Camellia fruit picking robot

Abstract

This invention relates to the field of agricultural machinery technology and discloses a camellia fruit harvesting robot, which includes a frame, a robotic arm, a connecting mechanism, and a harvesting mechanism. The connecting mechanism includes a first connecting seat, a second connecting seat, and a connecting rope. The harvesting mechanism includes a vibrating motor and at least two grippers. In this invention, the first and second connecting seats are engaged by the contraction or extension of the connecting rope. When engaged, the harvesting mechanism harvests the camellia fruit. After the second connecting seat is vibrated by the vibrating motor, the vibration amplitude transmitted to the first connecting seat is weakened through elastic transmission. This reduces the vibration amplitude of the internal parts of the camellia fruit harvesting robot during harvesting. With the reduced vibration amplitude, the probability of the internal parts of the robot falling off due to vibration is also reduced, ultimately lowering the likelihood of the camellia fruit harvesting robot's lifespan being shortened due to prolonged vibration.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a camellia fruit harvesting robot. Background Technology

[0002] The fruit of the camellia oleifera tree is called camellia oleifera fruit. The fruit is oval or nearly spherical, with a smooth skin, and turns red or black when ripe. The fruit contains camellia oil, a highly nutritious plant oil. Camellia oleifera oil is rich in unsaturated fatty acids, such as linoleic acid and oleic acid, and has health benefits such as lowering blood lipids and anti-oxidation. Camellia oleifera fruit can also be used to make food and cosmetics.

[0003] With the increasing number of people planting camellia oleifera trees, mechanized harvesting equipment can greatly improve the efficiency of harvesting camellia oleifera fruits. Currently, the main harvesting equipment for camellia oleifera fruits includes comb-type, vibrating, and rubber roller-type equipment. Among them, the vibrating camellia oleifera fruit harvesting equipment has the highest harvesting efficiency. However, when the vibrating camellia oleifera fruit harvesting equipment is working, the vibrating motor will drive the entire equipment to vibrate. Prolonged vibration may cause internal parts of the equipment to fall off, leading to the disintegration of some mechanisms and ultimately reducing the service life of the equipment. Summary of the Invention

[0004] The main objective of this invention is to provide a camellia fruit harvesting robot, which aims to reduce the probability of internal parts falling off.

[0005] To achieve the above objectives, the present invention proposes a camellia fruit harvesting robot, comprising:

[0006] frame;

[0007] A robotic arm, one end of which is mounted on the frame;

[0008] A connecting mechanism, comprising a first driving member, a connecting rope, a first connecting seat, and a second connecting seat; the first connecting seat connects to the end of the robotic arm away from the frame; the first driving member is disposed on the first connecting seat, one end of the connecting rope is connected to the output end of the first driving member, and the end of the connecting rope away from the first driving member is connected to the second connecting seat; the first connecting seat has a through hole for the connecting rope to pass through; the first connecting seat and the second connecting seat are engaged and elastically connected; and

[0009] The harvesting mechanism includes a second driving member, a vibration motor, and at least two grippers; the second driving member and the vibration motor are disposed on the second connecting seat, and each of the grippers is disposed on the output end of the second driving member, and the second driving member is used to drive each of the grippers to clamp the tree trunk.

[0010] Optionally, the first connector has a groove communicating with the through hole, and the second connector has a protrusion that engages with the groove.

[0011] Optionally, the harvesting mechanism further includes a connecting plate and a seventh driving member. The seventh driving member is disposed on the second connecting seat, and the connecting plate is disposed on the output end of the seventh driving member. The seventh driving member is used to drive the connecting plate to rotate around the second connecting seat, and the second driving member is disposed on the connecting plate.

[0012] Optionally, the camellia fruit picking robot further includes a collection mechanism, which includes a picking component. The picking component includes a roller with reverse augers at both ends and a collection box. The roller is located on the frame, and the collection box is located on the frame and correspondingly located directly below the center of the roller.

[0013] Optionally, the picking assembly further includes a conveyor belt disposed on the frame, with the two ends of the conveyor belt connected to the roller and the collection box, respectively.

