Agricultural robot for picking

Abstract

The agricultural robot comprises a tracked robot, an adjusting structure is arranged on the front portion of the upper end of a bearing platform, a picking execution structure is installed at the upper end of the adjusting structure, and a fruit screening structure is arranged on the rear portion of the upper end of the bearing platform; a control module communicating with the inner side of the fruit screening structure is arranged on the front portion of the upper end of the bearing platform, and the control module and the picking execution structure are jointly and fixedly connected with a connecting hose. According to the agricultural robot for picking, mature fruits are recognized through cooperation of the picking execution structure and the control module, and fruits at different positions on a fruit tree are picked through cooperation of the picking execution structure and the adjusting structure; the picked fruits are fed into the fruit screening structure through cooperation of the connecting hose and the control module, sorting and storage are conducted through the fruit screening structure, the fruits with different diameters are stored separately, and subsequent classification is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of picking equipment, and in particular to an agricultural robot used for picking. Background Art

[0002] As an important part of modern agricultural technology, agricultural robots have developed into many types, including fertilizing robots, tillage robots, weeding robots, spraying robots, vegetable grafting robots, harvesting robots, and picking robots. These robots have great potential in reducing labor intensity, improving production efficiency, and ensuring timely harvesting of fruits. Especially in field fruit and vegetable picking operations, the application of automated picking robots is particularly important due to its strong seasonality, high labor intensity, and high cost. With the advancement of technology, picking robots use mechanical arms and visual systems to identify the maturity of crops and pick fruits. They are often used in the harvesting of fruit trees and vegetables, which can reduce manual damage and increase picking speed.

[0003] Chinese patent publication number CN109275421B discloses an agricultural robot for picking, comprising a rectangular box and a storage device installed in the rectangular box; the agricultural robot for picking also includes an adjustment device arranged at the upper end of the rectangular box, and a shearing device arranged at the upper end of the adjustment device, through the action of the storage device, the fruit can be perfectly stored, through the action of the adjustment device, one end of the shearing device can be stably moved, and through the action of the shearing device, the fruit can be separated from the rhizome; the side surface of the rectangular box is provided with air holes, the air holes are fixedly connected to the rectangular box, the upper surface of the rectangular box is provided with a controller, the controller is fixedly connected to the rectangular box, and the side surface of the rectangular box is provided with a push armrest.

[0004] Although agricultural robot technology has made some progress, there are still some shortcomings. First, the range of agricultural robots is relatively small, which limits their application in large areas of farmland. Second, some picking robots may be too violent during the picking process, resulting in damage to the fruit and prone to rot. Finally, existing agricultural robots have limited ability to sort fruits and cannot effectively sort fruits accurately based on characteristics such as size and maturity. Summary of the invention

[0005] The main purpose of the present invention is to provide an agricultural robot for picking, which can effectively solve the problems of small action range of existing devices, violent picking process, easy occurrence of rotten fruits and inability to sort.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] An agricultural robot for picking, comprising a tracked robot, wherein the upper end of the tracked robot is fixedly connected to a carrying platform, an adjustment structure is provided at the front of the upper end of the carrying platform, a picking execution structure is installed at the upper end of the adjustment structure, a fruit screening structure is provided at the rear of the upper end of the carrying platform, a control module connected to the inner side of the fruit screening structure is provided at the front of the upper end of the carrying platform, and a connecting hose is fixedly connected to the control module and the picking execution structure.

[0008] Preferably, the adjustment structure includes an axial adjustment component that is slidably connected to the upper end of the carrying platform via a slide groove, a threaded rod is threadedly connected to the inner surface of a slider between the axial adjustment component and the carrying platform, one end of the threaded rod is fixedly connected to a driving motor installed on the inner side of the carrying platform, a connecting rod is provided at the upper end of the axial adjustment component, an angle adjustment component is fixedly connected to the upper end of the connecting rod, and a picking execution structure connected to a connecting hose is fixedly installed on the output side of the angle adjustment component.

[0009] Preferably, the axial adjustment assembly includes a support seat that is slidably connected to the upper end of the supporting platform, the lower end of the connecting rod passes through the upper end of the second driving motor, extends to the inner cavity of the support seat and is rotatably connected to the second driving motor, the outer surface of the connecting rod is located in the inner cavity of the support seat and is fixedly connected to a worm gear, the rear part of the outer surface of the worm gear is meshed with a worm that is rotatably connected to the inner cavity of the support seat, one end of the support seat is fixedly connected to the second driving motor, and the output end of the second driving motor is fixedly connected to the worm gear.

