A leaf-picking and pruning robot

Abstract

The present invention relates to a leaf-picking and pruning robot, comprising: a power platform and a plurality of walking legs arranged on both sides of the power platform; the walking legs include a first leg and a second leg; the tail end of the first leg is hinged to the head end of the second leg; the head end of the first leg is connected to the power platform through a hanging bracket; the tail end of the second leg is equipped with a walking claw; the power platform is provided with a walking power source and a steering power source. The leaf-picking and pruning robot provided by the present invention uses hydraulic power drive for height adjustment, making the body more stable and capable of carrying more weight; thus enabling the leaf-picking and pruning robot to adapt to different working heights and capable of carrying a variety of different working devices.

Description

Technical Field

[0001] The present invention relates to a leaf - picking and pruning robot, belonging to the technical field of agricultural machinery. Background Art

[0002] In sericulture, the management of mulberry trees, the picking of mulberry leaves, and the pest control of mulberry trees are repetitive tasks. Pruning mulberry trees is a necessary process for over - wintering in winter, leaf - picking is a necessary task for sericulture in three seasons, and pest control is also an urgent task during the changing seasons. Sericulture, like farming, has requirements for farming seasons and, like farming, is divided into slack seasons and busy seasons according to seasons.

[0003] Generally, most mulberry trees used for sericulture are arbors, with the lowest branch height being only a few dozen centimeters and the highest exceeding 150 centimeters. Therefore, operations such as pruning, leaf - picking, and pest control all require changing height multiple times. This poses a relatively high labor intensity for operators.

[0004] Furthermore, referring to the prior art, there are already some robots that can adapt to height changes. However, the inventor found that the robots in the prior art adjust height by motor rotation and lack an effective rotation function. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to overcome the above - mentioned technical drawbacks and provide a leaf - picking and pruning robot that can adapt to the ground conditions in mulberry tree planting areas, can adjust height, and has a steering function set according to the characteristics of mulberry tree planting areas.

[0006] To solve the above - mentioned technical problem, the technical solution proposed by the present invention is: a leaf - picking and pruning robot, comprising: a power platform and a number of walking legs arranged on both sides of the power platform; the walking legs include a first leg and a second leg; the tail end of the first leg is hinged to the head end of the second leg; the head end of the first leg is connected to the power platform through a hanging bracket; the tail end of the second leg is equipped with a walking claw; the power platform is provided with a walking power source and a steering power source; the walking power source drives the walking claw to rotate through a transmission mechanism; the steering power source drives the hanging bracket and then drives the walking legs to rotate; all walking legs rotate synchronously and in the same direction;

[0007] A second hydraulic rod is installed between the second leg and the hanging bracket, and the second hydraulic rod can push the second leg to swing around the hinge point between the first leg and the second leg.

[0008] The front end of the power platform is provided with a hydraulically - driven clamp, and the clamp can change its orientation and inclination angle.

[0009] A further improvement of the above solution is that the hanging bracket includes a housing, a transmission gear set and a transmission shaft; the housing is hinged to the power platform and connected to the steering power source; the transmission gear set and the transmission shaft transmit power from the walking power source to the walking claws.

[0010] A further improvement of the above solution is that a first hydraulic rod is installed between the first leg and the hanging bracket, and the first hydraulic rod can push the first leg to swing about the connection point between the first leg and the hanging bracket as the axis.

[0011] A further improvement of the above solution is that both the first leg and the second leg are provided with sprockets and chains to transmit power from the walking power source to the walking claws.

[0012] A further improvement of the above solution is that the walking claw includes a five-fork arm and claws hinged to the five ends of the five-fork arm, and the bottom surface of the claw has several teeth.

[0013] A further improvement of the above solution is that the fixture is installed at the front end of the power platform through a fixture platform.

[0014] A further improvement of the above solution is that tools can be installed on the fixture platform.

[0015] A further improvement of the above solution is that the walking leg can rotate within a range of 35° clockwise and 35° counterclockwise relative to the middle position.

