Platform structure for rapid moving operation of greenhouse

Abstract

The invention relates to the field of picking equipment, and provides a platform structure for rapid moving operation of a greenhouse, which comprises a vehicle main body, a bedplate, a moving assembly, a picking mechanism and a collecting assembly, the picking mechanism comprises a rotating assembly, a lifting assembly and a picking assembly, and the rotating assembly is connected to the vehicle body and suitable for driving the platen to rotate; the lifting assembly comprises a movable sliding table and a lifting vertical rod, the lifting vertical rod is connected to the platen, and the movable sliding table is slidably connected to the lifting vertical rod; the picking assembly comprises a propelling mechanism and a laser cutting device, the propelling mechanism is connected to the movable sliding table, and the laser cutting device is fixedly connected to the propelling end of the propelling mechanism; the collecting assembly is connected to the vehicle body and used for collecting the fruits picked by the picking assembly. Through the moving assembly, the rotating assembly, the lifting assembly and the picking assembly, the picking flexibility and the picking precision are improved, the picking efficiency is remarkably improved, and the device is more suitable for large-scale automatic production in modern agriculture.

Description

Technical Field

[0001] The invention relates to the technical field of picking equipment, and in particular to a platform structure for rapid mobile operations in a greenhouse. Background Art

[0002] In modern agricultural production, especially in the planting and management of greenhouse fruits and vegetables, manual picking has problems such as high labor intensity, low efficiency, high fruit and vegetable damage rate, high labor cost and poor environmental adaptability. This not only affects the picking efficiency, but also increases production costs. At present, some automated picking equipment on the market has shortcomings such as complex structure, inflexible operation, inaccurate identification and positioning, and poor versatility, making it difficult to promote and apply on a large scale. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a platform structure for rapid mobile operation in a greenhouse.

[0004] According to an embodiment of the present application, a platform structure for rapid mobile operation in a greenhouse is provided, comprising: Vehicle body; A platform connected to the vehicle body; A moving assembly connected to the vehicle body, wherein the moving assembly is suitable for driving the vehicle body to move; The picking mechanism comprises a rotating assembly, a lifting assembly and a picking assembly, wherein the rotating assembly is connected to the vehicle body, and the rotating assembly is suitable for driving the table to rotate; the lifting assembly comprises a moving slide and a lifting upright rod, the lifting upright rod is connected to the table, and the moving slide is slidably connected to the lifting upright rod; the picking assembly comprises a propulsion mechanism and a laser cutting device, the propulsion mechanism is connected to the moving slide, and the laser cutting device is fixedly connected to the propulsion end of the propulsion mechanism; A collecting component is connected to the vehicle body, and is used for collecting the fruits picked by the picking component.

[0005] The platform structure for rapid mobile operations in a greenhouse according to the embodiment of the present application improves the flexibility and accuracy of picking through moving components as well as rotating components, lifting components and picking components, significantly improves the picking efficiency and versatility of the equipment, and is more suitable for large-scale automated production in modern agriculture.

[0006] According to one embodiment of the present application, the lifting assembly includes the lifting pole, the movable slide, a transmission belt and a first motor, the transmission belt is arranged along the extension direction of the lifting pole, the first motor is connected to the lifting pole, and the output shaft of the first motor is connected to the transmission belt.

[0007] According to one embodiment of the present application, the laser cutting device includes a base plate, a toggle arm, a laser cutting instrument, a first connecting rod, a crankshaft, and a second motor; The bottom plate is provided with a branch guide groove, the first end of the toggle arm is rotatably connected to the first side of the bottom plate, the second motor is installed on the second side of the bottom plate, the first side of the bottom plate is opposite to the second side of the bottom plate, and the laser cutting device is arranged at the bottom of the branch guide groove to form a laser cutting area. The second motor output shaft is connected to the crankshaft, the output end of the crankshaft is rotatably connected to the first end of the first connecting rod, the second end of the first connecting rod is rotatably connected to the second end of the toggle arm, the first end of the first connecting rod is opposite to the second end of the first connecting rod, and the third end of the toggle arm is suitable for sweeping the fruit branch into the laser cutting area.

