Modular robot for bush harvesting

Abstract

This invention discloses a modular robot for shrub harvesting, relating to the field of shrub harvesting. It includes a chassis module, a cutting module, and a material picking and transport module. The chassis module includes a frame and a driving mechanism for moving the frame. The frame is used to mount either the cutting module or the material picking and transport module. The cutting module includes a first frame, a second frame, a linear drive mechanism, a swing drive mechanism, a housing, and the cutting mechanism itself. The rear end of the first frame is hinged to the frame. The swing drive mechanism drives the first frame to swing horizontally, and the linear drive mechanism drives the second frame to reciprocate along the length of the first frame. The front end of the second frame has a housing, and the cutting mechanism is located at the lower part of the housing. The material picking and transport module includes a material picking module located at the front end of the frame and a transport module located at the rear end of the frame. This device reduces costs, improves the movement flexibility of the cutting mechanism, and is suitable for meeting different cutting needs.

Description

Technical Field

[0001] This invention relates to the field of shrub harvesting, and in particular to a modular robot for shrub harvesting. Background Technology

[0002] Currently, shrub harvesting robots in the field of agricultural robot technology mainly rely on combined harvesting and individual operation. That is, harvesting robots and material collection robots need to work together to complete the harvesting and material collection work in sequence. In the existing technology, the harvesting robot and the material collection robot are two independent entities, which has the problems of relatively high cost and poor flexibility of the harvesting robot. Summary of the Invention

[0003] To address the above technical problems, this invention provides a modular robot for shrub harvesting, which reduces costs, improves the movement flexibility of the cutting mechanism, and helps meet different cutting needs.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a modular robot for shrub harvesting, comprising a chassis module, a cutting module, and a material picking and transport module. The chassis module includes a frame and a traveling mechanism for driving the frame. The cutting module or the material picking and transport module is mounted on the frame. The cutting module includes a first frame, a second frame, a linear drive mechanism, a swing drive mechanism, a housing, and a cutting mechanism. The rear end of the first frame is hinged to the frame. The swing drive mechanism drives the first frame to swing in a horizontal plane. The second frame is slidably mounted on the first frame. The linear drive mechanism drives the second frame. The frame reciprocates along the length of the first frame. The housing is located at the front end of the second frame, and the cutting mechanism is located at the lower part of the housing. The material picking and transport module includes a material picking module located at the front end of the frame and a transport module located at the rear end of the frame. The material picking module includes a material picking mechanism and a crushing mechanism. The outlet of the material picking mechanism is connected to the inlet of the crushing mechanism. The transport module includes a material box and a discharge mechanism. The crushing mechanism is used to transport the crushed material into the material box. The lower part of the material box is provided with a discharge port. The discharge mechanism is used to transport the material from the discharge port to the outside.

[0006] Optionally, the swing drive mechanism includes a first connecting frame, a swing plate, and a linear drive component. The first connecting frame is fixed to the frame, the swing plate is located above the first connecting frame, the two ends of the linear drive component are respectively hinged to the first connecting frame and the swing plate, and the first frame is fixed to the swing plate.

[0007] Optionally, the cutting module further includes a second connecting frame and a third connecting frame. The second connecting frame is used to fix itself to the frame, and the third connecting frame is hinged to the second connecting frame via a vertically arranged first pin. The rear end of the first frame is connected to the third connecting frame.

[0008] Optionally, the cutting module further includes multiple guiding mechanisms. Each guiding mechanism includes a rectangular frame and a connecting rib plate disposed on the upper end of the rectangular frame. The lower end of the rectangular frame is fixed to the rocker plate. The first frame is fixed to the connecting rib plate. The second frame is located below the first frame, and the long tube of the second frame is slidably sleeved on the rectangular frame. A roller capable of contacting the long tube of the second frame is rotatably installed on the inner side of the rectangular frame.

[0009] Optionally, the linear drive mechanism includes a lead screw motor, a lead screw, and a lead screw nut. The lead screw motor is fixed to the rear end of the first frame, one end of the lead screw is connected to the power output shaft of the lead screw motor, the lead screw nut is installed on the lead screw, and the rear end of the second frame is fixedly sleeved on the lead screw nut.

[0010] Optionally, the cutting mechanism includes multiple cutting components, each including a cutting motor and a cutting head. The cutting motor is located at the lower part of the housing, and the cutting head is mounted on the lower end of the power output shaft of the cutting motor.

