An orchard picking robot

Abstract

The present application relates to an orchard picking robot, which includes a vehicle head, a rear-mounted assembly connected to the vehicle head via a traction pin, and wheels. The robot also includes a bucket mounted on the upper end of the rear-mounted assembly, wherein a low-position conveyor roller and a high-position conveyor roller are arranged in parallel from bottom to top inside the bucket; a low-position manipulator arm and a high-position manipulator arm are fixed at the bottom inside the bucket, a first flexible guide tube is provided between the low-position manipulator arm and the low-position conveyor roller, and a second flexible guide tube is provided between the high-position manipulator arm and the high-position conveyor roller. The present application sets the top of the low-position manipulator arm below the top of the high-position manipulator arm, so that the low-position manipulator arm picks fruits at low positions, while the high-position manipulator arm picks fruits at high positions, thereby widening its picking range and improving the picking robot's coverage of fruits at high and low positions.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural picking equipment, and in particular to an orchard picking robot. Background Art

[0002] my country is a big agricultural country, and agricultural mechanization is mostly concentrated in plain areas. Orchard picking robots are a new trend in agricultural development in recent years. Applying robot technology to the agricultural field will help promote the process of agricultural modernization.

[0003] Chinese patent number CN116872223A discloses a dual-arm collaborative robot for non-destructive harvesting, comprising a robotic arm unit, the robotic arm unit including a clamping mechanical head, a shearing mechanical head, and a robotic arm, the robotic arm being arranged on one side of a chassis mechanism, the clamping mechanical head and the shearing mechanical head being arranged on the robotic arm; and a motion unit including a chassis mechanism, a wheel-foot mechanism, and a storage unit, the wheel-foot mechanism being arranged on one side of the chassis mechanism, and the storage unit being arranged on the other side of the chassis mechanism. The beneficial effect of the present invention is that the fruit is flexibly wrapped by the end effector of one robotic arm, while the fruit stem is cut by the end effector of the other robotic arm, thereby reducing damage to the fruit surface and the damage to the fruit stem, improving the quality of the fruit, and extending the shelf life of the fruit. At the same time, a sensor is placed at the end of the cantilever rod, which cooperates with the end of the robotic arm equipped with a shearing mechanism to achieve shearing positioning, and can also prevent mis-cutting. The chassis has better adaptability to complex terrain.

[0004] However, during the process of conceiving and realizing the above application, the inventors found that in actual use, the above technical solution had a relatively narrow picking range due to the high consistency of the picking height of its dual robotic arms. Summary of the Invention

[0005] In order to solve or partially solve the problems existing in the related art, the present application provides an orchard picking robot.

[0006] To achieve the above objectives, this application is implemented through the following technical solutions:

[0007] An orchard picking robot includes a vehicle head, a rear-mounted assembly connected to the vehicle head via a traction pin, and wheels. The orchard picking robot also includes:

[0008] The bucket is installed on the upper end of the rear-hook assembly, and the interior of the bucket is provided with a low-position conveyor roller and a high-position conveyor roller in parallel from bottom to top;

[0009] The bottom of the low-position mechanical arm and the high-position mechanical arm are fixed in the vehicle bucket, a first flexible guide tube is provided between the low-position mechanical arm and the low-position conveying roller, and a second flexible guide tube is provided between the high-position mechanical arm and the high-position conveying roller;

[0010] Among them, the top of the low-position robotic arm is lower than the top of the high-position robotic arm. The fruits picked by the low-position robotic arm are introduced into the low-position conveyor roller through the first flexible guide tube, and the fruits picked by the high-position robotic arm are introduced into the high-position conveyor roller through the second flexible guide tube.

[0011] Optionally, a power box is installed on one side of the truck bed, and a fruit basket bracket is fixed to the upper end surface of the power box and the other side of the truck bed, and a plurality of fruit baskets are placed in the fruit basket bracket;

[0012] There is a gap between the first flexible guide tube and the low-position conveying roller, and between the second flexible guide tube and the high-position conveying roller, and the fruit basket is placed in the gap.

[0013] Optionally, the low-position conveyor roller and the high-position conveyor roller are installed inside the vehicle bucket through roller brackets. The low-position conveyor roller and the high-position conveyor roller are composed of a plurality of roller tubes. The plurality of roller tubes are rotatably installed on the roller brackets through special-shaped sprockets. The special-shaped sprockets are engaged with a transmission chain, and the transmission chain connects the plurality of roller tubes to form a transmission whole.

[0014] Optionally, the low-position robotic arm is fixed in the truck bed through a first base, and the high-position robotic arm is fixed in the truck bed through a second base. The height of the first base is less than the height of the second base, and the first base and the second base constitute an installation base.

[0015] Optionally, both the low-position robotic arm and the high-position robotic arm include:

[0016] A base is mounted on the upper end of the mounting base, a first joint motor is mounted inside the base, a kit is mounted on the shaft of the first joint motor, a harmonic generator is mounted on the periphery of the kit, the shaft of the first joint motor is connected to the shaft of the harmonic generator, a first flexible pulley is sleeved on the periphery of the harmonic generator, a first rigid pulley is mounted on the periphery of the first flexible pulley, and the first rigid pulley is fixed to the base;

[0017] The first joint motor, the kit, the harmonic generator, the first flexible pulley and the first rigid pulley together constitute a harmonic drive.