[0014] Optionally, the conveyor belt includes two sprockets, two chains, a third drive unit, and multiple chain plates. The two sprockets are mounted on the frame, and each chain plate is connected to the two sprockets via the two chains. The chain plates are spaced apart on the conveyor belt, and the two sprockets are connected to the output end of the third drive unit.

[0015] Optionally, the conveyor belt further includes a plurality of hollow baskets, each of which is disposed on a corresponding chain plate.

[0016] Optionally, the collection mechanism further includes a collection assembly, which includes a fixed plate, a first connecting strip, a second connecting strip, a push rod, a collection bag, and a zipper structure. The fixed plate is movably disposed at the end of the robotic arm away from the frame, the first connecting strip is movably disposed at the end of the fixed plate away from the robotic arm, and the second connecting strip is movably disposed at the end of the first connecting strip away from the fixed plate. The push rod is movably disposed at the end of the second connecting strip away from the first connecting strip along a straight line extending from the fixed plate. The two ends of the collection bag are respectively connected to the fixed plate and the push rod. The collection bag is provided with a zipper structure, which includes a zipper head and a zipper strip. The zipper head is disposed on the push rod, and the zipper strip extends from the push rod to the fixed plate.

[0017] Optionally, the zipper head includes a zipper latch, a zipper head, an upper zipper plate, a lower zipper plate, and a second spring; the zipper head is disposed on the push rod; the upper zipper plate and the lower zipper plate are disposed opposite the zipper head, the end of the upper zipper plate near the zipper latch abutting and limiting itself in the limiting groove, and the end of the lower zipper plate near the zipper latch is connected to the zipper head through the second spring and abutting and limiting itself in the limiting groove.

[0018] Optionally, the collection assembly further includes a transmission tube, the two ends of which are respectively connected to the collection bag and the collection box.

[0019] In this invention, before harvesting, the first driving component drives the connecting rope to rotate around the roller of the first driving component. As the number of turns of the connecting rope around the roller increases, the distance between the first connecting seat and the second connecting seat decreases until the first connecting seat and the second connecting seat are engaged. At this point, the end of the robotic arm away from the frame is moved to the tea oil tree to be harvested, and the second driving component drives the grippers to move closer together to grip the trunk of the tea oil tree. During harvesting, the first driving component drives the connecting rope to rotate in the opposite direction around the roller of the first driving component, so that the part of the connecting rope wrapped around the roller is no longer wrapped around the roller. Due to gravity, the second connecting seat falls a certain distance, and the first connecting seat and the second connecting seat disengage from the engaged state, but remain elastically connected. At this time, the vibration motor vibrates one of the grippers to vibrate the tea oil tree. After the tea oil tree is vibrated, the tea oil fruit detaches from the tea oil tree, thereby realizing the harvesting of the tea oil fruit. In this invention, since the first connecting seat and the second connecting seat are connected by a connecting rope, and when the vibrating motor vibrates the camellia tree to harvest the camellia fruit, the first connecting seat and the second connecting seat are disengaged from the snap-fit ​​state and are only elastically connected. Therefore, when the second connecting seat is vibrated by the vibrating motor during harvesting, the vibration amplitude transmitted to the first connecting seat is weakened through elastic transmission. This reduces the vibration amplitude of the internal parts of the camellia fruit harvesting robot during harvesting. With the reduced vibration amplitude, the probability of the internal parts of the camellia fruit harvesting robot falling off due to vibration is also reduced, ultimately reducing the likelihood of the camellia fruit harvesting robot's lifespan being shortened due to prolonged vibration. On the other hand, the first connecting seat and the second connecting seat remain elastically connected even when disengaged from the snap-fit ​​state, allowing the second connecting seat to remain directly below the first connecting seat. When the connecting rope is wound around again, the first connecting seat and the second connecting seat can quickly align and snap together. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of an embodiment of the camellia fruit harvesting robot provided by the present invention;

[0022] Figure 2 A three-dimensional structural diagram of the collection mechanism in a camellia fruit harvesting robot;

[0023] Figure 3 A three-dimensional structural diagram of the connecting mechanism in the camellia fruit harvesting robot;

