkler irrigation and micro-irrigation. Since micro-irrigation has high requirements on the control system and it is difficult to meet the economical needs of large-scale irrigation, sprinkler irrigation machines in my country mainly use sprinkler irrigation.

The picking mechanism is mainly composed of identification system and picking system. Existing picking technology is mainly divided into traditional mechanical shaking type and pneumatic shaking type and the picking robot that various countries are developing at present. The fruit of the traditional shaking method is fragile and cannot be harvested selectively, while picking robots generally face problems such as low picking efficiency.

A major problem that current technologies face is the decentralization of each mechanical structure. Simultaneous automation of the three modules requires the purchase of three types of mechanical equipment, which is extremely costly, and because the three functions are performed alternately, a large amount of idle time will be caused during the entire harvest cycle, resulting in a waste of resources.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a dual-arm multifunctional greenhouse robot, which solves the problems of scattered functional modules, low utilization rate of each machine, high cost, and serious waste, and is very good on the public platform of the robot. The combination of the three basic functions of sowing, picking, and irrigation can greatly improve the utilization efficiency of the robot.

To achieve the above object, the present invention is achieved through the following technical solutions:

A dual-arm multifunctional greenhouse robot, including a sowing function module, an irrigation function module and a picking function module integrated on a working platform, the working platform is mainly composed of a base, rollers, waist joints, shoulder joints, big arm joints, small Composed of arm joints, manipulators and boxes, the waist joints, shoulder joints, upper arm joints, and forearm joints are connected in series through kinematic pairs, so that the end of the forearm joints has six degrees of freedom, and the base is used to install modules and related components , the rollers are installed under the base for walking, the box is installed on the base for storing vegetables, and the manipulator is installed on the forearm joint for picking.

The kinematic pair includes a rotary pair or a ball pair.

The relevant components include a traveling motor, an irrigation water pump and an irrigation motor, a seeding air pump and a seeding motor.

The sowing function module uses air power to push the seeds stored in the forearm joints by an air pump, so as to realize the separation and sowing of seeds.

The irrigation function module sprays water out of the pipeline through the water pump.

The sowing function module and the irrigation function module use the same connecting pipe, which are respectively connected to the air pump or the water pump according to the required functions.

The manipulator is mainly composed of an active finger, a driven finger and a working finger. The active finger is driven by a motor, and the driven finger is driven by the gear of the active finger to clamp the working finger together with the active finger. Driven by the forearm joint The picking work is realized, and then the vegetables are put into the box under the joint action of the waist joint, shoulder joint, upper arm joint, and forearm joint.

The control systems of the two arms are independent of each other, and can complete a whole set of actions respectively.

The beneficial effect of the present invention is that the three operations of sowing, irrigation and picking can be realized by one robot, which avoids the redundancy of tools and the waste of resources

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the front view of the forearm joint in the present invention;

Fig. 4 is the top view of the forearm joint in the present invention;

Fig. 5 is the front view of manipulator module in the present invention;

Fig. 6 is a rear view of the manipulator module in the present invention.

In the figure 1. Base, 2. Box, 3. Waist joint, 4. Shoulder joint, 5. Arm joint, 6. Rubber tube, 7. Forearm joint, 8. Roller, 9. Water pump, 10. Air pump, 11. Seed storage place, 12. Outlet, 13. Interface, 14. Active finger, 15. Working finger, 16. Driven finger, 17. Support plate.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figures 1 to 6, the double-arm multifunctional greenhouse robot provided by the present invention integrates the functional modules of sowing, irrigation and picking on a set of public platforms, and reasonably arranges the modules of sowing, irrigation and picking on it, so that Realize the integration of sowing, irrigation and picking functions. The public platform is composed of base 1, roller 8, waist joint 3, shoulder joint 4, upper arm joint 5, forearm joint 7, manipulator, and box body 2. The base 1 is an installation platform for relevant components of each functional module. Related components include: supporting facilities such as walking motor, irrigation water pump 9 and motor, seeding air pump 10 and supporting facilities such as motor, etc. The waist joint 3 is connected to the base 1 by a rotating pair. The upper arm joints 5 on both sides are respectively connected to the waist joint 3 through the shoulder joint 4 with a ball pair. The forearm joints 7 on both sides are respectively connected to the big arm joints 5 by rotating pairs. The combination of the walking mechanism and several movements makes each arm capable of six degrees of freedom. The box body 2 is installed on the base 1 and is used for storing picked vegetables. In actual work, the same rubber tube 6 is used for the sowing and irrigation modules, which are respectively connected to the water pump 9 or the air pump 10 according to requirements, and are used for sowing or irrigation through the hollow forearm joint 7 . When sowing, the seeds are stored in the forearm joint 7, and the even falling of the seeds is controlled by pneumatic control. During irrigation, the amount of irrigation is controlled by the size of the water pump valve. The picking mechanism is a separate module, and the manipulator completes the picking action. With the cooperation of the upper arm joint 5 and the forearm joint 7, the picked vegetables are placed in the box body 2 . When picking is needed, the manipulator is installed on the forearm joint 7 and gets final product.

