A bush harvesting robot

Abstract

This invention discloses a shrub harvesting robot, relating to the fields of modern agricultural harvesting and ecological restoration. It mainly includes a chassis driving mechanism, a slewing mechanism, a telescopic mechanism, and a cutting mechanism. The chassis driving mechanism is capable of traversing complex terrain. The slewing mechanism is mounted on the chassis driving mechanism. The cutting mechanism is mounted on the slewing mechanism via the telescopic mechanism. The slewing mechanism drives the cutting mechanism to move around the chassis driving mechanism, and the telescopic mechanism drives the cutting mechanism to move towards or away from the shrubs. The cutting mechanism is used to cut the shrubs. This invention is applicable to complex terrains such as deserts, enables harvesting without blind spots, and is simple to operate with high harvesting efficiency.

Description

Technical Field

[0001] This invention relates to the fields of modern agricultural harvesting and ecological restoration technology, and in particular to a shrub harvesting robot. Background Technology

[0002] Desert shrubs are rich in nutrients, but due to geographical and environmental conditions, harvesting desert shrubs is difficult and costly. Currently available equipment for harvesting desert shrubs cannot meet the harvesting requirements, resulting in a waste of desert shrub resources.

[0003] Specifically, existing desert shrub harvesting equipment typically has its cutting device located at the front of the machine, allowing it to harvest only the shrubs in that area. When harvesting surrounding shrubs, the entire harvesting equipment needs to be moved and turned, making operation difficult and resulting in low harvesting efficiency. Furthermore, the rugged terrain and uneven road conditions in the desert prevent large combine harvesters from entering the area due to terrain limitations. Summary of the Invention

[0004] The purpose of this invention is to provide a shrub harvesting robot to solve the problems existing in the prior art. It is applicable to complex terrains such as deserts, can achieve harvesting operations without blind spots, and is simple to operate with high harvesting efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a shrub harvesting robot, including a chassis driving mechanism, a rotating mechanism, a telescopic mechanism, and a cutting mechanism. The chassis driving mechanism is capable of traveling on complex terrain. The rotating mechanism is mounted on the chassis driving mechanism. The cutting mechanism is mounted on the rotating mechanism via the telescopic mechanism. The rotating mechanism can drive the cutting mechanism to move around the chassis driving mechanism. The telescopic mechanism can drive the cutting mechanism to move toward or away from the shrub. The cutting mechanism is used to cut the shrub.

[0007] Preferably, the chassis travel mechanism is a tracked chassis travel mechanism, including a chassis drive device and a tracked travel chassis, wherein the chassis drive device is used to drive the tracked travel chassis to travel.

[0008] Preferably, the shrub harvesting robot further includes a support frame, the bottom of which is mounted on the rotary mechanism, and the telescopic mechanism is mounted on the support frame.

[0009] Preferably, the telescopic mechanism includes a horizontal angle holding arm and a push rod, the push rod being disposed on the horizontal angle holding arm along the extension direction of the horizontal angle holding arm, and the push rod being movable along the extension direction of the horizontal angle holding arm, and the cutting mechanism being mounted on the end of the push rod away from the horizontal angle holding arm.

[0010] Preferably, the cutting mechanism includes a power unit, a drive shaft, and a cutting disc. The power unit is connected to the cutting disc via the drive shaft and can drive the cutting disc to rotate in order to cut the shrub. The drive shaft is vertically arranged, and the cutting disc is horizontally mounted at the bottom end of the drive shaft.

[0011] Preferably, the cutting mechanism is provided in two sets, and the two sets of cutting mechanisms are installed side by side on the cutting bracket. The cutting bracket is rotatably mounted on the working arm via a vertically set rotating shaft. The working arm is mounted on the telescopic mechanism, and the working arm is also provided with a rotary drive device, which can drive the cutting bracket and the cutting mechanism on it to rotate around the rotating shaft.

[0012] Preferably, the support frame is further provided with a lifting mechanism, which can drive the telescopic mechanism to rise and fall, and keep the telescopic mechanism in a horizontal state.

[0013] Preferably, the lifting mechanism includes a height push rod, a lifting arm, and a horizontal holding push rod. One end of the height push rod is hinged to the support frame, and the other end is hinged to the lifting arm. One end of the lifting arm is hinged to the support frame, and the other end is hinged to the telescopic mechanism. One end of the horizontal holding push rod is hinged to the lifting arm, and the other end is hinged to the telescopic mechanism. The extension and retraction of the height push rod can drive the lifting arm to rotate, thereby realizing the lifting and retraction of the telescopic mechanism and the cutting mechanism. During the lifting and retraction of the telescopic mechanism and the cutting mechanism, the extension and retraction of the horizontal holding push rod can keep the telescopic mechanism in a horizontal state.

