An automatic fruit picking intelligent vehicle with a multi-degree-of-freedom robotic arm

Abstract

The present invention discloses an automatic fruit picking intelligent trolley with a multi-degree-of-freedom mechanical arm, the automatic fruit picking intelligent trolley comprises a chassis walking mechanism, the automatic fruit picking intelligent trolley also comprises a lifting support mechanism, a collection box, a rotating mechanism and a fruit picking execution mechanism, the lifting support mechanism and the collection box are arranged on the chassis walking mechanism, the rotating mechanism is arranged on the top of the lifting support mechanism, a mechanical support arm is arranged on the rotating mechanism, the fruit picking execution mechanism is arranged on the top of the mechanical support arm, the outlet end of the fruit picking execution mechanism is connected to the inlet end of the collection box through a material guide pipe; the present invention can realize accurate, fast and lossless fruit picking operations, has high picking efficiency, and the mechanical arm has good motion flexibility, high speed and larger execution range compared with traditional mechanical arms, which solves the problems of large labor force and low efficiency in the manual picking process.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural picking machinery and equipment, and in particular relates to an automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm. Background Art

[0002] Harvesting mature fruit is a key step in agricultural production, yet it's a complex, labor-intensive, and inefficient task. Harvesting primarily relies on manual labor using scissors within a trellis. The cut fruit is placed in fruit baskets and then transported to a warehouse for screening, grading, and shipping. This harvesting process, involving cutting, placing, and grading, requires significant labor and results in slow picking. With an aging population and a shrinking rural labor force, these issues, including low picking efficiency and high costs, are becoming increasingly apparent. Missing the ideal picking time can cause the fruit to rot, and during the extensive harvesting process, workers inevitably make mistakes, resulting in damage. Therefore, improving harvesting efficiency is crucial. Currently, some fruit-picking robots and devices are still in the research and experimental stages and have yet to be put into production. These devices struggle to adapt to the shift toward agricultural mechanization and automation. Designing an intelligent, multi-degree-of-freedom robotic arm for automated fruit picking is crucial for improving agricultural production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent automatic fruit picking vehicle with a multi-degree-of-freedom robotic arm. The present invention can achieve accurate, rapid, and non-destructive fruit picking operations, with high picking efficiency. Compared with traditional robotic arms, the robotic arm has good motion flexibility, high speed, and a larger range of execution, solving the problems of high labor and low efficiency in the manual picking process. To achieve the above objectives, the present invention adopts the following technical solutions:

[0004] According to one aspect of the present invention, an automatic fruit picking intelligent trolley with a multi-degree-of-freedom robotic arm is provided, the automatic fruit picking intelligent trolley includes a chassis walking mechanism, the automatic fruit picking intelligent trolley also includes a lifting support mechanism, a collection box, a rotating mechanism and a fruit picking execution mechanism, the lifting support mechanism and the collection box are arranged on the chassis walking mechanism, the rotating mechanism is arranged at the top of the lifting support mechanism, a mechanical support arm is arranged on the rotating mechanism, the fruit picking execution mechanism is arranged at the top of the mechanical support arm, the outlet end of the fruit picking execution mechanism is connected to the inlet end of the collection box through a material guide pipe; the fruit picking execution mechanism includes an execution fixed shell, a shearing part and a grabbing part, the bottom end side wall of the execution fixed shell is fixed to the top end of the mechanical support arm, a fruit entry port is arranged at the top end of the execution fixed shell, a fruit outlet port cooperating with the material guide pipe is arranged at the bottom end of the execution fixed shell, and the shearing part and the grabbing part are arranged in sequence in the execution fixed shell and from the fruit entry port to the fruit outlet port.

[0005] The above scheme is further preferred, wherein the shearing part includes a shearing servo, a shearing blade and a shearing actuator, wherein the shearing servo is fixed on the top side wall of the actuator fixed shell, and the shearing actuator is horizontally slidably arranged below the fruit entrance, and a pair of infrared sensors are arranged outside the fruit entrance and at the top edge of the actuator fixed shell, the output shaft of the shearing servo is transmission-connected to one end of the outer side of the shearing actuator, and the shearing knife is horizontally arranged at the other end of the shearing actuator, and the shearing actuator drives the shearing blade to slide horizontally back and forth on both sides below the fruit entrance in the actuator fixed shell, and the grabbing part is arranged between the bottom of the shearing actuator and the fruit outlet.

