A robot with a multi-dimensional telescopic movement mechanical arm

Abstract

The present invention relates to the field of mechanical arm transportation technology, and discloses a robot with a multi-dimensional telescopic transport mechanical arm, comprising a robot body with a built-in intelligent control system, the surface of the robot body is provided with a crawler stepping wheel for movement, one side of the surface of the robot body is fixed with a multi-dimensional telescopic transport mechanical arm body, one side of the surface of the multi-dimensional telescopic transport mechanical arm body is provided with a connecting block, and a dump bin is fixed with a surface of the connecting block; when the multi-dimensional telescopic transport mechanical arm body drives the connecting block and the dump bin to perform fruit picking, the target can be sheared by a power mechanism and a shearing mechanism and then fall into the dump bin, and the target can be restricted under the action of a storage mechanism, and when the power mechanism drives the shearing mechanism to work, the target fruit can be inhaled and blown under the action of a transmission mechanism, an air pumping mechanism and an air blowing mechanism, thereby assisting the picking of the fruit and the falling of the fruit.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm transportation, in particular to a robot with a mechanical arm capable of multi-dimensional telescopic transportation. Background Art

[0002] Currently, industrial robots are used in various fields, and they play an important role in accelerating production efficiency and improving production quality. When working, robots use the rotation of the mechanical arm to complete operations such as handling, processing, and transportation. In terms of fruit collection, mechanical arms and robots can also be used to replace manual collection to improve efficiency and reduce labor costs.

[0003] At present, most robots drive mechanical arms in the process of fruit collection and transportation, and their operation mode is relatively fixed, usually focusing on a single transportation task in one collection. However, when faced with small and large fruit collection tasks, this single-function operation mode is inadequate, which not only greatly reduces the overall collection and transportation efficiency, but also greatly increases the operation time and cost, limiting the widespread application of robots in the field of fruit picking. Summary of the invention

[0004] The object of the present invention is to provide a robot with a multi-dimensional telescopic and movable mechanical arm to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a robot with a multi-dimensional telescopic transport mechanical arm, comprising a robot body with a built-in intelligent control system, the surface of the robot body is provided with a crawler stepping wheel for movement, a multi-dimensional telescopic transport mechanical arm body is fixed to one side of the surface of the robot body, a connecting block is provided to one side of the surface of the multi-dimensional telescopic transport mechanical arm body, a dump bin is fixed to the surface of the connecting block, and further comprising:

[0006] A power mechanism disposed in the inner cavity of the connection block for providing power, wherein a shearing mechanism for cutting is disposed on the surface of the power mechanism;

[0007] A transmission mechanism that is driven on one side of the surface of the power mechanism, a pumping mechanism is provided on one side of the surface of the transmission mechanism, and a blowing mechanism for providing pneumatic power to the target is connected to one side of the surface of the pumping mechanism;

[0008] A storage mechanism provided in the inner cavity of the dump bin for temporary storage;

[0009] A storage box disposed on the surface of the robot body for storing objects, wherein the inner cavity of the storage box is provided with a movable plate;

[0010] An action mechanism for transmission arranged on the surface of the robot body, the action mechanism further comprising a bonding block, the bonding block being arranged on the surface of the multi-dimensional telescopic transport robot arm body;

[0011] The regulating mechanism is arranged on the surface of the action mechanism, and the regulating mechanism controls the lifting and lowering of the moving plate.

[0012] Preferably, the power mechanism includes a motor fixed to the inner cavity of the connecting block, the output shaft of the motor is provided with a first rotating shaft through a bevel gear transmission, a first turntable is fixed to the other end of the first rotating shaft, a first hinged rod is rotatably provided on the surface of the first turntable, a first piston rod is hingedly provided on the other end of the first hinged rod, and a first piston tube is slidably provided on the surface of the first piston rod.

[0013] Preferably, the shearing mechanism includes a first connecting air pipe connected to one end of the first piston tube, both sides of the other end of the first connecting air pipe are connected to the second piston tube, a first piston head is slidably provided in the inner cavity of the second piston tube, a connecting rod is fixed to one end of the first piston head, and a shearing head is fixed to the other end of the connecting rod.