[0014] Preferably, the telescopic mechanism is further provided with a level sensor, which is used to detect the levelness of the telescopic mechanism.

[0015] Preferably, the shrub harvesting robot further includes a height detection device for detecting the root cutting height of the shrub.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] This invention features a chassis driving mechanism that enables the shrub harvesting robot to move on complex terrains such as deserts. Furthermore, a slewing mechanism is installed on the chassis driving mechanism, which drives the cutting mechanism to move around the chassis driving mechanism. In conjunction with a telescopic mechanism, the cutting mechanism moves towards or away from the shrubs, thus enabling the shrub harvesting robot to harvest shrubs around its perimeter. This achieves harvesting without blind spots, is simple to operate, and effectively improves harvesting efficiency. Attached Figure Description

[0018] 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.

[0019] Figure 1 This is a schematic diagram of the structure of the shrub harvesting robot in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram showing the distribution of various components of the shrub harvesting robot in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the cutting operation of the shrub harvesting robot in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the scalloping operation state of the shrub harvesting robot in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the shaving operation of the shrub harvesting robot in an embodiment of the present invention.

[0024] In the diagram: 1-tracked chassis traveling mechanism, 2-slewing mechanism, 3-lifting mechanism, 4-telescopic mechanism, 5-cutting mechanism, 6-tracked chassis, 7-chassis drive unit, 8-hydraulic slewing device, 9-support frame, 10-hydraulic power pump station, 11-height push rod, 12-lifting arm, 13-horizontal holding push rod, 14-horizontal angle holding arm, 15-push rod, 16-working arm, 17-horizontal sensor, 18-vision camera, 19-rotation drive unit, 20-rotation shaft, 21-cutting bracket, 22-working power unit, 23-drive shaft, 24-cutting blade. Detailed Implementation

[0025] 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.

[0026] The purpose of this invention is to provide a shrub harvesting robot to solve the problems existing in the prior art, which can achieve harvesting operations without blind spots, and is simple to operate and has high harvesting efficiency.

[0027] 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.

[0028] Example 1

[0029] like Figures 1-5 As shown, this embodiment provides a shrub harvesting robot, mainly including a chassis driving mechanism, a rotating mechanism 2, a telescopic mechanism 4, and a cutting mechanism 5. The chassis driving mechanism is used to propel the entire shrub harvesting robot across complex terrains such as deserts, facilitating the harvesting of desert shrubs. The rotating mechanism 2 is mounted on the chassis driving mechanism, and the cutting mechanism 5 is mounted on the rotating mechanism 2 via the telescopic mechanism 4. The rotating mechanism 2 can drive the telescopic mechanism 4 and its cutting mechanism 5 to rotate. Specifically, the rotation axis of the rotating mechanism 2 is preferably perpendicular to the chassis driving mechanism; that is, when the chassis driving mechanism travels on a horizontal surface, the rotation axis of the rotating mechanism 2 is vertical. The rotating mechanism 2 can drive the cutting mechanism 5 to rotate around the rotation axis, allowing the cutting mechanism 5 to move around the chassis driving mechanism. Simultaneously, the telescopic mechanism 4 drives the cutting mechanism 5 to move towards or away from the shrubs, enabling the harvesting of shrubs around the robot, thus achieving harvesting without blind spots. The operation is simple and effectively improves harvesting efficiency.

[0030] In this embodiment, the cutting mechanism 5 preferably includes a power unit 22, a drive shaft 23, and a cutting disc 24. The power unit 22 is connected to the cutting disc 24 via the drive shaft 23, thereby driving the cutting disc 24 to rotate for cutting shrubs. Preferably, the drive shaft 23 is vertically arranged, and the cutting disc 24 is horizontally mounted at the bottom end of the drive shaft 23. The power unit 22 can drive the cutting disc 24 to rotate via the drive shaft 23 for cutting shrubs. Furthermore, the power unit 22 can be selected according to specific work needs; for example, a drive motor or a hydraulic motor can be selected.