[0006] The above scheme is further preferred, that the shear actuator includes a sliding channel opening arranged on the top side wall of the fixed shell, sliding support bars arranged horizontally on both sides of the sliding channel opening, sliding racks arranged on the two sliding support bars, a shear drive plate arranged between the upper surfaces of the two sliding racks and a shear drive gear arranged between the side portions of the two sliding racks, the sliding support bar extends horizontally from one side of the sliding channel opening to the inner side wall of the execution fixed shell on the opposite side, a pair of sliding racks are arranged between the upper surfaces along the horizontal extension direction of the sliding support bar, the shear drive gear is arranged on one side of the sliding channel opening and is sleeved on the output shaft of the shear servo, the shear servo is engaged with the two sliding racks through the shear drive gear, and the shear blade is horizontally arranged on the end of the shear drive plate away from the shear servo.

[0007] The above solution is further preferred in that a sliding groove is provided on the upper surface of the sliding support bar, and a sliding guide rail is provided on the lower surface of the sliding rack and is sleeved on the sliding groove and slides therein.

[0008] The above scheme is further preferred, wherein the grabbing part includes a grabbing support seat, a grabbing support frame, a grabbing linkage frame, a clamping claw and a clamping servo, a pair of clamping claws are arranged horizontally and parallel to the lower side of the fruit inlet and parallel to the lower side of the shearing actuator, the grabbing support seats are respectively fixed on the inner side wall of the execution fixed shell below and between the two ends of the pair of clamping claws and close to the fruit outlet, the grabbing support frames are respectively fixed on the grabbing support seats on both sides of the inner wall of the execution fixed shell, the grabbing linkage frame is vertically arranged below each clamping claw and above each grabbing support seat, each clamping claw is respectively fixed on the top of the linkage frame, and the top of the grabbing support frame is fixed on the upper side of the grabbing support frame. The outer walls of the top end are respectively provided with upper connecting rods extending symmetrically outward along both sides, one end of the upper connecting rod is rotatably connected to the top of the grabbing support frame, and the other end of the upper connecting rod is rotatably connected to the middle side wall of the grabbing linkage frame. A pair of mutually meshing grabbing drive gears are respectively provided below the lower end of the grabbing linkage frame and on the outer walls of the lower end of each grabbing support frame. A clamping servo connected to one of the grabbing drive gears is respectively fixed on the outer walls on both sides of the bottom end of the execution fixed shell. A lower connecting rod is provided on the circumference of each grabbing drive gear, and the circumference of the grabbing drive gear is transmission-connected to the lower end of the grabbing linkage frame through the lower connecting rod.

[0009] The above solution is further preferred in that the inner side wall of each clamping jaw has an arcuate surface, a silicone buffer sheet is provided on the arcuate surface of the clamping jaw, and a pressure sensor nested in the silicone buffer sheet is provided on the arcuate surface of the clamping jaw.

[0010] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0011] The above scheme is further preferred, and the second rotary drive servo is symmetrically arranged on both sides of the center of the rotating base and at the edge of the rotating base, the second rotary drive servo is fixed to the rotating base through the servo base, and the two sides of the lower end of the mechanical support arm are respectively connected to the output shaft of the second rotary drive servo.

[0012] The above scheme is further preferred, in that four equal-height and vertically upward support parts are provided on the servo base, an arc-shaped guide track plate is fixed on the support parts, one or more guide support grooves are provided on the top surface of the arc-shaped guide track plate and along the arc-shaped square, sliding arms are horizontally provided on both sides near the lower end of the mechanical support arm and slide relative to the arc-shaped guide track plate with a gap, and bull's eye wheels are provided on the ends of the sliding arms and match and contact the guide support grooves.

[0013] The above scheme is further preferred, that the mechanical support arm has at least an upper articulated arm and a lower articulated arm, a lower connecting piece is provided at the upper end of the upper articulated arm, a lower servo is provided on the lower connecting piece, the lower connecting piece is transmission-connected to the lower end of the upper articulated arm through the output shaft of the lower servo, an upper servo and an upper connecting piece are provided at the upper end of the upper articulated arm, the upper end of the upper connecting piece is connected to the fruit picking actuator, and the output shaft of the upper servo is transmission-connected to the lower end of the upper connecting piece.

[0014] In summary, since the present invention adopts the above technical solution, the present invention has the following technical effects:

[0015] (1) The present invention can achieve accurate, rapid and non-destructive fruit picking operations, with high picking efficiency. In addition, compared with traditional robotic arms, the articulated robotic arm has the advantages of good motion flexibility, high speed and larger execution range, which solves the problems of large labor and low efficiency in the manual picking process. At the same time, it shortens the picking cycle and avoids the problem of fruit falling and rotting, thereby improving work efficiency.

