Strawberry harvesting robot capable of continuous large batch picking

Abstract

The present application relates to the technical field of agricultural harvesting machinery, and discloses a cross-ridge strawberry harvesting robot capable of realizing continuous large-batch picking, which comprises a walking mechanism, a picking mechanism, a collecting mechanism and a control module. Compared with the prior art, the cross-ridge strawberry harvesting robot adopts a four-wheel four-steering walking mechanism, can flexibly walk and turn between ridges, realizes continuous large-batch picking, and improves picking efficiency. The variable-width module can adjust the distance between the left and right driving modules, adapt to different ridge distances, and avoid damaging strawberry plants and fruits. The picking mechanism comprises a mechanical arm and a special synchronous belt, can accurately position and pick strawberry fruits, and reduces damage to the fruits. The picking hand is designed ingeniously, can complete picking by cutting off the fruit stem and clamping the fruit, and avoids directly contacting the fruit. These advantages make the cross-ridge strawberry harvesting robot have great advantages in practical application, and can significantly improve the efficiency and quality of strawberry picking.

Description

Technical Field

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

[0002] In recent years, as the world's largest strawberry producer, China has seen an upward trend in both strawberry planting area and yield, leading to a growing market demand for automated strawberry harvesting robots. However, existing strawberry harvesting robot technology faces numerous challenges. First, most strawberry cultivation in China uses ridge planting, which limits the overall structural design of the robots. Second, strawberry fruits are relatively fragile, and mechanical harvesting can easily cause damage. Furthermore, strawberries have a short ripening period, requiring rapid, large-scale harvesting after ripening, which places higher demands on harvesting efficiency. Existing technologies and products are insufficient to effectively address these challenges.

[0003] Early strawberry picking robots primarily used robotic arms and picking manipulators. However, this method required immediate storage of each strawberry after picking, resulting in low efficiency and failing to meet the demands of large-scale, rapid picking. To improve picking efficiency, continuous picking actuators were subsequently developed. However, even after picking multiple strawberries consecutively, these actuators still require storing the fruit before proceeding to the next picking cycle, indicating room for further efficiency improvement.

[0004] Therefore, there is an urgent need in the market for a strawberry harvesting robot that can walk between the ridges of the field and complete large-scale harvesting tasks with high efficiency to meet the demand for rapid harvesting. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a cross-row strawberry harvesting robot capable of continuous, large-scale harvesting. This robot can move along the ridges of strawberry fields and perform efficient harvesting operations. The technical solution of this invention is as follows:

[0006] This invention proposes a cross-row strawberry harvesting robot capable of continuous, large-scale harvesting, comprising a walking mechanism, a picking mechanism, a collecting mechanism, and a control module.

[0007] Specifically, the control module is located above the collecting mechanism, the walking mechanism and the picking mechanism are located below the collecting mechanism, the steering module is connected to the widening module, and one end of the drive module is connected to the steering module.

[0008] Specifically, the walking mechanism includes a drive module, a steering module, and a widening module.

[0009] Specifically, the drive module includes a wheel frame, off-road wheels, axles, bearings, a motor, and a belt drive system; the steering module includes an outer column, an inner column, a servo motor, a gear set, a thrust bearing, and a radial bearing; and the widening module includes a base plate, an electric push rod, a widening frame, a sliding base, and a sliding guide rail.

[0010] Specifically, the motor is parallel to the axle and positioned above it. The upper end of the outer column is fixedly connected to the sliding base, while the lower end of the outer column is rotatably connected to the wheel frame via a thrust bearing. The upper end of the inner column is fixedly connected to the driven wheel of the gear set, while the lower end of the inner column is fixedly connected to the wheel frame. The outer column and the inner column are rotatably connected via a radial bearing. The upper end of the servo motor is fixedly connected to the sliding base. The output shaft of the servo motor is fixedly connected to the driving wheel in the gear set. The electric push rod is arranged horizontally. The electric push rod is perpendicular to and fixedly connected to the crossbar of the widening frame. The two sides of the crossbar of the widening frame are perpendicular to and fixedly connected to the longitudinal bar. The longitudinal bar of the widening frame is fixedly connected to the sliding base.

[0011] Specifically, the harvesting mechanism includes a robotic arm, a harvesting timing belt, a harvesting hand, a harvesting-side energy release module, a collecting-side energy storage module, and a timing belt guide module.

[0012] Specifically, the end of the robotic arm is connected to the harvesting-side energy release module, the harvesting-side energy release module is connected to the collecting-side energy storage module through the harvesting synchronization belt, and the harvesting synchronization belt is connected to the harvesting hand through a connecting pin.

[0013] Specifically, the harvesting hand includes a base, a left claw, a right claw, and a stop assembly; the base is a hollow structure, and the left claw, the right claw, and the stop assembly are disposed inside the base; the bottom of the base is connected to the harvesting timing belt via a connecting pin; the base is provided with a positioning hole, which is funnel-shaped.

[0014] Specifically, the right claw includes a right claw tip, a right claw seat, a cutter, a spring shaft, a rotating shaft, a spring, and a torsion spring; the top of the rotating shaft has a butterfly-shaped groove, and the rotating shaft rotates on the base; the torsion spring is wound around the middle of the rotating shaft; one end of the torsion spring is connected to the left claw, and the other end is connected to the right claw; the right claw seat is connected to the right claw tip through the spring shaft; the cutter is mounted above the right claw seat, and the cutting edge of the cutter extends beyond the left edge of the right claw seat.

[0015] Specifically, the stop assembly includes a hook, a stop block, a stop block guide rail, a stop pin, and a stop spring; the hook is fixedly connected to the right claw, and the stop block guide rail is fixedly connected to the base; the stop block guide rail has a longitudinal guide groove, and the stop block moves within the guide groove; the stop block is perpendicular to and fixedly connected to the stop pin, and the stop spring is provided outside the stop pin; the stop pin is cylindrical, and the stop pin material is ferromagnetic.