[0010] Preferably, the angle adjustment assembly includes a rotating base fixedly connected to the upper end of the connecting rod, an action rod rotatably connected to the inner surface of the rotating base, gear two is rotatably connected to the left and right ends of the rotating base, two ends of the gear two away from the rotating base are fixedly connected to the connecting rod one, two ends of the connecting rod one away from the rotating base are rotatably connected to the connecting rod two, the upper ends of the connecting rod two and the upper ends of the action rod are commonly rotatably connected to the connecting rod three, an electric telescopic rod is fixedly connected to the inner surface of the action rod, the output end of the electric telescopic rod is fixedly connected to the picking execution structure, a dual-axis motor is fixedly installed in the inner cavity of the rotating base, the left and right output ends of the dual-axis motor both penetrate the inner cavity of the rotating base, extend to the adjacent end faces of the rotating base and are fixedly connected to the gear one meshing with the gear two on the same side.

[0011] Preferably, the picking execution structure includes a picking tube fixedly connected to the piston rod at the output end of the electric telescopic rod, a connecting hole connected to the lower part of the outer surface of the picking tube is opened at the front end, the inner surface of the connecting hole is connected to the connecting hose, a cutting module is arranged at the front part of the inner surface of the connecting hole, a driving member transmission-connected to the cutting module is fixedly installed on the upper part of the outer surface of the picking tube, and a visual detection probe connected to the control module through a signal line is fixedly installed at the front end of the driving member.

[0012] Preferably, the driving member includes an installation box fixed to the front side of the upper outer surface of the picking tube for installing the visual detection probe, a stepper motor is fixedly installed on the inner surface of the installation box, a half-scale disk is fixedly installed on the output end of the stepper motor, an H-shaped frame that moves left and right is slidably connected to the inner surface of the installation box, and matching racks that are adapted to the half-scale disk are fixedly connected on the upper and lower sides of the inner surface of the H-shaped frame in a circularly symmetrical manner, and a rack 1 that is transmission-connected to the cutting module is fixedly connected to the lower end of the matching rack.

[0013] Preferably, the cutting module includes a mounting ring installed on the front side of the inner surface of the connecting hole, a limiting ring is fixedly installed on the inner surface of the mounting ring, three receiving holes are staggeredly provided on the inner surface of the limiting ring, arc-shaped blades are provided on the inner surfaces of the three receiving holes, the three arc-shaped blades are fixedly connected to gear three distributed in a ring shape, the outer surfaces of the three gear threes are jointly meshed with an inner gear ring rotatably connected to the outer surface of the limiting ring, and an outer gear ring is fixedly connected to the position of the upper part of the outer surface of the inner gear ring corresponding to the rack one.

[0014] Preferably, the control module includes a control terminal fixedly connected to the upper end of the carrying platform, the left end of the control terminal is fixedly connected to a negative pressure machine, the suction end of the negative pressure machine is fixedly connected to a connecting pipe, the connecting pipe is T-shaped and the front of its horizontal part is connected to a connecting hose, the rear side of the horizontal part of the connecting pipe is connected to a fruit screening structure, a mesh plate is fixedly connected at the intersection of the horizontal and vertical parts of the connecting pipe, and a one-way valve is fixedly connected to the rear side of the horizontal part of the connecting pipe, and the one-way valve is unidirectionally conductive in the direction of the fruit screening structure.

[0015] Preferably, the fruit screening structure comprises support frames which are symmetrically distributed front and back and fixedly connected to the upper end of the carrying platform, a sorting component is commonly provided on the inner surfaces of the two support frames, a shell which is fixedly connected to the upper end of the carrying platform is provided on the outer surface of the sorting component, the bottom wall of the inner cavity of the shell is divided into a plurality of storage baskets by a partition, and a driving motor three which is transmission-connected to the sorting component is fixedly connected to the rear end of the support frame located at the rear.

