All-terrain apple picking robot

Abstract

The invention belongs to the technical field of agricultural machinery, and discloses an all-terrain apple picking robot which comprises a foot and leg chassis mechanism, a cutting mechanism is mounted at the bottom of the foot and leg chassis mechanism, a lifting mechanism is fixedly mounted at the upper end of the foot and leg chassis mechanism, and a picking mechanism is fixedly mounted at the upper end of the lifting mechanism; wherein the foot-leg chassis mechanism is used for moving, the cutting mechanism is used for cutting weeds on a path, the lifting mechanism is used for lifting the picking mechanism, and the picking mechanism is used for picking apples. The invention aims at overcoming the obvious limitation in the existing apple harvesting technology, and particularly solving the core problems of inconvenience in picking, single harvesting mode, high cost and the like caused by poor adaptability to complex terrains and high diversity of apple trees in large-scale harvesting operation.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an all-terrain apple picking robot. Background Art

[0002] In the entire production process of apples, the picking process is the most time-consuming and labor-intensive link. Traditional apple picking methods mostly rely on manual labor, which is not only labor-intensive but also inefficient. With the continuous expansion of the planting area, the picking task has become more arduous, which puts a great physical burden on the pickers, resulting in a rapid reduction in picking efficiency. At the same time, the picking operation is easily affected by the season and picking time, making the task of picking apples in the ripening period more difficult. In addition, the apple production workforce is aging, and the problem of labor shortage is becoming increasingly prominent, which has seriously affected the healthy development of the apple production industry.

[0003] In order to alleviate the labor shortage problem in the picking process, improve picking efficiency, and reduce damage to fruits during the picking process, it is urgently necessary to introduce agricultural machinery and equipment that can replace manual labor. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide an all-terrain apple picking robot that solves the problems in the background technology.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An all-terrain apple picking robot, comprising:

[0007] A foot-leg chassis mechanism, wherein a cutting mechanism is installed at the bottom of the foot-leg chassis mechanism, a lifting mechanism is fixedly installed at the upper end of the foot-leg chassis mechanism, and a picking mechanism is fixedly installed at the upper end of the lifting mechanism;

[0008] The foot-leg chassis mechanism comprises a frame, both ends of the frame are rotatably connected with a rotating shaft, each of the rotating shafts is fixedly connected with a synchronous pulley, a meshing synchronous belt is commonly sleeved between the two synchronous pulleys, both ends of the rotating shaft are fixedly connected with a first connecting rod, the other end of the first connecting rod is rotatably connected with a second connecting rod, the other end of the second connecting rod is fixedly connected with a third connecting rod, the other end of the third connecting rod is rotatably connected with a foot plate, the connection between the second connecting rod and the third connecting rod is rotatably connected with a fourth connecting rod, and the other end of the fourth connecting rod is rotatably connected with the frame;

[0009] The picking mechanism includes a round table fixedly connected to the upper end of the lifting mechanism, the upper end of the round table is fixedly connected to a first hydraulic rod arranged vertically, the piston rod of the first hydraulic rod is fixedly connected to a fixed seat, the upper end of the fixed seat is fixedly connected to a second hydraulic rod arranged horizontally, the piston rod of the second hydraulic rod is fixedly connected to a fixed shell, a turntable is rotatably connected to the fixed shell, and a scissors manipulator and a grabbing manipulator are fixedly connected to the side of the turntable.

[0010] Furthermore, a first motor is fixedly connected to the frame, a first gear is fixedly connected to an output end of the first motor, a second gear is meshed on a circumferential side of the first gear, and the second gear is fixedly connected to one of the rotating shafts.

[0011] Furthermore, there is a certain angle between the second connecting rod and the third connecting rod.

[0012] Furthermore, a plurality of protrusions are fixedly connected to the lower end surface of the foot plate.

[0013] Furthermore, the cutting mechanism includes a threaded sleeve rotatably connected to the frame bottom plate, a screw rod is threadedly connected to the threaded sleeve, a cutting blade is fixedly connected to the lower end of the screw rod, a fastening nut is threadedly connected to the screw rod, the fastening nut is tightly fitted with the threaded sleeve, a third gear is fixedly connected to the circumferential side of the threaded sleeve, a fourth gear is meshed with the circumferential side of the third gear, a fifth gear is meshed with the circumferential side of the fourth gear, the fourth gear and the fifth gear are both rotatably connected to the frame bottom plate, the fifth gear is fixedly connected to the output end of the second motor, and the second motor is fixedly connected to the frame bottom plate.