[0016] Specifically, the harvesting-side energy release module includes a harvesting drive wheel frame, a harvesting drive wheel, a harvesting stepper motor, an upper harvesting positioning block, a lower harvesting positioning block, and a harvesting tensioning device; the harvesting drive wheel frame is fixedly connected to the end joint of the robotic arm; the harvesting drive wheel is disposed inside the harvesting drive wheel frame; the upper harvesting positioning block is fixedly disposed above the harvesting drive wheel frame; the harvesting stepper motor and the lower harvesting positioning block are fixedly disposed below the harvesting drive wheel frame; an electromagnet is disposed inside the upper positioning block, and a camera is mounted above the upper positioning block.

[0017] Specifically, the energy storage module on the collection side includes an energy storage drive wheel frame, an energy storage drive wheel, an energy storage stepper motor, an energy storage upper positioning block, an energy storage lower positioning block, an energy storage device, an energy storage support column, and an energy storage tensioning device. The energy storage device includes an upper positioning block cover plate, an energy storage gear set, a positioning component, and a screwdriver assembly. The energy storage drive wheel frame is connected to the energy storage support column, and the energy storage upper positioning block is connected to the control module via a connecting fastener. The upper positioning block cover plate is fixed above the energy storage upper positioning block, and the energy storage stepper motor and the energy storage gear set are positioned above the upper positioning block cover plate. One end of the energy storage stepper motor is fixedly connected to the drive wheel of the energy storage gear set. The positioning component and the screwdriver assembly are disposed inside the energy storage upper positioning block. The positioning component and the screwdriver assembly are fixedly connected to the driven wheel of the energy storage gear set.

[0018] Furthermore, the screwdriver assembly includes a screwdriver head, a screwdriver roller, a screwdriver spatial cam, a screwdriver tension spring, a screwdriver holder, and a screwdriver wheel axle. The positioning assembly includes a positioning post, a positioning roller, a positioning spatial cam, a positioning tension spring, a positioning base, and a positioning wheel axle. The screwdriver head has a slotted head and a hollow internal structure. The screwdriver roller passes through the screwdriver head. The screwdriver spatial cam and the positioning spatial cam are mounted below the upper positioning block cover. One end of the screwdriver wheel axle is fixedly connected to the driven wheel of the energy storage gear set, and the other end is fixedly connected to the screwdriver holder. The screwdriver tension spring passes through the screwdriver holder, with one end connected to the screwdriver roller and the other end connected to the screwdriver wheel axle. The positioning post is positioned above the positioning spatial cam.

[0019] Specifically, the synchronous belt guiding module includes a guide plate, a guide wheel, a guide wheel frame, a guide wheel shaft, and a guide bracket; the guide plate and the guide bracket are fixed on both sides of the harvesting mechanism; the guide wheel is disposed between the guide plate and the guide bracket; the guide wheel frame is disposed inside the guide wheel.

[0020] Specifically, the collection mechanism includes a collection timing belt, a collection drive wheel, a collection driven wheel, a collection drive wheel frame, a collection driven wheel frame, a collection trolley, a collection basket, and a collection stepper motor;

[0021] Specifically, the collection active wheel frame and the collection passive wheel frame are connected by the collection synchronous belt, the collection synchronous belt is connected to the collection trolley by the positioning pin, the collection trolley is equipped with a collection basket, the collection stepper motor is fixedly connected to the collection active wheel frame, and the output shaft of the collection stepper motor is fixedly connected to the wheel axle of the active wheel;

[0022] Specifically, the control module includes a robotic arm controller, a robotic arm controller mounting frame, an electrical control support plate, an electrical control support column, and an electrical control assembly;

[0023] Specifically, the robotic arm controller mounting bracket is located below the harvesting mechanism and houses the robotic arm controller inside. The electric control support plate is fixedly mounted above the harvesting mechanism via the electric control support column, and the upper part of the electric control support plate is fixedly connected to the electric control component.

[0024] Furthermore, the electric actuator is equipped with a power supply line and a control signal line, which are connected to the electric control assembly through the electric control support plate.

[0025] The advantages of this invention are as follows:

[0026] 1. This invention adopts a four-wheel drive and four-steering walking mechanism, which can move and turn flexibly between the ridges, realize continuous large-scale harvesting, and improve harvesting efficiency.

[0027] 2. The widening module can adjust the distance between the left and right drive modules to adapt to different row spacings and avoid damage to strawberry plants and fruits.

[0028] 3. The harvesting mechanism can accurately locate and harvest strawberry fruits, minimizing damage to the fruit. The harvester is cleverly designed to cut the stem and hold the fruit to complete the harvest, avoiding direct contact with the fruit.

[0029] 4. The control module can precisely control the robotic arm and the harvesting process to ensure the smooth progress of the harvesting process.

[0030] 5. The robot can automatically complete the entire process of picking, transporting and storing strawberries, reducing human intervention and improving work efficiency and stability. Attached Figure Description

[0031] 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 one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific part, respectively.

