CN110999622A - Lotus root digging ship based on mechanical arm and lotus root digging method - Google Patents
Lotus root digging ship based on mechanical arm and lotus root digging method Download PDFInfo
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- CN110999622A CN110999622A CN201911255687.2A CN201911255687A CN110999622A CN 110999622 A CN110999622 A CN 110999622A CN 201911255687 A CN201911255687 A CN 201911255687A CN 110999622 A CN110999622 A CN 110999622A
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- 235000006508 Nelumbo nucifera Nutrition 0.000 title claims abstract description 184
- 240000002853 Nelumbo nucifera Species 0.000 title claims abstract description 184
- 238000000034 method Methods 0.000 title claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims abstract description 128
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 119
- 239000007921 spray Substances 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims description 82
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000011010 flushing procedure Methods 0.000 claims description 11
- 239000002689 soil Substances 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 6
- 239000010410 layer Substances 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005188 flotation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008653 root damage Effects 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D31/00—Other digging harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/02—Products growing in the soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/52—Parts for steering not otherwise provided for
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- Harvesting Machines For Root Crops (AREA)
Abstract
The invention discloses a lotus root digging ship based on mechanical arms, which comprises a ship-type chassis, a driving impeller, a driven rudder wheel, a high-pressure water nozzle group, a first mechanical arm and a second mechanical arm, wherein the driving impeller is arranged on the ship-type chassis; the first mechanical arm is used for clamping lotus roots, the six-dimensional sensor is arranged on the mechanical claw of the clamping mechanical arm and feeds back to the mechanical arm for installing the high-pressure water spray head, the mechanical arm for installing the high-pressure water spray head is used for aligning the lotus roots to be washed, and the lotus roots are accurately washed and extracted through cooperation of the two mechanical arms. The lotus root digging method of the lotus root digging ship based on the mechanical arm provided by the invention is used for digging lotus roots in a cooperative operation manner, has a self-walking function, is a feasible and efficient lotus root digging device, and can greatly reduce the labor intensity of workers and improve the digging rate.
Description
Technical Field
The invention relates to the technical field of lotus root digging machines in agricultural machinery, in particular to a lotus root digging device based on a manipulator, which is mainly used for harvesting lotus roots, and also relates to a lotus root digging method for controlling the manipulator to cooperatively dig the lotus roots.
Background
The lotus root is an aquatic economic crop, has wide application, can be eaten, used as a medicine, viewed and admired, is an important aquatic vegetable and a special agricultural product which are easy to breed and difficult to harvest, is deeply loved by people all the time, and has considerable economic value. However, the lotus roots are dug mainly by manpower in China at present, the physical power consumption of people in the digging process is too large, the lotus roots cannot be dug out in time, a large amount of rotten lotus roots are in the field every year, and the economic loss is large.
Lotus roots grow in underwater deep silt, the silt on the surface layer of a lotus root field is mainly dug out manually by tools such as a lotus root shovel and the like for a long time, water in the lotus root field needs to be drained before the lotus roots are dug, continuous stooping operation is needed in the digging process, lotus roots are easy to damage when being dug by lotus root farmers with low experience, the labor intensity of digging is high, the operation condition is severe, and the efficiency is low. Although lotus root farmers use high-pressure water guns to assist in manually digging lotus roots at present, the damage rate of the lotus roots is reduced, the commodity quality of the lotus roots is improved, the problems of continuous stooping operation, low digging efficiency, high labor intensity and the like still exist, and the harvesting link of the lotus roots becomes a bottleneck problem restricting the production and development of the lotus roots.
A plurality of lotus root digging machines have appeared in the market at present, for example, the lotus root digging machine developed by Huazhong agriculture university to the flotation pontoon is the chassis, combines gasoline engine water pump, pipeline, high-pressure nozzle to carry out pure hydraulic flush, though the structure is light, nevertheless has certain limitation, and it is unsatisfactory to dig the lotus root effect in stickness soil. Compare the pure hydraulic washout of pontoon formula and dig the lotus root machine, the boat form manipulator digs the lotus root machine and more can improve and dig the lotus root machine and walk the lotus root efficiency from the walking ability with digging, can effectively improve and dig the difficult problem of lotus root under south stickness soil environment.
Therefore, the technical personnel in the field aim to design the boat type mechanical lotus root digging machine, which solves the problem that the lotus root digging machine is difficult to realize self-walking in the field and solves the problem that the lotus root digging is difficult to realize by pure hydraulic flushing.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a lotus root digging method which combines hydraulic flushing with machinery based on the cooperation of two mechanical arms, aims at solving the problem that lotus roots are buried deep in soil and dug out by a flushing digging method, increases the cooperation of the mechanical arms, and realizes self-walking through the driving of an impeller. And a control method for digging lotus roots by using the mechanical arm and the scouring in cooperation is designed, so that the digging rate is high, and the problems that the lotus roots are difficult to find and are easy to break only by using the mechanical arm are solved.