[0016] Preferably, the sorting component includes a fixed ring fixedly connected to the front support frame and connected to the rear end of the horizontal part of the connecting pipe, the inner surface of the fixed ring is connected to a rotating ring for common rotation with the inner surface of the support frame located at the rear, and a plurality of sorting holes are arranged in a circular distribution on the outer surface of the rotating ring. The apertures of the sorting holes on the same front and rear longitudinal lines decrease from front to back, and the apertures of the plurality of sorting holes on the same ring line are the same and correspond to the same storage basket, and a spiral guide plate is fixedly connected to the inner surface of the sorting hole.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention uses a crawler robot to enable the equipment to move in the orchard, and uses the cooperation of the picking execution structure and the control module to identify the ripe fruits, and then picks the fruits at different positions on the fruit trees through the cooperation of the picking execution structure and the adjustment structure, and sends the picked fruits to the fruit screening structure through the cooperation of the connecting hose and the control module, and sorts and stores them through the fruit screening structure, and stores fruits of different diameters separately, which is convenient for subsequent classification.

[0019] 2. The present invention adjusts the left and right positions of the axial adjustment component through the action of a driving motor and a threaded rod, and adjusts the action angle of the angle adjustment component through the action of the axial adjustment component on the connecting rod, and simultaneously uses the angle adjustment component to adjust the pitch angle of the picking execution structure, and cooperates with the visual analysis of the picking execution structure and the control module to control the movement trajectory of the adjustment structure in real time, thereby improving the picking range, ensuring the accuracy of picking, avoiding the mistaken picking of fruits and rotten fruits, and thus improving the picking efficiency.

[0020] 3. The present invention implements the coordination of the visual detection probe and the control module to adjust the direction of the picking tube through the adjustment structure, and cooperates with the picking tube through the action of the angle adjustment component to allow the fruit to be picked to enter the connecting hole, and cuts off the fruit stalks through the coordination of the driving member and the cutting module, so that the fruit stalks can be sucked into the connecting hose through the connecting hole by the negative pressure of the control module, thereby avoiding damage to the fruit or the branches of the fruit tree due to violent pulling, causing rotten fruit or affecting subsequent yields.

[0021] 4. The present invention utilizes a driving motor to drive the rotating ring to rotate, and transports the fruit backwards through the spiral guide plate in the rotating ring, and finally falls into the storage basket through sorting holes of different apertures, thereby realizing the sorting of fruits of different sizes, reducing the manual sorting process, improving the subsequent packaging efficiency, and further improving the harvesting and picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the regulating structure of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the axial adjustment assembly of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the angle adjustment assembly of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the picking execution structure of the present invention;

[0027] Figure 6It is a schematic diagram of the explosion effect of the driving member and the cutting module of the present invention;

[0028] Figure 7 It is a schematic cross-sectional structure diagram of the driving member and the cutting module of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the fruit screening structure of the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the sorting component of the present invention;

[0031] Fig.10 It is a schematic diagram of the cross-sectional structure of the sorting component of the present invention.

[0032] In the figure: 1. crawler robot; 2. bearing platform; 3. fruit screening structure; 31. shell; 311. storage basket; 32. support frame; 33. drive motor three; 34. sorting assembly; 341. rotating ring; 342. sorting hole; 343. fixed ring; 344. spiral guide plate; 4. control module; 41. negative pressure machine; 42. control terminal; 43. connecting pipe; 44. mesh plate; 45. one-way valve; 5. adjustment structure; 51. drive motor one; 52. threaded rod; 53. axial adjustment assembly; 531. drive motor two; 532. worm gear; 533. worm; 534. support seat; 54. connecting rod; 55. angle adjustment assembly; 551. rotating bottom Seat; 552, dual-axis motor; 553, gear one; 554, gear two; 555, connecting rod one; 556, connecting rod two; 557, connecting rod three; 558, action rod; 559, electric telescopic rod; 6, picking execution structure; 61, picking tube; 62, driving part; 621, installation box; 622, stepping motor; 623, half-scale plate; 624, H-shaped frame; 625, matching rack; 626, rack one; 63, visual inspection probe; 64, cutting module; 641, mounting ring; 642, limiting ring; 643, storage hole; 644, arc blade; 645, gear three; 646, inner gear ring; 647, outer gear ring; 66, connecting hole; 7, connecting hose. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0034] Embodiment 1, as Figure 1As shown, an agricultural robot for picking includes a tracked robot 1, the upper end of the tracked robot 1 is fixedly connected to a carrying platform 2, the front upper end of the carrying platform 2 is provided with an adjusting structure 5, the upper end of the adjusting structure 5 is installed with a picking execution structure 6, the rear upper end of the carrying platform 2 is provided with a fruit screening structure 3, the front upper end of the carrying platform 2 is provided with a control module 4 connected to the inner side of the fruit screening structure 3, the control module 4 and the picking execution structure 6 are fixedly connected with a connecting hose 7.