[0033] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the overall structure of the walking mechanism in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the overall structure of the drive module of the walking mechanism in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the upper structure of the steering module of the walking mechanism in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the lower end structure of the steering module of the walking mechanism in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the widening module structure of the walking mechanism in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the walking mechanism structure of the mounting robotic arm according to an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the harvesting synchronization belt structure of the harvesting mechanism in an embodiment of the present invention:

[0041] Figure 9 This is a schematic diagram of the harvesting synchronization belt structure with a harvester installed in an embodiment of the present invention;

[0042] Figure 10 This is a schematic diagram of the harvesting hand structure of the harvesting mechanism in an embodiment of the present invention;

[0043] Figure 11 This is a schematic diagram of the right claw structure of the harvesting hand in an embodiment of the present invention;

[0044] Figure 12 This is a schematic diagram of the stop component structure of the picking hand in an embodiment of the present invention;

[0045] Figure 13 This is a schematic diagram of the overall structure of the harvesting-side energy release module in an embodiment of the present invention;

[0046] Figure 14 This is a schematic diagram of the overall structure of the energy storage module on the collection side in an embodiment of the present invention;

[0047] Figure 15 This is a schematic diagram of the energy storage device structure of the energy storage module on the collection side in an embodiment of the present invention;

[0048] Figure 16 for Figure 15 Schematic diagram of the screwdriver assembly structure of the energy storage device;

[0049] Figure 17 This is a schematic diagram of the synchronous belt guide module structure of the harvesting mechanism in an embodiment of the present invention;

[0050] Figure 18 This is a schematic diagram of the overall structure of the collection mechanism in an embodiment of the present invention;

[0051] Figure 19 and Figure 20 This is a schematic diagram of the control module in an embodiment of the present invention.

[0052] The meanings of the reference numerals in the above figures are as follows:

[0053] 1. Walking mechanism; 11. Drive module; 111. Wheel frame; 112. Off-road wheel; 113. Motor; 12. Steering module; 121. Outer column; 122. Inner column; 123. Servo motor; 124. Gear set; 125. Thrust bearing; 126. Connection port; 13. Wiring module; 131. Electric push rod; 132. Wiring frame; 133. Sliding base; 134. Sliding guide rail; 2. Harvesting mechanism; 21. Robotic arm; 22. Harvesting timing belt; 221. Connecting pin; 23. Harvester hand; 231. Base; 232. Left claw; 233. Right claw; 2331. Right claw tip; 2332. Right claw base; 2333. Cutting... 2334. Knife; 2335. Spring shaft; 2336. Rotating shaft; 2337. Spring; 234. Stopping component; 2341. Hook; 2342. Stop block; 2343. Stop block guide rail; 2344. Stop pin; 2345. Stop spring; 235. Positioning hole; 236. Stop pin guide hole; 237. Root hole; 24. Harvesting side energy release module; 241. Harvesting drive wheel frame; 242. Harvesting stepper motor; 243. Upper harvesting positioning block; 244. Lower harvesting positioning block; 245. Harvesting tensioning device; 2451. Harvesting tensioning wheel adapter block; 2452. Harvesting tensioning wheel frame; 2453. Harvesting tensioning wheel; 246. Camera; 25. Energy storage module on the collection side; 251. Energy storage drive wheel frame; 252. Energy storage stepper motor; 253. Upper energy storage positioning block; 254. Lower energy storage positioning block; 255. Energy storage tensioning device; 2551. Energy storage tensioning wheel adapter block; 2552. Energy storage tensioning wheel frame; 2553. Energy storage tensioning wheel; 256. Energy storage gas spring; 257. Energy storage support column; 258. Energy storage device; 2581. Screwdriver assembly; 25811. Screwdriver tip; 25812. Screwdriver roller; 25813. Screwdriver spatial cam; 25814. Screwdriver tension spring; 25815. Screwdriver holder; 25816. 1. Screwdriver wheel shaft; 2582. Positioning assembly; 2583. Upper positioning block cover plate; 2584. Energy storage gear set; 26. Synchronous belt guide module; 261. Guide plate; 262. Guide wheel; 263. Guide wheel frame; 264. Guide bracket; 3. Collection mechanism; 31. Collection synchronous belt; 32. Collection drive wheel; 33. Collection driven wheel; 34. Collection drive wheel frame; 35. Collection driven wheel frame; 36. Collection trolley; 37. Collection basket; 38. Collection stepper motor; 4. Control module; 41. Robotic arm controller; 42. Robotic arm controller mounting bracket; 43. Electrical control support plate; 44. Electrical control support column; 45. Electrical control assembly. Detailed Implementation

[0054] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the detailed description is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0056] In the description of specific embodiments of the present invention, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, "multiple" means two or more, unless otherwise explicitly defined.

[0057] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0058] In the description of the embodiments of this invention, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0059] Throughout this invention, numerical values ​​represent approximate measurements or limits of a range to cover minute deviations from a given value, as well as embodiments with approximately the mentioned value and embodiments with the exact mentioned value. Except for the working examples provided at the end of the detailed description, all numerical values ​​of parameters, quantities, or conditions in the appended claims should be understood to be modified in all cases by the term “about,” regardless of whether “about” actually appears before the numerical value. “About” indicates that the stated numerical value allows for some minute inaccuracy that is somewhat close to the exact value of the value; approximately or reasonably close to the value; almost. If the inaccuracy provided by “about” is not otherwise understood in this general sense in the art, then “about” as used in this invention at least indicates a variation that can be produced by common methods of measuring and using such parameters. For example, “about” may include a variation of less than or equal to 5%, optionally less than or equal to 4%, optionally less than or equal to 3%, optionally less than or equal to 2%, optionally less than or equal to 1%, optionally less than or equal to 0.5%, and in some respects, optionally less than or equal to 0.1%.

[0060] Additionally, the disclosure of the range includes the disclosure of all values ​​across the entire range and the disclosure of further subdivided ranges, including the endpoints and subranges given for these ranges.

[0061] The embodiments of the present invention will be described in more detail below through examples. It should be noted that the embodiments of the present invention are not limited to these examples.

[0062] Example

[0063] In one specific embodiment, such as Figure 1 As shown, a cross-row strawberry harvesting robot capable of continuous large-scale harvesting includes a walking mechanism 1, a picking mechanism 2, a collecting mechanism 3, and a control module 4.