[0016] (2) The fruit picking actuator at the end of the robot arm of the present invention can eventually complete the picking in a nearly horizontal state, reducing the overall weight and economic cost of the end fruit picking actuator. The size of the grasping force is monitored in real time, allowing the robot arm to more flexibly achieve fruit picking and better protect the fruit during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of an automatic fruit picking intelligent vehicle with a multi-degree-of-freedom robotic arm according to the present invention;

[0018] Figure 2 It is a structural schematic diagram of the lifting bracket mechanism of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the rotating mechanism of the present invention;

[0020] Figure 4 Schematic diagram of the connection structure of the rotating mechanism of the present invention;

[0021] Figure 5 This is a structural diagram of the fruit picking execution mechanism of the present invention;

[0022] Figure 6 This is a bottom-up structural diagram of the fruit picking execution mechanism of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the shearing part of the present invention;

[0024] Figure 8 Schematic diagram of the internal structure of the shearing part of the present invention;

[0025] Figure 9 It is a structural schematic diagram of the grabbing part of the present invention;

[0026] In the accompanying drawings, there are a chassis walking mechanism 1, a lifting support mechanism 2, a collecting box 3, a rotating mechanism 4, a fruit picking actuator 6, a material guide tube 7, a support base 40, a rotating base 41, a first rotary drive servo 42, a second rotary drive servo 43, a servo base 44, a support portion 45, an arc-shaped guide track plate 46, a guide support groove 46a, a sliding arm 50, a bull's eye wheel 50a, an upper joint arm 51, a lower joint arm 52, a lower connecting piece 53, a lower servo 54, an upper servo 55, and an upper connecting piece 56; an actuator fixed housing 61, a shearing portion 62, a grabbing portion 63, a fruit inlet 64, a fruit outlet 65, and an infrared sensor 66;

[0027] Reducer motor 201, support base 202, lifting frame 203, pull rope 204, guide wheel 205, shearing servo 620, shearing blade 621, sliding channel opening 622, sliding support bar 623, sliding rack 624, shearing drive plate 625, shearing drive gear 626, sliding groove 627, sliding guide rail 628, grabbing support seat 631, grabbing support frame 632, grabbing linkage frame 633, clamping claw 634, silicone buffer sheet 634a, pressure sensor 634b, clamping servo 635, upper connecting rod 636, grabbing drive gear 637, lower connecting rod 638. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and by way of preferred embodiments. However, it should be noted that many of the details listed in this specification are merely provided to help the reader gain a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be practiced even without these specific details.

[0029] like Figure 1 and Figure 2As shown, according to the present invention, a multi-degree-of-freedom robotic arm automatic fruit picking intelligent trolley is provided, the automatic fruit picking intelligent trolley includes a chassis walking mechanism 1, the chassis walking mechanism 1 is a crawler chassis walking mechanism, the automatic fruit picking intelligent trolley also includes a lifting support mechanism 2, a collection box 3, a rotating mechanism 4 and a fruit picking actuator 6, the lifting support mechanism 2 and the collection box 3 are arranged on the chassis walking mechanism 1, the rotating mechanism 4 is arranged at the top of the lifting support mechanism 2, a mechanical support arm 5 is arranged on the rotating mechanism 4, and the fruit picking actuator 6 is arranged at the top of the mechanical support arm 5, the lifting support mechanism 2 is used to support The supporting rotating mechanism 4 and the mechanical supporting arm 5 are used to adjust the horizontal height of the supporting rotating mechanism 4 and the mechanical supporting arm 5, thereby increasing the height of the fruit picking actuator 6 when picking fruits. The supporting rotating mechanism 4 is used to drive the mechanical supporting arm 5 to drive the fruit picking actuator 6 to swing in a circle, thereby adjusting the horizontal height position of the fruit picking actuator 6 at multiple angles. The fruit picking actuator 6 is used to clamp and remove fruits from branches. The outlet end of the fruit picking actuator 6 is connected to the inlet end of the collection box 3 through the guide pipe 7. The picked fruits pass directly into the collection box 3 through the guide pipe 7, making it easier to collect fruits and protecting the fruits from being damaged during the picking and collection process. Figure 2 As shown, the lifting support mechanism 2 includes a reduction motor 201, a support base 202 and a lifting frame 203 slidably arranged in the support base 202, the bottom ends of the reduction motor 201 and the support base 202 are respectively fixed on the chassis walking mechanism 1, and the output shaft of the reduction motor 201 extends downward through the top of the support base 202 and is connected to the lower end of the lifting frame 203 through a pull rope 204. The side walls of the lifting frame 203 are in rolling contact with the side walls of the support base 202 through the guide wheel 205. By starting the reduction motor 201 to pull or release the pull rope 204, the lifting frame 203 is pulled by the pull rope 204 to slide and rise in the support base 202, thereby raising the height of the lifting frame 202, thereby reaching the height of the fruit picking actuator 6. When the reduction motor 201 gradually releases the pull rope 204, the lifting frame 203 slides freely downward in the support base 202 under the action of gravity.