[0024] Figure 4 A three-dimensional structural diagram of the harvesting mechanism in a camellia fruit harvesting robot;

[0025] Figure 5 A three-dimensional structural diagram of the collection component in a camellia fruit harvesting robot;

[0026] Figure 6 A three-dimensional structural diagram of the picking component in a camellia fruit harvesting robot;

[0027] Figure 7 A three-dimensional structural diagram of the zipper head in a camellia fruit harvesting robot;

[0028] Figure 8 A three-dimensional structural diagram of the walking mechanism in a camellia fruit harvesting robot;

[0029] Figure 9 A three-dimensional structural diagram of the robotic arm in a camellia fruit harvesting robot.

[0030] Explanation of icon numbers:

[0031]

[0032]

[0033] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0036] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] Please refer to Figures 1 to 4 To address the problem of easily detached internal parts in camellia fruit harvesting equipment, this invention proposes a camellia fruit harvesting robot 1000, comprising:

[0038] The machine comprises a frame 1, a robotic arm 2, a connecting mechanism 3, and a harvesting mechanism 4. One end of the robotic arm 2 is attached to the frame 1. The connecting mechanism 3 includes a first drive member 31, a connecting rope 35, a first connecting seat 32, and a second connecting seat 33. The first connecting seat 32 connects to the end of the robotic arm 2 furthest from the frame 1. The first drive member 31 is located on the first connecting seat 32. One end of the connecting rope 35 is connected to the output end of the first drive member 31, and the end of the connecting rope 35 furthest from the first drive member 31 is connected to the second connecting seat 33. The first connecting seat 32 has a through hole 321 through which the connecting rope 35 passes. The first connecting seat 32 and the second connecting seat 33 are engaged and elastically connected. The harvesting mechanism 4 includes a second drive member 41, a vibration motor 42, and at least two grippers 43. The second drive member 41 and the vibration motor 42 are located on the second connecting seat 33, and each gripper 43 is located on the output end of the second drive member 41. The second drive member 41 drives each gripper 43 to grip the tree trunk. In the technical solution of this invention, before harvesting, the first driving member 31 drives the connecting rope 35 to rotate around the roller 311 of the first driving member 31. As the number of turns of the connecting rope 35 around the roller 311 increases, the distance between the first connecting seat 32 and the second connecting seat 33 decreases until the first connecting seat 32 and the second connecting seat 33 are engaged. At this time, the end of the robotic arm 2 away from the frame 1 is moved to the front of the camellia tree to be harvested, and the second driving member 41 drives each gripper 43 to move closer to each other to grip the trunk of the camellia tree. During harvesting, the first driving member 31 drives the connecting rope 35 to rotate in the opposite direction around the roller 311 of the first driving member 31, so that the part of the connecting rope 35 wrapped around the roller 311 is no longer wrapped around the roller 311. Due to gravity, the second connecting seat 33 falls a certain distance, and the first connecting seat 32 and the second connecting seat 33 disengage from the engaged state, but remain elastically connected. At this time, the vibrating motor 42 vibrates one of the grippers 43 to vibrate the camellia tree. After the camellia tree is vibrated, the camellia fruit is separated from the camellia tree, thus realizing the harvesting of the camellia fruit.

[0039] In the technical solution of this invention, since the first connecting seat 32 and the second connecting seat 33 are connected by the connecting rope 35, and when the vibration motor 42 vibrates the camellia tree to pick camellia fruit, the first connecting seat 32 and the second connecting seat 33 are disengaged from the snap-fit ​​state and are only elastically connected. Therefore, when the second connecting seat 33 is vibrated by the vibration motor 42 during the picking of camellia fruit, the vibration amplitude transmitted to the first connecting seat 32 is weakened through elastic transmission. This reduces the vibration amplitude of the internal parts of the camellia fruit picking robot 1000 during the picking of camellia fruit. After the vibration amplitude of the internal parts of the camellia fruit picking robot 1000 is reduced, the probability of them falling off due to vibration is also reduced. Ultimately, this reduces the probability of the camellia fruit picking robot 1000 having its service life shortened due to long-term vibration. On the other hand, the first connecting seat 32 and the second connecting seat 33 remain elastically connected when they are disengaged from the snap-fit ​​state, so that the second connecting seat 33 can remain directly below the first connecting seat 32. When the connecting rope 35 is wound around again, the first connecting seat 32 and the second connecting seat 33 can quickly align and snap together.