[0031] In this embodiment, the cutting mechanism 5 is preferably provided in two sets, and the two sets of cutting mechanisms 5 are installed side by side on a cutting bracket 21. The transmission shaft 23 of the cutting mechanism 5 is rotatably mounted on the cutting bracket 21 through a bearing seat, and the working power device 22 is also mounted on the cutting bracket 21, and its output shaft is connected to the top end of the transmission shaft 23, thereby driving the transmission shaft 23 and the cutting disc 24 to rotate. The cutting bracket 21 is rotatably mounted on the working arm 16 via a vertically arranged rotating shaft 20. The working arm 16 is mounted on the telescopic mechanism 4, and a rotary drive device 19 is also provided on the working arm 16. The rotary drive device 19 can be selected as a drive motor or hydraulic motor as needed. Its output shaft is connected to the rotating shaft 20, which can drive the cutting bracket 21 and the cutting mechanism 5 on it to rotate around the rotating shaft 20, thereby adjusting the cutting angle and realizing multi-angle harvesting. Moreover, when the cutting bracket 21 rotates to a position parallel to the telescopic direction of the telescopic mechanism 4, the center line connecting the two cutting blades 24 is also parallel to the telescopic direction of the telescopic mechanism 4. By rotating the rotary mechanism 2, the cutting mechanism 5 can be driven to perform ring cutting on the shrubs, which is convenient for harvesting shrubs with large crown diameters or uneven distribution.

[0032] In this embodiment, the rotary mechanism 2, the telescopic mechanism 4 and the rotary drive device 19 enable the harvesting of plants of various crown diameters, and the harvesting operation can be carried out without dead angles, so as to meet the harvesting methods of different operation scenarios.

[0033] In this embodiment, the chassis driving mechanism can be selected according to different complex terrains, so that the shrub harvesting robot can cut shrubs in different complex terrains. For example, when used in desert terrain, the chassis driving mechanism can be a tracked chassis driving mechanism 1, which increases pressure and improves obstacle crossing ability, and has high adaptability to various complex terrains. It mainly includes a chassis drive device 7 and a tracked driving chassis 6. The chassis drive device 7 is used to drive the tracked driving chassis 6 to move. Preferably, the chassis drive device 7 is a hydraulic drive device. Furthermore, it should be noted that the chassis driving mechanism is not limited to the tracked chassis driving mechanism 1, and other structures, such as hovercraft, can be selected according to terrain requirements.

[0034] In this embodiment, the shrub harvesting robot also includes a support frame 9, the bottom of which is mounted on the rotary mechanism 2, and the telescopic mechanism 4 is mounted on the support frame 9. The rotary mechanism 2 can drive the support frame 9 and its components to rotate, wherein the rotary mechanism 2 is preferably a hydraulic rotary device 8.

[0035] In this embodiment, the telescopic mechanism 4 mainly includes a horizontal angle holding arm 14 and a push rod 15. The push rod 15 is disposed on the horizontal angle holding arm 14 along its extension direction, and the push rod 15 can move along the extension direction of the horizontal angle holding arm 14. The direction of movement of the push rod 15 is the telescopic direction of the telescopic mechanism 4. Specifically, a slide rail is provided inside the horizontal angle holding arm 14 along its extension direction. The push rod 15 is slidably disposed in the slide rail, and the tail end of the push rod 15 is connected to a hydraulic rod or a linear motor or other drive mechanism, which can drive the push rod 15 to move. The working arm 16 is installed at the end of the push rod 15 away from the horizontal angle holding arm 14. The working arm 16 is horizontally disposed and perpendicular to the push rod 15. The cutting bracket 21 is initially parallel to and attached to the working arm 16. The transmission shaft 23 of the cutting mechanism 5 is also perpendicular to the push rod 15.

[0036] In this embodiment, the support frame 9 is also provided with a lifting mechanism 3, which can drive the telescopic mechanism 4 to rise and fall, and keep the telescopic mechanism 4 in a horizontal state.