[0018] Optionally, a waist rotating platform is provided above the base, the upper end of the waist rotating platform is connected to the micromotor shaft through a key and a joint flange, one end of the micromotor shaft is sleeved with the micromotor, the other end of the micromotor shaft is sleeved with a first bearing, and the end of the first bearing away from the micromotor is sleeved with a retaining ring for axial positioning;

[0019] A waist end cover and a mirror waist end cover are installed around the waist rotating platform, and a first cover is fixed to one side of the waist end cover by a second countersunk screw;

[0020] The upper end of the joint flange is fixed to the upper arm by a third countersunk screw, the upper end of the upper arm is connected to the elbow joint through the motor shaft, one end of the motor shaft is sleeved with a second bearing, the outer periphery of the motor shaft is sleeved with a second flexible pulley, the outer periphery of the second flexible pulley is sleeved with a second rigid pulley, and the upper arm and the elbow joint are fixed with a second cover and a third cover by a fourth countersunk screw.

[0021] Optionally, one side of the elbow joint is connected to the forearm via a second joint motor shaft, the second joint motor shaft is fixed to the elbow joint via a key, one end of the second joint motor shaft is sleeved with a second joint motor, the outer periphery of the second joint motor shaft is sleeved with a joint sealing ring, and the forearm and the elbow joint are fixed by screws;

[0022] A first wrist is fixed to one end of the forearm away from the elbow joint, and an end of the first wrist away from the elbow joint is connected to a palm base via a swing motor shaft. The first wrist is connected to a rotary cylinder for controlling the swing motor shaft via a fifth countersunk screw. The swing motor shaft is fixed to the palm base via a key connection, and a palm is mounted on the palm base.

[0023] The palm base is connected to the first hand claw joint and the second hand claw joint through the first rivet and the second rivet respectively. A telescopic rod is embedded in the first hand claw joint and the second hand claw joint. The telescopic rod is arranged in the telescopic cylinder, and one end of the telescopic rod is connected to the finger push rod.

[0024] Optionally, the rear suspension assembly includes:

[0025] A dump bucket base is provided with a cycloid hydraulic motor installed at one end thereof, the output end of the cycloid hydraulic motor being connected to a first universal joint sleeve via a first intermediate joint, one end of the first universal joint sleeve being connected to a first output joint, one end of the first output joint being connected to an intermediate transmission shaft, the end of the intermediate transmission shaft away from the first output joint being connected to a rear axle assembly, the rear axle assembly being connected to the dump bucket base via a spring connection buckle, and both sides of the rear axle assembly being rotatably connected to wheels;

[0026] Among them, the cycloid hydraulic motor transmits power to the rear axle assembly through the first intermediate section, the first universal joint sleeve, the first output section and the intermediate transmission shaft.

[0027] Optionally, the cycloid hydraulic motor comprises:

[0028] The cycloid stator and the cycloid rotor are meshed with each other to form a stator-rotor pair. A motor housing is provided on one side of the stator-rotor pair. The stator-rotor pair is fixed to the motor housing through a spacer. A linkage shaft is meshed in the middle of the cycloid rotor. One end of the linkage shaft passes through the spacer and extends into the motor housing to be connected to the output shaft. A mounting flange is provided on the side of the motor housing away from the stator-rotor pair. The mounting flange is fixed to the motor housing through a hexagon socket countersunk screw. The front end of the output shaft passes through the mounting flange and extends to the outside of the motor housing to be keyed to the first intermediate section.

[0029] A rear cover is fixed to the other side of the stator-rotor pair via slotted countersunk screws.

[0030] Optionally, the rear axle assembly includes: a rear axle, a rear axle washer, a bearing sleeve, a spring buckle, a first rear axle bolt, a first rear axle nut, a second rear axle bolt, a left half-shaft bearing, a left half-shaft, a planetary arm, a planetary gear, a front end cover, a second output joint, a hub flange, a leaf spring, a third rear axle nut, a third rear axle bolt, a differential main gear, a rear axle end cover, an end cover bolt, a brake pack, an end cover washer, an end cover nut, an input shaft, a second intermediate joint, a second universal joint sleeve, an input bearing, a differential flange, and a right half-shaft;

[0031] The second output section passes through the rear axle and the front end cover from the middle and is fixed by end cover bolts, end cover washers, and end cover nuts. The left and right half shafts are inserted into the rear axle. The planetary arms connect the planetary gears and are fixed to the left half shaft with the bearing sleeve. The differential main gear and the differential flange are fixed to the right half shaft through the third rear axle nut and the third rear axle bolt. The spring buckle fixes the leaf spring to the rear axle. The second rear axle bolt fixes the left half shaft bearing to the rear axle. The first rear axle bolt and the first rear axle nut fix the brake pack to the left half shaft bearing. The hub rim is installed between the brake pack and the left half shaft bearing. The rear axle end cover is fixed to the rear axle by the end cover bolts. The input shaft passes through the rear axle from the middle, and the input bearing is installed on the input shaft. The end of the input shaft is connected to the second universal joint sleeve, and then connected to the second output section through the second intermediate section.