[0011] Optionally, the material picking mechanism includes a material picking bracket, an upper bracket, a material picking drive assembly, an upper material picking assembly, a lower material picking assembly, a first gear, a support shaft, a connecting bracket, a second gear, and a transmission assembly. The material picking bracket is mounted on the frame, the support shaft is fixed to the material picking bracket, and the first gear is rotatably sleeved on the support shaft. The upper material picking assembly includes a first front rotating shaft, a first front pulley, a first rear rotating shaft, a first rear pulley, and an upper material picking belt. The two ends of the first front rotating shaft are rotatably mounted on both sides of the front end of the upper bracket, the first front pulley is fixedly sleeved on the first front rotating shaft, and the two ends of the first rear rotating shaft are rotatably mounted on both sides of the rear end of the upper bracket, the first rear pulley is fixedly sleeved on the first rear rotating shaft. The upper material picking belt is wound around the first front pulley and the first rear pulley. An arc-shaped hole is provided on both sides of the material picking bracket, and both ends of the first rear rotating shaft extend to the outside through one of the arc-shaped holes. The second gear is fixedly sleeved on the first rear rotating shaft, and one end of the connecting bracket rotates. The upper and lower material pickup components are mounted on the support shaft, with the other end of the connecting bracket rotatably mounted on the first rear rotating shaft. The second gear meshes with the first gear. The material pickup drive assembly is mounted on the upper bracket and drives the first rear rotating shaft to rotate. The lower material pickup assembly includes a second front rotating shaft, a second front pulley, a second rear rotating shaft, a second rear pulley, and a lower material pickup belt. The two ends of the second front rotating shaft are rotatably mounted on both sides of the front end of the material pickup bracket. The second front pulley is fixedly mounted on the second front rotating shaft. The two ends of the second rear rotating shaft are rotatably mounted on both sides of the rear end of the material pickup bracket. The second rear pulley is fixedly mounted on the second rear rotating shaft. The lower material pickup belt is wound around the second front pulley and the second rear pulley. The first gear can drive the second rear rotating shaft to rotate through the transmission assembly. The upper and lower material pickup belts rotate in opposite directions. The crushing mechanism is located at the rear end of the material pickup bracket. The outlet at the rear end of the upper and lower material pickup belts is connected to the inlet of the crushing mechanism.

[0012] Optionally, the material picking bracket includes a first bracket, a second bracket, a third bracket, and two telescopic adjustment components that are hinged in sequence. The first bracket is mounted on the frame. The third bracket has an arc-shaped hole on each side. The support shaft is fixed to the third bracket. The two ends of the second front rotating shaft are rotatably mounted on the two sides of the front end of the third bracket, and the two ends of the second rear rotating shaft are rotatably mounted on the two sides of the rear end of the third bracket. The crushing mechanism is located at the rear end of the third bracket. The first bracket and the second bracket are connected by one telescopic adjustment component, and the second bracket and the third bracket are connected by another telescopic adjustment component.

[0013] Optionally, the discharge mechanism includes an auger housing, a discharge motor, and a discharge auger. The auger housing is located at the lower part of the material box, and the upper part of the auger housing is connected to the discharge port. Both ends of the discharge auger are rotatably mounted on the auger housing. The discharge motor is located outside one end of the auger housing, and the power output shaft of the discharge motor is connected to one end of the discharge auger. The other end of the auger housing is provided with a discharge port.

[0014] Optionally, the travel mechanism includes a power source and two travel components respectively disposed at the front and rear ends of the frame. The travel components include a main reducer, a differential, a steering unit, two half-shafts, two universal joints, two wheel hub bearings, and two wheels. The power source is used to provide power to the main reducer, which is disposed on the frame. The main reducer can drive the two half-shafts to rotate through the differential. The end of each half-shaft away from the differential is connected to the wheel hub of one of the wheels through a universal joint. The outer ring of each wheel hub bearing is fixed inside the wheel hub of one of the wheels. The two ends of the steering unit are respectively hinged to the inner rings of the two wheel hub bearings.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] The modular robot for shrub harvesting of the present invention includes a chassis module, a cutting module, and a material picking and transport module. The chassis module includes a frame and a driving mechanism for driving the frame. The cutting module or the material picking and transport module is mounted on the frame. When the cutting module is combined with the chassis module, it can realize the harvesting function; when the material picking and transport module is combined with the chassis module, it can realize the material collection function. The modular design can improve the versatility of identical components, reduce costs, and allow for repair or selective scrapping of modules when necessary. The cutting module includes a first frame, a second frame, a linear drive mechanism, a swing drive mechanism, a housing, and a cutting mechanism, enabling the front-end cutting mechanism to swing in the horizontal plane and move in the forward and backward direction, thereby improving the movement flexibility of the cutting mechanism and facilitating the fulfillment of different cutting needs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a structural diagram of the combination of the cutting module and the chassis module in the modular robot for shrub harvesting provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the chassis module in the modular robot for shrub harvesting provided by the present invention;