[0037] Specifically, the lifting mechanism 3 mainly includes a height push rod 11, a lifting arm 12, and a horizontal holding push rod 13. One end of the height push rod 11 is hinged to the support frame 9, and the other end is hinged to the lifting arm 12. One end of the lifting arm 12 is hinged to the support frame 9, and the other end is hinged to the horizontal angle holding arm 14 of the telescopic mechanism 4. One end of the horizontal holding push rod 13 is hinged to the lifting arm 12, and the other end is hinged to the horizontal angle holding arm 14 of the telescopic mechanism 4. The height push rod 11 and the lifting arm... The hinge shafts of both the lifting arm 12 and the horizontal holding push rod 13 are horizontally positioned and perpendicular to the extension direction of the horizontal angle holding arm 14. The extension and retraction of the height push rod 11 drives the rotation of the lifting arm 12, thereby raising and lowering the telescopic mechanism 4 and the cutting mechanism 5. During the raising and lowering of the telescopic mechanism 4 and the cutting mechanism 5, the extension and retraction of the horizontal holding push rod 13 keeps the telescopic mechanism 4 horizontal, thus keeping the transmission shaft 23 of the cutting mechanism 5 vertical and the cutting disc 24 horizontal. In this embodiment, the height of the cutting disc 24 can be adjusted and kept horizontal by the lifting mechanism 3, enabling adjustment of the shrub harvesting coppicing height to adapt to the cutting requirements of different shrub coppicing and regeneration processes.

[0038] Furthermore, the aforementioned height push rod 11 and horizontal holding push rod 13 are both hydraulic push rods, which are connected to a hydraulic power pump station 10 for providing hydraulic oil for driving; wherein, the hydraulic power pump station 10 is installed inside the support frame 9.

[0039] In this embodiment, the telescopic mechanism 4 includes two sets of horizontal angle holding arms 14 and push rods 15 arranged side by side. The working arm 16 is fixedly connected between the two push rods 15, and the lifting mechanism 3 is provided with two sets, which are respectively connected to the two horizontal angle holding arms 14.

[0040] In this embodiment, a level sensor 17 is also provided on the horizontal angle holding arm 14 of the telescopic mechanism 4. The level sensor 17 is used to detect the levelness of the telescopic mechanism 4, and the level sensor 17 is connected to the controller of the bush harvesting robot. When the level sensor 17 detects that the telescopic mechanism 4 is not in a horizontal state, it transmits a signal to the controller, and the controller controls the horizontal holding push rod 13 to extend and retract so that the telescopic mechanism 4 is in a horizontal state.

[0041] In this embodiment, the shrub harvesting robot also includes a height detection device, which is used to detect the root cutting height of the shrub; wherein, the height detection device is preferably a vision camera 18, which is also mounted on the horizontal angle holding arm 14 and connected to the controller. By transmitting the height signal to the controller, the controller then controls the lifting mechanism 3 to operate.

[0042] In this embodiment, it should also be noted that the power source for each component of the shrub harvesting robot is not limited to hydraulic drive; electric or new energy power sources can also be selected depending on changes in the working environment and working method.

[0043] The working principle of the shrub harvesting robot in this embodiment is as follows:

[0044] like Figure 2 and Figure 3 As shown, after the shrub harvesting robot is started, the chassis drive unit 7 drives the tracked chassis 6 to move. When it reaches the designated harvesting position, the vision camera 18 observes the shrub root cutting height, and the controller controls the hydraulic power pump station 10 to start, extending the height push rod 11 and pushing the lifting arm 12 to rise. At the same time, the controller adjusts the control level holding push rod 13 to extend or retract according to the signal detected by the level sensor 17, causing the level angle holding arm 14 to swing, so that the level angle holding arm 14 always remains parallel to the horizontal plane. When the working arm 16 is raised to an appropriate height and is horizontal, the push rod 15 is activated, pushing the working arm 16 to extend, thereby pushing the cutting bracket 21 to extend. The working power unit 22 installed on the cutting bracket 21 drives the transmission shaft 23 to rotate, thereby driving the cutting disc 24 to rotate. As the tracked chassis 6 slowly moves towards the shrub, the cutting disc 24 slowly advances towards the shrub, completing the shrub cutting operation.

[0045] like Figure 4As shown, when the shrub harvesting robot travels through complex terrain and encounters shrubs with large crown diameters or uneven distribution, the robot performs point-to-point cutting. When the robot approaches a shrub, the chassis travel mechanism stops, and the slewing mechanism 2 rotates, thereby driving the lifting mechanism 3, the telescopic mechanism 4, and the cutting mechanism 5 to rotate and cut the surrounding shrubs. Simultaneously, the rotary drive device 19 on the working arm 16 can be activated, causing the cutting mechanism 5 to rotate 90°, putting it into a circumferential cutting state. Figure 5 As shown.

[0046] In summary, the shrub harvesting robot of this invention solves the problems of existing harvesting equipment's difficulty in entering complex sites and harvesting; moreover, it changes the existing shrub harvesting mode, enabling fixed-point harvesting and ring cutting, diversifying the harvesting methods, improving harvesting efficiency, and avoiding waste of natural resources; at the same time, the harvesting angle is adjustable to meet the standard requirements for shrub harvesting in complex terrain; this invention promotes the unmanned, automated, and standardized process of harvesting in complex terrain.