[0014] Preferably, the transmission mechanism includes a first transmission rod which is transmitted to the output shaft of the motor through bevel gears, the other end of the first transmission rod is provided with a second transmission rod through bevel gear transmission, the other end of the second transmission rod is fixed with a first timing wheel, the surface of the first timing wheel is meshed with a timing belt, the other end of the timing belt is meshed with a second timing wheel, and the inner cavity of the second timing wheel is fixed with a second rotating shaft.

[0015] Preferably, the surface of the pumping mechanism is fixed to a second turntable at one end of a second rotating shaft, a second hinged rod is rotatably provided on the surface of the second turntable, a second piston rod is hingedly provided at the other end of the second hinged rod, a second piston head is fixed at one end of the second piston rod, a third piston tube is slidably provided on the surface of the second piston head, and the other end of the third piston tube is connected to a second connecting air pipe.

[0016] Preferably, the blowing mechanism includes a fourth piston tube connected to one end of the second connecting air pipe, a third piston head is slidably provided in the inner cavity of the fourth piston tube, first limiting rods are slidably provided on both sides of the surface of the third piston head, both ends of the first limiting rods are fixed to the inner cavity of the fourth piston tube, a plurality of blowing tubes are connected to the surface of the fourth piston tube, and the other end of the blowing tubes is connected to the inner cavity of the dump bin.

[0017] Preferably, the storage mechanism includes a storage plate that rotates in the inner cavity of the dump bin and a top block arranged on one side of the surface of the storage box, a positioning block is fixed to one end of the storage plate, a top plate is rotatably arranged on the surface of the positioning block, a moving block is rotatably arranged on the other end of the top plate, telescopic rods are fixed on both sides of the surface of the moving block, a fixed block is fixed to the inner cavity of the dump bin, a first spring is sleeved on the surface of the telescopic rod, one end of the first spring is fixed to the surface of the fixed block, and the other end of the first spring is fixed to the surface of the moving block.

[0018] Preferably, the action mechanism includes a fifth piston tube fixed to the inner cavity of the robot body, the inner cavity of the fifth piston tube is slidably provided with a fourth piston head, one end of the fourth piston head is fixed with a push rod, and the surface of the fourth piston head is slidably provided with a plurality of second limit rods, both ends of the second limit rods are fixed to the inner cavity of the fifth piston tube, the surface of the second limit rod is sleeved with a second spring, one end of the second spring is fixed to the surface of the fourth piston head, and the other end of the second spring is fixed to the inner cavity of the fifth piston tube.

[0019] Preferably, the adjustment mechanism includes a third connecting air pipe connected to one end of the fifth piston tube, the other end of the third connecting air pipe is connected to the sixth piston tube, the sixth piston tube is fixed to the inner cavity of the robot body, the inner cavity of the sixth piston tube is slidably provided with a fifth piston head, the surface of the fifth piston head is fixed with an adjustment rod, and the other end of the adjustment rod is fixed to the surface of the movable plate.

[0020] Preferably, one end of the third connecting air pipe is connected to a one-way valve for controlling the flow direction of gas, and the one-way valve is also arranged at the other end of the third connecting air pipe. The surface of the sixth piston tube is connected to a deflation valve for controlling the outflow of gas.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] When the multi-dimensional telescopic transport robot arm body drives the connecting block and the dump bin to perform fruit picking, the target can be sheared by the power mechanism and the shearing mechanism and then fall into the dump bin, and can be restricted under the action of the storage mechanism. When the power mechanism drives the shearing mechanism to work, the target fruit can be inhaled and blown under the action of the transmission mechanism, the air pumping mechanism and the air blowing mechanism, thereby assisting in the picking of the fruit and the falling of the fruit, thereby improving the practicability of the device.

[0023] In addition, when the storage mechanism transports the temporarily stored fruit bodies to the storage box, the height of the movable plate can be adjusted under the action of the action mechanism and the adjustment mechanism, thereby improving the adaptability between the movable plate and the dump bin and improving the protection ability of the fruit bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure from another side perspective of the present invention;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure after some structures in the present invention are discarded;

[0027] Figure 4 It is a partial three-dimensional structural schematic diagram of the connecting block and the dump bin in the present invention;

[0028] Figure 5 It is a schematic diagram of the partial three-dimensional structure of the connecting block and the dump bin after being cut open in the present invention;

[0029] Figure 6 It is a partial three-dimensional structural schematic diagram of the power mechanism and the shearing mechanism in the present invention;