[0032] The beneficial effects of the present application are as follows: the present application sets the top of the low-position robotic arm below the top of the high-position robotic arm, so that the low-position robotic arm picks fruits at low positions, while the high-position robotic arm picks fruits at high positions, thereby widening its picking range and improving the picking coverage rate of the picking robot for fruits at high and low positions; the picked fruits are introduced into the low-position conveyor roller and the high-position conveyor roller through the first flexible guide tube and the second flexible guide tube, and are sent away by the two conveyor rollers. In the present application, the two conveyor rollers constitute a storage and conveying mechanism, which divides the storage and conveying mechanism into two layers, upper and lower, and each robotic arm corresponds to one layer, which do not interfere with each other, thereby improving the storage capacity of single-trip picking.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0035] Figure 1Schematic diagram of the structure of the orchard picking robot shown in the embodiment of the present application;

[0036] Figure 2 1 is a structural diagram of a rear-hook assembly according to an embodiment of the present application;

[0037] Figure 3 Schematic diagram of the structure of the bucket and the robotic arm shown in an embodiment of the present application;

[0038] Figure 4 2 is a front view of the robotic arm shown in an embodiment of the present application;

[0039] Figure 5 is a side view of the robotic arm shown in an embodiment of the present application;

[0040] Figure 6 Schematic diagram of the structure of the cycloid hydraulic motor shown in the embodiment of the present application;

[0041] Figure 7 Schematic diagram of the structure of the rear axle assembly shown in an embodiment of the present application;

[0042] Figure 8 This is another structural schematic diagram of the rear axle assembly shown in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0045] In the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise expressly specified or limited. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0046] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0048] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0049] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0050] In order to make the purpose, technical solutions and beneficial effects of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings to facilitate understanding by technical personnel.

[0051] Example 1:

[0052] See also Figure 1 、 Figure 2 and Figure 3 An orchard picking robot includes a vehicle head 1, a rear-mounted assembly 3 connected to the vehicle head 1 via a traction pin 2, and wheels 6. The orchard picking robot also includes:

[0053] A bucket 62 is mounted on the upper end of the rear suspension assembly 3, and a low-position conveyor roller 67 and a high-position conveyor roller 127 are arranged in parallel from bottom to top inside the bucket 62;

[0054] The bottom of the low-position mechanical arm 65 and the high-position mechanical arm 126 are fixed in the vehicle bucket 4. A first flexible guide tube 60 is provided between the low-position mechanical arm 65 and the low-position conveying roller 67, and a second flexible guide tube 64 is provided between the high-position mechanical arm 126 and the high-position conveying roller 127.

[0055] Among them, the top of the low-level robotic arm 65 is lower than the top of the high-level robotic arm 126. The fruits picked by the low-level robotic arm 65 are introduced into the low-level conveyor roller 67 through the first flexible guide tube 60, and the fruits picked by the high-level robotic arm 126 are introduced into the high-level conveyor roller 127 through the second flexible guide tube 64.

[0056] Specifically, there are three pairs of wheels 6, two pairs of which are located at the bottom of the head 1 and one pair of which is located at the bottom of the truck bed 4. A driving device is provided in the head 1, and the head 1 is connected to the rear-hook assembly 3 via a traction pin 2, so that the entire machine can be driven;

[0057] One end opening of the first flexible guide tube 60 is located below the low-position robotic arm 65, and the other end opening is located above the low-position conveyor roller 67. The first flexible guide tube 60 is fixed to the low-position robotic arm 65 by a traction member, so that the first flexible guide tube 60 can move with the low-position robotic arm 65.

[0058] One end opening of the second flexible guide tube 64 is located below the high-position robotic arm 126, and the other end opening is located above the high-position conveyor roller 127. The second flexible guide tube 64 is fixed to the high-position robotic arm 126 by a traction member, so that the second flexible guide tube 64 can move with the high-position robotic arm 126.

[0059] In this embodiment, the top of the low-position robotic arm 65 is set below the top of the high-position robotic arm 126, so that the low-position robotic arm 65 picks fruits at low positions, while the high-position robotic arm 126 picks fruits at high positions, thereby widening its picking range and improving the picking coverage rate of the picking robot for fruits at high and low positions; the picked fruits are introduced into the low-position conveyor roller 67 and the high-position conveyor roller 127 through the first flexible guide tube 60 and the second flexible guide tube 64, and are sent away by the two conveyor rollers. In this embodiment, the two conveyor rollers constitute a storage and conveying mechanism, which divides the storage and conveying mechanism into two layers, upper and lower, and each robotic arm corresponds to one layer, which do not interfere with each other, thereby improving the storage capacity of single-trip picking.

[0060] It should be noted that the driving device in the front of the vehicle 1 in this embodiment is consistent with the driving device of an ordinary car in the prior art, which is known to those skilled in the art in combination with common knowledge and / or prior art. It is not the focus of disclosure in this embodiment and will not be further elaborated here.

[0061] Example 2:

[0062] See also Figure 3 Based on the first embodiment, optionally, a power box 58 is installed on one side of the vehicle bucket 4, and a fruit basket bracket 70 is fixed to the upper end surface of the power box 58 and the other side of the vehicle bucket 4, and a plurality of fruit baskets 69 are placed in the fruit basket bracket 70;

[0063] There is a gap between the first flexible guide tube 60 and the low-position conveyor roller 67 , and between the second flexible guide tube 64 and the high-position conveyor roller 127 , and a fruit basket 69 is placed in the gap.

[0064] Specifically, a space for accommodating a fruit basket 69 is provided between the first flexible guide tube 60 and the lower conveyor roller 67, and between the second flexible guide tube 64 and the upper conveyor roller 127. Fruits conveyed by the first and second flexible guide tubes 60 and 64 are placed in the fruit basket 69. When the fruit basket 69 is full, the lower and upper conveyor rollers 67 and 127 are respectively activated to remove it. Then, the fruit basket 69 placed in the fruit basket holder 70 is removed and placed under the first and second flexible guide tubes 60 and 64. This process is repeated.

[0065] In this embodiment, a fruit basket 69 is provided to hold fruits so that the fruits can be delivered in time, thereby avoiding the problem of having nowhere to store the fruits after the bucket 4 is full.