In order to achieve the purpose, the technical means adopted by the invention are as follows: a lotus root digging method of a lotus root digging ship based on mechanical arms is characterized in that two mechanical arms are fixed at the bow of the lotus root digging ship side by side, a controller for controlling the mechanical arms is further arranged in the lotus root digging ship, a mechanical claw is assembled at the front end of a first mechanical arm, a high-pressure water spray head is assembled at the front end of a second mechanical arm, the first mechanical arm and the second mechanical arm comprise a front-end mechanical arm and a rear-end mechanical arm, a six-dimensional sensor is further connected between the front-end mechanical arm and the mechanical claw, the rear-end mechanical arm is installed at the bow of the lotus root digging ship through a base plate, and a position between the rear-end mechanical arm and the base plate and a position between the rear-end mechanical arm and the front-end mechanical arm are both provided with
The rotating mechanism is connected; the basal disc, the front end mechanical arm and the six-dimensional sensor are all arranged
A rotating mechanism that rotates;
the gripper comprises a base, a fixed jaw and a movable jaw, the base is fixed on one side of a six-dimensional sensor back to a front end mechanical arm, the rear end of the fixed jaw is fixedly connected with the base, the front end of the fixed jaw extends along the axis direction of the six-dimensional sensor, the movable jaw is rotatably connected with the rear end of the fixed jaw through a pin shaft, a transmission mechanism is further installed in the base and can drive the movable jaw to wind the pin shaft
The six-dimensional sensor is used for measuring three axial forces Fx, Fy and Fz and moments Mx, My and Mz around the axial direction, and the three axial directions are respectively defined as a z axis parallel to the fixed claw, an x axis distributed on the rotating surface of the movable claw and a y axis vertical to the rotating surface of the movable claw;
the lotus root digging method comprises the following steps:
s1, driving a lotus root digging ship into an operation interval;
s2, selecting a first mechanical arm by the controller, and initializing;
s3, the controller commands the first mechanical arm to act in the following mode: the transmission mechanism drives the movable claws to open relative to the fixed claws, the rotating mechanism between the front-end mechanical arm and the six-dimensional sensor drives the movable claws to point to the front of the lotus root digging ship, and the rotating mechanism in the base plate rotates to enable the fixed claws to rotate to one side of the lotus root digging ship around the base plate so that the mechanical claws are located at initial positions;
s4, rotating the rotating mechanism to enable the fixed claws to be inserted into soil and move in a direction away from or close to the lotus root digging ship along a straight line until Fx reaches a threshold value; simultaneously the controller commands the second mechanical arm to act according to the following modes: keeping the high-pressure water spray head close to and above the mechanical claw, and enabling the high-pressure water spray head to synchronously move in the same direction along with the fixed claw;
s5, the transmission mechanism drives the movable claw and the fixed claw to be closed, and then the rotating mechanism rotates to enable the mechanical claw to move upwards;
s6, if the Fz is smaller than the lower limit of the threshold value, the mechanical claw does not clamp the lotus root, the rotating mechanism rotates to enable the mechanical claw to move back to the original position, and the transmission mechanism drives the movable claw to open relative to the fixed claw; the rotating mechanism between the front end mechanical arm and the six-dimensional sensor drives the base to rotate for 90-180 degrees and then stops;
s7, repeating the steps S5-S6 until Fz is not smaller than the lower threshold, stopping driving the mechanical claw to move upwards if the Fz is larger than the upper threshold, flushing the high-pressure water spray head for 5 seconds, and putting down the lotus root after clamping the lotus root if the Fz is not larger than the upper threshold;
s8, the rotating mechanism drives the mechanical claw to move upwards, if Fz is larger than the upper limit of the threshold value, the mechanical claw stops being driven to move upwards, the transmission mechanism drives the movable claw to open relative to the fixed claw, and otherwise, the lotus root is put down after being clamped out;
s9, driving the fixed claws to rotate around the base disc by the rotating mechanism in the base disc, if Fy is larger than a set constant, driving the fixed claws to rotate around the base disc for 3-10 degrees in the opposite direction, and driving the fixed claws to linearly move along the opposite direction of the Fx in the step S4 until the Fx detected by the six-dimensional sensor in the state of the step S7 reaches a threshold value; if Fy is not larger than the set constant, the fixed claw is driven to rotate for 3-10 degrees around the base disc and then stops, and the fixed claw is driven to linearly move along the direction opposite to the Fx in the step S4 until the Fx detected by the six-dimensional sensor in the step S7 state reaches a threshold value;
s10, repeating the step S5, if Fz is larger than the upper threshold, stopping driving the mechanical claw to move upwards, flushing the high-pressure water spray head for 5 seconds, repeating the steps S8-S9 until Fz is between the lower threshold and the upper threshold, and clamping the lotus roots by the mechanical claw, then opening the mechanical claw and putting down the lotus roots;
s11, driving the mechanical claw to return to the initial position in the step S3 by the rotating mechanism between the front end mechanical arm and the six-dimensional sensor and the rotating mechanism in the base plate, driving the fixed claw to rotate 3-10 degrees around the base plate to the other side of the lotus root digging ship, and repeating the steps S4-S10 to grab the lotus roots again.