[0064] In this embodiment, as Figure 2 As shown, the walking mechanism 1 is a four-wheel drive, four-steering vehicle, comprising three modules: a drive module 11, a steering module 12, and a widening module 13. The walking mechanism 1 is mainly used to control the robot to walk along the ridges, turn, and perform ridge-changing functions under the control of the robot controller. When walking between ridges, the vehicle body spans across the ridges where harvesting is needed, with the off-road wheels positioned within the furrows between the ridges.

[0065] In this embodiment, as Figure 3 As shown, the drive module 1 includes a wheel frame 111, under which the off-road wheels 112 can be driven independently. The use of a belt drive system 114 allows the motor 113 to be positioned parallel to the wheel axle, thereby minimizing the width of the drive module 1 perpendicular to the walking direction and adapting to applications with narrow furrows.

[0066] In this embodiment, as Figures 4-6 As shown, the upper end of the outer column 121 in the steering module 12 is fixedly connected to the sliding base 133 in the widening module 13, and the lower end of the inner column 122 is fixedly connected to the wheel frame 111 of the drive module 1. The inner column 122 can rotate freely within the outer column 121. The lower end of the outer column 121 and the wheel frame 111 are rotatably connected via a thrust bearing 125, thereby transmitting the gravity from the slider base 133 to the drive module 1. The upper end of the outer column 121 and the upper end of the inner column 122 are rotatably connected via a radial bearing to achieve smooth rotation. The servo motor 123 is fixedly connected to the sliding base 133 in the widening module 13, and its output shaft is fixedly connected to the driving wheel in the gear set 124. The driven wheel of the gear set is fixedly connected to the inner column 122. Thus, the servo motor 123 can drive the rotation of the drive module 1 to achieve steering. Furthermore, the inner column 122 is a hollow structure. The power supply wire of the drive module 1 extends from the upper end of the inner column 122 to the lower end through this hollow structure, and finally connects to the motor through the 127 terminal. For planting scenarios with different ridge heights, the height of the base plate can be changed by replacing the outer column 121 and the inner column 122 with different lengths.

[0067] In addition, two electric push rods 131 are arranged laterally below the center of the base plate in the widening module 13, controlling the left and right movement of the two drive-steering modules on the left and right sides respectively. The output end of the electric push rod 131 is fixedly connected to the center of the crossbar of the widening frame 132. The crossbar of the widening frame 132 is perpendicular to the electric push rod 131. Each side of the crossbar of the widening frame 132 is fixedly connected to a vertical bar. The end of the vertical bar is fixedly connected to the sliding base 133. The sliding guide rail 134 is fixedly connected below the base plate. The sliding base 133 can slide along the sliding guide rail 134 within a certain range, thereby changing the distance between the left and right drive-steering modules to adapt to different row spacing and avoid damage to the strawberry plants and even the fruit due to mismatched width.

[0068] In this embodiment, as Figures 7-17 As shown, the harvesting mechanism 2 includes a robotic arm 21, a harvesting timing belt 22, a harvesting hand 23, a harvesting-side energy release module 24, a collection-side energy storage module 25, and a timing belt guide module 26. Two identical sets of the harvesting mechanism 2 are positioned on either side of the harvesting robot, primarily used for harvesting, transporting, and storing strawberry fruits.

[0069] Specifically, such as Figure 7 As shown, the robotic arm 21 is a commercial robotic arm, installed upside down on both ends of the underside of the base plate. During operation, the robotic arm 21 extends downward and inward, guiding the harvesting-side energy release module 24 to approach the harvesting target.

[0070] Specifically, such as Figure 8 As shown, holes for inserting a rotating shaft are arranged on the outer side of the picking timing belt 22 for connecting the picking hand 23. The arrangement and size of the holes should be designed so that the timing belt can operate normally and the picking hands 23 will not touch or interfere with each other when they are open.

[0071] Specifically, such as Figure 9 As shown, the harvester 23 harvests the fruit by cutting and clamping the fruit stalk. The harvester 23 does not directly contact the fruit during harvesting to minimize damage. The base of the harvester 23 has two holes that connect to a special conveyor belt via connecting pins 221. These holes are not perfectly circular but rather short straight grooves. This is because the conveyor belt bends as it passes the pulley, causing a slight change in the spacing of the connecting pins 221. However, the length of the straight grooves should not be too long to avoid significant lateral swaying of the harvester 23.

[0072] Specifically, such as Figure 10 As shown, the harvester 23 includes four parts: base 231, left claw 232, right claw 233, and stop assembly 234. The base 231 is a hollow structure. The left claw 232, right claw 233, and stop assembly 234 are partially located inside the base 231. The base 231 has two root holes 237 as described above at its root for connecting to the harvesting timing belt 22 via connecting pin 221. The base has a funnel-shaped positioning hole 235 and a stop pin guide hole 236. The rotation axis of the right claw 233 can rotate freely within the stop pin guide hole 236, while the left claw 232 is fixedly connected to the base 231. In practical applications, the harvester 23 exists in two states: open and closed. In the open state, the torsion spring inside the harvester 23 is twisted, accumulating energy. The right claw 233 of the harvester 23 tends to close. After the stop pin is pulled out, the right claw 233 quickly closes with the left claw 232. While clamping the fruit stem, the cutter on the right claw 233 cuts the fruit stem, completing the harvesting of the fruit. At the same time, due to the secondary structure inside the right claw 233, there is still a clamping tendency between the two claws after closing, ensuring that the fruit will not fall off the harvester in the closed state.