[0035] Further, in order to realize the attraction and delivery of the fruits picked by the picking execution structure 6 into the fruit screening structure 3 for sorting, refer to Figure 8 The control module 4 includes a control terminal 42 fixedly connected to the upper end of the carrying platform 2, and a negative pressure machine 41 is fixedly connected to the left end of the control terminal 42.

[0036] It should be particularly noted that the above-mentioned negative pressure machine 41 is a conventional control device in the prior art, which is equipped with a visual analysis module inside and can judge the maturity by analyzing the color of the fruit, and the control terminal 42 is a conventional negative pressure fan, which can extract air in the picking execution structure 6 through the connecting hose 7, thereby forming a negative pressure air duct, and promoting the fruits picked by the picking execution structure 6 to enter the fruit screening structure 3 through the connecting hose 7 and the connecting pipe 43. This structure and implementation method have been widely used in the prior art. In the present invention, it is only used to realize the basic operation function of the control device, and its internal structure, operating principle, wiring, and control method are not repeated.

[0037] During the operation of this embodiment, the device is first moved in the orchard by the crawler robot 1, and the ripe fruits are identified by the cooperation of the picking execution structure 6 and the control module 4. Then, the fruits at different positions on the fruit trees are picked by the cooperation of the picking execution structure 6 and the adjustment structure 5, and the picked fruits are sent to the fruit screening structure 3 through the cooperation of the connecting hose 7 and the control module 4. The fruits are sorted and stored by the fruit screening structure 3, and fruits of different diameters are stored separately to facilitate subsequent classification.

[0038] Embodiment 2. Based on embodiment 1, this embodiment adjusts the left and right positions of the axial adjustment component 53 through the action of the driving motor 1 51 and the threaded rod 52, and adjusts the action angle of the angle adjustment component 55 through the action of the axial adjustment component 53 on the connecting rod 54, and simultaneously uses the angle adjustment component 55 to adjust the pitch angle of the picking execution structure 6, and cooperates with the visual analysis of the picking execution structure 6 and the control module 4 to control the movement trajectory of the adjustment structure 5 in real time, thereby improving the picking range, ensuring the accuracy of picking, avoiding the mistaken picking of fruits and rotten fruits, and thus improving the picking efficiency.

[0039] Specifically, to adjust the picking angle, refer to Figure 2 The adjustment structure 5 includes an axial adjustment component 53 which is slidably connected to the upper end of the carrying platform 2 through a slide groove. A threaded rod 52 is threadedly connected to the inner surface of the slider between the axial adjustment component 53 and the carrying platform 2. One end of the threaded rod 52 is fixedly connected to a driving motor 51 installed on the inner side of the carrying platform 2. A connecting rod 54 is provided at the upper end of the axial adjustment component 53. An angle adjustment component 55 is fixedly connected to the upper end of the connecting rod 54. A picking execution structure 6 which is connected to the connecting hose 7 is fixedly installed on the output side of the angle adjustment component 55.

[0040] The lateral position of the picking execution structure 6 is adjusted through the cooperation of the axial adjustment component 53, the driving motor 51 and the threaded rod 52, and the left and right angles of the picking execution structure 6 are adjusted through the action of the axial adjustment component 53. The pitch angle of the picking execution structure 6 is adjusted by the action of the angle adjustment component 55, so as to improve the picking range of the picking execution structure 6.

[0041] Further, to adjust the left and right angles, refer to Figure 3 The axial adjustment component 53 includes a support seat 534 that is slidably connected to the upper end of the supporting platform 2. The lower end of the connecting rod 54 passes through the upper end of the driving motor 531 and extends to the inner cavity of the support seat 534 and is rotatably connected to the driving motor 531. The outer surface of the connecting rod 54 is located in the inner cavity of the support seat 534. The part is fixedly connected to a worm gear 532. The rear part of the outer surface of the worm gear 532 is meshed with a worm 533 that is rotatably connected to the inner cavity of the support seat 534. One end of the support seat 534 is fixedly connected to the driving motor 531. The output end of the driving motor 531 is fixedly connected to the worm gear 533.

[0042] The second driving motor 531 drives the worm 533 to rotate, and simultaneously utilizes the meshing of the worm 533 and the worm wheel 532 to drive the worm wheel 532 to rotate. The worm wheel 532 is fixed together with the connecting rod 54. When the worm wheel 532 rotates, it will synchronously drive the connecting rod 54 to rotate, thereby driving the angle adjustment component 55 and the picking execution structure 6 installed on the upper part to rotate, so as to pick fruits in different positions.