[0020] Figure 3 This is a first structural schematic diagram of the cutting module in the modular robot for shrub harvesting provided by the present invention;

[0021] Figure 4 This is a schematic diagram of the second structure of the cutting module in the modular robot for shrub harvesting provided by the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the modular robot for shrub harvesting provided by the present invention, showing the combination of the material picking and transport module and the chassis module.

[0023] Figure 6 This is a schematic diagram of the material-picking module in the modular robot for shrub harvesting provided by the present invention;

[0024] Figure 7 for Figure 6 A magnified view of a section at point A in the middle;

[0025] Figure 8 for Figure 6 A magnified view of a section at point B in the middle;

[0026] Figure 9 This is a schematic diagram of the transport module in the modular robot for shrub harvesting provided by the present invention.

[0027] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Power source; 3. Main reducer; 4. Wheel; 5. First frame; 6. Second frame; 7. Housing; 8. Cutting head; 9. First connecting frame; 10. Swing plate; 11. Linear drive component; 12. Second connecting frame; 13. Third connecting frame; 14. Rectangular frame; 15. Connecting rib; 16. Roller; 17. Lead screw motor; 18. Lead screw; 19. First bracket; 20. Second bracket; 21. Third bracket; 22. Telescopic adjustment component; 221. First mounting plate; 222. Second mounting plate; 223. 224. First connecting rod; 225. Screw; 226. Locking nut; 23. Upper bracket; 24. Upper pickup belt; 25. Lower pickup belt; 26. Pickup motor; 27. Gearbox; 28. First pulley; 29. ​​Second pulley; 30. Transmission belt; 31. Support shaft; 32. First gear; 33. Second gear; 34. Connecting bracket; 35. Arc-shaped hole; 36. Baffle; 37. Guide plate; 38. Crusher; 39. Engine; 40. Material box; 41. Screwdriver housing; 42. Discharge motor; 43. Discharge screw. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] The purpose of this invention is to provide a modular robot for shrub harvesting, which reduces costs, improves the movement flexibility of the cutting mechanism, and helps to meet different cutting needs.

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1-9As shown, this embodiment provides a modular robot for shrub harvesting, including a chassis module, a cutting module, and a material picking and transporting module. The chassis module includes a frame 1 and a driving mechanism for driving the frame 1. The cutting module or the material picking and transporting module is mounted on the frame 1. The cutting module includes a first frame 5, a second frame 6, a linear drive mechanism, a swing drive mechanism, a housing 7, and a cutting mechanism. The rear end of the first frame 5 is hinged to the frame 1. The swing drive mechanism drives the first frame 5 to swing in the horizontal plane. The second frame 6 is slidably mounted on the first frame 5. The linear drive mechanism drives the second frame 6 to reciprocate along the length direction of the first frame 5. The front end of the second frame 6 is provided with a housing 7. The cutting mechanism is located at the lower part of the housing 7, so that the cutting mechanism at the front end can swing in the horizontal plane and move in the front-back direction, thereby improving the movement flexibility of the cutting mechanism and meeting different cutting needs. The material picking and transport module includes a material picking module for being installed at the front end of the frame 1 and a transport module for being installed at the rear end of the frame 1. The material picking module includes a material picking mechanism and a crushing mechanism, with the outlet of the material picking mechanism connected to the inlet of the crushing mechanism. The transport module includes a material box 40 and a discharge mechanism. The crushing mechanism is used to transport the crushed material into the material box 40. The lower part of the material box 40 is provided with a discharge port, and the discharge mechanism is used to transport the material from the discharge port to the outside.

[0032] In this embodiment, multiple modules can cooperate to form different operational robots, including but not limited to a cutting module, a picking module, a transport module, and a chassis module. When the cutting module is combined with the chassis module, a harvesting function is achieved; when the picking and transport module is combined with the chassis module, a material collection function is achieved. Depending on the operational stage, module combination improves the scheduling and coordination efficiency between components. Modular design increases the versatility of identical components, reduces costs, and allows for repair or selective scrapping of modules when necessary. Modular design facilitates the replacement of modules requiring repair or scrapping, thereby simplifying on-site maintenance.