Further, the lotus root digging ship based on the mechanical arm based on the lotus root digging method further comprises the following steps:
the driving motor is arranged in the mechanical arm and comprises a storage battery, a rotating motor, a second stepping motor and a rotating motor, wherein the rotating motor is arranged in the base and used for driving a rotating mechanism positioned in the base to rotate, the second stepping motor is arranged on the rotating mechanism and used for driving the rotating mechanism positioned between the base and the rear end mechanical arm and between the rear end mechanical arm and the front end mechanical arm to rotate, and the rotating motor is arranged on the front end mechanical arm and used for driving the rotating mechanism positioned between the front end mechanical arm and the base plate to rotate;
the water pump is connected with a water outlet pipe, the water outlet end of the water outlet pipe is communicated with the high-pressure water spray head and moves along with the pointed position of the high-pressure water spray head, and the water pump is driven by a water pump motor;
the motor driver is arranged in the lotus root digging ship and is electrically connected with and drives the rotating motor, the second stepping motor, the rotating motor and the water pump motor to rotate forward and backward and stop;
the controller is used for controlling the motor driver.
Preferably, the lotus root digging ship further comprises a high-pressure water spray nozzle group which is arranged at the bow of the lotus root digging ship and comprises a water distributor, a water inlet elbow and spray nozzles, wherein a water inlet of the water distributor is communicated with the water pump through the water inlet elbow, the water distributor is provided with water distribution openings which are arranged in rows at equal intervals, each water distribution opening is provided with one spray nozzle, and the spraying direction of all the spray nozzles points to the lower part of the front end of the mechanical arm.
Preferably, the mounting panel that can overturn is installed to the lotus root digging ship bow, and the mounting panel bottom is rotated through a pair of pivot seat on pivot and the bow and is connected, and pivot department is still articulated with telescopic machanism's one end is kept away from to the mounting panel bottom surface, and telescopic machanism's the other end is articulated with the bow, be equipped with the flexible third step motor of drive telescopic machanism in the telescopic machanism, the top surface is installed at the mounting panel bottom to the arm.
Preferably, the rotating motor, the second stepping motor, the rotating motor, and the water pump motor are all powered by the storage battery.
Preferably, the third stepping motor is electrically connected to the motor driver and is powered by the storage battery.
Preferably, the two sides of the head of the lotus root digging ship are symmetrically provided with driving impellers driven to rotate by a power mechanism, the other end of the lotus root digging ship is provided with a driven rudder wheel, and the driven rudder wheel is connected with the lotus root digging shipCan be used for
A rotating wheel carrier.
The working principle of the invention is as follows: the boat type lotus root digging device is moved to the field, the power mechanism transmits the torque to the driving impeller, and meanwhile, the self-walking and steering functions of the lotus root digging device in the field are realized through the rotation of the driven rudder wheel of an operator sitting on the hull of the lotus root digging device. The mechanical arm is bent to be close to the lotus root under the driving of the driving motor in the field, signals of the torque sensors on the mechanical claws are fed back to the mechanical arm for controlling the installation of the high-pressure water spray head by an operator, and the accurate positioning of the mechanical arm for installing the high-pressure water spray head is realized in cooperation. High-pressure water generated by the water pump is conveyed to a water inlet of the high-pressure water spray head group and the high-pressure water spray heads on the mechanical arm through a pipeline and is sprayed out by the high-pressure water spray heads, most of mud layers on the lotus roots are firstly washed by the high-pressure water spray head group, then the mechanical claw at the front end of the mechanical arm and the mechanical arm provided with the high-pressure water spray heads work together to realize lotus root digging, and the base of the mechanical arm is manually rotated to realize lotus root unloading after the lotus roots.