[0043] Further, in order to adjust the upper and lower angles of the picking execution structure 6 and the effective radius, refer to Figure 4The angle adjustment assembly 55 includes a rotating base 551 fixedly connected to the upper end of the connecting rod 54, an action rod 558 is rotatably connected to the inner surface of the rotating base 551, gear two 554 are rotatably connected to the left and right ends of the rotating base 551, the ends of the two gear two 554 away from the rotating base 551 are fixedly connected to the connecting rod one 555, the ends of the two connecting rods one 555 away from the rotating base 551 are rotatably connected to the connecting rod two 556, the upper ends of the connecting rod two 556 and the upper ends of the action rod 558 are commonly rotatably connected to the connecting rod three 557, an electric telescopic rod 559 is fixedly connected to the inner surface of the action rod 558, and the output end of the electric telescopic rod 559 is fixedly connected to the picking execution structure 6, a dual-axis motor 552 is fixedly installed in the inner cavity of the rotating base 551, and the output ends on both sides of the dual-axis motor 552 penetrate the inner cavity of the rotating base 551 and extend to the end faces of the adjacent rotating base 551 and are fixedly connected to the gear one 553 meshing with the gear two 554 on the same side.

[0044] First, connecting rod one 555, connecting rod two 556, connecting rod three 557, and action rod 558 form a parallelogram, which has a stable structure and the two opposite sides remain parallel. Therefore, when the angles of action rod 558 and connecting rod one 555 change, the angles of connecting rod three 557 and connecting rod two 556 will also change synchronously. The dual-axis motor 552 drives gear one 553 to rotate, and drives connecting rod one 555 to rotate around gear two 554 through the engagement of gear one 553 and gear two 554 through gear two 554. When the angle of connecting rod one 555 changes, the angle of connecting rod three 557 will be driven to change synchronously through two parallel levers, connecting rod two 556 and connecting rod three 557, thereby adjusting the angle of the electric telescopic rod 559 installed at the connection between connecting rod three 557 and action rod 558, thereby adjusting the pitch angle of the picking execution structure 6.

[0045] Embodiment 3: Based on Embodiment 2, this embodiment further implements the direction of the picking tube 61 through the adjustment structure 5 through the cooperation between the visual detection probe 63 and the control module 4, and cooperates with the picking tube 61 through the action of the angle adjustment component 55 to make the fruits to be picked enter the connecting hole 66, and cuts off the fruit stalks through the cooperation between the driving member 62 and the cutting module 64, so that they can be sucked into the connecting hose 7 through the connecting hole 66 by the negative pressure of the control module 4, so as to avoid damage to the fruit or the branches of the fruit tree due to violent pulling, resulting in rotten fruit or affecting the subsequent yield.

[0046] Specifically, to achieve the picking and cutting of fruits, refer to Figure 5The picking execution structure 6 includes a picking tube 61 fixedly connected to the piston rod at the output end of the electric telescopic rod 559, a connecting hole 66 communicating with the lower part of the outer surface of the picking tube 61 is opened at the front end, the inner surface of the connecting hole 66 is communicated with the connecting hose 7, a cutting module 64 is arranged at the front part of the inner surface of the connecting hole 66, a driving member 62 transmission-connected to the cutting module 64 is fixedly installed on the upper part of the outer surface of the picking tube 61, and a visual detection probe 63 connected to the control module 4 through a signal line is fixedly installed at the front end of the driving member 62.

[0047] Further, in order to realize the driving cutting module 64 to cut off the fruit stem, refer to Figure 6 and Figure 7 The driving member 62 includes an installation box 621 fixed to the front side of the upper outer surface of the picking tube 61 for installing the visual detection probe 63, a stepper motor 622 is fixedly installed on the inner surface of the installation box 621, a half-scale disk 623 is fixedly installed on the output end of the stepper motor 622, an H-shaped frame 624 that moves left and right is slidably connected to the inner surface of the installation box 621, and a matching rack 625 that is compatible with the half-scale disk 623 is fixedly connected on the upper and lower sides of the inner surface of the H-shaped frame 624 in a circularly symmetrical manner, and a rack 626 that is transmission-connected to the cutting module 64 is fixedly connected at the lower end of the matching rack 625.