[0030] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged local three-dimensional structure at point A in the middle;

[0031] Figure 8 It is a partial three-dimensional structural schematic diagram of the pumping mechanism and the blowing mechanism in the present invention;

[0032] Fig. 9 It is a partial three-dimensional structural schematic diagram of the storage mechanism in the present invention;

[0033] Fig.10 It is a partial three-dimensional structural schematic diagram of the regulating mechanism and the acting mechanism in the present invention;

[0034] Fig.11 For the present invention Fig.10 Schematic diagram of the enlarged local three-dimensional structure at B in the middle;

[0035] Fig.12 It is a partial three-dimensional structural schematic diagram of the adjustment mechanism in the present invention;

[0036] Fig.13 It is a schematic diagram of the partial three-dimensional structure of the action mechanism in the present invention.

[0037] In the figure: 1. robot body; 2. crawler stepper wheel; 3. multi-dimensional telescopic transport robot arm body; 4. connecting block; 5. dump bin; 6. power mechanism; 61. motor; 62. first rotating shaft; 63. first turntable; 64. first hinged rod; 65. first piston tube; 66. first piston rod; 7. shearing mechanism; 71. first connecting air pipe; 72. second piston pipe; 73. first piston head; 74. connecting rod; 75. shearing head; 8. transmission mechanism; 81. first transmission rod; 82. second transmission rod; 83. first timing wheel; 84. timing belt; 85. second timing wheel; 86. second rotating shaft; 9. pumping mechanism; 91. second turntable; 92. second hinged rod; 93. second piston rod; 94. second piston head; 95. third piston tube; 96. second connecting air pipe Tube; 10, blowing mechanism; 101, fourth piston tube; 102, third piston head; 103, first limiting rod; 104, blowing tube; 11, storage mechanism; 111, storage plate; 112, positioning block; 113, top plate; 114, moving block; 115, first spring; 116, telescopic rod; 117, fixed block; 118, top block; 12, limiting block; 13, sliding rod; 14, storage box; 15, moving plate; 16, action mechanism; 161, fitting block; 162, top rod; 163, fifth piston tube; 164, second limiting rod; 165, fourth piston head; 166, second spring; 17, adjusting mechanism; 171, third connecting air pipe; 172, sixth piston tube; 173, fifth piston head; 174, adjusting rod; 18, one-way valve; 19, air release valve. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1-13 As shown, a robot with a multi-dimensional telescopic transport mechanical arm comprises a robot body 1 with a built-in intelligent control system, a crawler stepping wheel 2 for movement is arranged on the surface of the robot body 1, a multi-dimensional telescopic transport mechanical arm body 3 is fixed on one side of the surface of the robot body 1, a connecting block 4 is arranged on one side of the surface of the multi-dimensional telescopic transport mechanical arm body 3, a dump bin 5 is fixed on the surface of the connecting block 4, and further comprises:

[0040] A power mechanism 6 is arranged in the inner cavity of the connection block 4 for providing power, and a shearing mechanism 7 for cutting is arranged on the surface of the power mechanism 6;

[0041] A transmission mechanism 8 is driven on one side of the surface of the power mechanism 6, and an air pumping mechanism 9 is arranged on one side of the surface of the transmission mechanism 8. One side of the surface of the air pumping mechanism 9 is connected to a blowing mechanism 10 for providing pneumatic power to the target;

[0042] A storage mechanism 11 disposed in the inner cavity of the dump bin 5 for temporary storage;

[0043] A storage box 14 for storing objects is disposed on the surface of the robot body 1, and a moving plate 15 is disposed in the inner cavity of the storage box 14;

[0044] An action mechanism 16 for transmission is arranged on the surface of the robot body 1, and the action mechanism 16 also includes a bonding block 161, and the bonding block 161 is arranged on the surface of the multi-dimensional telescopic transport robot arm body 3;

[0045] The regulating mechanism 17 is disposed on the surface of the action mechanism 16 , and the regulating mechanism 17 controls the lifting and lowering of the moving plate 15 .

[0046] When the multi-dimensional telescopic transport robot arm body 3 of the present invention drives the connecting block 4 and the dump bin 5 to perform fruit picking, the target can be sheared by the power mechanism 6 and the shearing mechanism 7 and then fall into the dump bin 5, and restricted by the storage mechanism 11. When the power mechanism 6 drives the shearing mechanism 7 to work, the target fruit can be inhaled and blown by the transmission mechanism 8, the pumping mechanism 9 and the blowing mechanism 10, thereby assisting the picking of the fruit and the falling of the fruit, thereby improving the practicability of the device.