In FIG. 1 , the wheels 8 are installed under the base 1 to realize the walking function driven by the motor. The box body 2 is installed on the base 1 and is used for storing picked vegetables. The waist joint 3 is installed on the base 1 through the rotating web. The two shoulder joints 4 are connected to the upper end of the waist joint 3 through the ball pair. The big arm joint 5 is connected with the shoulder joint 4 through the rotating range. The forearm joint 7 is connected with the big arm joint 6 through the rotation width. These kinematic pairs make the end of the forearm joint 7 have six degrees of freedom.

In an embodiment shown in Fig. 2, the rubber tube 6 is connected with the air pump 10, and under the action of the wind, the seeds stored in the seed storage place 11 in the forearm joint 7 are agitated, so that they are ejected through the outlet 12 to achieve the desired effect of sowing. Purpose.

And when implementing irrigation function, rubber tube 6 is then linked to each other with water pump 9, and at this moment, seed storage place 11 does not deposit seed, and water directly sprays from outlet 12.

In one embodiment shown in Figure 4, the motor is connected on the support plate 17 to drive the active finger 14, driven by the gear of the active finger 14, the driven finger 16 and the active finger 14 jointly drive the working finger 15 to clamp. Under the drive of the forearm joint 7, the action of pulling vegetables is realized to complete the picking work, and then under the joint action of the waist joint 3, the shoulder joint 4, the upper arm joint 5, the forearm joint 7, etc., the vegetables are put into the box 2.

The control systems of the two arms are independent of each other and can complete the whole set of movements separately.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (8)

1. the multi-functional Greenhouse Robot of both arms, it is characterized in that, comprise the sowing functional module be integrated on a workbench, irrigation function module and harvesting functional module, described workbench is primarily of base, roller, waist joint, shoulder joint, large-arm joint, little shoulder joint, manipulator and casing composition, wherein, waist joint, shoulder joint, large-arm joint, little shoulder joint is connected mutually by kinematic pair, little shoulder joint end is made to have six-freedom degree, base is for installing each module and associated component, under roller is arranged on base, for realizing walking, casing is arranged on base, for storing vegetables, manipulator is arranged on little shoulder joint, for completing harvesting.

2. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described kinematic pair comprises revolute pair or ball is secondary.

3. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described associated component comprises movable motor, irrigation pump and irrigates motor, sowing air pump and sowing motor.

4. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, described sowing functional module is by strength mode, is promoted the seed be stored in little shoulder joint, realize separation and the sowing of seed by air pump.

5. the multi-functional Greenhouse Robot of both arms according to claim 4, is characterized in that, described irrigation function module is sprayed by pipeline by water by water pump.

6. the multi-functional Greenhouse Robot of both arms according to claim 5, is characterized in that, described sowing functional module and irrigation function module adopt same tube connector, is connected on air pump or water pump according to required function difference.

7. the multi-functional Greenhouse Robot of both arms according to claim 1, it is characterized in that, described manipulator is primarily of initiatively finger, driven finger and work finger form, initiatively finger is driven by motor, driven finger, under the gear driven of initiatively finger, and initiatively points common driving work grip finger, realizes harvesting work under the drive of little shoulder joint, again under the acting in conjunction of waist joint, shoulder joint, large-arm joint, little shoulder joint, dish is put into casing.

8. the multi-functional Greenhouse Robot of both arms according to claim 1, is characterized in that, the control system of described both arms is separate, can complete entire exercise respectively.