The invention has the beneficial effects that: this equipment compares with the lotus root machine of digging on the existing market, has changed and has only leaned on the water under high pressure to erode and dig the lotus root inefficiency or only leaned on the big current situation of mechanical type to the lotus root damage, erodees the back with most mud layer through high-pressure water shower nozzle group, and two arm collaborative work snatch and erode the lotus root once more and realize digging the lotus root, and operating process in work efficiency is high, has improved the mechanized results level of lotus root. The lotus root digging device adopts a boat-type chassis, so that the resistance when the lotus root digging device moves forwards in the field can be effectively reduced, and the energy consumption is reduced; realize from walking through the initiative impeller, only need alone to sit the operation on the seat on the boat form chassis completely, need not the human body and contact the surface of water, the operator realizes digging turning to of lotus root device through the rotation of control wheel carrier. Compared with the existing lotus root digging machine in the market at present, the lotus root digging machine solves the current situation that the human body still needs to be drained, improves the operation environment and effectively lightens the labor intensity; through the mode of two robotic arms collaborative operation, gripper and high pressure water nozzle reciprocating motion scope are big, and the operation is nimble, and high pressure water nozzle group erodees the stickness soil of arm below on an effective large scale, has reduced the work load of the manipulator of installing high pressure water nozzle, has improved efficiency, only relies on the high pressure water to erode the current situation that is difficult to realize digging the lotus root under effectively improving south stickness soil environment. Meanwhile, the mounting plate can be turned over, so that the moving range of the mechanical arm is increased.
According to the double-arm cooperative lotus root digging control method, the six-dimensional sensor is used for measuring whether the fixed claw is in contact with lotus roots or not, the distribution direction of the lotus roots can be judged, the lotus roots are automatically grabbed, the stress condition in the lotus root lifting process through the mechanical claw is used for automatically controlling the high-pressure water spray head to spray and flush soil, the position of the mechanical claw for grabbing the lotus roots is adjusted, the position of the high-pressure water spray head for flushing the lotus roots is synchronously adjusted, and the lotus roots are taken out after being flushed along the distribution direction of the lotus roots gradually.
Drawings
The invention will be described in detail with reference to the drawings and embodiments;
fig. 1 is a general structural view of a lotus root digging ship of the present invention;
FIG. 2 is a schematic view of the boat chassis of the present invention;
FIG. 3 is a schematic diagram of a mounting plate structure according to the present invention;
FIG. 4 is a schematic view of the high pressure water jet head stack of the present invention;
fig. 5 is a schematic structural diagram of a first robot according to the present invention;
FIG. 6 is a schematic side view of the lotus root digging boat of the present invention;
FIG. 7 is a schematic view of the main structure of the lotus root digging ship of the present invention;
FIG. 8 is a schematic view of a second robot arm of the present invention;
FIG. 9 is a schematic view of the lotus root digging boat of the present invention;
FIG. 10 is a flow chart of the lotus root digging method of the present invention;
in the figure: 1-a second mechanical arm, 101-a seat, 102-a water pump, 103-a power mechanism, 104-a wheel carrier, 106-a chassis, 107-a driving impeller transmission shaft, 108-a rotating shaft seat, 2-a first mechanical arm, 201-a telescopic mechanism, 202-a pin shaft, 203-a mounting plate, 3-a high-pressure water spray head group, 301-a spray head, 302-a water separator, 303-a water inlet elbow, 304-a water separation port, 4-a driving impeller, 401-a rotating motor, 402-a rear mechanical arm, 403-a pin shaft, 404-a mechanical claw, 405-a front mechanical arm, 406-a six-dimensional sensor, 407-a rotating mechanism, 408-a rotating mechanism, 409-a base plate, 410-a second step motor, 441-a base, 442-a fixed claw, 443-movable claws, 445-a transmission mechanism, 5-driven steering wheels, 504-high-pressure water nozzles, 505-high-pressure water nozzle groups and 6-boat type chassis.