[0047] In addition, when the storage mechanism 11 transports the temporarily stored fruit bodies to the storage box 14, the height of the movable plate 15 can be adjusted under the action of the action mechanism 16 and the adjustment mechanism 17, thereby improving the compatibility between the movable plate 15 and the dump bin 5 and improving the protection capability of the fruit bodies.

[0048] The power mechanism 6 includes a motor 61 fixed to the inner cavity of the connecting block 4, the output shaft of the motor 61 is provided with a first rotating shaft 62 through a bevel gear transmission, the other end of the first rotating shaft 62 is fixed with a first rotating disk 63, the surface of the first rotating disk 63 is rotatably provided with a first hinged rod 64, the other end of the first hinged rod 64 is hinged with a first piston rod 66, and the surface of the first piston rod 66 is slidably provided with a first piston tube 65. In this embodiment, the motor 61, the first rotating shaft 62, the first rotating disk 63, the first hinged rod 64, the first movable The setting of the plug tube 65 and the first piston rod 66 causes the first rotating shaft 62 to rotate under the action of the motor 61, and then the first turntable 63 fixed at one end of the first rotating shaft 62 can work. Since the first hinged rod 64 rotates on the surface of the first turntable 63 and the other end is hinged to the first piston rod 66, the first piston rod 66 reciprocates in the inner cavity of the first piston tube 65 driven by the first turntable 63 and the first hinged rod 64, thereby causing the air pressure in the inner cavity of the first piston tube 65 to change.

[0049] The shearing mechanism 7 includes a first connecting air pipe 71 connected to one end of the first piston tube 65, and the other end of the first connecting air pipe 71 is connected to the second piston tube 72 on both sides, and the inner cavity of the second piston tube 72 is slidably provided with a first piston head 73, one end of the first piston head 73 is fixed with a connecting rod 74, and the other end of the connecting rod 74 is fixed with a shearing head 75. In this embodiment, through the arrangement of the first connecting air pipe 71, the second piston tube 72, the first piston head 73, the connecting rod 74 and the shearing head 75, when the pressure in the inner cavity of the first piston tube 65 changes, the first connecting air pipe 71 connected to the inner cavity of the first piston tube 65 can drive the second piston tube 72 to work, and then the first piston head 73 drives the connecting rod 74 to move, and under the action of the connecting rods 74 on both sides, the shearing head 75 can cut the target object.

[0050] The transmission mechanism 8 includes a first transmission rod 81 which is transmitted to the output shaft of the motor 61 through bevel gears, the other end of the first transmission rod 81 is provided with a second transmission rod 82 through bevel gear transmission, the other end of the second transmission rod 82 is fixed with a first timing wheel 83, the surface of the first timing wheel 83 is meshed with a timing belt 84, the other end of the timing belt 84 is meshed with a second timing wheel 85, and the inner cavity of the second timing wheel 85 is fixed with a second rotating shaft 86. In this embodiment, through the arrangement of the first transmission rod 81, the second transmission rod 82, the first timing wheel 83, the timing belt 84, the second timing wheel 85 and the second rotating shaft 86, when the motor 61 is working, the first transmission rod 81 which is transmitted to the output shaft of the motor 61 can drive the second transmission rod 82 to rotate, and then the first timing wheel 83 fixed to one end of the second transmission rod 82 can drive the second timing wheel 85 to work through the timing belt 84, and under the action of the second timing wheel 85, the second rotating shaft 86 rotates.

[0051] The surface of the pumping mechanism 9 is fixed to a second turntable 91 at one end of the second rotating shaft 86, and a second hinged rod 92 is rotatably provided on the surface of the second turntable 91, and a second piston rod 93 is hinged on the other end of the second hinged rod 92, and a second piston head 94 is fixed to one end of the second piston rod 93, and a third piston tube 95 is slidably provided on the surface of the second piston head 94, and the other end of the third piston tube 95 is connected to a second connecting air pipe 96. In this embodiment, through the arrangement of the second turntable 91, the second hinged rod 92, the second piston rod 93, the second piston head 94, the third piston tube 95 and the second connecting air pipe 96, when the second rotating shaft 86 rotates, the second turntable 91 fixed at one end of the second rotating shaft 86 can make the second piston head 94 move back and forth in the inner cavity of the third piston tube 95 through the second hinged rod 92 and the second piston rod 93, thereby making the second connecting air pipe 96 work.