[0048] Further, in order to cut off the stem of the fruit following the action of the driving member 62, see Figure 6 and Figure 7 The cutting module 64 includes a mounting ring 641 installed on the front side of the inner surface of the connecting hole 66, a limiting ring 642 is fixedly installed on the inner surface of the mounting ring 641, three receiving holes 643 are staggeredly arranged on the inner surface of the limiting ring 642, arc blades 644 are arranged on the inner surfaces of the three receiving holes 643, the three arc blades 644 are fixedly connected with gear three 645 distributed in a ring shape, the outer surfaces of the three gear three 645 are meshed with an inner gear ring 646 rotatably connected to the outer surface of the limiting ring 642, and an outer gear ring 647 is fixedly connected to the upper part of the outer surface of the inner gear ring 646 corresponding to the position of the rack one 626.

[0049] It should be particularly noted that the above-mentioned visual detection probe 63 is a conventional visual acquisition device, which can transmit the detected image to the negative pressure machine 41 for analysis, and regulate the adjustment structure 5 in real time through the signal transmission between the negative pressure machine 41 and the visual detection probe 63, so as to ensure that the picking tube 61 covers the fruit. Its implementation method and principle are conventional technical means in the prior art, and will not be displayed or elaborated in the present invention.

[0050] In summary, during the operation of this embodiment, first, the fruit enters the picking tube 61 through the action of the adjustment structure 5. At this time, the fruit stalk between the fruit and the branch is on the inner side of the mounting ring 641. The stepper motor 622 drives the half-size disk 623 to rotate so that the matching rack 625 slides to one side. At this time, the outer gear ring 647 is driven to rotate by the cooperation of the rack 1 626 and the outer gear ring 647. During the rotation of the outer gear ring 647, the arc-shaped blade 644 is driven to rotate around the axis of the gear 3 645 through the gear 3 645, thereby cutting off the fruit stalk and separating the fruit from the fruit stalk. The half-size disk 623 continues to rotate, driving the matching rack 625 to move in the opposite direction and reset to the initial position. At this time, the inner gear ring 646 follows the reset and reverse of the matching rack 625, and drives the gear 3 645 to reverse and reset the arc-shaped blade 644 to the storage hole 643.

[0051] At this time, the fruit will enter the connecting hose 7 through the picking tube 61 and the connecting hole 66.

[0052] Embodiment 4: Based on embodiment 3, this embodiment utilizes driving motor 33 to drive rotating ring 341 to rotate, and transports the fruit backward through spiral guide plate 344 in rotating ring 341, and finally falls into storage basket 311 through sorting holes 342 of different apertures, thereby realizing sorting of fruits of different sizes, reducing manual sorting process, improving subsequent packaging efficiency, and further improving harvesting and picking efficiency.

[0053] Specifically, to achieve the sorting and storage of fruit size, refer to Figure 8 and Fig. 9 The fruit screening structure 3 includes support frames 32 which are symmetrically distributed front and back and fixedly connected to the upper end of the carrying platform 2. A sorting component 34 is commonly arranged on the inner surfaces of the two support frames 32. The outer surface of the sorting component 34 is provided with a shell 31 which is fixedly connected to the upper end of the carrying platform 2. The bottom wall of the inner cavity of the shell 31 is divided into a plurality of storage baskets 311 by a partition. The rear end of the support frame 32 located at the rear is fixedly connected to a driving motor 33 which is transmission-connected to the sorting component 34.

[0054] Further, in order to transport the fruit into the fruit screening structure 3, refer to Figure 8 The suction end of the negative pressure machine 41 is fixedly connected with a connecting pipe 43, the connecting pipe 43 is T-shaped, the front of its horizontal part is connected with the connecting hose 7, the rear side of the horizontal part of the connecting pipe 43 is connected with the fruit screening structure 3, the intersection of the horizontal and vertical parts of the connecting pipe 43 is fixedly connected with a mesh plate 44, and the rear side of the horizontal part of the connecting pipe 43 is fixedly connected with a one-way valve 45, and the one-way valve 45 is unidirectionally conductive in the direction of the fruit screening structure 3

[0055] Further, to achieve the sorting of fruit size, see Fig. 9 and Fig.10The sorting component 34 includes a fixed ring 343 fixedly connected to the front support frame 32 and connected to the rear end of the horizontal part of the connecting pipe 43. The inner surface of the fixed ring 343 is connected to a rotating ring 341 for rotation together with the inner surface of the support frame 32 located at the rear. A plurality of sorting holes 342 are arranged in an annular distribution on the outer surface of the rotating ring 341. The apertures of the sorting holes 342 on the same front and rear longitudinal lines decrease from front to back. The apertures of the plurality of sorting holes 342 on the same ring line are the same and correspond to the same storage basket 311. The inner surface of the sorting hole 342 is fixedly connected to a spiral guide plate 344.