[0066] Optionally, the low-level conveyor roller 67 and the high-level conveyor roller 127 are installed inside the truck bucket 62 through a roller bracket 68. The low-level conveyor roller 67 and the high-level conveyor roller 127 are composed of a plurality of roller tubes 73. The plurality of roller tubes 73 are rotatably installed on the roller bracket 68 through a special-shaped sprocket 72. The special-shaped sprocket 72 is engaged with a transmission chain, and the transmission chain connects the plurality of roller tubes 73 to form a transmission whole.

[0067] Specifically, the roller support 68 is fixedly connected to the truck bed 62. The roller support 68 is used to support the low-position conveyor roller 67 and the high-position conveyor roller 127. The special-shaped sprockets 72 are driven by a motor. The motor drives one of the special-shaped sprockets 72 to rotate, and the power is transmitted to the other special-shaped sprockets 72 through the engagement of the sprocket teeth, so that the multiple roller tubes 73 rotate synchronously. In this way, the movement of the fruit basket 69 is achieved.

[0068] Optionally, the low-position robotic arm 65 is fixed in the truck bucket 4 through the first base 61, and the high-position robotic arm 126 is fixed in the truck bucket 4 through the second base 66. The height of the first base 61 is less than the height of the second base 66, and the first base 61 and the second base 66 constitute an installation base.

[0069] Specifically, the first base 61 and the second base 66 are fixed to the bottom of the bucket 4 and are located on the side of the bucket 4 away from the roller support 68, so as to avoid the installation of the base affecting the transmission of the low-level conveyor roller 67 and the high-level conveyor roller 127, and also provide installation space for the installation of the robot arm;

[0070] The height of the first base 61 is smaller than that of the second base 66, so that the top height of the low-position robotic arm 65 installed on the first base 61 is lower than the top height of the high-position robotic arm 126 installed on the second base 66, so that a position difference is formed between the two, thereby widening the picking range.

[0071] Example 3:

[0072] See also Figure 3 、 Figure 4 and Figure 5 Based on the above embodiment, optionally, the low-position robotic arm 65 and the high-position robotic arm 126 both include:

[0073] A base 74 is mounted on the upper end of the mounting base, and a first joint motor 75 is mounted inside the base 74. The first joint motor shaft 80 is inserted into the first joint motor 75. A kit 79 is mounted on the first joint motor shaft 80. A harmonic generator 77 is mounted on the outer periphery of the kit 79. The first joint motor shaft 80 is connected to the shaft of the harmonic generator 77. A first flexible spline 78 is sleeved on the outer periphery of the harmonic generator 77. A first rigid spline 76 is provided on the outer periphery of the first flexible spline 78. The first rigid spline 76 is fixed to the base 74.

[0074] The first joint motor 75 , the assembly 79 , the harmonic generator 77 , the first flexible spline 78 and the first rigid spline 76 together constitute a harmonic drive.

[0075] Specifically, the first joint motor 75 is used to power the entire robotic arm's rotation within the horizontal plane. The first joint motor 75 drives the first flexspline 78 through the sleeve 79. The outer teeth of the first flexspline 78 mesh with the inner teeth of the first rigid pulley 76 to achieve power transmission. The first joint motor 75, sleeve 79, harmonic generator 77, first flexspline 78, and first rigid pulley 76 together constitute a harmonic drive, a novel transmission structure in gear reducers. This drive utilizes the first flexspline 78 to generate a controllable elastic deformation wave, causing the teeth of the first rigid pulley 76 and first flexspline 78 to shift relative to each other, thereby transmitting power and motion. This transmission system is fundamentally different from conventional gear transmissions, possessing unique characteristics in meshing theory, assembly calculations, and structural design. The harmonic drive offers advantages such as high precision and high load-bearing capacity. Compared to conventional reducers, it uses 50% less material, resulting in a reduction of at least one-third in volume and weight.

[0076] It should be noted that the installation of the various components of the harmonic drive belongs to the existing technology and will not be further described here. At the same time, the structures and / or methods not described in detail in this embodiment are known to those skilled in the art in combination with common knowledge and / or existing technology and are not the focus of disclosure in this embodiment.

[0077] Optionally, a waist rotating platform 111 is provided above the base 74, and the waist rotating platform 111 is connected to the base ring 81 at the upper end of the base through a first bolt 82. The upper end of the waist rotating platform 111 is connected to a micro-motor shaft 115 through a key 118 and a joint flange 113. One end of the micro-motor shaft 115 is sleeved with a micro-motor 116, and the other end of the micro-motor shaft 115 is sleeved with a first bearing 114. The end of the first bearing 114 away from the micro-motor 116 is sleeved with a retaining ring 112 for axial positioning;

[0078] A waist end cover 117 and a mirror waist end cover 110 are installed around the waist rotating platform 111. A first cover 84 is fixed to one side of the waist end cover 117 by a second countersunk screw 85.

[0079] The upper end of the joint flange 113 is fixed to the upper arm 87 by the third countersunk screw 86, and the upper end of the upper arm 87 is connected to the elbow joint 92 through the motor shaft 89. One end of the motor shaft 89 is sleeved with a second bearing 120, and the outer periphery of the motor shaft 89 is sleeved with a second flexible spline 88, and the outer periphery of the second flexible spline 88 is sleeved with a second rigid spline 90. The upper arm 87 and the elbow joint 92 are fixed to the second cover 119 and the third cover 121 by the fourth countersunk screw 91.

[0080] Specifically, the micro motor 116, the micro motor shaft 115, the first bearing 114, the micro motor 116, the retaining ring 112 and other components are encapsulated by the waist end cover 117, the mirror waist end cover 110 and the first cover 84. The micro motor 116 drives the arm 87 to rotate in the vertical plane through the micro motor shaft 115 to achieve height adjustment of the arm 87.