[0052] The blowing mechanism 10 includes a fourth piston tube 101 connected to one end of the second connecting air pipe 96, the inner cavity of the fourth piston tube 101 is slidably provided with a third piston head 102, and first limiting rods 103 are slidably provided on both sides of the surface of the third piston head 102, and both ends of the first limiting rod 103 are fixed to the inner cavity of the fourth piston tube 101, and the surface of the fourth piston tube 101 is connected with a plurality of blowing tubes 104, and the other end of the blowing tube 104 is connected to the inner cavity of the dump bin 5. In this embodiment, through the arrangement of the fourth piston tube 101, the third piston head 102, the first limiting rod 103 and the blowing tube 104, when the second connecting air pipe 96 is working, the fourth piston tube 101 connected to the second connecting air pipe 96 can make the third piston head 102 slide, and then under the action of the third piston head 102, the blowing tube 104 produces blowing and suction.

[0053] The storage mechanism 11 includes a storage plate 111 that rotates in the inner cavity of the dump bin 5 and a top block 118 that is arranged on one side of the surface of the storage box 14. A positioning block 112 is fixed to one end of the storage plate 111. A top plate 113 is rotatably arranged on the surface of the positioning block 112. A moving block 114 is rotatably arranged on the other end of the top plate 113. Telescopic rods 116 are fixed to both sides of the surface of the moving block 114. A fixed block 117 is fixed to the inner cavity of the dump bin 5. A first spring 115 is sleeved on the surface of the telescopic rod 116. One end of the first spring 115 is fixed to the surface of the fixed block 117. The other end of the first spring 115 is fixed to the surface of the fixed block 117. Fixed on the surface of the moving block 114, in this embodiment, through the arrangement of the storage plate 111, the positioning block 112, the top plate 113, the moving block 114, the first spring 115, the telescopic rod 116, the fixed block 117 and the top block 118, when the moving block 114 is resisted by the top block 118 and moves, the top plate 113 drives the positioning block 112 to move under the drive of the moving block 114, so that the angle of the storage plate 111 changes. Through the change of the angle of the moving block 114, the purpose of placing and collecting the items in the inner cavity of the dump bin 5 can be achieved. Under the action of the telescopic rod 116 and the fixed block 117, the moving block 114 can be reset.

[0054] A limit block 12 is fixed to the inner cavity of the dump bin 5 , and the limit block 12 can limit the maximum deflection angle of the storage plate 111 .

[0055] A slide bar 13 is fixed to one side of the surface of the storage box 14, and the top block 118 slides on the surface of the slide bar 13. In this embodiment, through the setting of the slide bar 13, the multi-dimensional telescopic transport robot arm body 3 can drive the dump bin 5 to change its position. When the top block 118 is in the inner cavity of the dump bin 5, the dump bin 5 can drive the top block 118 to change its position under the drive of the multi-dimensional telescopic transport robot arm body 3, thereby increasing the unloading range of the dump bin 5.

[0056] The action mechanism 16 includes a fifth piston tube 163 fixed to the inner cavity of the robot body 1, a fourth piston head 165 is slidably arranged in the inner cavity of the fifth piston tube 163, a push rod 162 is fixed to one end of the fourth piston head 165, a plurality of second limiting rods 164 are slidably arranged on the surface of the fourth piston head 165, both ends of the second limiting rods 164 are fixed to the inner cavity of the fifth piston tube 163, a second spring 166 is sleeved on the surface of the second limiting rod 164, one end of the second spring 166 is fixed to the surface of the fourth piston head 165, and the second spring 166 is sleeved on the surface of the second limiting rod 164. The other end of the spring 166 is fixed to the inner cavity of the fifth piston tube 163. In this embodiment, through the arrangement of the fitting block 161, the push rod 162, the fifth piston tube 163, the second limiting rod 164, the fourth piston head 165 and the second spring 166, when the fitting block 161 is fitted to the surface of the push rod 162, the push rod 162 can be moved downward, and then the fourth piston head 165 fixed to one end of the push rod 162 can slide in the inner cavity of the fifth piston tube 163, and under the action of the fourth piston head 165, the adjustment mechanism 17 works.