Detailed Description
In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the boat type lotus root digging boat based on the mechanical arm is composed of a boat type chassis 6, a driving impeller 4, a driven rudder wheel 5, a high-pressure water nozzle group 3, a first mechanical arm 2 for installing the mechanical arm and a second mechanical arm 1 for installing the high-pressure water nozzle;
as shown in fig. 2, the boat-shaped chassis 6 is a carrier of the entire lotus root digging device, and includes: a chassis 106, a power mechanism 103, a water pump 102, a pair of rotating shaft seats 108, a seat 101, a driving impeller transmission shaft 107 and a wheel frame 104. The power mechanism 103 drives the driving impeller transmission shaft 107 to rotate, and the driving impeller transmission shaft 107 is connected with the driving impeller 4 through a shaft comb; the seat 101 is fixed on the chassis 106 by welding to provide a driving space for an operator; as shown in fig. 3, a pair of rotating shaft seats 108 are symmetrically installed on the bow of the chassis 106, the bottom of the mounting plate 203 is rotatably connected with the pair of rotating shaft seats 108 through a rotating shaft, the bottom surface of the mounting plate 203, which is far away from the rotating shaft, is hinged with one end of the telescopic mechanism 201, the other end of the telescopic mechanism 201 is hinged with the bow of the chassis, a third stepping motor for driving the telescopic mechanism to stretch is arranged in the telescopic mechanism 201, and a second mechanical arm 2 and a first mechanical arm 1 for installing a high-pressure water nozzle are installed on the top surface of the. The reversible mounting plate 203 enlarges the working angle of the second robot arm 2 and the first robot arm 1 on which the high pressure water jet head is mounted.
The wheel carrier 104 is connected with the driven steering wheel 5 through a bearingThe wheel frame 104 may
The bottom of the chassis rotates to provide guidance for the whole lotus root digging device.
Referring to fig. 4, the high pressure water nozzle set 3 sprays high pressure water generated by the water pump 102 and coming through the pipeline, so as to wash most of the mud layer covered on the lotus root, and is welded at the lower end of the tail part of the chassis 106. The high pressure water jet head set comprises: a spray head 301, a water separator 302 and a water inlet elbow 303. The diameter of the water inlet of the water separator 302 is 120 mm; 5 water distribution openings 304 are arranged in rows, and the diameter of each water distribution opening is 34 mm; the whole spray head 301 is conical, the length is 120mm, the diameter of each water diversion opening 304 is 12mm, one spray head is installed on each water diversion opening 304, and the spraying direction of all the spray heads points to the lower portion of the front end of the mechanical arm.
As shown in fig. 5, 6 and 8, the front end of the first mechanical arm 2 is provided with a mechanical claw 404 and the front end of the second mechanical arm 1 is provided with a high-pressure water spray nozzle 504, both of which comprise mechanical arms, the mechanical arms comprise a front end mechanical arm 405 and a rear end mechanical arm 402, a six-dimensional sensor 406 is connected between the front end mechanical arm 405 and the mechanical claw 404, the rear end mechanical arm 402 is arranged on the bow of the lotus root digging ship, namely the chassis, through a base plate 409, and a gap is formed between the rear end mechanical arm 402 and the base plate 409 and between the rear end mechanical arm 402 and the front end mechanical arm 405
The rotating mechanism 407 is connected; the base disc 409, the front end mechanical arm 405 and the six-dimensional sensor 406 are all arranged
A rotating mechanism 408, a rotating motor for driving the rotating mechanism positioned in the base disc to rotate is arranged in the base disc 409, a second stepping motor 410 for driving the rotating mechanism 407 positioned between the base disc 409 and the rear end mechanical arm 402 and between the rear end mechanical arm 402 and the front end mechanical arm 405 to rotate is arranged on the rotating mechanism 407, and a rotating electric motor for driving the rotating mechanism 408 positioned between the front end mechanical arm 405 and the base disc 406 to rotate is arranged on the front end mechanical arm 405A machine is provided. The water pump is connected with a water outlet pipe, the water outlet end of the water outlet pipe is communicated with the high-pressure water spray head and moves along with the pointed position of the high-pressure water spray head, the mechanical arm can move at any angle in space through the structure, namely the mechanical claw 404 can reach any position below the chassis, so that the lotus root in the lotus root field can be conveniently dug without dead corners, and the high-pressure water spray head 504 can conveniently clean the lotus root in the lotus root field without dead corners.
The gripper 404 includes a base 441, a fixed jaw 442 and a movable jaw 443, the base 441 is fixed on the side of the six-dimensional sensor 406 facing away from the front end of the arm 405, the rear end of the fixed jaw 442 is fixedly connected with the base 441, the front end of the fixed jaw 442 extends along the axial direction of the six-dimensional sensor 406, the movable jaw 443 is rotatably connected with the rear end of the fixed jaw 442 through a pin, a transmission mechanism 445 is further installed in the base 441, and the movable jaw 443 can be driven to rotate around the pin
And the six-dimensional force sensor 406 adopts a cross beam type structure, as shown in fig. 6 and 7, and is used for measuring three axial forces Fx, Fy and Fz and moments Mx, My and Mz around the axial directions, the three axial directions are respectively defined as a z axis parallel to the fixed claw, an x axis distributed on the rotating surface of the movable claw and a y axis perpendicular to the rotating surface of the movable claw, when the clamping manipulator grabs the lotus root, a signal is fed back and transmitted to an operator, the operator controls the mechanical arm provided with the high-pressure water nozzle according to the moment to be aligned with the lotus root for flushing, and the lotus root is flushed and extracted through the cooperative operation of the two mechanical arms.