[0030] In the present invention, Figure 3 and Figure 4As shown, the rotating mechanism 4 includes a supporting base 40, a rotating base 41, a first rotating driving servo 42 and a second rotating driving servo 43. The supporting base 40 is horizontally arranged at the top of the lifting frame 203, and the rotating base 41 is rotatably arranged at the center of the supporting base 40. The first rotating driving servo 42 is fixed below the supporting base 40, and the output shaft of the first rotating driving servo 42 is transmission-connected to the rotating base 41. The second rotating driving servo 43 is arranged at the edge of the rotating base 41. The lower end of the mechanical support arm 5 is connected to the output shaft of the second rotating driving servo 43 arranged on the rotating base 41. Transmission connection, start the first rotary drive servo 42 to rotate and drive the mechanical support arm 5 and the fruit picking actuator 6 to swing in a circle on the rotating base 41 (turntable), thereby adjusting the angle of the fruit picking actuator 6 at a horizontal height to adapt to multi-angle picking. After reaching the fruit picking position, the second rotary drive servo 43 is started to drive the lower end of the mechanical support arm 5, so that the mechanical support arm 5 drives the fruit picking actuator 6 to swing back and forth in the vertical direction to adjust its horizontal position, thereby determining the relative position between the fruit picking actuator 6 and the fruit, and adjusting the height of the fruit picking actuator 6 again to clamp and remove the fruit.

[0031] In the present invention, Figure 3 and Figure 4As shown, the second rotary drive servo 43 is symmetrically arranged on both sides of the center of the rotating base 41 and at the edge of the rotating base 41. The second rotary drive servo 43 is fixed to the rotating base 41 through a servo base 44. The two sides of the lower end of the mechanical support arm 5 are respectively connected to the output shaft of the second rotary drive servo 43. When the second rotary drive servo 43 rotates, it drives the lower end of the mechanical support arm 5 to make the mechanical support arm 5 and the fruit picking actuator 6 swing back and forth. The output shaft of the first rotary drive servo 42 passes through the steering wheel and the rotating base 41. When the output shaft of the first rotary drive servo 42 rotates, the purpose of making the upper mechanical support arm 5 complete the overall rotation is achieved; the second rotary drive servo 43 is fixed to the rotating base 41 by four M4*50 nuts. Four equal-height and vertically upward supporting parts 45 are provided on the servo base 44. An arc-shaped guide track plate 46 is fixed to the supporting part 45. One or more guide support grooves 46a are provided on the top surface of the arc-shaped guide track plate 46 and along the arc-shaped square. Sliding arms 50 are provided horizontally on both sides near the lower end of the mechanical support arm 5 so as to slide relative to the arc-shaped guide track plate 46 with a gap. Bull's eye wheels 50a are provided at the ends of the sliding arms 50 so as to match and contact the guide support grooves 46a. The bull's eye wheel 50a is in close contact with the guide support groove 46a on the arc-shaped guide track plate 46. When the second rotary driving servo 43 rotates, it drives the lower end of the mechanical support arm 5, so that the lower end of the mechanical support arm 5 is guided and swung on the arc-shaped guide track plate 46 through the bull's eye wheel 50a on the sliding support arm 50. Since the arc-shaped guide track plate 46 is arc-shaped, when the mechanical support arm 5 is guided and swung on the arc-shaped guide track plate 46, the fruit picking actuator 6 can be adjusted up and down when picking the fruit, achieving In order to align the fruit for picking, at the same time, the output shafts of the two second rotary drive servos 43 are connected through the connecting piece at the lower end of the steering wheel mechanical support arm 5. In order to reduce the shaking of the mechanical support arm 5 in the normal direction of the rotation plane during execution and reduce the force exerted on the second rotary drive servo 43 when maintaining a certain posture, the mechanical support arm 5 relies on two bull's eye wheels 50a respectively with two arc-shaped guide track plates 46 with matching contacts with the bull's eye wheels 50a (bull's eye wheel rolling balls), and the guide support grooves 46a on the top surfaces of the arc-shaped guide track plates 46 are matched with the two bull's eye wheels 50a. During the swinging process of the mechanical support arm 5, the rolling balls of the bull's eye wheels 50a are restricted in the normal direction of their movement due to the guiding constraint of the arc-shaped guide track plates 46 with the arc-shaped guide support grooves 46a, thereby reducing or even eliminating the movement in this direction, and reducing the shaking in this direction caused during the execution of other mechanisms, so that the mechanical support arm 5 can more flexibly realize the picking of fruits.