[0073] Specifically, such as Figure 11As shown, the right claw comprises seven components: right claw tip 2331, right claw seat 2332, cutter 2333, spring shaft 2334, rotating shaft 2335, spring 2336, and torsion spring 2337. The rotating shaft 2335 can rotate at a specific position on the reamer base 234, causing the right claw seat 2332 to rotate synchronously. The torsion spring 2337 is wound around the middle of the rotating shaft 2335. One end of the torsion spring 2337 is inserted into a groove on the right side of the root of the left claw, while the other end is unidirectionally constrained by the right claw seat 2332. The top of the rotating shaft 2335 has a butterfly-shaped groove suitable for flathead screwdrivers. The butterfly-shaped groove is used instead of a flathead groove because the screwdriver is inserted into the groove while rotating. The left end of the right claw seat 2332 has a through hole, which connects to the right claw tip 2331 via a spring shaft 2334, similar to a watch strap connecting shaft. The right claw tip 2331 can rotate around the spring shaft 2334 within a limited range. The spring shaft 2334 includes a bushing and two terminals. The terminals are confined within the bushing and can move axially within a certain range. The two terminals are connected by a compression spring. A compression spring is located between the right claw tip 2331 and the right side of the right claw seat 2332. This spring ensures sufficient pressure between the right claw tip 2331 and the left claw 2332 in the closed state to maintain stable clamping of the fruit stem. The precise ratio of the spring forces of the torsion spring 2337 and the spring 2336 also ensures that clamping is completed before cutting when the claw is closed, preventing the fruit from falling and not being clamped in time. The cutter 2333 is mounted on the upper side of the right claw seat 2331, with the blade slightly extending beyond the left edge of the right claw seat 2331. It works in conjunction with the left claw 232 to cut the fruit stem.

[0074] Specifically, such as Figure 12As shown, the stop assembly includes five parts: hook 2341, stop block 2342, stop block guide rail 2343, stop pin 2344, and stop spring 2345. The hook 2341 is fixedly installed on the right side of the right claw seat 2332. The stop block guide rail 2343 is fixedly installed in pairs inside the harvester base 231. The stop block guide rail 2343 has a longitudinal guide groove. The stop block 2342 can move up and down within the limited range of the guide groove. The center of the stop block 2342 is vertically fixedly connected to the stop pin 2344. The stop pin 2344 is covered with a stop spring. The spring provides thrust. The lower end abuts against the stop block, and the upper end abuts against the upper side inside the harvester base 231. The stop pin 2344 is a cylinder and is restricted to vertical movement within the stop pin 2344 guide hole of the harvester base 231. The position and length of the guide groove of the stop block guide rail 2343 should enable the stop function to be completed normally, and the stop pin 2344 should not come out of the stop pin guide hole 236. The right side of the base of the harvester's hand base 231 has a corresponding slot. When the right claw seat 2332 rotates to the open position, the hook 2341 extends into the slot. The inclined surface at the end causes the stop block to rise and fall, blocking the hook 2341 and thus keeping the harvester's hand in the open state. The lower height of the slot on the right side of the harvester's hand base 231 should allow the hook 234 to just slide through, providing support for the hook 234 and reducing the torque and bending moment borne by the hook 234. In addition, the stop pin 2344 should be made of ferromagnetic material.

[0075] Specifically, such as Figure 13As shown, the picking drive wheel frame 241 in the picking-side energy release module is fixedly connected to the end joint of the robotic arm. The drive wheel is connected inside the first drive wheel frame 241 via axles and bearings. The picking stepper motor 242 is fixed to the lower side of the picking drive wheel frame 241, and its output shaft drives the drive wheel to rotate, thereby driving the picking timing belt 22 to rotate. The upper picking positioning block 243 and the lower picking positioning block 244 are fixedly connected to the upper and lower sides of the picking drive wheel frame 241 respectively via connectors. In practical applications, the picking timing belt 22 drives the picking hand 23, moving the picking hand 23 carrying strawberries in a closed state and moving the picking hand 23 in an open state to a ready position. Due to the elasticity of the picking timing belt 22, the picking hand 23 will droop to a certain extent. The upper picking positioning block 243 and the lower picking positioning block 244 constrain the picking hand 23 to limit its position and facilitate picking. The picking positioning block 244 needs to be designed with a specific shape to guide the picker 23 to the ready position while preventing the positioning block itself from damaging the harvested strawberries. In addition to its positioning function, the picking positioning block 243 also contains an electromagnet. Its function is to attract the ferromagnetic stop pin on the picker 23, causing the stop block to lift and release the hook 2341. The right claw 233, under the elastic force of the torsion spring 2337, quickly closes to the left claw 232, completing the picking. A camera 246 is installed above the picking positioning block 243 for visual recognition. After picking, the picking stepper motor 242 rotates at a specific angle, sending the next picker 23 to the ready position for the next picking. The picked strawberries are then transported to the energy storage module 25 via a synchronous belt for processing. The robotic arm 21 and the picking drive wheel frame 241 have a certain tilt angle to prevent the robotic arm 21 from becoming entangled with the strawberry plant during picking. In addition, the first tensioning device 245 includes a harvesting tension wheel adapter block 2451, a harvesting tension wheel frame 2452, and a harvesting tension wheel 2453. The harvesting tension wheel frame 2452 is fixedly connected to the rear of the harvesting drive wheel frame 241 via the harvesting tension wheel 2453 adapter block. The two harvesting tension wheel frames 2452 are arranged longitudinally, and the harvesting tension wheel 2453 rotates freely within the harvesting tension wheel frame 2452 to change the direction of the timing belt so that the timing belt extends upward, thus transmitting the harvester upward.

[0076] Specifically, such as Figure 14 As shown, the function of the energy storage module on the collection side is to open the closed picking hand 23 via the energy storage device 258 when the picking synchronization belt 22 delivers the harvested strawberry to the collection side, allowing the harvested strawberry to fall into the collection mechanism 3. Simultaneously, it opens the picking hand 23 to the open state, enabling the next harvest. This function is synchronized with the robotic arm 21 driving the end effector to find a suitable strawberry location, followed by the energy release module 24 on the picking side completing the harvest.