[0081] The motor shaft 89 is driven by a motor (not shown). The motor shaft 89, the second flexible pulley 88, and the second rigid pulley 90 constitute a harmonic drive. The harmonic drive is encapsulated by the second cover 119 and the third cover 121. The harmonic drive is used to drive the elbow joint 92 to rotate in a vertical plane to achieve height adjustment of the elbow joint 92.

[0082] In this embodiment, the height adjustment of the upper arm 87 and the elbow joint 92 is achieved by installing a harmonic driver, thereby achieving the height adjustment of the robotic arm.

[0083] It should be noted that other structures and / or methods of the harmonic driver that are not described in detail in this embodiment are known to those skilled in the art in combination with common knowledge and / or existing technologies, and are not the focus of disclosure in this embodiment and will not be further described here.

[0084] Optionally, one side of the elbow joint 92 is connected to a small arm 96 via a second joint motor shaft 94, the second joint motor shaft 94 is fixed to the elbow joint 92 via a key 118, one end of the second joint motor shaft 94 is sleeved with a second joint motor 93, the outer periphery of the second joint motor shaft 94 is sleeved with a joint sealing ring 95, and the small arm 96 is fixed to the elbow joint 92 via screws;

[0085] The end of the forearm 96 away from the elbow joint 92 is fixed to the first wrist 97, and the end of the first wrist 97 away from the elbow joint 92 is connected to the palm base 101 via the swing motor shaft 99. The first wrist 97 is connected to a rotary cylinder 122 for controlling the swing motor shaft 99 via a fifth countersunk screw 123. The swing motor shaft 99 is fixed to the palm base 101 via a key connection 100. The palm 103 is mounted on the palm base 101.

[0086] The palm base 101 is connected to the first hand claw joint 102 and the second hand claw joint 107 through the first rivet 98 and the second rivet 105 respectively. The first hand claw joint 102 and the second hand claw joint 107 are embedded with a telescopic rod 106, which is arranged in the telescopic tube 104. One end of the telescopic rod 106 is connected to the finger push rod 108.

[0087] Specifically, the first hand claw joint 102 and the second hand claw joint 107 form a hand claw 124, the finger push rod 108 and the hand claw 124 are fixed to the finger base 125 by a third rivet 109, and the rotary cylinder 122 is fixed to the first wrist 97 by a fifth countersunk screw 123;

[0088] When the claw 124 is aligned with the fruit, the telescopic cylinder 104 is controlled to push the telescopic rod 106 forward, pushing the finger push rod 108 downward, and then the first claw joint 102 and the second claw joint 107 are opened opposite each other. When the relative distance between the first claw joint 102 and the second claw joint 107 is almost the same as the diameter of the fruit, the telescopic cylinder 104 is controlled to stretch the telescopic rod 106 backward, pulling back the finger push rod 108 and moving it upward, and then the first claw joint 102 and the second claw joint 107 are retracted inward to clamp the fruit. Then the rotating cylinder 122 controls the swing motor shaft 99 to rotate, so that the palm base 101 rotates 180°, and the fruit is placed in the flexible pipe. The other claw 124 grabs the fruit at other positions and puts it into the pipe. The fruit falls along the pipe into the fruit basket 69 on the roller pipe 73, completing a picking process.

[0089] like Figure 3 As shown, each robotic arm is provided with two grippers 124. After one picking action is completed, the grippers 124 can pick two fruits, thus doubling the efficiency on the basis of the original robotic arm picking. In addition, a control box 63 for controlling the movement of the robotic arm is also provided on the truck bed 4, and a visual recognition system for finding the spatial position of apples on the fruit tree is embedded in the robotic arm.

[0090] Example 4:

[0091] See also Figure 2 Based on the above embodiment, optionally, the rear suspension assembly 3 includes:

[0092] The dump base 7 has a cycloid hydraulic motor 8 installed at one end thereof. The output end of the cycloid hydraulic motor 8 is connected to a first universal joint sleeve 10 via a first intermediate section 9. One end of the first universal joint sleeve 10 is connected to a first output section 11. One end of the first output section 11 is connected to an intermediate transmission shaft 12. The end of the intermediate transmission shaft 12 away from the first output section 11 is connected to a rear axle assembly 13. The rear axle assembly 13 is connected to the dump base 7 via a spring connection buckle 14. Both sides of the rear axle assembly 13 are rotatably connected to the wheels 6.

[0093] The cycloid hydraulic motor 8 transmits power to the rear axle assembly 13 through the first intermediate section 9 , the first universal joint sleeve 10 , the first output section 11 and the intermediate transmission shaft 12 .

[0094] Specifically, wheels 6 are installed at both ends of the rear axle assembly 13 through the wheel hub 5. The cycloid hydraulic motor 8 transmits power to the rear axle assembly 13 through the first intermediate section 9, the first universal joint sleeve 10, the first output section 11 and the intermediate transmission shaft 12, and then drives the wheels 6 to rotate. The first intermediate section 9, the first universal joint sleeve 10, the first output section 11 and the intermediate transmission shaft 12 constitute the front half of the universal joint. The rear axle assembly 13 is installed with the rear half of the universal joint at one end close to the intermediate transmission shaft 12. In this way, the cycloid hydraulic motor 8 and the rear axle assembly 13 realize power transmission through the universal joint. The universal joint can realize a large angle of inter-axis angular displacement transmission and has strong flexibility.