[0057] The adjusting mechanism 17 includes a third connecting air pipe 171 connected to one end of the fifth piston tube 163, the other end of the third connecting air pipe 171 is connected to the sixth piston tube 172, the sixth piston tube 172 is fixed to the inner cavity of the robot body 1, the inner cavity of the sixth piston tube 172 is slidably provided with a fifth piston head 173, the surface of the fifth piston head 173 is fixed with an adjusting rod 174, the other end of the adjusting rod 174 is fixed to the surface of the movable plate 15, in this embodiment, through the arrangement of the third connecting air pipe 171, the sixth piston tube 172, the fifth piston head 173 and the adjusting rod 174, when the air pressure in the inner cavity of the fifth piston tube 163 changes, under the action of the third connecting air pipe 171, the air pressure in the inner cavity of the sixth piston tube 172 can be changed, and then the fifth piston head 173 drives the adjusting rod 174 to move, so that the position of the movable plate 15 changes.

[0058] One end of the third connecting air pipe 171 is connected to a one-way valve 18 for controlling the flow direction of gas. The one-way valve 18 is also arranged on the other end of the third connecting air pipe 171. The surface of the sixth piston tube 172 is connected to a vent valve 19 for controlling the outflow of gas. Through the setting of the one-way valve 18, when the regulating mechanism 17 is working, the work of the regulating mechanism 17 can be assisted to avoid the second movement of the fifth piston head 173 when the fourth piston head 165 is reset.

[0059] Working principle: The working principle of the robot body 1 and the multi-dimensional telescopic transport robot arm body 3 is the existing technology and will not be elaborated here. Through the robot body 1 and the multi-dimensional telescopic transport robot arm body 3, the device can be used for fruit picking.

[0060] When the robot body 1 and the multi-dimensional telescopic transport robot arm body 3 are working, the robot body 1 drives the multi-dimensional telescopic transport robot arm body 3 into the orchard through the track stepping wheel 2, and then the multi-dimensional telescopic transport robot arm body 3 makes the connecting block 4 and the dump bin 5 be in front of the fruit to be picked, and then the power mechanism 6 can be used.

[0061] Under the action of the motor 61, the first rotating shaft 62 rotates, and then the first turntable 63 fixed on the surface of the first rotating shaft 62 can make the first hinged rod 64, the first piston tube 65 and the first piston rod 66 work. The work of the first piston tube 65 makes the first connecting air pipe 71 drive the second piston tube 72 to work. Under the action of the second piston tube 72, the first piston head 73 drives the connecting rod 74 and the shearing head 75 to move. Under the action of the shearing heads 75 on both sides, the branches of the target fruit can be sheared, so that the fruit body can enter the dump bin 5.

[0062] While the shearing mechanism 7 is working, the transmission mechanism 8 is driven by the power mechanism 6, and the first transmission rod 81 transmitted to the output shaft of the motor 61 can drive the second transmission rod 82 to work, and the first timing wheel 83 fixed at one end can rotate the second turntable 91 through the timing belt 84, the second timing wheel 85 and the second rotating shaft 86. Since the rotation positions of the second hinged rod 92 and the second turntable 91 are staggered with the rotation positions of the first turntable 63 and the first hinged rod 64, when the shearing heads 75 on both sides perform shearing work, the second piston rod 93 moves in the inner cavity of the third piston tube 95 toward one side of the second turntable 91, and under the action of the air pumping mechanism 9, the air blowing tube 104 sucks air into the fruit body, and then the purpose of assisting the shearing mechanism 7 is achieved by sucking air into the fruit body.

[0063] When the power mechanism 6 drives the shearing head 75 to reset, the pumping mechanism 9 can blow air, and the falling fruit body can be buffered by the blowing, so as to avoid the loss of the fruit body due to excessive descent.

[0064] The fallen fruit bodies fall on the surface of the storage plate 111. Since the storage plate 111 is set at an angle, the fruit bodies can be stored in the dump bin 5. Through the setting of the dump bin 5 and the storage mechanism 11, the shearing mechanism 7 can work multiple times to avoid shearing and transporting together at one time, thereby improving the working efficiency of the device.