[0077] The energy storage module on the collection side includes an energy storage drive wheel frame 251, an energy storage stepper motor 252, an energy storage upper positioning block 253, and an energy storage lower positioning block 254. These components are similar to their counterparts in the energy release module on the picking side. The difference is that in the energy storage module on the collection side, the energy storage drive wheel frame 251 is not fixed to the end of the robotic arm, but is fixed to the base plate via an energy storage support column 257. Furthermore, to further reinforce the overall structure, the front end of the energy storage upper positioning block 253 has two connecting fasteners connected to the electronic control support plate of the control module. The energy storage support column 257 and the energy storage drive wheel frame 251 are at a certain angle for two reasons: firstly, this allows the height of the strawberries released during harvesting to be reduced, thus minimizing damage to the fruit, without the picking hand 23 colliding with the collection mechanism 3; secondly, it increases the angle at which the picking synchronization belt 22 passes around the energy storage tensioning device 255, thereby increasing the effective range of the energy storage tensioning device 255.

[0078] Furthermore, a pair of energy-storing gas springs 256 are arranged in parallel within the energy-storing tensioning device 255. One end of each spring is fixedly connected to the energy-storing drive wheel frame 251 via the energy-storing tensioning device adapter block 2551, and the other end is fixedly connected to the energy-storing tensioning wheel frame 2552. The energy-storing tensioning wheel 2553 can rotate freely within the energy-storing tensioning wheel frame 2552. The function of the energy-storing tensioning wheel 2553 is to change the direction of the synchronous belt, causing it to extend downwards and transmitting the harvesting hand downwards. The function of the energy-storing gas springs 256 is to maintain the tension of the harvesting synchronous belt 22 within a certain range when the harvesting-side energy release module 24 moves under the drive of the robotic arm 21.

[0079] Specifically, such as Figure 15 As shown, in the energy storage device 258, the upper positioning block cover plate 2581 is fixed above the energy storage upper positioning block 253. The energy storage stepper motor 252 and the energy storage gear set 2584 are located above the upper positioning block cover plate 2581, and the positioning component 2582 and the screwdriver assembly 2581 are located below the upper positioning block cover plate 2581. The function of the screwdriver assembly 2581 is to open the harvesting handle 23 by twisting the rotating shaft on the right claw of the harvesting handle 23 to complete the energy storage. This process requires a relatively precise positioning match between the screwdriver and the rotating shaft, so the positioning component 2582 needs to cooperate with the positioning hole on the harvesting handle 23 to ensure that the energy storage process proceeds normally. The energy storage stepper motor 252 is the power source of the energy storage device 258. Its output end is fixedly connected to the driving wheel of the energy storage gear set 2584. The energy storage gear set 2584 has a total of three gears. The other two gears are driven wheels, which are the same size and mesh with the driving wheel. The two passive wheels are fixedly connected to the wheel axles of the screwdriver assembly 2581 and the positioning assembly 2582, respectively, to transmit power to these two assemblies.

[0080] Specifically, such as Figure 16As shown, the screwdriver assembly comprises six parts: a screwdriver tip 25811, a screwdriver roller 25812, a screwdriver space cam 25813, a screwdriver tension spring 25814, a screwdriver holder 25815, and a screwdriver wheel axle 25816. The head of the screwdriver tip 25811 is flat-headed and fits into the butterfly-shaped groove on the right claw rotation shaft 2335 of the picking hand. The screwdriver tip 25811 has a hollow internal structure, into which the screwdriver holder 25815 can be inserted. The screwdriver roller 25812 is a long column, wider at one end resembling a screw, and the other end is screw-shaped for easy installation. The screwdriver roller 25812 passes horizontally across the screwdriver head 25811. The two sides of the screwdriver roller 25812 outside the screwdriver head 25811 engage with the screwdriver space cam 25813, while the portion inside the screwdriver head 25811 engages with the groove of the screwdriver holder 25815. This allows the screwdriver holder 25815 and the screwdriver head 25811 to rotate synchronously and move axially within a certain range while maintaining collinearity. The screwdriver space cam 25813 is installed below the upper positioning block cover 2583. Its shape allows it to slowly extend when the screwdriver head 25811 rotates, rotate 90° at a fixed length, and then quickly retract, remaining in the retracted state for a period of time. One end of the screwdriver wheel axle 25816 is fixedly connected to the driven wheel of the energy storage gear set 2584, and the other end is fixedly connected to the screwdriver holder 25811. It has a screw hole for inserting a suitable-sized perforated screw or eye bolt. The screwdriver holder 25815 has a through hole in the middle through which the screwdriver tension spring 25814 passes. One end is connected to the thinner central part of the screwdriver roller 25816, and the other end is connected to the screw on the screwdriver wheel axle 25816, providing tension to ensure that the screwdriver roller 25812 and the screwdriver space cam 25813 are in contact, allowing the screwdriver tip 25811 to move in a predetermined manner. Furthermore, the positioning pin in the positioning assembly, after extending, inserts into the positioning hole on the harvester hand. The positioning hole has a funnel-shaped structure, so when the harvester hand is not fully aligned, the engagement of the positioning pin and the positioning hole will calibrate the position. There is a certain phase difference between the positioning component 2582 and the screwdriver component 2581, so that when the screwdriver tip 25811 extends, the positioning post has already completed positioning.