[0033] like Figure 3 and Figure 4 As shown, the swing drive mechanism includes a first connecting frame 9, a swing plate 10, and a linear drive component 11. The first connecting frame 9 is fixed to the frame 1. The swing plate 10 is located above the first connecting frame 9. The two ends of the linear drive component 11 are respectively hinged to the first connecting frame 9 and the swing plate 10. The first frame 5 is fixed to the swing plate 10. Simultaneously, the rear end of the first frame 5 is hinged to the frame 1. When the linear drive component 11 extends or retracts, the swing plate 10 causes the first frame 5 to swing horizontally relative to the hinge point between the first frame 5 and the frame 1. The first frame 5 can then drive the second frame 6, the housing 7, and the cutting mechanism to swing horizontally. In this embodiment, the linear drive component 11 is a hydraulic cylinder or an electric push rod.

[0034] The cutting module also includes a second connecting frame 12 and a third connecting frame 13. The second connecting frame 12 is fixed to the frame 1, and the third connecting frame 13 is hinged to the second connecting frame 12 by a vertically arranged first pin. The rear end of the first frame 5 is connected to the third connecting frame 13, thereby realizing that the rear end of the first frame 5 is hinged to the frame 1, so that the third connecting frame 13 and the first frame 5 can rotate around the first pin relative to the second connecting frame 12 and the frame 1.

[0035] In this specific embodiment, the rear end of the first frame 5 is hinged to the third connecting frame 13 by a horizontally set second pin, thereby giving the first frame 5 a certain degree of flexibility.

[0036] In another specific embodiment, the rear end of the first frame 5 is fixedly connected to the third connecting frame 13.

[0037] The cutting module also includes multiple guiding mechanisms, including a rectangular frame 14 and a connecting rib plate 15 disposed on the upper end of the rectangular frame 14. The lower end of the rectangular frame 14 is fixed to the rocker plate 10. The first frame 5 is fixed to the connecting rib plate 15. The second frame 6 is located below the first frame 5, and the long tube of the second frame 6 is slidably sleeved on the rectangular frame 14. A roller 16 that can contact the long tube of the second frame 6 is rotatably installed on the inner side of the rectangular frame 14. By setting the roller 16, the second frame 6 can move more smoothly.

[0038] In this embodiment, the second frame 6 is a rectangular structure, comprising two short tubes and two long tubes. One short tube is fixed to the front end between the two long tubes, and the other short tube is fixed to the rear end between the two long tubes. At least two guide mechanisms are fitted onto one of the long tubes.

[0039] The rectangular frame 14 in this embodiment includes a top plate, a bottom plate, and two side plates. The top plate is fixed to the top end between the two side plates, and the bottom plate is fixed to the bottom end between the two side plates. The guiding mechanism also includes a top rod, a bottom rod, and two side rods. The two ends of the top rod are respectively fixed to the top between the two side plates and located below the top plate. Multiple rollers 16 are rotatably mounted on the top rod. The two ends of the bottom rod are respectively fixed to the bottom between the two side plates and located above the bottom plate. Multiple rollers 16 are rotatably mounted on the bottom rod. The upper and lower ends of one side rod are respectively fixed to one side between the top plate and the bottom plate, and the upper and lower ends of the other side rod are respectively fixed to the other side between the top plate and the bottom plate. Multiple rollers 16 are rotatably mounted on each side rod.

[0040] The linear drive mechanism includes a lead screw motor 17, a lead screw 18, and a lead screw nut. The lead screw motor 17 is fixed to the rear end of the first frame 5. One end of the lead screw 18 is connected to the power output shaft of the lead screw motor 17. The lead screw nut is installed on the lead screw 18, and the rear end of the second frame 6 is fixedly sleeved on the lead screw nut. During operation, the lead screw motor 17 drives the lead screw 18 to rotate, which in turn drives the second frame 6 to move along the length of the first frame 5 via the lead screw nut, thereby realizing the reciprocating motion of the second frame 6 in the front-back direction.

[0041] The cutting mechanism includes multiple cutting components, each including a cutting motor and a cutting head 8. The cutting motor is located at the lower part of the housing 7, and the cutting head 8 is mounted on the lower end of the power output shaft of the cutting motor. During operation, the cutting motor is turned on, which in turn drives the cutting head 8 to rotate.