[0065] When there are many fruits on the surface of the dump bin 5 and the storage mechanism 11, the dump bin 5 can be placed on the surface of the storage box 14 under the action of the multi-dimensional telescopic transport robot arm body 3, and then the top block 118 and the moving block 114 are brought into contact with each other under the action of the multi-dimensional telescopic transport robot arm body 3, and then the moving block 114 drives the top plate 113 to move with the assistance of the telescopic rod 116 and the first spring 115, so that under the action of the top plate 113, the angle of the storage plate 111 changes, and through the change of the angle of the storage plate 111, the fruits on the surface of the storage plate 111 can slide out and enter the surface of the moving plate 15.

[0066] In addition, when the multi-dimensional telescopic transport robot body 3 drives the connecting block 4 and the dump bin 5 to be near the storage box 14, the fitting block 161 can fit with the push rod 162, and then under the extrusion of the fitting block 161, the push rod 162 drives the fourth piston head 165 to slide in the inner cavity of the fifth piston tube 163, so that the pressure in the inner cavity of the fifth piston tube 163 changes, and the pressure in the inner cavity of the sixth piston tube 172 changes through the delivery of the third connecting air pipe 171, so that the fifth piston head 173 further drives the adjusting rod 174 and the moving rod 174. The plate 15 descends, and in one contact between the fitting block 161 and the push rod 162, the adjusting rod 174 drives the movable plate 15 to descend one unit, thereby preventing the movable plate 15 from being too high and causing the fruit body to descend too quickly, thereby improving the protection capability of the fruit body. In addition, after the fitting block 161 is released from the pressure on the push rod 162, the fourth piston head 165 and the push rod 162 can be reset under the action of the second spring 166, the second limiting rod 164 and the one-way valve 18, thereby facilitating the next contact between the push rod 162 and the fitting block 161.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot with a multi-dimensional telescopic and movable mechanical arm, comprising a robot body (1) with a built-in intelligent control system, characterized in that: The surface of the robot body (1) is provided with a crawler stepping wheel (2) for movement, a multi-dimensional telescopic transport robot arm body (3) is fixed to one side of the surface of the robot body (1), a connecting block (4) is provided to one side of the surface of the multi-dimensional telescopic transport robot arm body (3), and a dump bin (5) is fixed to the surface of the connecting block (4), and further comprising: A power mechanism (6) disposed in the inner cavity of the connection block (4) for providing power, wherein a shearing mechanism (7) for cutting is disposed on the surface of the power mechanism (6); A transmission mechanism (8) that is driven on one side of the surface of the power mechanism (6), wherein one side of the surface of the transmission mechanism (8) is provided with an air pumping mechanism (9), and one side of the surface of the air pumping mechanism (9) is connected to an air blowing mechanism (10) for providing pneumatic power to the target; A storage mechanism (11) disposed in the inner cavity of the dump bin (5) for temporary storage; A storage box (14) disposed on the surface of the robot body (1) for storing objects, wherein the inner cavity of the storage box (14) is provided with a movable plate (15); An acting mechanism (16) for transmission arranged on the surface of the robot body (1), the acting mechanism (16) further comprising a bonding block (161), the bonding block (161) being arranged on the surface of the multi-dimensional telescopic transport robot arm body (3); An adjusting mechanism (17) is arranged on the surface of the action mechanism (16), wherein the adjusting mechanism (17) controls the lifting and lowering of the movable plate (15); The power mechanism (6) comprises a motor (61) fixed to the inner cavity of the connecting block (4); the output shaft of the motor (61) is provided with a first rotating shaft (62) through a bevel gear transmission; a first rotating disk (63) is fixed to the other end of the first rotating shaft (62); a first hinged rod (64) is rotatably provided on the surface of the first rotating disk (63); a first piston rod (66) is hingedly provided on the other end of the first hinged rod (64); and a first piston tube (65) is slidably provided on the surface of the first piston rod (66); The shearing mechanism (7) comprises a first connecting air pipe (71) connected to one end of a first piston tube (65); both sides of the other end of the first connecting air pipe (71) are connected to second piston tubes (72); a first piston head (73) is slidably provided in the inner cavity of the second piston tube (72); a connecting rod (74) is fixed to one end of the first piston head (73); and a shearing head (75) is fixed to the other end of the connecting rod (74); The transmission mechanism (8) comprises a first transmission rod (81) which is driven to the output shaft of the motor (61) through bevel gears; the other end of the first transmission rod (81) is provided with a second transmission rod (82) through bevel gears; the other end of the second transmission rod (82) is fixed with a first timing wheel (83); the surface of the first timing wheel (83) is meshed with a timing belt (84); the other end of the timing belt (84) is meshed with a second timing wheel (85); and the inner cavity of the second timing wheel (85) is fixed with a second rotating shaft (86).