[0016] The leaf picking and pruning robot provided by the present invention uses hydraulic power drive for height adjustment, making the body more stable and capable of carrying more weight; thus enabling the leaf picking and pruning robot to adapt to different operating heights and carry a variety of different operating devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 is a schematic structural diagram of a preferred embodiment of the present invention.

[0019] Figure 2 is Figure 1 a top view structural diagram of DETAILED DESCRIPTION OF THE EMBODIMENTS Embodiment

[0020] The leaf picking and pruning robot of this embodiment, as shown in Figure 1 and Figure 2As shown in the figure, it includes: a power platform 1, four walking legs arranged on both sides of the power platform 1, and a fixture 2 arranged at the front end of the power platform 1. The fixture 2 is installed on the power platform 1 through a fixture platform 7. The fixture platform 7 is provided with a fixture hydraulic rod 8 to drive the clamping and releasing of the fixture 2. The fixture platform 7 is rotatable relative to the power platform 1, so as to realize the orientation adjustment of the fixture 2. The fixture 2 can clamp tools, trees, branches and other items, and various other tools can be installed on the fixture platform 7.

[0021] The walking legs include a first leg 3 and a second leg 4; the tail end of the first leg 3 is hinged to the head end of the second leg 4; the head end of the first leg is connected to the power platform 1 through a hanging bracket 5; the tail end of the second leg 4 is equipped with a walking claw 6; the walking claw 6 includes a five-fork arm and claws hinged to the five ends of the five-fork arm, and the bottom surface of the claws has several teeth.

[0022] A first hydraulic rod 9 is installed between the first leg 3 and the hanging bracket 5. The first hydraulic rod 9 can push the first leg 3 to swing around the connection point of the first leg 9 and the hanging bracket 5. A second hydraulic rod 10 is installed between the second leg 4 and the hanging bracket 5. The second hydraulic rod 10 can push the second leg 4 to swing around the hinge point between the first leg 3 and the second leg 4. Both the first leg 3 and the second leg 4 are provided with sprockets and chains.

[0023] The power platform 1 is provided with a walking power source 11 and a steering power source 12; the walking power source 11 drives the walking claw 6 to rotate through a transmission mechanism; the steering power source 12 drives the hanging bracket 5 and then drives the walking legs to rotate; all the walking legs rotate synchronously in the same direction.

[0024] The hanging bracket 5 includes a housing, a transmission gear set and a transmission shaft; the housing is hinged to the power platform 1 and is connected to the steering power source 12. After the output of the steering power source 12 is connected to a speed reducer, two transmission shafts are branched out to transmit power to the front and rear of the power platform 1, and then respectively pass through the gear sets to change the power direction, so as to synchronously drive the hanging brackets 5 of the front and rear two walking legs to rotate, thereby realizing steering.

[0025] Similarly, for the walking power source 11, its output is connected to a speed reducer, and the speed reducer then branches out left and right transmission shafts. Then, through the power distribution components on both sides of the power platform, the power is respectively distributed to the transmission gear sets of the 4 hanging brackets 5. After the power direction is changed by the transmission gear sets of the hanging brackets 5, it is output to the first leg 3 through the transmission shaft of the hanging bracket 5. The first leg 3 receives the power transmitted by the transmission shaft of the hanging bracket 5 through the sprocket at the head end, and then transmits it to the sprocket at the tail end through the chain. The sprocket at the head end of the second leg 4 receives the power transmitted by the sprocket at the tail end of the first leg 3 through shaft transmission, and then transmits it to the sprocket at the tail end through the chain, and then through shaft transmission again to drive the walking claw 6 to rotate.

[0026] For safe use, the leaf picking and pruning robot provided in this embodiment is covered with a housing. For the convenience of showing its structure, it is not shown in the attached drawings, and the housing can be arbitrarily adjusted in terms of its shape, material, etc. according to the usage scenarios and tool differences.