[0081] Specifically, such as Figure 17As shown, in the synchronous belt guide module 26, the guide bracket 264 and the guide plate 261 are fixed to both sides of the base plate. When the harvesting synchronous belt 23 turns from the harvesting-side energy release module 24 to the collecting-side energy storage module 25, it needs to cross once; otherwise, the harvester 23 on the collecting-side energy storage module 25 will be inverted, and the strawberries will be above the harvester 23, which is not conducive to collection. To prevent the upward harvester 23 from colliding with the downward harvester 23 during the crossing, thus hindering the operation of the harvesting synchronous belt 23 or even damaging the strawberries, the upward and downward sections of the harvesting synchronous belt 23 need to be staggered. The guide wheel 262 is used to bend the upward section outward, and the guide plate 261 is used to bend the downward section inward. The guide wheel 262 needs to have a slight torsion angle to adapt to the slight deflection of the harvesting synchronous belt 23. The guide wheel 262 acts directly on the picking timing belt 23, while the guide plate 261 causes the picking hand 23 to deflect in accordance with its shape and apply a pushing force inward, thereby causing the picking timing belt 23 to bend inward.

[0082] In this embodiment, the collection mechanism 3 includes a specially designed collection timing belt 31, a collection drive wheel 32, a collection driven wheel 33, a collection drive wheel frame 34, a collection driven wheel frame 35, a collection trolley 36, a collection basket 37, and a collection stepper motor 38. Two identical sets of the collection mechanism 3 are respectively positioned on both sides above the base plate, corresponding to the collection side modules of the two harvesting mechanisms. In practical applications, the collection drive wheel frame 34 and the collection driven wheel frame 35 are fixedly connected to the base plate. The collection drive wheel 34 and the collection driven wheel 33 can rotate within their respective frames. The collection stepper motor 38 is fixedly connected to the collection drive wheel frame 35, and its output end is fixedly connected to the collection drive wheel axle, driving the collection drive wheel 33 to rotate, thereby driving the collection timing belt 31. The collection timing belt 31 is the same as or similar to the harvesting timing belt 22 in the harvesting mechanism.

[0083] In addition, the collecting trolley 36 has a simple wheel structure at its bottom and a structure on one side similar to the base of the picking hand of a picking mechanism, which can be connected to the collecting timing belt 31 via a positioning pin. The collecting basket 37 is used to collect the picked strawberries. The collecting basket 37 is placed inside the collecting trolley 36 and moves with it. The collecting stepper motor 38 can drive the collecting trolley 36 to move, allowing other collecting baskets 37 on the collecting timing belt 31 to be used after the collecting basket 37 is full, and also changing the relative position of the strawberries within the collecting basket 37. The collecting basket 37 has handles around its upper edge, facilitating manual handling or replacement by a robotic arm 21 with a mechanical claw at the end, after all collecting baskets 37 have been filled.

[0084] In this embodiment, as Figure 19 and Figure 20As shown, the control module comprises five parts: a robotic arm controller 41, a robotic arm controller mounting frame 42, an electrical control support plate 43, electrical control support columns 44, and an electrical control assembly 45. The robotic arm controller 41, used to control the robotic arm 21, is housed within the robotic arm controller mounting frame 42. The robotic arm controller mounting frame 42 is fixedly connected to the lower sides of the harvesting mechanism 2, and the base of the robotic arm 21 is fixed below the robotic arm controller mounting frame 42. The electrical control support plate 43 is fixed above the harvesting mechanism 2 via the electrical control support columns 44 and is fixedly connected to the base plate. Four of the six electrical control support columns 44 are located in the timing belt gaps of the collecting mechanism 3, and two are located in the gaps between the two sets of collecting mechanisms 3. The two central electrical control support columns 44 are hollow structures, and the electrical control support plate 43 also has corresponding holes through which the power cord and control signal line of the electric push rod below the harvesting mechanism 2 passes. The electrical control assembly 45, which includes electrical control components such as a power supply, driver, and processor, is fixed above the electrical control support plate 43.

[0085] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cross-row strawberry harvesting robot capable of continuous, large-scale harvesting, characterized in that, Includes a walking mechanism, a picking mechanism, a collecting mechanism, and a control module; The control module is located above the collecting mechanism, and the walking mechanism and the picking mechanism are located below the collecting mechanism. The walking mechanism includes a drive module, a steering module, and a widening module; The steering module is connected to the widening module, and one end of the drive module is connected to the steering module; The harvesting mechanism includes a robotic arm, a harvesting timing belt, a harvesting hand, a harvesting-side energy release module, a collecting-side energy storage module, and a timing belt guide module. The end of the robotic arm is connected to the harvesting-side energy release module, the harvesting-side energy release module is connected to the collecting-side energy storage module through the harvesting synchronization belt, and the harvesting synchronization belt is connected to the harvesting hand through a connecting pin; The collection mechanism includes a collection timing belt, a collection drive wheel, a collection driven wheel, a collection drive wheel frame, a collection driven wheel frame, a collection trolley, a collection basket, and a collection stepper motor; The collection active wheel frame and the collection passive wheel frame are connected by the collection synchronous belt. The collection synchronous belt is connected to the collection trolley by a positioning pin. The collection basket is installed inside the collection trolley. The collection stepper motor is fixedly connected to the collection active wheel frame. The output shaft of the collection stepper motor is fixedly connected to the active wheel. The control module includes a robotic arm controller, a robotic arm controller mounting frame, an electrical control support plate, an electrical control support column, and electrical control components. The robotic arm controller mounting bracket is located below the harvesting mechanism and houses the robotic arm controller inside. The electric control support plate is fixedly mounted above the harvesting mechanism via the electric control support column, and the electric control assembly is fixedly mounted above the electric control support plate. The harvesting hand includes a base, a left claw, a right claw, and a stop assembly; The base is a hollow structure, and the left claw, the right claw, and the stop assembly are arranged inside the base; The bottom of the base is connected to the harvesting timing belt via a connecting pin; The base is provided with a positioning hole, which is funnel-shaped; The right claw includes a right claw tip, a right claw base, a cutter, a spring shaft, a rotating shaft, a spring, and a torsion spring; The top end of the rotating shaft is a butterfly-shaped groove, and the rotating shaft rotates on the base; The torsion spring is wound around the middle of the rotating shaft, with one end of the torsion spring connected to the left claw and the other end connected to the right claw; The right claw seat is connected to the right claw tip via the spring shaft; The cutter is mounted above the right claw seat, and the cutting edge of the cutter extends beyond the left edge of the right claw seat.