[0095] The cycloid hydraulic motor 8 in this embodiment and the drive device in the vehicle head 1 constitute two power systems: a front-drive mechanical power system and a rear-drive hydraulic power system. Under the dual power of the front-drive mechanical power and the rear-drive hydraulic power, the normal operation of the picking robot is guaranteed and the reliability of the device is improved.

[0096] See also Figure 6 、 Figure 7 and Figure 8 Optionally, the cycloid hydraulic motor 8 includes:

[0097] The cycloid stator 22 and the cycloid rotor 21 are meshed with each other to form a stator-rotor pair. A motor housing 18 is provided on one side of the stator-rotor pair. The stator-rotor pair is fixed to the motor housing 18 by a spacer 20. A linkage shaft 19 is meshed with the middle part of the cycloid rotor 21. One end of the linkage shaft 19 passes through the spacer 20 and extends into the motor housing 18 to be connected to the output shaft 23. A mounting flange 24 is provided on the side of the motor housing 18 away from the stator-rotor pair. The mounting flange 24 is fixed to the motor housing 18 by a hexagon socket countersunk screw 25. The front end of the output shaft 23 passes through the mounting flange 24 and extends to the outside of the motor housing 18 to be key-connected to the first intermediate section 9.

[0098] A rear cover 28 is fixed to the other side of the stator-rotor pair via slotted countersunk screws 27 .

[0099] Specifically, after the hydraulic oil enters the cycloid hydraulic motor 8, it flows into the working chambers of the cycloid rotor 21 and the cycloid stator 22. Under the action of the oil pressure, the cycloid rotor 21 is pressed toward one side of the low-pressure chamber and rotates along the internal teeth of the cycloid stator 22. The rotation of the cycloid rotor 21 includes rotation and revolution. The middle part of the cycloid rotor 21 is meshed with a linkage shaft 19. One end of the linkage shaft 19 passes through the spacer 20 and extends to the motor housing 18, where it is connected to the output shaft 23. In this way, the cycloid rotor 21 and the output shaft 23 realize power transmission.

[0100] The front end of the output shaft 23 extends through the mounting flange 24 to the outside of the motor housing 18 and is key-connected to the first intermediate section 9. In this way, through the connection between the output shaft 23 and the first intermediate section 9, the cycloid hydraulic motor 8 and the universal coupling form a transmission structure, so that the power of the cycloid hydraulic motor 8 can be transmitted to the universal coupling.

[0101] It should be noted that other structures and / or methods of the cycloid hydraulic motor 8 that are not described in detail in this embodiment are known to those skilled in the art in combination with common knowledge and / or existing technologies, and are not the focus of disclosure in this embodiment and will not be further elaborated here.

[0102] Optionally, the rear axle assembly 13 includes: a rear axle 29, a rear axle washer 30, a bearing sleeve 31, a spring buckle 32, a first rear axle bolt 33, a first rear axle nut 34, a second rear axle bolt 35, a left half-shaft bearing 36, a left half-shaft 37, a planetary arm 38, a planetary gear 39, a front end cover 40, a second output joint 41, a hub flange 42, a leaf spring 43, a third rear axle nut 44, a third rear axle bolt 45, a differential main gear 46, a rear axle end cover 47, an end cover bolt 48, a brake pack 49, an end cover washer 50, an end cover nut 51, an input shaft 52, a second intermediate joint 53, a second universal joint sleeve 54, an input bearing 55, a differential flange 56 and a right half-shaft 57;

[0103] The second output joint 41 passes through the rear axle 29 and the front end cover 40 from the middle and is fixed by the end cover bolts 48, end cover washers 50, and end cover nuts 51. The left half shaft 37 and the right half shaft 57 are inserted into the rear axle 29. The planetary arm 38 connects the planetary gear 39 and is fixed to the left half shaft 37 with the bearing sleeve 31. The differential main gear 46 and the differential flange 56 are fixed to the right half shaft 57 by the third rear axle nut 44 and the third rear axle bolt 45. The spring buckle 32 fixes the leaf spring 43 to the rear axle 29. The second rear axle bolt 35 fixes the left half-shaft bearing 36 to the rear axle 29, the first rear axle bolt 33 and the first rear axle nut 34 fix the brake pack 49 to the left half-shaft bearing 36, the hub flange 42 is installed between the brake pack 49 and the left half-shaft bearing 36, the rear axle end cover 47 is fixed to the rear axle 29 by the end cover bolts 48, the input shaft 52 passes through the rear axle 29 from the middle, the input bearing 55 is installed on the input shaft 52, the end of the input shaft 52 is connected to the second universal joint sleeve 54, and then connected to the second output section 41 through the second intermediate section 53.

[0104] Specifically, the second output joint 41, the second intermediate joint 53, the second universal joint sleeve 54, and the input shaft 52 constitute the rear half of the universal joint. A satellite gear is provided at the end of the input shaft 52 away from the second intermediate joint 53. Satellite gears are also provided at the ends of the left and right half shafts 37 and 57 away from the wheels 6. The planetary arms 38, the planetary gears 39, the differential main gears 46, and the satellite gears together constitute the differential.

[0105] After the power of the cycloid hydraulic motor 8 is transmitted to the rear axle assembly 13, when the vehicle is moving straight or there is no speed difference between the left and right wheels, the planetary gear 39 does not rotate, and the differential main gear 46 and the satellite gear rotate at the same speed. When the vehicle turns or the left and right wheels have different speeds, the planetary gear 39 starts to rotate to absorb the speed difference generated by the left and right wheels 6. The brake pack 49 slows down the wheel 6 to stop or adjust the driving speed through friction.