[0056] First, the fruit in the connecting hose 7 will be moved toward the connecting pipe 43 under the action of the control terminal 42, but due to the obstruction of the mesh plate 44, the fruit will not enter the negative pressure machine 41, but will break through the one-way valve 45 under the action of the extraction of the control terminal 42 and gravity and enter the fruit screening structure 3;

[0057] On this basis, the fruit enters the rotating ring 341 through the connecting pipe 43, and the rotating ring 341 rotates following the action of the driving motor 33. The fruit can be transported backward through the spiral guide plate 344 on the inner side. When the fruit passes through the sorting hole 342 of the corresponding aperture, it will fall from the sorting hole 342 into the storage basket 311 at the bottom, thereby realizing the sorting of the fruit;

[0058] Among them, the rotating ring 341, the sorting hole 342, and the storage basket 311 are all provided with soft cushions to prevent the fruits from being collided, squeezed, and damaged.

[0059] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An agricultural robot for picking, comprising a crawler robot (1), wherein the upper end of the crawler robot (1) is fixedly connected to a carrying platform (2), characterized in that: The front portion of the upper end of the carrying platform (2) is provided with an adjustment structure (5), the upper end of the adjustment structure (5) is provided with a picking execution structure (6), the rear portion of the upper end of the carrying platform (2) is provided with a fruit screening structure (3), the front portion of the upper end of the carrying platform (2) is provided with a control module (4) which is connected to the inner side of the fruit screening structure (3), and the control module (4) and the picking execution structure (6) are fixedly connected together with a connecting hose (7).

2. The agricultural robot for picking according to claim 1, characterized in that: The adjustment structure (5) comprises an axial adjustment component (53) which is slidably connected to the upper end of the bearing platform (2) via a slide groove; a threaded rod (52) is threadedly connected to the inner surface of a slider between the axial adjustment component (53) and the bearing platform (2); one end of the threaded rod (52) is fixedly connected to a driving motor (51) installed on the inner side of the bearing platform (2); a connecting rod (54) is provided at the upper end of the axial adjustment component (53); an angle adjustment component (55) is fixedly connected to the upper end of the connecting rod (54); and a picking execution structure (6) which is connected to a connecting hose (7) is fixedly installed on the output side of the angle adjustment component (55).

3. The agricultural robot for picking according to claim 2, characterized in that: The axial adjustment assembly (53) includes a support seat (534) slidably connected to the upper end of the support platform (2); the lower end of the connecting rod (54) passes through the upper end of the second drive motor (531) and extends to the inner cavity of the support seat (534) and is rotatably connected to the second drive motor (531); the outer surface of the connecting rod (54) is located in the inner cavity of the support seat (534) and is fixedly connected to a worm gear (532); the rear portion of the outer surface of the worm gear (532) is meshed with a worm (533) rotatably connected to the inner cavity of the support seat (534); one end of the support seat (534) is fixedly connected to the second drive motor (531); the output end of the second drive motor (531) is fixedly connected to the worm gear (533).

4. The agricultural robot for picking according to claim 3, characterized in that: The angle adjustment assembly (55) comprises a rotating base (551) fixedly connected to the upper end of the connecting rod (54); an inner surface of the rotating base (551) is rotatably connected to an action rod (558); both left and right ends of the rotating base (551) are rotatably connected to gear 2 (554); the ends of the two gear 2 (554) away from the rotating base (551) are fixedly connected to connecting rod 1 (555); the ends of the two connecting rods 1 (555) away from the rotating base (551) are rotatably connected to connecting rod 2 (556); the upper end of the connecting rod 2 (556) is The end of the rotating base (551) is connected to the upper end of the action rod (558) for common rotation with a connecting rod three (557); the inner surface of the action rod (558) is fixedly connected to an electric telescopic rod (559); the output end of the electric telescopic rod (559) is fixedly connected to the picking execution structure (6); a double-axis motor (552) is fixedly installed in the inner cavity of the rotating base (551); the left and right output ends of the double-axis motor (552) both penetrate the inner cavity of the rotating base (551) and extend to the end surface of the adjacent rotating base (551) and are fixedly connected to a gear one (553) meshing with a gear two (554) on the same side.