2. The robot with a multi-dimensional telescopic manipulator arm according to claim 1, characterized in that: The surface of the pumping mechanism (9) is fixed to a second rotating disk (91) at one end of a second rotating shaft (86); a second hinged rod (92) is rotatably provided on the surface of the second rotating disk (91); a second piston rod (93) is hingedly provided at the other end of the second hinged rod (92); a second piston head (94) is fixed at one end of the second piston rod (93); a third piston tube (95) is slidably provided on the surface of the second piston head (94); and the other end of the third piston tube (95) is connected to a second connecting air pipe (96).

3. The robot with a multi-dimensional telescopic manipulator arm according to claim 2, characterized in that: The blowing mechanism (10) comprises a fourth piston tube (101) connected to one end of the second connecting air pipe (96); a third piston head (102) is slidably arranged in the inner cavity of the fourth piston tube (101); first limit rods (103) are slidably arranged on both sides of the surface of the third piston head (102); both ends of the first limit rod (103) are fixed to the inner cavity of the fourth piston tube (101); a plurality of blowing tubes (104) are connected to the surface of the fourth piston tube (101); the other ends of the blowing tubes (104) are connected to the inner cavity of the dump bin (5).

4. The robot with a multi-dimensional telescopic manipulator arm according to claim 1, characterized in that: The storage mechanism (11) comprises a storage plate (111) rotatable in the inner cavity of the dump bin (5) and a top block (118) arranged on one side of the surface of the storage box (14); a positioning block (112) is fixed to one end of the storage plate (111); a top plate (113) is rotatably arranged on the surface of the positioning block (112); a moving block (114) is rotatably arranged on the other end of the top plate (113); telescopic rods (116) are fixed to both sides of the surface of the moving block (114); a fixed block (117) is fixed to the other end of the telescopic rod (116); the fixed block (117) is fixed to the inner cavity of the dump bin (5); a first spring (115) is sleeved on the surface of the telescopic rod (116); one end of the first spring (115) is fixed to the surface of the fixed block (117); and the other end of the first spring (115) is fixed to the surface of the moving block (114).

5. The robot with a multi-dimensional telescopic manipulator arm according to claim 1, characterized in that: The action mechanism (16) comprises a fifth piston tube (163) fixed to the inner cavity of the robot body (1); a fourth piston head (165) is slidably arranged in the inner cavity of the fifth piston tube (163); a push rod (162) is fixed to one end of the fourth piston head (165); a plurality of second limiting rods (164) are slidably arranged on the surface of the fourth piston head (165); both ends of the second limiting rods (164) are fixed to the inner cavity of the fifth piston tube (163); a second spring (166) is sleeved on the surface of the second limiting rod (164); one end of the second spring (166) is fixed to the surface of the fourth piston head (165); and the other end of the second spring (166) is fixed to the inner cavity of the fifth piston tube (163).

6. The robot with a multi-dimensional telescopic manipulator arm according to claim 5, characterized in that: The adjustment mechanism (17) comprises a third connecting air pipe (171) connected to one end of a fifth piston tube (163); the other end of the third connecting air pipe (171) is connected to a sixth piston tube (172); the sixth piston tube (172) is fixed to the inner cavity of the robot body (1); a fifth piston head (173) is slidably arranged in the inner cavity of the sixth piston tube (172); an adjustment rod (174) is fixed to the surface of the fifth piston head (173); and the other end of the adjustment rod (174) is fixed to the surface of the movable plate (15).

7. The robot with a multi-dimensional telescopic manipulator arm according to claim 6, characterized in that: One end of the third connecting air pipe (171) is connected to a one-way valve (18) for controlling the flow direction of gas, and the one-way valve (18) is also arranged at the other end of the third connecting air pipe (171). The surface of the sixth piston tube (172) is connected to a deflation valve (19) for controlling the outflow of gas.

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