[0032] In the present invention, Figure 3 and Figure 4As shown, the mechanical support arm 5 has at least an upper articulated arm 51 and a lower articulated arm 52, a lower connecting member 53 is provided at the upper end of the upper articulated arm 51, a lower servo 54 is provided on the lower connecting member 53, the lower connecting member 53 is connected to the lower end of the upper articulated arm 51 through the output shaft of the lower servo 54, an upper servo 55 and an upper connecting member 56 are provided at the upper end of the upper articulated arm 51, the upper end of the upper connecting member 55 is connected to the fruit picking actuator 6, the output shaft of the upper servo 55 is connected to the lower end of the upper connecting member 56, the output shafts of the two second rotation driving servos 43 are connected to the sliding support arm 50 (connecting the lower end side of the lower articulated arm 52) through the steering plate. The upper connecting piece 56 is driven by the output shaft of the upper servo 55, so that the end of the upper articulated arm 51 drives the fruit picking actuator 6 to swing through the upper connecting piece 56 to improve the accuracy of fruit picking. With the cooperation of multiple servos and compensation for the lifting height, the fruit picking actuator 6 at the end of the upper articulated arm 51 can pick all mature fruits within the range at a fixed point without dead angles.

[0033] In the present invention, combined with Figure 1 、 Figure 5 、 Figure 6 As shown, the fruit picking actuator 6 includes an execution fixed shell 61, a shearing part 62 and a grabbing part 63. The side wall of the bottom end of the execution fixed shell 61 is fixed to the top end of the mechanical support arm 5. A fruit entry port 64 is provided at the top end of the execution fixed shell 61, and a fruit outlet port 65 cooperating with the material guide tube 7 is provided at the bottom end of the execution fixed shell 61. The shearing part 62 and the grabbing part 63 are sequentially provided in the execution fixed shell 61 and from the fruit entry port 64 to the fruit outlet port 65; the grabbing part 63 mainly completes the action of grabbing the fruit. After the grabbing operation is identified, the shearing part 62 cuts off the fruit stem to complete the fruit picking. The grabbing part 63 releases the fruit and falls to the fruit outlet 65 and slides along the material guide tube 7 into the collection box 3.

[0034] In the present invention, combined with Figure 1 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8As shown, the shearing part 62 includes a shearing servo 620, a shearing blade 621 and a shearing actuator. The shearing servo 620 is fixed on the top side wall of the execution fixed shell 61, and the shearing actuator is horizontally slidably arranged below the fruit entrance 64. A pair of infrared sensors 66 are arranged outside the fruit entrance 64 and at the top edge of the execution fixed shell 61. The output shaft of the shearing servo 620 is transmission-connected to one end of the outer side of the shearing actuator, and the shearing knife 621 is horizontally arranged at the other end of the shearing actuator. The shearing actuator drives the shearing blade 621 to slide horizontally back and forth on both sides below the fruit entrance 64 in the execution fixed shell 61. The grabbing part 63 is arranged between the bottom of the shearing actuator and the fruit outlet 65, and a pair of infrared sensors 66 are used to detect fruits, which are used for the fruit picking actuator 6 to assist in detecting and executing fruits that are close to maturity, thereby ensuring that the fruits can accurately enter the fruit entrance 64 to realize grabbing and shearing operations.

[0035] In the embodiment of the present invention, Figure 7 and Figure 8 As shown, the shearing actuator includes a sliding channel opening 622 arranged on the top side wall of the fixed housing 61, sliding support bars 623 horizontally arranged on both sides of the sliding channel opening 622, sliding racks 624 arranged on the two sliding support bars 623, a shearing drive plate 625 arranged between the upper surfaces of the two sliding racks 624, and a shearing drive gear 626 arranged between the sides of the two sliding racks 624. The sliding support bar 623 horizontally extends from one side of the sliding channel opening 622 to the inner side wall of the fixed housing 61 on the opposite side. A pair of the sliding racks 624 are arranged between the upper surfaces of the sliding support bar 623 in the horizontal extension direction. The shearing drive The gear 626 is arranged on one side of the sliding channel opening 622 and is sleeved on the output shaft of the shearing servo 620. The shearing servo 620 is engaged with the two sliding racks 624 through the shearing drive gear 626. The shearing blade 621 is horizontally arranged on the end of the shearing drive plate 625 on the side away from the shearing servo 620. When the fruit enters the fruit entrance 64 of the fixed shell 61, the grabbing part 63 grabs the fruit, and the shearing servo 620 is started so that the shearing drive gear 626 on its output shaft drives the sliding rack 624 and drives the shearing drive plate 62 to slide in the sliding channel opening 622, so that the shearing blade 621 on the end of the shearing drive plate 62 cuts off the fruit stem.