[0042] like Figures 6-8 As shown, the material picking mechanism includes a material picking bracket, an upper bracket 23, a material picking drive assembly, an upper material picking assembly, a lower material picking assembly, a first gear 32, a support shaft 31, a connecting bracket 34, a second gear 33, and a transmission assembly. The material picking bracket is mounted on the frame 1, the support shaft 31 is fixed to the material picking bracket, and the first gear 32 is rotatably sleeved on the support shaft 31. The upper material picking assembly includes a first front rotating shaft, a first front pulley, a first rear rotating shaft, a first rear pulley, and an upper material picking belt 24. The two ends of the first front rotating shaft are rotatably mounted on both sides of the front end of the upper bracket 23, and the first front pulley is fixedly sleeved on the first front rotating shaft. The two ends of the rotating shaft are respectively rotatably mounted on both sides of the rear end of the upper bracket 23. The first rear pulley is fixedly sleeved on the first rear rotating shaft. The upper picking belt 24 is wound around the first front pulley and the first rear pulley. An arc-shaped hole 35 is provided on both sides of the picking bracket. Both ends of the first rear rotating shaft extend to the outside through an arc-shaped hole 35. The first rear rotating shaft can move along the arc-shaped hole 35. A baffle 36 is provided on both sides of the picking bracket to block the front end of the arc-shaped hole 35, thereby preventing the first rear rotating shaft from coming out of the arc-shaped hole 35. In this embodiment, the front end of the upper picking assembly is in a free state, and the rear end can move along the arc-shaped hole 35. The second gear 33 is fixedly sleeved on the first rear rotating shaft. One end of the connecting bracket 34 is rotatably sleeved on the support shaft 31, and the other end of the connecting bracket 34 is rotatably sleeved on the first rear rotating shaft. The second gear 33 meshes with the first gear 32. The material picking drive assembly is set on the upper bracket 23 and is used to drive the first rear rotating shaft to rotate, thereby enabling the upper material picking belt 24 to rotate and enabling the second gear 33 on the first rear rotating shaft to rotate. The second gear 33 can drive the first gear 32 meshing with it to rotate.

[0043] In addition to their transmission relationship, when the material picked up between the upper and lower picking components is large, since the positions of the lower picking component, support shaft 31, and first gear 32 remain unchanged, and the front end of the upper picking component is in a free state while the rear end can move along the arc-shaped hole 35, the larger material will lift the upper picking component, thereby increasing the distance between the upper and lower picking components. This allows the first rear rotating shaft to move in the arc-shaped hole 35, which in turn allows the second gear 33 to move relative to the first gear 32 in the circumferential direction. That is, when encountering a large piece of material, the second gear 33 and the upper picking component can move around the first gear 32, thus making the picking mechanism in this embodiment more adaptable.

[0044] The lower picking assembly includes a second front rotating shaft, a second front pulley, a second rear rotating shaft, a second rear pulley, and a lower picking belt 25. The two ends of the second front rotating shaft are rotatably mounted on both sides of the front end of the picking bracket, and the second front pulley is fixedly sleeved on the second front rotating shaft. The two ends of the second rear rotating shaft are rotatably mounted on both sides of the rear end of the picking bracket, and the second rear pulley is fixedly sleeved on the second rear rotating shaft. The lower picking belt 25 is wound around the second front pulley and the second rear pulley. The first gear 32 can drive the second rear rotating shaft to rotate through the transmission assembly. The upper picking belt 24 and the lower picking belt 25 rotate in opposite directions and pick up materials by belt compression transmission. The crushing mechanism is located at the rear end of the picking bracket, and the outlet at the rear end between the upper picking belt 24 and the lower picking belt 25 is connected to the inlet of the crushing mechanism.

[0045] A guide plate 37 is provided on both sides of the front end of the material pickup bracket. The guide plate 37 is used to guide the material between the upper material pickup belt 24 and the lower material pickup belt 25 to the inlet of the crushing mechanism.

[0046] In this embodiment, the first gear 32, the support shaft 31, the connecting bracket 34, the second gear 33, and the transmission assembly are all configured in pairs. The two support shafts 31 are symmetrically arranged on both sides of the material picking bracket. Each support shaft 31 is rotatably fitted with a first gear 32. The two second gears 33 are symmetrically arranged at both ends of the first rear rotating shaft. Each second gear 33 meshes with a first gear 32. The two first gears 32 are respectively connected to both ends of the second rear rotating shaft through two transmission assemblies.