[0027] The leaf picking and pruning robot provided in this embodiment can independently adjust the heights of 4 walking legs through hydraulic power, can be arbitrarily applicable to rough ground conditions, and can adapt to muddy ground conditions when walking with the walking claws 6. Further, the second hydraulic rod 10 adjusts the inclination angle of the second leg to adjust the overall height of the robot, and the first hydraulic rod 9 can cooperate with the second hydraulic rod 10 to increase the adjustable height range of the robot; when the second hydraulic rod 10 is locked, adjusting the first hydraulic rod 9 alone can adjust the support position of the walking leg, that is, adapt to the change of the center of gravity of the leaf picking and pruning robot; in this way, when using a device with a heavier tail, the first leg 3 can be lifted, so that the support position of the walking leg is closer to the tail of the leaf picking and pruning robot, thus enabling more stable support.

[0028] For general cultivated mulberry forests, there are gaps reserved for operations. Therefore, the walking legs in this embodiment adopt synchronous rotation, that is, a scheme of oblique translation, rather than the traditional front-wheel or rear-wheel steering. The traditional front-wheel or rear-wheel steering changes the orientation of the whole machine, and this method requires a certain steering space. In the planted mulberry forest, due to the narrow space, it will actually take more time to turn. The synchronous rotation in this embodiment adopts oblique translation, that is, no steering space is required. According to on-site practice, when the limit angle of synchronous rotation is plus or minus 35°, the actual requirements can be met.

Claims

1. A leaf - picking and pruning robot, characterized in that, Comprising: A power platform and a number of walking legs arranged on both sides of the power platform; the walking legs include a first leg and a second leg; the tail end of the first leg is hinged to the head end of the second leg; the head end of the first leg is connected to the power platform through a hanging bracket; the tail end of the second leg is equipped with a walking claw; there is a walking power source and a steering power source on the power platform; the walking power source drives the walking claw to rotate through a transmission mechanism; The steering power source drives the hanging bracket and then drives the walking legs to rotate; All walking legs rotate synchronously and in the same direction; A second hydraulic rod is installed between the second leg and the hanging bracket, and the second hydraulic rod can push the second leg to swing around the hinge point between the first leg and the second leg; The front end of the power platform has a hydraulically driven fixture, and the fixture can change its orientation; The output of the walking power source is connected to a speed reducer. The speed reducer then branches out into left and right transmission shafts. Then, through the power distribution components on both sides of the power platform, the power is respectively distributed to the transmission gear sets of all hanging brackets. After the power direction is changed by the transmission gear sets of the hanging brackets, it is output to the first leg through the transmission shaft of the hanging bracket. The first leg receives the power transmitted by the transmission shaft of the hanging bracket through the sprocket at the head end, and then transmits it to the sprocket at the tail end through a chain. The sprocket at the head end of the second leg receives the power transmitted by the sprocket at the tail end of the first leg through shaft transmission, and then transmits it to the sprocket at the tail end through a chain. Then, after passing through shaft transmission again, it drives the walking claw to rotate.

2. The leaf picking and pruning robot according to claim 1, wherein: The hanging bracket includes a housing, a transmission gear set, and a transmission shaft; the housing is hinged to the power platform and is connected to the steering power source; the transmission gear set and the transmission shaft transmit the power of the walking power source to the walking claw.

3. The leaf picking and pruning robot according to claim 1, characterized in that: A first hydraulic rod is installed between the first leg and the hanging bracket, and the first hydraulic rod can push the first leg to swing around the connection point between the first leg and the hanging bracket.

4. The leaf picking and pruning robot according to claim 1, characterized in that: Both the first leg and the second leg are provided with sprockets and chains to transmit the power of the walking power source to the walking claw.

5. The leaf-picking and pruning robot according to claim 1, characterized in that: The walking claw includes a five-fork arm and claws hinged to the five ends of the five-fork arm, and the bottom surface of the claws has a number of teeth.

6. The leaf picking and pruning robot according to claim 1, wherein: The fixture is installed at the front end of the power platform through a fixture platform.

7. The leaf picking and pruning robot according to claim 6, characterized in that: Tools can be installed on the fixture platform.

8. The leaf picking and pruning robot according to claim 1, characterized in that: The walking legs can rotate within a range of 35° clockwise and 35° counterclockwise relative to the middle position.

Images