The lotus root digging ship further comprises: the motor driver is arranged in the lotus root digging ship, the motor driver is electrically connected with and drives the rotating motor, the second stepping motor, the rotating motor and the water pump motor to rotate forward and backward and stop, and the storage battery supplies power to the rotating motor, the second stepping motor, the rotating motor and the water pump motor.
The operation flow of the lotus root digging device in the field is as follows: the lotus root digging machine is moved to a lotus root growing area, a water inlet and a reservoir of a water pump 102 are placed at proper positions, a power mechanism 105 is started to enable the lotus root digging device to start running, field water is introduced into the water pump 102 and is sprayed out from a spray head 301, most of mud layers covering the lotus roots are washed firstly, two mechanical arms are started, and the lotus roots are washed and extracted again through synergistic effect.
The specific processes shown in fig. 9 and 10 are as follows: the lotus root digging method comprises the following steps:
s1, driving a lotus root digging ship into an operation interval;
s2, selecting a first mechanical arm by the controller, and initializing;
s3, the controller commands the first mechanical arm to act in the following mode: the transmission mechanism drives the movable claws to open relative to the fixed claws, the rotating mechanism between the front end mechanical arm and the six-dimensional sensor drives the movable claws to point to the front of the lotus root digging ship, and the fixed claws rotate around the base plate to the left side of the lotus root digging ship as shown in fig. 9a by rotating the rotating mechanism in the base plate, so that the mechanical claws are positioned at the initial positions;
s4, rotating the rotating mechanism to enable the fixed claws to be inserted into the soil and move in a direction from far away from the lotus root digging ship to close to the lotus root digging ship along a straight line until Fx reaches a threshold value, and indicating that the fixed claws touch lotus roots in the soil; simultaneously the controller commands the second mechanical arm to act according to the following modes: keeping the high-pressure water spray head close to and above the mechanical claw, and enabling the high-pressure water spray head to synchronously move in the same direction along with the fixed claw;
s5, the transmission mechanism drives the movable claw and the fixed claw to be closed, and then the rotating mechanism rotates to enable the mechanical claw to move upwards;
s6, if the Fz is smaller than the lower limit of the threshold value, the mechanical claw does not grab the lotus root, the rotating mechanism rotates to enable the mechanical claw to move back to the original position, and the transmission mechanism drives the movable claw to open relative to the fixed claw; the rotating mechanism between the front-end mechanical arm and the six-dimensional sensor drives the base to rotate for 90-180 degrees and then stop, the rotating angle is only a specific implementation mode, and the rotating is to enable the movable claws and the fixed claws to be located on two sides of the lotus root, so that the movable claws and the fixed claws are convenient to clamp;
s7, repeating the steps S5-S6 until Fz is not smaller than the lower threshold, if the Fz is larger than the upper threshold, indicating that most of the lotus roots are buried in the soil and cannot be pulled out smoothly, if the lotus roots continue to move upwards, tearing off the lotus roots, stopping driving the mechanical claw to move upwards, flushing the high-pressure water nozzle on the second mechanical arm for 5 seconds, and if the resistance for pulling out the lotus roots is small, clamping the lotus roots and then putting down the lotus roots;
s8, the rotating mechanism drives the mechanical claw to move upwards, if Fz is larger than the upper limit of the threshold value, the mechanical claw stops being driven to move upwards, the transmission mechanism drives the movable claw to open relative to the fixed claw, and if the resistance for pulling out the lotus roots is small, the lotus roots are clamped out and put down;
s9, driving the fixed claws to rotate around the base plate by a rotating mechanism in the base plate, if Fy is larger than a set constant, the fixed claws are indicated to be blocked by the lotus roots 7 distributed obliquely, the fixed claws are driven to rotate around the base plate for 3-10 degrees in the opposite direction, namely, rightwards, the fixed claws are driven to linearly move along the opposite direction of the Fx in the step S4 and approach the lotus root digging ship until the Fx detected by the six-dimensional sensor in the step S7 reaches a threshold value; if not, driving the fixed claw to rotate for 3-10 degrees around the base plate, and driving the fixed claw to linearly move along the direction opposite to the Fx in the step S4 until the Fx detected by the six-dimensional sensor in the state of the step S7 reaches the threshold;
s10, repeating the step S5, if Fz is larger than the upper threshold, stopping driving the mechanical claw to move upwards, flushing the high-pressure water spray head for 5 seconds, repeating the steps S8-S9 until Fz is between the lower threshold and the upper threshold, and clamping the lotus roots by the mechanical claw, then opening the mechanical claw and putting down the lotus roots;