[0047] The transmission assembly includes a transmission gear set and a third gear. The third gear is fixedly mounted on the second rear rotating shaft, and the first gear 32 is connected to the third gear through the transmission gear set.

[0048] The material pickup drive assembly includes a material pickup motor 26, a gearbox 27, a first pulley 28, a second pulley 29, and a transmission belt 30. Both the material pickup motor 26 and the gearbox 27 are mounted on an upper bracket 23. The power output shaft of the material pickup motor 26 is connected to the power input end of the gearbox 27. The first pulley 28 is fixedly mounted on the power output shaft of the gearbox 27, and the second pulley 29 is fixedly mounted on the first rear rotating shaft. The transmission belt 30 is wound around the first pulley 28 and the second pulley 29. In this embodiment, there are two first pulleys 28, two second pulleys 29, and one transmission belt 30. A power output shaft is located on each side of the gearbox 27. A first pulley 28 is fixedly mounted on each of the two power output shafts of the gearbox 27, and a second pulley 29 is fixedly mounted on both ends of the first rear rotating shaft. Each transmission belt 30 is wound around one first pulley 28 and one second pulley 29.

[0049] The material pickup bracket includes a first bracket 19, a second bracket 20, a third bracket 21, and two telescopic adjustment components that are hinged sequentially. The first bracket 19 is mounted on the frame 1. The third bracket 21 has an arc-shaped hole 35 on each side. A support shaft 31 is fixed to the third bracket 21. The two ends of a second front rotating shaft are rotatably mounted on the two sides of the front end of the third bracket 21, and the two ends of a second rear rotating shaft are rotatably mounted on the two sides of the rear end of the third bracket 21. The crushing mechanism is located at the rear end of the third bracket 21. A guide plate 37 is provided on each side of the front end of the third bracket 21. The first bracket 19 and the second bracket 20 are connected by a telescopic adjustment component, and the second bracket 20 and the third bracket 21 are connected by another telescopic adjustment component. By adjusting the two telescopic adjustment components, the positions of the first bracket 19 and the lower and upper material pickup components on it can be adjusted, allowing for flexible adjustment according to actual needs.

[0050] like Figure 8 As shown, the telescopic adjustment assembly includes two telescopic adjustment components 22. Each telescopic adjustment component 22 includes a first mounting plate 221, a second mounting plate 222, a first connecting rod 223, a second connecting rod 224, and two locking components. Each locking component includes a screw 225 and four locking nuts 226 disposed on the screw 225. The first connecting rod 223 is fixed to the first mounting plate 221, and the second connecting rod 224 is fixed to the second mounting plate 222. The screw 225 passes through the first mounting plate 221 and the second mounting plate 222 in sequence. Two of the four locking nuts 226 can be locked to both sides of the first mounting plate 221, and the other two locking nuts 226 can be locked to both sides of the second mounting plate 222.

[0051] When the telescopic adjustment assembly is used to connect the first bracket 19 and the second bracket 20, the end of the first connecting rod 223 away from the first mounting plate 221 is hinged to the first bracket 19, and the end of the second connecting rod 224 away from the second mounting plate 222 is hinged to the second bracket 20. When the telescopic adjustment assembly is used to connect the second bracket 20 and the third bracket 21, the end of the first connecting rod 223 away from the first mounting plate 221 is hinged to the third bracket 21, and the end of the second connecting rod 224 away from the second mounting plate 222 is hinged to the second bracket 20. When it is necessary to adjust the length of the telescopic adjustment component 22, the locking nut 226 can be de-locked, allowing the second mounting plate 222 to move along the screw 225, thereby changing the distance between the second mounting plate 222 and the first mounting plate 221. After adjusting the position of the second mounting plate 222, the two locking nuts 226 are tightened to lock the second mounting plate 222 again.

[0052] In this embodiment, the telescopic adjustment component 22 can also be a hydraulic cylinder or an electric push rod.

[0053] The crushing mechanism includes a crusher 38 and an engine 39 for providing power to the crusher 38. The crusher 38 is mounted on a third support 21, and the engine 39 is mounted on a first support 19.

[0054] like Figure 9 As shown, the discharge mechanism includes an auger housing 41, a discharge motor 42, and a discharge auger 43. The auger housing 41 is located at the lower part of the material box 40, and its upper part is connected to the discharge port. Both ends of the discharge auger 43 are rotatably mounted on the auger housing 41. The discharge motor 42 is located outside one end of the auger housing 41, and its power output shaft is connected to one end of the discharge auger 43. The other end of the auger housing 41 has a discharge port. During operation, the discharge motor 42 drives the discharge auger 43 to rotate, thereby conveying the material in the material box 40 to the outside through the discharge port. In this embodiment, the main function of the transportation module is storage and transportation. During operation, it receives and stores the material that has been crushed by the crushing mechanism. Once the storage standard is reached, the material is discharged by the discharge mechanism.