[0040] It is understood that the snap-fit ​​engagement between the first connecting seat 32 and the second connecting seat 33 can be such that the first connecting seat 32 has a groove communicating with the through hole 321, and the second connecting seat 33 has a protrusion 331 that snaps into the groove; or the first connecting seat 32 has a through hole 321 that is narrower at the top and wider at the bottom, and the second connecting seat 33 has a protrusion 331 that is narrower at the top and wider at the bottom that snaps into the inner wall of the through hole 321. In one embodiment, the first connecting seat 32 has a groove communicating with the through hole 321, and the second connecting seat 33 has a protrusion 331 that snaps into the groove, so that the first connecting seat 32 and the second connecting seat 33 snap into each other.

[0041] Similarly, the first connecting seat 32 and the second connecting seat 33 are elastically connected, which can be through a rubber component or through a spring. In one embodiment, the first connecting seat 32 and the second connecting seat 33 are connected by four first springs 34. The four first springs 34 are symmetrically arranged circumferentially along the through hole 321, so that the first connecting seat 32 and the second connecting seat 33 can still be aligned after disengaging from the snap-fit ​​state, so as to ensure that the first connecting seat 32 and the second connecting seat 33 can quickly snap-fit ​​before the next harvest.

[0042] In one embodiment, the picking mechanism 4 further includes a connecting plate 44 and a seventh driving member 45. The seventh driving member 45 is disposed on the second connecting seat 33, and the connecting plate 44 is disposed on the output end of the seventh driving member 45. The seventh driving member 45 is used to drive the connecting plate 44 to rotate around the second connecting seat 33. The second driving member 41 is disposed on the connecting plate 44, so that the picking mechanism 4 can rotate to achieve more flexible clamping and picking.

[0043] Please refer to Figure 5 and Figure 6In order to collect the harvested camellia fruit, in one embodiment, the camellia fruit harvesting robot 1000 further includes a collection mechanism 5. The collection mechanism 5 includes a picking component 51. The picking component 51 includes a roller 511 with reverse augers at both ends and a collection box 512. The roller 511 is located on the frame 1, and the collection box 512 is located on the frame 1 and is located directly below the middle of the roller 511. The Camellia oleifera fruit harvesting robot 1000 causes the Camellia oleifera fruits to fall from the tree by vibrating the tree. When they fall, the fruits will land on the ground outside the collection range of the collection mechanism. The roller 511 can collect the fallen fruits. During collection, because there are reverse augers at both ends of the roller 511, the fruits will gather towards the middle of the roller 511 under the restriction of the reverse augers. At this time, the collection box 512 located directly below the middle of the roller 511 can collect the fruits gathered by the reverse augers. At the same time, the fruits that fell to the ground before harvesting can also be collected. The collection method is quick and convenient, realizing the automation of Camellia oleifera fruit harvesting and collection.

[0044] In one embodiment, the picking assembly 51 further includes a conveyor belt 513, which is disposed on the frame 1. The two ends of the conveyor belt 513 are respectively connected to the roller 511 and the collection box 512. By connecting the roller 511 and the collection box 512 through the conveyor belt 513, the position of the collection box 512 can be higher than that of the roller 511, thus allowing the collection box 512 to have a larger volume and be able to collect more camellia fruits.

[0045] The conveyor belt 513 can be a belt conveyor 513 or a chain conveyor belt 513. In one embodiment, the conveyor belt 513 includes two sprockets 5131, two chains 5132, a third drive member, and multiple chain plates 5133. The two sprockets 5131 are mounted on the frame 1, and each chain plate 5133 is connected to the two sprockets 5131 via the two chains 5132. The chain plates 5133 are spaced apart on the conveyor belt 513, and the two sprockets 5131 are connected to the output end of the third drive member. The chain conveyor belt 513 is more stable, and the camellia fruit is less likely to slip when transported on the chain plates 5133. It is understood that in one embodiment, the conveyor belt 513 includes ten chain plates 5133.