[0036] In the embodiment of the present invention, Figure 7 and Figure 8As shown, a sliding groove 627 is provided on the upper surface of the sliding support bar 623, and a sliding guide rail 628 is provided on the lower surface of the sliding rack 624, which is sleeved in the sliding groove 627 and slides therein, so that the sliding rack 624 can slide stably in the sliding groove 627 of the sliding support bar 623 through the sliding guide rail 628.

[0037] In the embodiment of the present invention, Figure 5 、 Figure 6 、 Figure 7 and Figure 9 As shown, the grabbing part 63 includes a grabbing support seat 631, a grabbing support frame 632, a grabbing linkage frame 633, a clamping claw 634 and a clamping servo 635. A pair of clamping claws 634 are arranged horizontally and parallel to the lower side of the fruit inlet 64 and parallel to the lower side of the shearing actuator. The grabbing support seat 631 is fixed on the inner side wall of the execution fixed shell 61 below the two ends of the pair of clamping claws 634 and close to the fruit outlet 65. The grabbing support seat 631 on both sides of the inner wall of the execution fixed shell 61 is fixed respectively. The grabbing support frame 632 is provided with the grabbing linkage frame 633 vertically below each clamping claw 634 and above each grabbing support seat 631. Each clamping claw 634 is fixed to the top of the grabbing linkage frame 633. The top outer wall of the grabbing support frame 632 is provided with an upper connecting rod 636 extending symmetrically outward along both sides. One end of the upper connecting rod 636 is rotatably connected to the top of the grabbing support frame 632, and the other end of the upper connecting rod 636 is rotatably connected to the middle side wall of the grabbing linkage frame 633. A pair of mutually meshing grabbing drive gears 637 are respectively provided on the lower side of the lower end of each grabbing support frame 632 and on the outer side wall of the lower end of each grabbing support frame 632. A clamping servo 635 connected to one of the grabbing drive gears 637 is fixed on the outer side wall of the bottom end of the execution fixed shell 61. A lower connecting rod 638 is provided on the circumference of each grabbing drive gear 637. The circumference of the grabbing drive gear 637 is connected to the lower end of the grabbing linkage frame 633 through the lower connecting rod 638. When the fruit enters the execution fixed shell, the lower connecting rod 638 is connected to the lower end of the grabbing linkage frame 633. After the fruit inlet 64 of the fixed shell 61 is located, the clamping servo 635 is started and drives a pair of mutually meshing grabbing drive gears 637 to rotate forward and reverse, so that the lower connecting rod 638 on the circumference of the grabbing drive gear 637 swings in a circle, thereby pushing the upper connecting rod 636 to rotate on the grabbing support frame 632, and also pulling the grabbing linkage frame 633 under each clamping claw 634 closer to each other, and driving the clamping claws 634 to also move closer to each other to clamp the fruit. After the two clamping claws 634 clamp the fruit, the shearing servo 620 is started to shear off the fruit stem.

[0038] In the embodiment of the present invention, Figure 9As shown, the inner wall of each clamping jaw 634 has an arc-shaped surface, a silicone buffer sheet 634a is provided on the arc-shaped surface of the clamping jaw 634, and a pressure sensor 634a nested in the silicone buffer sheet 634a is provided on the arc-shaped surface of the clamping jaw 634. The pressure sensor 634a can monitor the size of the grasping force in real time, so as to better protect the fruit during the grasping process.