[0055] like Figure 2As shown, the driving mechanism includes a power source 2 and two driving components respectively located at the front and rear ends of the frame 1. Each driving component includes a main reducer 3, a differential, a steering unit, two half-shafts, two universal joints, two wheel bearings, and two wheels 4. The power source 2 provides power to the main reducer 3, which is mounted on the frame 1. The main reducer 3 drives the two half-shafts to rotate via the differential. The end of each half-shaft furthest from the differential is connected to the hub of one wheel 4 via a universal joint. The outer ring of each wheel bearing is fixed inside the hub of one wheel 4. The two ends of the steering unit are hinged to the inner rings of the two wheel bearings. It should be noted that the steering unit in this embodiment is a conventional steering unit, so its specific structure will not be described in detail. The chassis module in this embodiment is self-powered and possesses basic driving and carrying functions. Its main function is to carry other working modules to complete operations.

[0056] In this embodiment, the ratio of harvesting robots to material receiving robots can be allocated according to the size of the work site and the working environment. For example, if a certain work site has a large harvesting demand, the existing technology requires 10 harvesting robots and 10 material receiving robots to meet the harvesting demand. In this embodiment, only 10 chassis modules, 10 cutting modules, material picking modules, and transportation modules are required. During operation, 10 harvesting robots are first combined to carry out the harvesting work, and then 10 material receiving robots are combined to carry out the material receiving work, thereby reducing costs.

[0057] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A modular robot for shrub harvesting, characterized in that, The system includes a chassis module, a cutting module, and a material picking and transport module. The chassis module includes a frame and a traveling mechanism for driving the frame. The cutting module or the material picking and transport module is mounted on the frame. The cutting module includes a first frame, a second frame, a linear drive mechanism, a swing drive mechanism, a housing, and a cutting mechanism. The rear end of the first frame is hinged to the frame. The swing drive mechanism drives the first frame to swing in a horizontal plane. The second frame is slidably mounted on the first frame. The linear drive mechanism drives the second frame to reciprocate along the length of the first frame. The second frame has a housing at its front end, and the cutting mechanism is located at the lower part of the housing. The material picking and transport module includes a material picking module located at the front end of the frame and a transport module located at the rear end of the frame. The material picking module includes a material picking mechanism and a crushing mechanism, with the outlet of the material picking mechanism connected to the inlet of the crushing mechanism. The transport module includes a material bin and a discharge mechanism. The crushing mechanism is used to transport the crushed material into the material bin, and the lower part of the material bin has a discharge port. The discharge mechanism is used to transport the material from the discharge port to the outside. The material picking mechanism includes a material picking bracket and an upper support. The machine comprises a frame, a material pickup drive assembly, an upper material pickup assembly, a lower material pickup assembly, a first gear, a support shaft, a connecting bracket, a second gear, and a transmission assembly. The material pickup bracket is mounted on the frame, the support shaft is fixed to the material pickup bracket, and the first gear is rotatably sleeved on the support shaft. The upper material pickup assembly includes a first front rotating shaft, a first front pulley, a first rear rotating shaft, a first rear pulley, and an upper material pickup belt. The two ends of the first front rotating shaft are rotatably mounted on both sides of the front end of the upper bracket, and the first front pulley is fixedly sleeved on the first front rotating shaft. The two ends of the first rear rotating shaft are rotatably mounted on the rear end of the upper bracket. On both sides, the first rear pulley is fixedly sleeved on the first rear rotating shaft, the upper pickup belt is wound around the first front pulley and the first rear pulley, and an arc-shaped hole is provided on both sides of the pickup bracket. Both ends of the first rear rotating shaft extend to the outside through one of the arc-shaped holes. The second gear is fixedly sleeved on the first rear rotating shaft. One end of the connecting bracket is rotatably sleeved on the support shaft, and the other end of the connecting bracket is rotatably sleeved on the first rear rotating shaft. The second gear meshes with the first gear. The pickup drive assembly is disposed on the upper bracket and is used to drive the first rear rotating shaft to rotate.The lower material pickup assembly includes a second front rotating shaft, a second front pulley, a second rear rotating shaft, a second rear pulley, and a lower material pickup belt. The two ends of the second front rotating shaft are rotatably mounted on both sides of the front end of the material pickup bracket. The second front pulley is fixedly sleeved on the second front rotating shaft. The two ends of the second rear rotating shaft are rotatably mounted on both sides of the rear end of the material pickup bracket. The second rear pulley is fixedly sleeved on the second rear rotating shaft. The lower material pickup belt is wound around the second front pulley and the second rear pulley. The first gear can drive the second rear rotating shaft to rotate through the transmission assembly. The upper material pickup belt and the lower material pickup belt rotate in opposite directions. The crushing mechanism is located at the rear end of the material pickup bracket. The outlet at the rear end between the upper and lower material pickup belts is connected to the inlet of the crushing mechanism.