[0046] The conveyor belt 513 also includes multiple perforated baskets 5134. In one embodiment, the conveyor belt 513 further includes ten perforated baskets 5134, each perforated basket 5134 being correspondingly disposed on a chain plate 5133. When the camellia fruit is conveyed from the ground to the conveyor belt 513 via the roller 511, the roller 511 inevitably picks up some dust, which is then conveyed to the conveyor belt 513 along with the camellia fruit. By holding the camellia fruit in the perforated baskets 5134, some of the dust can be filtered out during the conveyor belt 513's transport process.

[0047] In one embodiment, the collection mechanism 5 further includes a collection component 52, which includes a fixed plate 521, a first connecting bar 522, a second connecting bar 523, a push rod 524, a fourth driving member 525, a fifth driving member 526, a sixth driving member 527, a collection bag, and a zipper structure 530. The fixed plate 521 is rotatably disposed at the end of the robotic arm 2 away from the frame 1. The fourth driving member 525 is disposed on the fixed plate 521, and the first connecting bar 522 is connected to the output end of the fourth driving member 525. The fourth driving member 525 is used to drive the first connecting member to rotate around the fixed plate 521. The fifth driving member 526 is disposed at the end of the first connecting bar 522 away from the fixed plate 521, and the second connecting bar 523 is connected to the output end of the fifth driving member 526. The fifth driving member 526 is used to drive the second connecting bar 523 to rotate around the end of the first connecting bar 522 away from the fixed plate 521; the sixth driving member 527 is located at the end of the second connecting bar 523 away from the first connecting bar 522, and the push rod 524 is connected to the output end of the sixth driving member 527. The sixth driving member 527 is used to drive the push rod 524 to approach or move away from the fixed plate 521; the collection bag connects the fixed plate 521 and the end of the push rod 524 away from the second connecting bar 523. The collection bag is provided with a zipper structure 530. The zipper head of the zipper structure 530 is located at the end of the push rod 524 away from the second connecting bar 523. The zipper strip of the zipper structure 530 extends from the end of the push rod 524 away from the second connecting bar 523 to the fixed plate 521. During harvesting, the collection bag is moved to the branch of the camellia fruit, and the push rod is pushed in the opposite direction of the fixed plate, opening the zipper structure. At this time, the zipper on one side of the collection bag is in the open position, while the zipper on the other side remains in the open position. The trunk of the camellia tree is positioned between the first connecting strip 522 and the second connecting strip 523. The push rod 524 is pushed against the fixed plate 521, closing the zipper structure 530 on the collection bag. The branch of the camellia tree is then vibrated to shake the camellia fruit off the tree, with most of the fruit falling into the collection bag. After collecting the camellia fruit, the push rod 524 is pushed away from the fixed plate 521, opening the zipper structure 530 on the collection bag. The camellia fruit is then removed from the collection bag for future use. This method of collection is convenient and reduces the probability of the camellia fruit falling to the ground and getting covered in dust.

[0048] It is understandable that the collection bag can be a split-left / right type, with zipper structures near the second connecting strip and near the fixing plate that can open and close to achieve the opening and closing of the collection bag; alternatively, it can be a U-shaped zipper fabric, where the lower half of the "U" shape of the U-shaped zipper fabric has a certain degree of elasticity. After the first connecting strip and the second connecting strip perform a clamping action, the zipper structure can close the opening of the upper half of the "U" shape of the U-shaped zipper fabric, thereby achieving a close and tight fit between the collection bag and the tree trunk. In one embodiment, the collection bag is a split-left / right type, with zipper structures near the second connecting strip and near the fixing plate that can open and close to achieve the opening and closing of the collection bag. This design of the collection bag can adapt to most camellia tree shapes and fit the tree trunk well, thereby reducing the chance of camellia fruits falling out of the collection bag during collection.