[0014] Further, the lifting mechanism includes two fixed seats fixedly connected to the frame and the table, sliding grooves are provided on both sides of the fixed seats, and sliders are slidably connected in the sliding grooves, the slider is rotatably connected to one end of the fifth connecting rod, the other ends of the two fifth connecting rods on the same side of the fixed seat are rotatably connected to each other, the middle of the fifth connecting rod is rotatably connected to the middle of the sixth connecting rod, one ends of the two sixth connecting rods on the same side of the fixed seat are rotatably connected to each other, and the other ends are rotatably connected to the corresponding fixed seats respectively, a first fixed rod is rotatably connected between the two fifth connecting rods at the upper end, a second fixed rod is rotatably connected between the two sixth connecting rods at the lower end, a third hydraulic rod is fixedly connected to the second fixed rod, and a piston rod of the third hydraulic rod is fixedly connected to the first fixed rod.

[0015] Furthermore, at least two telescopic rods are evenly distributed around the circumference of the first hydraulic rod, the lower ends of the telescopic rods are fixedly connected to the truncated table, and the upper ends of the telescopic rods are fixedly connected to the fixing seat.

[0016] Furthermore, a third motor is fixedly connected to the outer side of the fixed shell, an output end of the third motor passes through the fixed shell and is fixedly connected to a sixth gear, a seventh gear is meshed on the circumference of the sixth gear, and the seventh gear is fixedly connected to the turntable.

[0017] Furthermore, the scissors manipulator comprises a first finger cylinder fixedly connected to the turntable, and two moving ends of the first finger cylinder are fixedly connected to the scissors.

[0018] Furthermore, the grasping robot comprises a second finger cylinder fixedly connected to the turntable, and both movable ends of the second finger cylinder are fixedly connected with arc-shaped clamping plates.

[0019] The nouns, conjunctions or adjectives involved in the above technical solution are explained as follows:

[0020] Fixed connection refers to a connection in which parts or components are fixed without any relative movement. There are two types of connection: detachable and non-detachable.

[0021] (1) A removable connection is a connection that uses screws, splines, wedge pins, etc. to hold parts together. This type of connection can be disassembled for maintenance without damaging the parts. However, the specifications of the connectors used must be correct (such as the length of the bolts, keys, and wedge pins) and they must be properly tightened.

[0022] (2) Non-detachable connections mainly refer to welding, riveting and tenoning. Since they need to be disassembled by forging, sawing or oxygen cutting for maintenance or replacement, spare parts generally cannot be reused. At the same time, when making connections, attention should be paid to process quality, technical inspection and remedial measures (such as calibration, polishing, etc.).

[0023] A threaded connection refers to a detachable connection in which the connected parts are connected together using threaded parts (or the threaded parts of the connected parts).

[0024] A sliding connection is when two objects are in contact but not fixed and can slide relative to each other.

[0025] A rotational connection is a connection between parts that allows the parts to rotate relative to each other.

[0026] Beneficial effects of the present invention:

[0027] 1. The harvesting robot of the present application can walk on relatively complex terrain and can harvest apples at different heights and in different postures.

[0028] 2. The purpose of the present invention is to overcome the significant limitations of existing apple harvesting technology, especially the core problems such as poor adaptability to complex terrain in large-scale harvesting operations, inconvenience in picking due to the high diversity of apple trees, and the single and costly harvesting method. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of the foot-leg chassis structure of an embodiment of the present invention;

[0032] Figure 3 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;

[0033] Figure 4 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of the structure of a picking mechanism according to an embodiment of the present invention;

[0035] Figure 6 It is a schematic diagram of the internal structure of the fixed shell according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] 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.

[0037] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] like Figures 1 to 6 As shown, an all-terrain apple picking robot comprises:

[0039] A foot-leg chassis mechanism 100, a cutting mechanism 200 is installed at the bottom of the foot-leg chassis mechanism 100, a lifting mechanism 300 is fixedly installed at the upper end of the foot-leg chassis mechanism 100, and a picking mechanism 400 is fixedly installed at the upper end of the lifting mechanism 300;

[0040] The foot-leg chassis mechanism 100 includes a frame 101, both ends of the frame 101 are rotatably connected with a rotating shaft 102, each rotating shaft 102 is fixedly connected with a synchronous pulley 103, and a meshing synchronous belt 104 is commonly sleeved between the two synchronous pulleys 103, and both ends of the rotating shaft 102 are fixedly connected with a first connecting rod 105, the other end of the first connecting rod 105 is rotatably connected with a second connecting rod 106, the other end of the second connecting rod 106 is fixedly connected with a third connecting rod 107, the other end of the third connecting rod 107 is rotatably connected with a foot plate 108, and the connection between the second connecting rod 106 and the third connecting rod 107 is rotatably connected with a fourth connecting rod 109, and the other end of the fourth connecting rod 109 is rotatably connected to the frame 101;