[0039] In the present invention, Figure 5 、 Figure 6 、 Figure 7 and, Figure 8 、 Figure 9As shown, the execution fixed shell 61 is composed of an upper supporting shell 61a and a lower fixed shell 61b, and the inner side wall of the lower end of the upper supporting shell 61a is detachably connected to the outer side wall of the upper end of the lower fixed shell 61b. The lower fixed shell 61b is a bucket-shaped shell, and a fruit outlet 65 is set at the bottom center of the lower fixed shell 61b. The clamping servo 635 is set on the outer side wall of the lower fixed shell 61b, and a pair of grabbing support frames 632 are symmetrically installed on the inner walls on both sides of the upper end of the lower fixed shell 61b. The upper ends of the pair of grabbing support frames 632 extend into the upper supporting shell 61a, and the top of the upper supporting shell 61a is provided with a fruit entrance 64 on the same vertical line as the fruit outlet 65. A sliding channel opening 622 is set on one side wall of the upper supporting shell 61a and above one side of one of the grabbing support frames 632, and sliding support bars are horizontally set on both sides of the sliding channel opening 622. 623, the sliding support bar 623 extends horizontally from one side of the sliding channel opening 622 to the inner wall of the upper support shell 61a on the opposite side, and symmetrical sliding racks 624 are respectively arranged on the two sliding support bars 623, and a sliding guide rail 628 that slides in cooperation with the sliding groove 627 is arranged on the outer wall of the sliding rack 624. The shearing servo 620 is fixed on the outer wall of the upper support shell 61a below the sliding channel opening 622, and the output shaft of the shearing servo 620 extends vertically upward to the outside of the sliding channel opening 622 and is sleeved with a shearing drive gear 626 that engages with a pair of sliding racks 624. The main mechanism of the grabbing part 63 is a connecting rod mechanism and a gear transmission mechanism, which consists of a driving gear and three driven gears. The transmission ratio between the grabbing drive gears 637 is 1:1, and the grabbing part can grab passion fruit with a diameter of 50-100mm. The power source of the grabbing part is the grabbing servo 635: the grabbing servo 635 drives the grabbing drive gear 637 to rotate, and relies on the lower connecting rod 638 to push the two pushing linkage frames 633 closer and separate, so that a pair of clamps 634 are closed to realize the grabbing operation and opened to release to realize the fruit release operation. The inner side of the clamping claw 634 adopts an arc surface shape, and the inner side of the arc surface is affixed with a silicone buffer sheet 634a (soft silicone rubber) with a thickness of 5mm and a pressure sensor 634a, which can not only form a better fit with the surface of the fruit to make the grabbing more stable, but also can monitor the size of the grabbing force in real time during the grabbing process, so as to better protect the fruit during the grabbing process. When the grabbing part 63 receives a work instruction, the Hall signal collected by the pressure sensor 634a is used to determine whether the grabbing part 63 has returned to its initial state. With the assistance of a pair of infrared sensors 66, the fruit picking actuator 6 moves close to the ripe fruit and performs the clamping work. Depending on the threshold set by the pressure sensor 634a, the shearing work is performed when the pressure reaches the threshold. After completing the above work, the grabbing part 63 is restored again, completing a complete picking process. When picking, the picking object is first transmitted in steps to realize the process of "positioning, grabbing, and then shearing".The gripping part 63 grips the fruit, ensuring stability during cutting and collection, enabling accurate, rapid, and non-destructive picking of the fruit. After confirming that the fruit meets the picking conditions, the crawler-type mobile vehicle moves to the corresponding picking position and adjusts the height and angle of the mechanical support arm 5, thereby enabling the mechanical arm to more flexibly pick the passion fruit, allowing the fruit picking actuator 6 to finally complete the picking.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm, the automatic fruit picking intelligent vehicle comprising a chassis walking mechanism, characterized in that: The automatic fruit picking intelligent trolley also includes a lifting support mechanism, a collection box, a rotating mechanism and a fruit picking actuator. The lifting support mechanism and the collection box are arranged on the chassis walking mechanism, the rotating mechanism is arranged at the top of the lifting support mechanism, a mechanical support arm is arranged on the rotating mechanism, and the fruit picking actuator is arranged at the top of the mechanical support arm, and the outlet end of the fruit picking actuator is connected to the inlet end of the collection box through a material guide pipe; the fruit picking actuator includes an execution fixed shell, a shearing part and a grabbing part, the side wall of the bottom end of the execution fixed shell is fixed to the top of the mechanical support arm, a fruit inlet is arranged at the top of the execution fixed shell, a fruit outlet matched with the material guide pipe is arranged at the bottom end of the execution fixed shell, and the shearing part and the grabbing part are arranged in sequence in the execution fixed shell and in the direction from the fruit inlet to the fruit outlet; The shearing part includes a shearing servo, a shearing blade and a shearing actuator. The shearing servo is fixed on the top side wall of the execution fixed shell. The shearing actuator is horizontally slidably arranged below the fruit entrance. A pair of infrared sensors are arranged outside the fruit entrance and at the top edge of the execution fixed shell. The output shaft of the shearing servo is transmission-connected with one end of the outer side of the shearing actuator. The shearing blade is horizontally arranged at the other end of the shearing actuator. The shearing actuator drives the shearing blade to slide horizontally back and forth on both sides below the fruit entrance in the execution fixed shell. The grabbing part is arranged between the bottom of the shearing actuator and the fruit outlet. The shearing actuator includes a sliding channel opening arranged on the top side wall of a row fixed shell, sliding support bars horizontally arranged on both sides of the sliding channel opening, sliding racks arranged on the two sliding support bars, a shearing drive plate arranged between the upper surfaces of the two sliding racks, and a shearing drive gear arranged between the side portions of the two sliding racks, the sliding support bar horizontally extending from one side of the sliding channel opening to the inner side wall of the execution fixed shell on the opposite side, a pair of sliding racks are arranged between the upper surfaces along the horizontal extension direction of the sliding support bar, the shearing drive gear is arranged on one side of the sliding channel opening and sleeved on the output shaft of the shearing servo, the shearing servo is meshed with the two sliding racks through the shearing drive gear, and the shearing blade is horizontally arranged on the end of the shearing drive plate away from the shearing servo; The grabbing part includes a grabbing support seat, a grabbing support frame, a grabbing linkage frame, a clamping claw and a clamping servo. A pair of clamping claws are arranged horizontally and parallel to the lower side of the fruit inlet and parallel to the lower side of the shearing actuator. The grabbing support seats are respectively fixed on the inner side walls of the execution fixed shell below the two ends of the pair of clamping claws and close to the fruit outlet. The grabbing support frames are respectively fixed on the grabbing support seats on both sides of the inner wall of the execution fixed shell. The grabbing linkage frame is vertically arranged below each clamping claw and on the upper side of each clamping support seat. Each clamping claw is respectively fixed to the top end of the linkage frame. Upper connecting rods extending symmetrically outward along both sides are respectively provided, one end of the upper connecting rod is rotatably connected to the top of the grabbing support frame, and the other end of the upper connecting rod is rotatably connected to the middle side wall of the grabbing linkage frame, and a pair of mutually meshing grabbing drive gears are respectively provided below both sides of the lower end of the grabbing linkage frame and on the outer side walls of the lower end of each grabbing support frame, and a clamping servo gear connected to one of the grabbing drive gears is respectively fixed on the outer walls on both sides of the bottom end of the execution fixed shell, and a lower connecting rod is provided on the circumference of each grabbing drive gear, and the circumference of the grabbing drive gear is transmission connected to the lower end of the grabbing linkage frame through the lower connecting rod.

2. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 1 is characterized by: A sliding groove is arranged on the upper surface of the sliding support bar, and a sliding guide rail which is sleeved and slides in the sliding groove is arranged on the lower surface of the sliding rack.

3. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 1 is characterized by: The inner side wall of each clamping jaw is provided with an arc surface, a silicone buffer sheet is arranged on the arc surface of the clamping jaw, and a pressure sensor nested in the silicone buffer sheet is arranged on the arc surface of the clamping jaw.

4. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 1 is characterized by: The lifting bracket mechanism includes a reduction motor, a support base and a lifting frame slidably arranged in the support base, the bottom ends of the reduction motor and the support base are respectively fixed on the chassis walking mechanism, the output shaft of the reduction motor crosses the top end of the support base and extends downward to be connected to the lower end of the lifting frame through a pull rope, the side wall of the lifting frame is in rolling contact with the side wall of the support base through a guide wheel, and the rotating mechanism includes a supporting base, a rotating base, a first rotating drive steering gear and a second rotating drive steering gear, the supporting base is horizontally arranged at the top end of the lifting frame, the rotating base is rotatably arranged at the center of the supporting base, the first rotating drive steering gear is fixed below the supporting base, the output shaft of the first rotating drive steering gear is transmission connected to the rotating base, the second rotating drive steering gear is arranged at the edge of the rotating base, and the lower end of the mechanical support arm is transmission connected to the output shaft of the second rotating drive steering gear arranged on the rotating base.

5. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 4 is characterized by: The second rotary drive servo is symmetrically arranged on both sides of the center of the rotary base and at the edge of the rotary base. The second rotary drive servo is fixed to the rotary base through a servo base. Both sides of the lower end of the mechanical support arm are respectively connected to the output shaft of the second rotary drive servo.

6. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 4 is characterized by: Four support parts of equal height and vertically upward are arranged on the servo base, an arc-shaped guide track plate is fixed on the support parts, one or more guide support grooves are arranged on the top surface of the arc-shaped guide track plate and along the arc-shaped square, sliding arms are horizontally arranged on both sides close to the lower end of the mechanical support arm and slide relative to the arc-shaped guide track plate with a gap, and bull's eye wheels are arranged on the ends of the sliding arms and match and contact the guide support grooves.

7. The automatic fruit picking intelligent vehicle with a multi-degree-of-freedom mechanical arm according to claim 6 is characterized by: The mechanical support arm comprises at least an upper joint arm and a lower joint arm, a lower connecting piece is arranged at the upper end of the upper joint arm, a lower servo is arranged on the lower connecting piece, the lower connecting piece is transmission connected with the lower end of the upper joint arm through the output shaft of the lower servo, an upper servo and an upper connecting piece are arranged at the upper end of the upper joint arm, the upper end of the upper connecting piece is connected to the fruit picking actuator, and the output shaft of the upper servo is transmission connected with the lower end of the upper connecting piece.

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