[0049] Please refer to Figure 7In one embodiment, the zipper head includes a zipper latch plate 5301, a zipper head 5302, an upper zipper plate 5303, a lower zipper plate 5304, and a second spring 5305; the zipper head 5302 is located at the end of the push rod 524 away from the second connecting bar 523; the zipper latch plate 5301 is located on the second connecting bar 523 and forms a limiting groove 53011; the upper zipper plate 5303 and the lower zipper plate 5304 are disposed opposite the zipper head 5302, and at least one of the upper zipper plate 5303 and the lower zipper plate 5304 is present. The portion of the upper zipper plate 5303 that is in contact with the zipper head 5302 has one end near the zipper plate 5301 abutting against and being limited in the limiting groove 53011. The lower zipper plate 5304 that is near the zipper plate 5301 is connected to the zipper head 5302 via a second spring 5305 and abuts against and is limited in the limiting groove 53011. A gap is formed between the end of the upper zipper plate 5303 away from the zipper plate 5301 and the end of the lower zipper plate 5304 away from the zipper plate 5301 to allow the zipper strip of the zipper structure 530 to pass through. The zipper head 5302, upper zipper plate 5303, and lower zipper plate 5304 are connected by hinges. The upper zipper plate 5303 abuts against the upper part of the inner wall of the limiting groove 53011, and the lower zipper plate 5304 abuts against the lower part of the inner wall of the limiting groove 53011. Since both the upper and lower parts of the inner wall of the limiting groove 53011 have a certain slope, when the zipper head 5302 moves into the limiting groove 53011, the end of the upper zipper plate 5303 near the limiting groove 53011 will move downward due to the limitation of the limiting groove 53011, and the end of the upper zipper plate 5303 away from the limiting groove 53011 will tilt upward. Similarly, the end of the lower zipper plate 5304 near the limiting groove 53011 will move upward, while the end of the lower zipper plate 5304 away from the limiting groove 53011 will tilt upward. One end of the retaining groove 53011 will tilt downwards, and the ends of the upper zipper plate 5303 and the lower zipper plate 5304 away from the retaining groove 53011 will move away from each other, thus realizing the opening action of the zipper structure 530. When the zipper head 5302 moves away from the retaining groove 53011, the end of the upper zipper plate 5303 away from the retaining groove 53011 will fall down due to gravity, while the end of the lower zipper plate 5304 near the retaining groove 53011 will move upwards due to the elastic force of the second spring 5305. Therefore, the end of the lower zipper plate 5304 away from the retaining groove 53011 will tilt upwards, and the ends of the upper zipper plate 5303 and the lower zipper plate 5304 away from the retaining groove 53011 will move closer to each other, thus realizing the closing action of the zipper structure 530. During harvesting, a collection bag is placed over the camellia fruit to be harvested above the branch, and the push rod 524 is pushed against the fixing plate 521 to close the zipper structure 530 on the collection bag. Then the branches of the camellia tree are vibrated to shake the camellia fruit off, at which point most of the camellia fruit falls into the collection bag.After collecting the camellia fruits, push the lever 524 away from the fixing plate 521, causing the zipper structure 530 on the collection bag to open, and take out the camellia fruits from the collection bag for the next use. This collection method is convenient and reduces the probability of the camellia fruits falling to the ground and getting dusty.

[0050] In one embodiment, the collecting component 52 further includes a transfer pipe 528 and a collecting tray 529. The two ends of the transfer pipe 528 are connected to a collecting bag and the collecting tray 529, respectively. The collecting tray 529 has an opening at its end away from the transfer pipe 528, located above the conveyor belt 513. The collecting bag collects the camellia fruit, which is then transferred through the transfer pipe to the collecting tray 529 and falls onto the conveyor belt 513 through the opening, where it is transported to the collecting box 512. During harvesting, the left and right parts of the collecting bag are used to clamp the camellia tree trunk, covering the fruit to be harvested within the bag. The push rod 524 is pushed against the fixing plate 521, closing the zipper structure 530 on the collecting bag. The branches of the camellia tree are then vibrated to shake the fruit off, at which point most of the fruit falls into the collecting bag. The camellia fruits collected in the collection bag are transported to the collection tray 529 through the transfer pipe 528, and then fall into the collection box 512 from the opening of the collection tray 529. This eliminates the need to open the collection bag to collect the camellia fruits, simplifying the collection process.