[0041] The picking mechanism 400 includes a round table 401 fixedly connected to the upper end of the lifting mechanism 300, the upper end of the round table 401 is fixedly connected to a first hydraulic rod 402 arranged vertically, the piston rod of the first hydraulic rod 402 is fixedly connected to a fixed seat 403, the upper end of the fixed seat 403 is fixedly connected to a second hydraulic rod 404 arranged horizontally, the piston rod of the second hydraulic rod 404 is fixedly connected to a fixed shell 405, the fixed shell 405 is rotatably connected to a turntable 406, and the side of the turntable 406 is fixedly connected to a scissors manipulator 407 and a grabbing manipulator 408.

[0042] When in use, the driving source drives one of the rotating shafts 102 to rotate, and the two rotating shafts 102 are driven by the synchronous pulley 103 and the synchronous belt 104, so that the two rotating shafts 102 rotate at the same time, and the rotation of the rotating shaft 102 drives the first connecting rod 105 to rotate around the rotating shaft 102, and the first connecting rod 105 drives the second connecting rod 106 and the third connecting rod 107 to swing. At the same time, the fourth connecting rod 109 is rotated by the swinging traction of the second connecting rod 106 and the third connecting rod 107. When the fourth connecting rod 109 rotates downward, the foot plate 108 will move toward the ground and contact the ground. When the fourth connecting rod 109 rotates upward, the foot plate 108 will move toward the ground and contact the ground. The board 108 will be away from the ground, and the robot can walk by means of the foot-leg mechanisms arranged around the frame. By driving the first hydraulic rod 402 to extend, the scissor manipulator 407 and the grasping manipulator 408 are lifted up to the same height as the apple. By driving the second hydraulic rod 404 to extend, the scissor manipulator 407 and the grasping manipulator 408 move toward the apple. By rotating the turntable 406, the posture of the scissor manipulator 407 and the grasping manipulator 408 are adjusted to be the same as that of the apple. The grasping manipulator 408 is used to grasp the apple, and the scissor manipulator 407 is used to cut the branches on the apple.

[0043] In one embodiment of the present invention, a first motor 110 is fixedly connected to the frame 101, a first gear 111 is fixedly connected to the output end of the first motor 110, a second gear 112 is meshed around the circumference of the first gear 111, and the second gear 112 is fixedly connected to one of the rotating shafts 102. The first motor 110 drives the first gear 111 to rotate, the first gear 111 drives the second gear 112 to rotate, and the second gear 112 drives the rotating shaft 102 to rotate, thereby realizing the walking action.

[0044] In one embodiment of the present invention, there is a certain angle between the second connecting rod 106 and the third connecting rod 107. Such a design enables the third connecting rod 107 to tilt downward, so that the foot plate 108 connected at the end can contact the ground and be lifted.

[0045] In one embodiment of the present invention, a plurality of protrusions are fixedly connected to the lower end surface of the foot plate 108 to increase the grip of the foot plate 108 on the ground.

[0046] In one embodiment of the present invention, the cutting mechanism 200 includes a threaded sleeve 201 rotatably connected to the bottom plate of the frame 101, the threaded sleeve 201 is internally threaded with a screw rod 202, the lower end of the screw rod 202 is fixedly connected with a cutting blade 203, the screw rod 202 is threaded with a fastening nut 204, the fastening nut 204 is tightly fitted with the threaded sleeve 201, the circumferential side of the threaded sleeve 201 is fixedly connected with a third gear 205, the circumferential side of the third gear 205 is meshed with a fourth gear 206, the circumferential side of the fourth gear 206 is meshed with a fifth gear 207, the fourth gear 206 and the fifth gear 207 are both rotatably connected to the bottom plate of the frame 101, the fifth gear 207 is fixedly connected to the output end of the second motor 208, and the second motor 208 is fixedly connected to the bottom plate of the frame 101. When the entire robot is moving, the second motor 208 drives the fifth gear 207 to rotate, the fifth gear 207 drives the fourth gear 206 to rotate, the fourth gear 206 drives the third gear 205 to rotate, the third gear 205 drives the threaded sleeve 201 to rotate, the threaded sleeve 201 drives the screw rod 202 to rotate, the screw rod 202 drives the cutting blade 203 to rotate, and the weeds on the path are cut and cleaned. When the fastening nut 204 is tightened, the screw rod 202 can be fixed to prevent the screw rod 202 from rotating relative to the threaded sleeve 201. At the same time, after loosening the fastening nut 204, the height of the cutting blade 203 can be adjusted.