2. The modular robot for shrub harvesting according to claim 1, characterized in that, The swing drive mechanism includes a first connecting frame, a swing plate, and a linear drive component. The first connecting frame is fixed to the frame, the swing plate is located above the first connecting frame, the two ends of the linear drive component are respectively hinged to the first connecting frame and the swing plate, and the first frame is fixed to the swing plate.

3. The modular robot for shrub harvesting according to claim 2, characterized in that, The cutting module further includes a second connecting frame and a third connecting frame. The second connecting frame is used to fix itself to the frame, and the third connecting frame is hinged to the second connecting frame by a vertically arranged first pin. The rear end of the first frame is connected to the third connecting frame.

4. The modular robot for shrub harvesting according to claim 2, characterized in that, The cutting module also includes multiple guiding mechanisms. Each guiding mechanism includes a rectangular frame and a connecting rib plate disposed on the upper end of the rectangular frame. The lower end of the rectangular frame is fixed to the rocking plate. The first frame is fixed to the connecting rib plate. The second frame is located below the first frame, and the long tube of the second frame is slidably sleeved on the rectangular frame. A roller capable of contacting the long tube of the second frame is rotatably installed on the inner side of the rectangular frame.

5. The modular robot for shrub harvesting according to claim 1, characterized in that, The linear drive mechanism includes a lead screw motor, a lead screw, and a lead screw nut. The lead screw motor is fixed to the rear end of the first frame. One end of the lead screw is connected to the power output shaft of the lead screw motor. The lead screw nut is installed on the lead screw. The rear end of the second frame is fixedly sleeved on the lead screw nut.

6. The modular robot for shrub harvesting according to claim 1, characterized in that, The cutting mechanism includes multiple cutting components, each including a cutting motor and a cutting head. The cutting motor is located at the lower part of the housing, and the cutting head is mounted on the lower end of the power output shaft of the cutting motor.

7. The modular robot for shrub harvesting according to claim 1, characterized in that, The material picking bracket includes a first bracket, a second bracket, a third bracket, and two telescopic adjustment components that are hinged together in sequence. The first bracket is mounted on the frame. The third bracket has an arc-shaped hole on each side. The support shaft is fixed to the third bracket. The two ends of the second front rotating shaft are rotatably mounted on the two sides of the front end of the third bracket, and the two ends of the second rear rotating shaft are rotatably mounted on the two sides of the rear end of the third bracket. The crushing mechanism is located at the rear end of the third bracket. The first bracket and the second bracket are connected by one telescopic adjustment component, and the second bracket and the third bracket are connected by another telescopic adjustment component.

8. The modular robot for shrub harvesting according to claim 1, characterized in that, The discharge mechanism includes an auger housing, a discharge motor, and a discharge auger. The auger housing is located at the lower part of the material box, and the upper part of the auger housing is connected to the discharge port. Both ends of the discharge auger are rotatably mounted on the auger housing. The discharge motor is located outside one end of the auger housing, and the power output shaft of the discharge motor is connected to one end of the discharge auger. The other end of the auger housing is provided with a discharge port.

9. The modular robot for shrub harvesting according to claim 1, characterized in that, The travel mechanism includes a power source and two travel components respectively located at the front and rear ends of the frame. Each travel component includes a main reducer, a differential, a steering unit, two half-shafts, two universal joints, two wheel hub bearings, and two wheels. The power source provides power to the main reducer, which is mounted on the frame. The main reducer can drive the two half-shafts to rotate via the differential. The end of each half-shaft away from the differential is connected to the wheel hub of one of the wheels via a universal joint. The outer ring of each wheel hub bearing is fixed inside the wheel hub. The two ends of the steering unit are respectively hinged to the inner rings of the two wheel hub bearings.

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