s11, the rotating mechanism between the front end mechanical arm and the six-dimensional sensor and the rotating mechanism in the base plate drive the mechanical claw to return to the initial position in the step S3, then the fixed claw is driven to rotate 3-10 degrees around the base plate to the other side of the lotus root digging ship to the position shown in the figure 9b, and the steps S4-S10 are repeated to grab the lotus roots again.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The lotus root digging method of the lotus root digging ship based on the mechanical arms is characterized in that two mechanical arms are fixed at the bow of the lotus root digging ship side by side, a controller for controlling the mechanical arms is further arranged in the lotus root digging ship, a mechanical claw is assembled at the front end of a first mechanical arm, a high-pressure water spray head is assembled at the front end of a second mechanical arm, the first mechanical arm and the second mechanical arm comprise a front-end mechanical arm and a rear-end mechanical arm, a six-dimensional sensor is further connected between the front-end mechanical arm and the mechanical claw, the rear-end mechanical arm is installed at the bow of the lotus root digging ship through a basal disc, and the rear-end mechanical arm and the front-end mechanical arm are connected through rotating mechanisms capable of rotating 180 degrees; rotating mechanisms capable of rotating 360 degrees are arranged in the base plate, between the front end mechanical arm and the six-dimensional sensor;
the mechanical claw comprises a base, a fixed claw and a movable claw, wherein the base is fixed on one side of a six-dimensional sensor, which is back to a front end mechanical arm, the rear end of the fixed claw is fixedly connected with the base, the front end of the fixed claw extends along the axis direction of the six-dimensional sensor, the movable claw is rotatably connected with the rear end of the fixed claw through a pin shaft, a transmission mechanism is further installed in the base and can drive the movable claw to rotate around the pin shaft by 90 degrees, the six-dimensional sensor is used for measuring three axial forces Fx, Fy and Fz and moments Mx, My and Mz around the axial direction, the three axial directions are respectively defined as a z axis parallel to the fixed claw, an x axis distributed on the rotating surface of the movable claw and a y axis vertical to the rotating surface of;
the lotus root digging method comprises the following steps:
s1, driving a lotus root digging ship into an operation interval;
s2, selecting a first mechanical arm by the controller, and initializing;
s3, the controller commands the first mechanical arm to act in the following mode: the transmission mechanism drives the movable claws to open relative to the fixed claws, the rotating mechanism between the front-end mechanical arm and the six-dimensional sensor drives the movable claws to point to the front of the lotus root digging ship, and the rotating mechanism in the base plate rotates to enable the fixed claws to rotate to one side of the lotus root digging ship around the base plate so that the mechanical claws are located at initial positions;
s4, rotating the rotating mechanism to enable the fixed claws to be inserted into soil and move in a direction away from or close to the lotus root digging ship along a straight line until Fx reaches a threshold value; simultaneously the controller commands the second mechanical arm to act according to the following modes: keeping the high-pressure water spray head close to and above the mechanical claw, and enabling the high-pressure water spray head to synchronously move in the same direction along with the fixed claw;
s5, the transmission mechanism drives the movable claw and the fixed claw to be closed, and then the rotating mechanism rotates to enable the mechanical claw to move upwards;
s6, if the Fz is smaller than the lower limit of the threshold value, the mechanical claw does not clamp the lotus root, the rotating mechanism rotates to enable the mechanical claw to move back to the original position, and the transmission mechanism drives the movable claw to open relative to the fixed claw; the rotating mechanism between the front end mechanical arm and the six-dimensional sensor drives the base to rotate for 90-180 degrees and then stops;
s7, repeating the steps S5-S6 until Fz is not smaller than the lower threshold, stopping driving the mechanical claw to move upwards if the Fz is larger than the upper threshold, flushing the high-pressure water spray head for 5 seconds, and putting down the lotus root after clamping the lotus root if the Fz is not larger than the upper threshold;
s8, the rotating mechanism drives the mechanical claw to move upwards, if Fz is larger than the upper limit of the threshold value, the mechanical claw stops being driven to move upwards, the transmission mechanism drives the movable claw to open relative to the fixed claw, and otherwise, the lotus root is put down after being clamped out;
s9, driving the fixed claws to rotate around the base disc by the rotating mechanism in the base disc, if Fy is larger than a set constant, driving the fixed claws to rotate around the base disc by 3-10 degrees in the opposite direction, and driving the fixed claws to linearly move along the opposite direction of the Fx in the step S4 until the Fx detected by the six-dimensional sensor in the state of the step S7 reaches a threshold value; if Fy is not larger than the set constant, the fixed claw is driven to rotate for 3-10 degrees around the base disc and then stops, and the fixed claw is driven to linearly move along the direction opposite to the Fx in the step S4 until the Fx detected by the six-dimensional sensor in the step S7 state reaches a threshold value;
s10, repeating the step S5, if Fz is larger than the upper threshold, stopping driving the mechanical claw to move upwards, flushing the high-pressure water spray head for 5 seconds, repeating the steps S8-S9 until Fz is between the lower threshold and the upper threshold, and clamping the lotus roots by the mechanical claw, then opening the mechanical claw and putting down the lotus roots;
s11, driving the mechanical claw to return to the initial position in the step S3 by the rotating mechanism between the front end mechanical arm and the six-dimensional sensor and the rotating mechanism in the base plate, driving the fixed claw to rotate 3-10 degrees around the base plate to the other side of the lotus root digging ship, and repeating the steps S4-S10 to grab the lotus roots again.