[0051] Please refer to Figure 8 In one embodiment, the camellia fruit harvesting robot 1000 further includes a walking mechanism 6, which includes two tracks 61, four track wheels 62, and two swing arms 63. The four track wheels 62 are spaced apart on both sides of the frame 1, the two tracks 61 are respectively fitted on the four track wheels 62, and the two swing arms 63 are located on both sides of the frame 1. The track wheels 62 drive the tracks 61 to move, thereby driving the frame 1 to move so that the camellia fruit harvesting robot 1000 can move. The swing arms 63 rotate so that the camellia fruit harvesting robot 1000 can traverse complex terrain.

[0052] Please refer to Figure 9 In one embodiment, the robotic arm 2 includes a turntable 21, a first link 22, a second link 23, and a rotating connector 24. The turntable 21 is movably mounted on the frame 1. The first link 22 is rotatably mounted on the turntable 21. The second link 23 is rotatably mounted at the end of the first link 22 away from the turntable 21. The rotating connector 24 is rotatably mounted at the end of the second link 23 away from the first link 22. A fixed plate 521 and a first connecting seat 32 are mounted on the rotating connector 24. This enables the robotic arm 2 to rotate omnidirectionally, thereby enabling the picking mechanism 4 and the collecting mechanism 5 to rotate flexibly, allowing the camellia fruit picking robot 1000 to pick camellia fruits omnidirectionally and flexibly.

[0053] It is understood that the first driving component 31, the second driving component 41, the third driving component, the fourth driving component 525, the fifth driving component 526, the sixth driving component 527, the seventh driving component 45, and the rotational driving component can all be drive motors or worm gear reducers. In the technical solution of this invention, the first driving component 31, the second driving component 41, the third driving component, the fourth driving component 525, the fifth driving component 526, the sixth driving component 527, the seventh driving component 45, and the rotational driving component are all worm gear reducers.

[0054] In the technical solution of this invention, the harvesting steps of the camellia fruit harvesting robot 1000 are as follows: the walking mechanism 6 moves the frame 1 to the side of the camellia tree, adjusts the robotic arm 2 according to the position of the camellia tree, and after the robotic arm 2 is in place, the gripper 43 of the harvesting mechanism 4 clamps the trunk of the camellia tree; after the gripper 43 clamps the trunk of the camellia tree, the first connecting seat 32 and the second connecting seat 33 of the connecting mechanism 3 disengage from the latching state, and at the same time, the collecting mechanism 5 is controlled to open the zipper structure 530, so that the collecting bag is clamped on the trunk of the camellia tree to cover the camellia fruit. After the camellia fruit is caught, the collection mechanism 5 closes the zipper structure 530, and the vibration motor 42 of the picking mechanism 4 vibrates the trunk of the camellia tree, causing the camellia fruit to detach from the tree and fall into the collection bag. The camellia fruit in the collection bag is transferred to the collection box 512 through the transmission pipe 528. After the picking is completed, the camellia fruit picking robot 1000 uses the picking component 51 to collect the camellia fruit that has fallen on the ground. After cleaning, the entire workflow ends, and the camellia fruit picking robot 1000 moves to another camellia tree to start a new round of work.