[0047] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this 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 this invention.

Claims

1. A shrub harvesting robot, characterized in that: The device includes a chassis driving mechanism, a slewing mechanism, a telescopic mechanism, and a cutting mechanism. The chassis driving mechanism is capable of traveling on complex terrain. The slewing mechanism is mounted on the chassis driving mechanism. The cutting mechanism is mounted on the slewing mechanism via the telescopic mechanism. The slewing mechanism can drive the cutting mechanism to move around the chassis driving mechanism. The telescopic mechanism can drive the cutting mechanism to move toward or away from shrubs. The cutting mechanism is used to cut the shrubs. The shrub harvesting robot also includes a support frame, the bottom of which is mounted on the rotary mechanism, and the telescopic mechanism is mounted on the support frame; the support frame is also provided with a lifting mechanism, which can drive the telescopic mechanism to rise and fall and keep the telescopic mechanism in a horizontal state. The cutting mechanism comprises two sets, which are mounted side-by-side on a cutting support. The cutting support is rotatably mounted on a working arm via a vertically arranged rotating shaft. The working arm is mounted on a telescopic mechanism and is also equipped with a rotary drive device. This rotary drive device can drive the cutting support and the cutting mechanisms on it to rotate around the rotating shaft, thereby adjusting the cutting angle. When the cutting support rotates to a position parallel to the telescopic direction of the telescopic mechanism, the center line connecting the cutting discs of the two cutting mechanisms is parallel to the telescopic direction of the telescopic mechanism. When the shrub harvesting robot is traveling in complex terrain and encounters shrubs with large crown diameters or uneven distribution, the shrub harvesting robot performs point-to-point cutting. The chassis travel mechanism stops moving, and the rotary mechanism rotates, thereby driving the lifting mechanism, the telescopic mechanism, and the cutting mechanism to rotate and cut the surrounding shrubs. Alternatively, the rotary drive device on the working arm can be activated, causing the cutting mechanism to rotate 90°, putting the cutting mechanism into a circumferential cutting state. The lifting mechanism includes a height push rod, a lifting arm, and a horizontal holding push rod. One end of the height push rod is hinged to the support frame, and the other end is hinged to the lifting arm. One end of the lifting arm is hinged to the support frame, and the other end is hinged to the telescopic mechanism. One end of the horizontal holding push rod is hinged to the lifting arm, and the other end is hinged to the telescopic mechanism. The extension and retraction of the height push rod can drive the lifting arm to rotate, thereby realizing the lifting and retraction of the telescopic mechanism and the cutting mechanism. During the lifting and retraction of the telescopic mechanism and the cutting mechanism, the extension and retraction of the horizontal holding push rod can keep the telescopic mechanism in a horizontal state. The telescopic mechanism is also equipped with a level sensor, which is used to detect the levelness of the telescopic mechanism. The level sensor is connected to the controller of the shrub harvesting robot. When the level sensor detects that the telescopic mechanism is not in a horizontal state, it transmits a signal to the controller, and the controller controls the extension and retraction of the horizontal holding push rod to make the telescopic mechanism in a horizontal state.

2. The shrub harvesting robot according to claim 1, characterized in that: The chassis travel mechanism is a tracked chassis travel mechanism, which includes a chassis drive unit and a tracked travel chassis. The chassis drive unit is used to drive the tracked travel chassis to travel.

3. The shrub harvesting robot according to claim 1, characterized in that: The telescopic mechanism includes a horizontal angle holding arm and a push rod. The push rod is disposed on the horizontal angle holding arm along the extension direction of the horizontal angle holding arm and is movable along the extension direction of the horizontal angle holding arm. The cutting mechanism is installed at the end of the push rod away from the horizontal angle holding arm.

4. The shrub harvesting robot according to any one of claims 1-3, characterized in that: The cutting mechanism includes a power unit, a drive shaft, and a cutting disc. The power unit is connected to the cutting disc via the drive shaft and can drive the cutting disc to rotate in order to cut shrubs. The drive shaft is vertically arranged, and the cutting disc is horizontally mounted at the bottom end of the drive shaft.

5. The shrub harvesting robot according to claim 1, characterized in that: The shrub harvesting robot also includes a height detection device for detecting the root cutting height of the shrub.

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