[0106] It should be noted that other structures and / or methods of the rear axle assembly 13 that are not described in detail in this embodiment are known to those skilled in the art in combination with common knowledge and / or existing technologies, and are not the focus of disclosure in this embodiment and will not be further elaborated here.

[0107] In addition, this application also has the following advantages:

[0108] 1. Improve picking efficiency: The robot can accurately identify and pick ripe fruits according to pre-set programs, greatly improving picking efficiency and reducing the time and cost of manual picking.

[0109] 2. Solve the problem of labor shortage: Many regions are currently facing the problem of labor shortage. The application of picking robots can partially or completely replace manual picking to alleviate this problem.

[0110] 3. Reduce picking costs: The use of this robot can reduce the cost of fruit picking, which will have a positive impact on the economic benefits of the orchard in the long run.

[0111] 4. Improve picking quality: The robot can accurately pick ripe fruits through visual recognition and intelligent control system, improving the quality and consistency of picking.

[0112] 5. Reduce dependence on chemical pesticides: The robot can more accurately identify ripe fruits, reduce the use of chemical pesticides, and help improve the quality and safety of fruits.

[0113] 6. The robot described in this application is a novel fruit-picking robot that integrates a gripping device, a fruit storage mechanism, and a transport power system. It can handle the picking of various fruits, such as apples and pears, and assist people in fruit picking. Compared to traditional robots, the picking robot described in this application boasts greater flexibility, increased efficiency, and softer gripping capabilities.

[0114] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present application; the dimensions of the drawings are not related to the specific objects, and the dimensions of the objects can be changed arbitrarily.

Claims

1. An orchard picking robot comprising a vehicle head (1), a rear hanging assembly (3) connected to the vehicle head (1) via a traction pin (2), and wheels (6), characterized in that: The orchard picking robot further comprises: A bucket (62) is installed at the upper end of the rear hanging assembly (3), and a low-position conveying roller (67) and a high-position conveying roller (127) are arranged in parallel from bottom to top inside the bucket (62); A low-position mechanical arm (65) and a high-position mechanical arm (126) are fixed at their bottoms in the vehicle bucket (4); a first flexible guide tube (60) is provided between the low-position mechanical arm (65) and the low-position conveying roller (67); and a second flexible guide tube (64) is provided between the high-position mechanical arm (126) and the high-position conveying roller (127); The top of the low-position robotic arm (65) is lower than the top of the high-position robotic arm (126), and the fruits picked by the low-position robotic arm (65) are introduced into the low-position conveyor roller (67) through the first flexible guide tube (60), and the fruits picked by the high-position robotic arm (126) are introduced into the high-position conveyor roller (127) through the second flexible guide tube (64); The rear suspension assembly (3) includes: A dump base (7) is provided with a cycloid hydraulic motor (8) installed at one end thereof, an output end of the cycloid hydraulic motor (8) is connected to a first universal joint sleeve (10) via a first intermediate joint (9), one end of the first universal joint sleeve (10) is connected to a first output joint (11), one end of the first output joint (11) is connected to an intermediate transmission shaft (12), an end of the intermediate transmission shaft (12) away from the first output joint (11) is connected to a rear axle assembly (13), the rear axle assembly (13) is connected to the dump base (7) via a spring connection buckle (14), and both sides of the rear axle assembly (13) are rotatably connected to wheels (6); The cycloid hydraulic motor (8) transmits power to the rear axle assembly (13) through the first intermediate section (9), the first universal joint sleeve (10), the first output section (11) and the intermediate transmission shaft (12); The rear axle assembly (13) includes: a rear axle (29), a rear axle washer (30), a bearing sleeve (31), a spring buckle (32), a first rear axle bolt (33), a first rear axle nut (34), a second rear axle bolt (35), a left half-shaft bearing (36), a left half-shaft (37), a planetary arm (38), a planetary gear (39), a front end cover (40), a second output joint (41), a hub flange (42), a leaf spring (43), a third rear axle nut (44), a third rear axle bolt (45), a differential main gear (46), a rear axle end cover (47), an end cover bolt (48), a brake pack (49), an end cover washer (50), an end cover nut (51), an input shaft (52), a second intermediate joint (53), a second universal joint sleeve (54), an input bearing (55), a differential flange (56) and a right half-shaft (57); The second output section (41) passes through the rear axle (29) and the front end cover (40) from the middle and is fixed by the end cover bolts (48), the end cover washers (50), and the end cover nuts (51). The left half shaft (37) and the right half shaft (57) are inserted into the rear axle (29). The planetary arm (38) is connected to the planetary gear (39) and is fixed to the left half shaft (37) with the bearing sleeve (31). The differential main gear (46) and the differential flange (56) are fixed to the right half shaft (57) through the third rear axle nut (44) and the third rear axle bolt (45). The spring buckle (32) fixes the leaf spring (43) to the rear axle (29). The second rear axle bolt (35) fixes the left half-shaft bearing (36) to the rear axle (29), the first rear axle bolt (33) and the first rear axle nut (34) fix the brake pack (49) to the left half-shaft bearing (36), the hub flange (42) is installed between the brake pack (49) and the left half-shaft bearing (36), the rear axle end cover (47) is fixed to the rear axle (29) through the end cover bolt (48), the input shaft (52) passes through the rear axle (29) from the middle, the input bearing (55) is installed on the input shaft (52), the end of the input shaft (52) is connected to the second universal joint sleeve (54), and then connected to the second output joint (41) through the second intermediate joint (53).