2. The robot arm-based lotus root digging vessel of the lotus root digging method according to claim 1, further comprising:
the driving motor is arranged in the mechanical arm and comprises a storage battery, a rotating motor, a second stepping motor and a rotating motor, wherein the rotating motor is arranged in the base disc and used for driving a rotating mechanism positioned in the base disc to rotate, the second stepping motor is arranged on the rotating mechanism and used for driving the rotating mechanism positioned between the base disc and the rear-end mechanical arm and between the rear-end mechanical arm and the front-end mechanical arm to rotate, and the rotating motor is arranged on the front-end mechanical arm and used for driving the rotating mechanism positioned between the front-end mechanical arm and the six-dimensional sensor to rotate;
the water pump is connected with a water outlet pipe, the water outlet end of the water outlet pipe is communicated with the high-pressure water spray head and moves along with the pointed position of the high-pressure water spray head, and the water pump is driven by a water pump motor;
the motor driver is arranged in the lotus root digging ship and is electrically connected with and drives the rotating motor, the second stepping motor, the rotating motor and the water pump motor to rotate forward and backward and stop;
the controller is used for controlling the motor driver.
3. The lotus root digging ship based on the mechanical arm as claimed in claim 2, further comprising a high-pressure water nozzle group arranged at the head of the lotus root digging ship and comprising a water separator, a water inlet elbow and nozzles, wherein the water inlet of the water separator is communicated with the water pump through the water inlet elbow, the water separator is provided with water dividing ports arranged in rows at equal intervals, one nozzle is arranged on each water dividing port, and the spraying direction of each nozzle points to the lower part of the front end of the mechanical arm.
4. The lotus root digging ship based on the mechanical arm as claimed in claim 2, wherein the lotus root digging ship head is provided with a reversible mounting plate, the bottom of the mounting plate is rotatably connected with a pair of rotating shaft seats on the ship head through a rotating shaft, the bottom surface of the mounting plate, far away from the rotating shaft, is also hinged with one end of a telescopic mechanism, the other end of the telescopic mechanism is hinged with the ship head, a third stepping motor for driving the telescopic mechanism to extend and retract is arranged in the telescopic mechanism, and the mechanical arm is arranged on the top surface of the bottom of the mounting plate.
5. The robot arm-based lotus root boat of claim 2, wherein the rotating motor, second stepping motor, rotating motor, and water pump motor are all powered by the battery.
6. The robot-based lotus root boat of claim 2, wherein said third stepper motor is electrically connected to said motor driver and powered by said battery.
7. The lotus root digging ship based on the mechanical arm as claimed in claim 2, wherein the lotus root digging ship head is symmetrically provided with driving impellers driven by a power mechanism to rotate on two sides, the other end of the lotus root digging ship is provided with a driven rudder wheel, and a wheel frame capable of rotating 360 degrees is connected between the driven rudder wheel and the lotus root digging ship.
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| GB2595981A (en) * | 2020-06-10 | 2021-12-15 | Univ Jiangsu | Device and method for picking and collecting Brasenia Schreberi based on machine vision |
| CN115316105A (en) * | 2022-08-18 | 2022-11-11 | 苏州市职业大学 | Self-retracting and propelling lotus root digging machine |
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| CN110999622B (en) | 2024-06-18 |
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