[0047] In one embodiment of the present invention, the lifting mechanism 300 includes two fixed seats 301 fixedly connected to the frame 101 and the round table 401, and a slide groove 302 is opened on both sides of the fixed seat 301. A slider 303 is slidably connected in the slide groove 302, and the slider 303 is rotatably connected to one end of the fifth connecting rod 304. The other ends of the two fifth connecting rods 304 on the same side of the fixed seat 301 are rotatably connected to each other, the middle of the fifth connecting rod 304 is rotatably connected to the middle of the sixth connecting rod 305, one ends of the two sixth connecting rods 305 on the same side of the fixed seat 301 are rotatably connected to each other, and the other ends are rotatably connected to the corresponding fixed seats 301 respectively, a first fixed rod 306 is rotatably connected between the two fifth connecting rods 304 at the upper end, and a second fixed rod 307 is rotatably connected between the two sixth connecting rods 305 at the lower end, a third hydraulic rod 308 is fixedly connected to the second fixed rod 307, and the piston rod of the third hydraulic rod 308 is fixedly connected to the first fixed rod 306. When the third hydraulic rod 308 is extended, it can push the first fixed rod 306 to rise. Through the cooperation of the fifth connecting rod 304 and the sixth connecting rod 305, the upper fixed seat 301 is raised, thereby raising the height of the scissor manipulator 407 and the grasping manipulator 408, making it easier to grasp and cut apples at high places.

[0048] As shown in one embodiment of the present invention, at least two telescopic rods 409 are evenly distributed around the first hydraulic rod 402, the lower end of the telescopic rod 409 is fixedly connected to the round table 401, and the upper end of the telescopic rod 409 is fixedly connected to the fixed seat 403. The provision of the telescopic rod 409 can improve the overall stability of the fixed seat 403 and the mechanical structure provided on the fixed seat 403.

[0049] In one embodiment of the present invention, a third motor 410 is fixedly connected to the outer side of the fixed shell 405, and the output end of the third motor 410 passes through the fixed shell 405 and is fixedly connected to the sixth gear 411, and the circumferential side of the sixth gear 411 is meshed with the seventh gear 412, and the seventh gear 412 is fixedly connected to the rotating disk 406. The third motor 410 drives the sixth gear 411 to rotate, the sixth gear 411 drives the seventh gear 412 to rotate, the seventh gear 412 drives the rotating disk 406 to rotate, and the rotating disk 406 drives the scissor manipulator 407 and the grasping manipulator 408 to adjust their postures, so as to facilitate grasping and cutting apples in different postures.

[0050] In one embodiment of the present invention, the scissor manipulator 407 includes a first finger cylinder 413 fixedly connected to the turntable 406, and two moving ends of the first finger cylinder 413 are fixedly connected to scissors 414. The first finger cylinder 413 drives the two scissors 414 to move toward each other, so as to cut off the branches connected to the apple.

[0051] In one embodiment of the present invention, the grabbing manipulator 408 includes a second finger cylinder 415 fixedly connected to the turntable 406, and both moving ends of the second finger cylinder 415 are fixedly connected to arc-shaped clamping plates 416. The second finger cylinder 415 drives the two arc-shaped clamping plates 416 to move toward each other for grabbing apples.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and 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, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An all-terrain apple picking robot, characterized in that: include: A foot-leg chassis mechanism (100), wherein a cutting mechanism (200) is installed at the bottom of the foot-leg chassis mechanism (100), a lifting mechanism (300) is fixedly installed at the upper end of the foot-leg chassis mechanism (100), and a picking mechanism (400) is fixedly installed at the upper end of the lifting mechanism (300); The foot-leg chassis mechanism (100) comprises a frame (101), both ends of the frame (101) are rotatably connected with a rotating shaft (102), each of the rotating shafts (102) is fixedly connected with a synchronous pulley (103), a meshing synchronous belt (104) is commonly sleeved between the two synchronous pulleys (103), both ends of the rotating shaft (102) are fixedly connected with a first connecting rod (105), the other end of the first connecting rod (105) is rotatably connected with a second connecting rod (106), the other end of the second connecting rod (106) is fixedly connected with a third connecting rod (107), the other end of the third connecting rod (107) is rotatably connected with a foot plate (108), the connection between the second connecting rod (106) and the third connecting rod (107) is rotatably connected with a fourth connecting rod (109), the other end of the fourth connecting rod (109) is rotatably connected to the frame (101); The picking mechanism (400) comprises a round table (401) fixedly connected to the upper end of the lifting mechanism (300); the upper end of the round table (401) is fixedly connected to a first hydraulic rod (402) arranged in a vertical direction; the piston rod of the first hydraulic rod (402) is fixedly connected to a fixed seat (403); the upper end of the fixed seat (403) is fixedly connected to a second hydraulic rod (404) arranged in a horizontal direction; the piston rod of the second hydraulic rod (404) is fixedly connected to a fixed shell (405); a rotating disk (406) is rotatably connected to the fixed shell (405); and a scissor manipulator (407) and a grabbing manipulator (408) are fixedly connected to the side of the rotating disk (406).