2. The orchard picking robot according to claim 1, characterized in that: A power supply box (58) is installed on one side of the vehicle bucket (4), and a fruit basket bracket (70) is fixed to the upper end surface of the power supply box (58) and the other side of the vehicle bucket (4), and a plurality of fruit baskets (69) are placed in the fruit basket bracket (70); There is a gap between the first flexible guide tube (60) and the low-position conveying roller (67), and between the second flexible guide tube (64) and the high-position conveying roller (127), and a fruit basket (69) is placed in the gap.

3. The orchard picking robot according to claim 1, characterized in that: The low-position conveying roller (67) and the high-position conveying roller (127) are installed inside the vehicle bucket (62) through a roller bracket (68). The low-position conveying roller (67) and the high-position conveying roller (127) are composed of a plurality of roller tubes (73). The plurality of roller tubes (73) are rotatably installed on the roller bracket (68) through a special-shaped sprocket (72). The special-shaped sprocket (72) is engaged with a transmission chain. The transmission chain connects the plurality of roller tubes (73) to form a transmission whole.

4. The orchard picking robot according to claim 1, characterized in that: The low-position mechanical arm (65) is fixed in the vehicle bucket (4) via a first base (61), and the high-position mechanical arm (126) is fixed in the vehicle bucket (4) via a second base (66). The height of the first base (61) is smaller than the height of the second base (66), and the first base (61) and the second base (66) constitute a mounting base.

5. The orchard picking robot according to claim 1 or 4, characterized in that: The low-position robotic arm (65) and the high-position robotic arm (126) both include: A base (74) is mounted on the upper end of the mounting base, a first joint motor (75) is mounted inside the base (74), a kit (79) is mounted on the first joint motor shaft (80), a harmonic generator (77) is mounted on the periphery of the kit (79), the first joint motor shaft (80) is connected to the shaft of the harmonic generator (77), a first flexible wheel (78) is sleeved on the periphery of the harmonic generator (77), a first rigid wheel (76) is provided on the periphery of the first flexible wheel (78), and the first rigid wheel (76) is fixed to the base (74); The first joint motor (75), the kit (79), the harmonic generator (77), the first flexible wheel (78) and the first rigid wheel (76) together constitute a harmonic drive.

6. The orchard picking robot according to claim 5, characterized in that: A waist rotating platform (111) is provided above the base (74); the upper end of the waist rotating platform (111) is connected to a micro-motor shaft (115) via a key and a joint flange (113); one end of the micro-motor shaft (115) is sleeved with a micro-motor (116); the other end of the micro-motor shaft (115) is sleeved with a first bearing (114); and the end of the first bearing (114) away from the micro-motor (116) is sleeved with a retaining ring (112) for axial positioning; A waist end cover (117) and a mirror waist end cover (110) are installed around the waist rotating platform (111), and a first cover (84) is fixed to one side of the waist end cover (117) by a second countersunk screw (85); The upper end of the joint flange (113) is fixed with a large arm (87) by a third countersunk screw (86), the upper end of the large arm (87) is connected to an elbow joint (92) by a motor shaft (89), one end of the motor shaft (89) is sleeved with a second bearing (120), the outer periphery of the motor shaft (89) is sleeved with a second flexible wheel (88), the outer periphery of the second flexible wheel (88) is sleeved with a second rigid wheel (90), and the large arm (87) and the elbow joint (92) are fixed with a second cover (119) and a third cover (121) by a fourth countersunk screw (91).

7. The orchard picking robot according to claim 6, characterized in that: One side of the elbow joint (92) is connected to a small arm (96) via a second joint motor shaft (94), the second joint motor shaft (94) is fixed to the elbow joint (92) via a key (118), one end of the second joint motor shaft (94) is sleeved with a second joint motor (93), the outer periphery of the second joint motor shaft (94) is sleeved with a joint sealing ring (95), and the small arm (96) and the elbow joint (92) are fixed by screws; One end of the forearm (96) away from the elbow joint (92) is fixed with a first wrist (97), one end of the first wrist (97) away from the elbow joint (92) is connected to a palm base (101) via a swing motor shaft (99), the first wrist (97) is connected to a rotary cylinder (122) for controlling the swing motor shaft (99) via a fifth countersunk screw (123), the swing motor shaft (99) is fixed to the palm base (101) via a key connection (100), and a palm (103) is mounted on the palm base (101); The palm base (101) is connected to a first hand claw joint (102) and a second hand claw joint (107) via a first rivet (98) and a second rivet (105), respectively. A telescopic rod (106) is embedded in the first hand claw joint (102) and the second hand claw joint (107). The telescopic rod (106) is arranged in a telescopic cylinder (104). One end of the telescopic rod (106) is connected to a finger push rod (108).

8. The orchard picking robot according to claim 1, wherein: The cycloid hydraulic motor (8) comprises: The cycloid stator (22) and the cycloid rotor (21) are meshed with each other to form a stator-rotor pair, a motor housing (18) is provided on one side of the stator-rotor pair, the stator-rotor pair is fixed to the motor housing (18) through a spacer (20), a linkage shaft (19) is meshed in the middle of the cycloid rotor (21), one end of the linkage shaft (19) passes through the spacer (20) and extends to the inside of the motor housing (18) and is connected to an output shaft (23), a mounting flange (24) is provided on the side of the motor housing (18) away from the stator-rotor pair, the mounting flange (24) is fixed to the motor housing (18) through a hexagon socket countersunk screw (25), and a front end of the output shaft (23) passes through the mounting flange (24) and extends to the outside of the motor housing (18) and is key-connected to the first intermediate section (9); A rear cover (28) is fixed to the other side of the stator-rotor pair via slotted countersunk screws (27).

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