2. The cross-row strawberry harvesting robot according to claim 1, characterized in that, The drive module includes a wheel frame, off-road wheels, axles, bearings, a motor, and a belt drive system; the steering module includes an outer column, an inner column, a servo motor, a gear set, a thrust bearing, and a radial bearing; and the widening module includes a base plate, an electric push rod, a widening frame, a sliding base, and a sliding guide rail. The motor is parallel to the axle and positioned above the axle; The upper end of the outer column is fixedly connected to the sliding base, while the lower end of the outer column is rotatably connected to the wheel frame through a thrust bearing. The upper end of the inner column is fixedly connected to the driven wheel of the gear set, while the lower end of the inner column is fixedly connected to the wheel frame. The outer column and the inner column are rotatably connected by the radial bearing; The upper end of the servo motor is fixedly connected to the sliding base, and the output shaft of the servo motor is fixedly connected to the drive wheel in the gear set; The electric push rod is arranged horizontally, and the electric push rod is perpendicular to and fixedly connected to the crossbar of the widening frame; The two sides of the crossbar of the widening frame are perpendicular to and fixedly connected to the longitudinal bar, and the longitudinal bar of the widening frame is fixedly connected to the sliding base.

3. The cross-row strawberry harvesting robot according to claim 2, characterized in that, The stop assembly includes a hook, a stop block, a stop block guide rail, a stop pin, and a stop spring; The hook is fixedly connected to the right claw, and the stop block guide rail is fixedly connected to the base; The stop guide rail is provided with a longitudinal guide groove, and the stop moves within the guide groove; The stop block is perpendicular to and fixedly connected to the stop pin, and the stop spring is provided on the outside of the stop pin; The stop pin is cylindrical and made of ferromagnetic material.

4. The cross-row strawberry harvesting robot according to claim 1, characterized in that, The harvesting-side energy release module includes a harvesting drive wheel frame, a harvesting drive wheel, a harvesting stepper motor, an upper harvesting positioning block, a lower harvesting positioning block, and a harvesting tensioning device; The harvesting drive wheel frame is fixedly connected to the end joint of the robotic arm; The harvesting drive wheel is installed inside the wheel frame of the harvesting drive wheel; The picking positioning block is fixedly installed above the picking drive wheel frame; The picking stepper motor and the picking lower positioning block are fixedly installed below the picking drive wheel frame; An electromagnet is installed inside the upper positioning block, and a camera is mounted on top of the upper positioning block.

5. A cross-row strawberry harvesting robot capable of continuous, large-scale harvesting according to claim 1, characterized in that, The energy storage module on the collection side includes an energy storage drive wheel frame, an energy storage drive wheel, an energy storage stepper motor, an upper energy storage positioning block, a lower energy storage positioning block, an energy storage device, an energy storage support column, and an energy storage tensioning device. The energy storage device includes an upper positioning block cover plate, an energy storage gear set, a positioning component, and a screwdriver component. The energy storage drive wheel frame is connected to the energy storage support column, and the energy storage upper positioning block is connected to the control module through a connecting fastener; The upper positioning block cover is fixed above the energy storage upper positioning block, and the energy storage stepper motor and the energy storage gear set are arranged above the upper positioning block cover. One end of the energy storage stepper motor is fixedly connected to the drive wheel of the energy storage gear set; The positioning component and the screwdriver component are disposed inside the energy storage upper positioning block; The positioning component and the screwdriver component are fixedly connected to the driven wheel of the energy storage gear set.

6. A cross-row strawberry harvesting robot capable of continuous, large-scale harvesting according to claim 5, characterized in that, The screwdriver assembly includes a screwdriver tip, a screwdriver roller, a screwdriver spatial cam, a screwdriver tension spring, a screwdriver holder, and a screwdriver wheel axle; the positioning assembly includes a positioning post, a positioning roller, a positioning spatial cam, a positioning tension spring, a positioning base, and a positioning wheel axle. The head of the screwdriver tip is flat-headed, the inside of the screwdriver tip is hollow, and the screwdriver roller passes through the screwdriver tip; The screwdriver space cam and the positioning space cam are located below the upper positioning block cover plate; One end of the screwdriver wheel shaft is fixedly connected to the passive wheel of the energy storage gear set, and the other end is fixedly connected to the screwdriver holder. The screwdriver tension spring passes through the screwdriver holder, one end of the screwdriver tension spring is connected to the screwdriver roller, and the other end is connected to the screwdriver wheel shaft; The positioning post is positioned above the positioning space cam.

7. A cross-row strawberry harvesting robot capable of continuous, large-scale harvesting according to claim 1, characterized in that, The synchronous belt guide module includes a guide plate, guide wheels, guide wheel frame, guide wheel shaft, and guide bracket; The guide plate and the guide bracket are fixed on both sides of the harvesting mechanism; The guide wheel is disposed between the guide plate and the guide bracket; The guide wheel frame is installed inside the guide wheel.

8. A cross-row strawberry harvesting robot capable of continuous, large-scale harvesting according to claim 2, characterized in that, The electric push rod is equipped with a power line and a control signal line, which are connected to the electric control assembly through the electric control support plate.

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