2. The all-terrain apple picking robot according to claim 1, characterized in that: A first motor (110) is fixedly connected to the frame (101); a first gear (111) is fixedly connected to the output end of the first motor (110); a second gear (112) is meshed on the circumference of the first gear (111); and the second gear (112) is fixedly connected to one of the rotating shafts (102).

3. The all-terrain apple picking robot according to claim 1, characterized in that: There is a certain angle between the second connecting rod (106) and the third connecting rod (107).

4. The all-terrain apple picking robot according to claim 1, characterized in that: The lower end surface of the foot plate (108) is fixedly connected with a plurality of protrusions.

5. The all-terrain apple picking robot according to claim 1, characterized in that: The cutting mechanism (200) comprises a threaded sleeve (201) rotatably connected to a bottom plate of a frame (101); a screw rod (202) is internally threadedly connected to the threaded sleeve (201); a cutting blade (203) is fixedly connected to the lower end of the screw rod (202); a fastening nut (204) is threadedly connected to the screw rod (202); the fastening nut (204) is tightly fitted to the threaded sleeve (201); and a circumferential side of the threaded sleeve (201) is fixedly connected to a A third gear (205), a fourth gear (206) meshing on the circumferential side of the third gear (205), a fifth gear (207) meshing on the circumferential side of the fourth gear (206), the fourth gear (206) and the fifth gear (207) both being rotatably connected to the bottom plate of the frame (101), the fifth gear (207) being fixedly connected to the output end of the second motor (208), and the second motor (208) being fixedly connected to the bottom plate of the frame (101).

6. The all-terrain apple picking robot according to claim 1, characterized in that: The lifting mechanism (300) comprises two fixed seats (301) fixedly connected to the frame (101) and the round table (401), a slide groove (302) is provided on both sides of the fixed seat (301), a slider (303) is slidably connected in the slide groove (302), the slider (303) is rotatably connected to one end of the fifth connecting rod (304), the other ends of the two fifth connecting rods (304) on the same side of the fixed seat (301) are rotatably connected to each other, and the middle of the fifth connecting rod (304) is rotatably connected to the middle of the sixth connecting rod (305). The second fixing seat (307) is connected to the second fixing seat (308), and the piston rod of the third hydraulic rod (308) is fixedly connected to the first fixing seat (306).

7. The all-terrain apple picking robot according to claim 1, characterized in that: At least two telescopic rods (409) are evenly distributed around the first hydraulic rod (402), the lower ends of the telescopic rods (409) are fixedly connected to the truncated table (401), and the upper ends of the telescopic rods (409) are fixedly connected to the fixed seat (403).

8. The all-terrain apple picking robot according to claim 1, characterized in that: A third motor (410) is fixedly connected to the outer side of the fixed shell (405); an output end of the third motor (410) passes through the fixed shell (405) and is fixedly connected to a sixth gear (411); a seventh gear (412) is meshed on the circumference of the sixth gear (411); and the seventh gear (412) is fixedly connected to the rotating disk (406).

9. The all-terrain apple picking robot according to claim 1, characterized in that: The scissor manipulator (407) comprises a first finger cylinder (413) fixedly connected to the rotating disk (406), and two movable ends of the first finger cylinder (413) are fixedly connected to scissors (414).

10. The all-terrain apple picking robot according to claim 1, characterized in that: The grasping manipulator (408) comprises a second finger cylinder (415) fixedly connected to the rotating disk (406), and both movable ends of the second finger cylinder (415) are fixedly connected to arc-shaped clamping plates (416).

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