5. The agricultural robot for picking according to claim 4, characterized in that: The picking execution structure (6) comprises a picking tube (61) fixedly connected to the piston rod at the output end of the electric telescopic rod (559); a connecting hole (66) communicating with the lower part of the outer surface of the picking tube (61) is provided at the front end; the inner surface of the connecting hole (66) is communicated with the connecting hose (7); a cutting module (64) is provided at the front part of the inner surface of the connecting hole (66); a driving member (62) drivingly connected to the cutting module (64) is fixedly installed on the upper part of the outer surface of the picking tube (61); a visual detection probe (63) connected to the control module (4) via a signal line is fixedly installed at the front end of the driving member (62).

6. The agricultural robot for picking according to claim 5, characterized in that: The driving member (62) comprises an installation box (621) fixed to the front side of the upper outer surface of the picking tube (61) for installing the visual detection probe (63); a stepper motor (622) is fixedly installed on the inner surface of the installation box (621); a half-scale disk (623) is fixedly installed on the output end of the stepper motor (622); an H-shaped frame (624) that moves left and right is slidably connected to the inner surface of the installation box (621); a matching rack (625) that matches the half-scale disk (623) is fixedly connected to the upper and lower sides of the inner surface of the H-shaped frame (624) in a circularly symmetrical manner; a rack 1 (626) that is transmission-connected to the cutting module (64) is fixedly connected to the lower end of the matching rack (625).

7. The agricultural robot for picking according to claim 6, characterized in that: The cutting module (64) comprises a mounting ring (641) mounted on the front side of the inner surface of the connecting hole (66); a limiting ring (642) is fixedly mounted on the inner surface of the mounting ring (641); three receiving holes (643) are staggeredly arranged on the inner surface of the limiting ring (642); arc-shaped blades (644) are arranged on the inner surfaces of the three receiving holes (643); the three arc-shaped blades (644) are fixedly connected to gear three (645) distributed in a ring shape; the outer surfaces of the three gear threes (645) are jointly meshed with an inner toothed ring (646) rotatably connected to the outer surface of the limiting ring (642); an outer toothed ring (647) is fixedly connected to the upper portion of the outer surface of the inner toothed ring (646) at a position corresponding to rack one (626).

8. The agricultural robot for picking according to claim 1, characterized in that: The control module (4) comprises a control terminal (42) fixedly connected to the upper end of the carrying platform (2); the left end of the control terminal (42) is fixedly connected to a negative pressure machine (41); the suction end of the negative pressure machine (41) is fixedly connected to a connecting pipe (43); the connecting pipe (43) is T-shaped, the front of its horizontal part is connected to a connecting hose (7); the rear side of the horizontal part of the connecting pipe (43) is connected to a fruit screening structure (3); a mesh plate (44) is fixedly connected to the intersection of the horizontal and vertical parts of the connecting pipe (43); the rear side of the horizontal part of the connecting pipe (43) is fixedly connected to a one-way valve (45); the one-way valve (45) is unidirectionally conductive in the direction of the fruit screening structure (3).

9. The agricultural robot for picking according to claim 8, characterized in that: The fruit screening structure (3) comprises support frames (32) symmetrically distributed front and rear and fixedly connected to the upper end of the carrying platform (2); a sorting assembly (34) is commonly arranged on the inner surfaces of the two support frames (32); an outer shell (31) fixedly connected to the upper end of the carrying platform (2) is arranged on the outer surface of the sorting assembly (34); the bottom wall of the inner cavity of the outer shell (31) is divided into a plurality of storage baskets (311) by a partition; and a driving motor (33) is fixedly connected to the rear end of the support frame (32) located at the rear and is transmission-connected to the sorting assembly (34).

10. The agricultural robot for picking according to claim 9, characterized in that: The sorting assembly (34) comprises a fixed ring (343) fixedly connected to the front support frame (32) and connected to the rear end of the horizontal part of the connecting pipe (43); the inner surface of the fixed ring (343) is connected to a rotating ring (341) for co-rotation with the inner surface of the support frame (32) located at the rear; the outer surface of the rotating ring (341) is provided with a plurality of sorting holes (342) distributed in an annular manner; the apertures of the sorting holes (342) on the same front and rear longitudinal lines decrease from front to back; the plurality of sorting holes (342) on the same annular line have the same aperture and correspond to the same storage basket (311); the inner surface of the sorting hole (342) is fixedly connected to a spiral guide plate (344).

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