[0055] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A camellia fruit harvesting robot (1000), characterized in that, include: Rack (1); A robotic arm (2), one end of which is mounted on the frame (1); A connecting mechanism (3) includes a first driving member (31), a connecting rope (35), a first connecting seat (32), and a second connecting seat (33); the first connecting seat (32) connects to the end of the robotic arm (2) away from the frame (1); the first driving member (31) is disposed on the first connecting seat (32), one end of the connecting rope (35) is connected to the output end of the first driving member (31), and the end of the connecting rope (35) away from the first driving member (31) is connected to the second connecting seat (33); the first connecting seat (32) has a through hole (321) through which the connecting rope (35) passes; the first connecting seat and the second connecting seat are engaged and elastically connected; and The harvesting mechanism (4) includes a second drive member (41), a vibration motor (42), and at least two grippers (43); the second drive member (41) and the vibration motor are disposed on the second connecting seat (33), and each of the grippers (43) is disposed on the output end of the second drive member (41). The second drive member (41) is used to drive each of the grippers (43) to clamp the tree trunk. The camellia fruit picking robot (1000) also includes a collection mechanism (5), which includes a picking component (51). The picking component (51) includes a roller (511) with reverse augers at both ends and a collection box (512). The roller (511) is located on the frame (1), and the collection box (512) is located on the frame (1) and is located directly below the center of the roller (511). The collection mechanism (5) further includes a collection component (52), which includes a fixing plate (521), a first connecting strip (522), a second connecting strip (523), a push rod (524), a collection bag, and a zipper structure (530). The fixing plate (521) is movably disposed at one end of the robotic arm (2) away from the frame (1), the first connecting strip (522) is movably disposed at one end of the fixing plate (521) away from the robotic arm (2), and the second connecting strip (523) is movably disposed at one end of the fixing plate (522) away from the robotic arm (2). The fixed plate (521) is located at one end; the push rod (524) is movably disposed at the end of the second connecting strip (523) away from the first connecting strip (522) along the straight direction of the fixed plate (521); the two ends of the collection bag are respectively connected to the fixed plate (521) and the push rod (524); the collection bag is provided with a zipper structure (530), the zipper structure (530) includes a zipper head and a zipper strip, the zipper head is disposed on the push rod (524), and the zipper strip extends from the push rod (524) to the fixed plate (521).

2. The camellia fruit harvesting robot (1000) as described in claim 1, characterized in that, The first connecting seat (32) has a groove communicating with the through hole (321), and the second connecting seat (33) has a protrusion (331) that engages with the groove.

3. The camellia fruit harvesting robot (1000) as described in claim 1, characterized in that, The harvesting mechanism further includes a connecting plate (44) and a seventh driving member (45). The seventh driving member (45) is disposed on the second connecting seat (33), and the connecting plate (44) is disposed on the output end of the seventh driving member (45). The seventh driving member (45) is used to drive the connecting plate (44) to rotate around the second connecting seat (33). The second driving member (41) is disposed on the connecting plate (44).

4. The camellia fruit harvesting robot (1000) as described in claim 1, characterized in that, The picking assembly (51) also includes a conveyor belt (513), which is disposed on the frame (1), and the two ends of the conveyor belt (513) are respectively connected to the roller (511) and the collection box (512).

5. The camellia fruit harvesting robot (1000) as described in claim 4, characterized in that, The conveyor belt (513) includes two sprockets (5131), two chains (5132), a third drive unit, and multiple chain plates (5133). The two sprockets (5131) are mounted on the frame (1). Each chain plate (5133) is connected to the two sprockets (5131) through the two chains (5132). Each chain plate (5133) is spaced apart on the conveyor belt (513). The two sprockets (5131) are connected to the output end of the third drive unit.

6. The camellia fruit harvesting robot (1000) as described in claim 5, characterized in that, The conveyor belt (513) also includes a plurality of hollow baskets (5134), each of the hollow baskets (5134) being disposed on a chain plate (5133).

7. The camellia fruit harvesting robot (1000) as described in claim 1, characterized in that, The zipper head includes a zipper latch plate (5301), a zipper head (5302), an upper zipper plate (5303), a lower zipper plate (5304), and a second spring (5305); the zipper head (5302) is located on the push rod (524); the zipper latch plate (5301) is located on the second connecting strip (523) and forms a limiting groove (53011); the upper zipper plate (5303) and the lower zipper plate (5304) are connected by a second spring (5305). 304) The upper zipper plate (5303) is positioned relative to the zipper head (5302), with one end of the upper zipper plate (5303) near the zipper clip (5301) abutting and limiting the end of the lower zipper plate (5304) near the zipper clip (5301) connected to the zipper head (5302) via the second spring (5305), and abutting and limiting the end of the lower zipper plate (5304) near the zipper clip (5301).

8. The camellia fruit harvesting robot (1000) as described in claim 1, characterized in that, The collection assembly (52) further includes a transmission tube (528), the two ends of which are connected to the collection bag and the collection box (512), respectively.

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