[0008] According to one embodiment of the present application, the laser cutting device includes a bearing, which is disposed at the first end of the toggle arm and is rotatably connected to the base plate.

[0009] According to one embodiment of the present application, the laser cutting device includes a Hall sensor, and the Hall sensor is used to detect the position of the third end of the toggle arm in the guide groove.

[0010] According to one embodiment of the present application, the collecting component includes an opening and closing mechanism, a flexible slide and a collecting basket, the opening and closing mechanism is connected to the movable slide, the opening and closing mechanism is arranged below the propulsion mechanism, the collecting basket is connected to the table, the first end of the flexible slide is connected to the opening and closing mechanism, and the first end of the flexible slide is arranged below the picking port of the opening and closing mechanism, the second end of the flexible slide is connected to the collecting basket, and the opening and closing mechanism is suitable for switching between an open state and a closed state. In the open state, the fruits picked by the picking component are suitable for entering the collecting basket along the flexible slide, and in the closed state, the flexible slide is closed.

[0011] According to one embodiment of the present application, the opening and closing mechanism includes a third motor, a slide rail, a slide groove, an opening and closing plate, and a limit block. The slide rail is connected to the movable slide, the third motor is installed on the slide rail, the slide rail is provided with a slide groove, the number of the opening and closing plates is two, the two opening and closing plates are slidably connected to the slide groove, the third motor is suitable for driving one of the opening and closing plates to approach or move away from the other opening and closing plate to switch between an open state and a closed state, the flexible slide is connected to the two opening and closing plates, and the limit block is provided at the end of the slide groove.

[0012] According to one embodiment of the present application, the collecting assembly includes a crank, a second connecting rod, a flexible cloth structure and a toggle member, the flexible cloth structure is arranged in the collecting basket, the crank is rotatably connected to the collecting basket, the output end of the crank is connected to the first end of the second connecting rod, the second end of the second connecting rod is connected to the toggle member, the toggle member is suitable for periodic reciprocating motion at the bottom of the collecting basket, and the toggle member is arranged between the flexible cloth structure and the bottom of the collecting basket.

[0013] According to one embodiment of the present application, a tarpaulin baffle is included, wherein the tarpaulin baffle is connected to the collecting basket, and the tarpaulin baffle is arranged on one side of the moving direction of the toggle member.

[0014] According to one embodiment of the present application, the rotating assembly includes a rotating shaft, a driven gear, a driving gear, and a rotating motor. The rotating shaft is rotatably installed in the vehicle body, the rotating shaft is connected to the table, the driven gear is provided on the rotating shaft, the rotating motor is provided in the vehicle body, the driving gear is provided at the output end of the rotating motor, and the driving gear is meshed and transmission-connected with the driven gear.

[0015] According to one embodiment of the present application, the number of the picking mechanisms is 4, the picking mechanisms are arranged around the collecting assembly, the unfolded length of the propulsion mechanism is L, and the maximum rotation angle of each of the picking mechanisms is α, wherein α and L are negatively correlated.

[0016] According to an embodiment of the present application, a detection device is included, wherein the detection device is connected to the movable slide, and the detection device is used to locate the position of fruits and vegetables.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a platform structure for rapid mobile operations in a greenhouse provided in an embodiment of the present application.

[0020] Figure 2 It is a structural schematic diagram of the picking mechanism provided in an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the structure of the laser cutting device provided in an embodiment of the present application.

[0022] Figure 4 It is a schematic diagram of the structure of the collection component provided in an embodiment of the present application.

[0023] Figure 5 It is a structural schematic diagram of the opening and closing mechanism provided in an embodiment of the present application.

[0024] Figure 6 It is a structural schematic diagram of the tarpaulin baffle, crank, second connecting rod, flexible cloth structure and toggle member provided in an embodiment of the present application installed on a collection basket.

[0025] Figure 7 It is a schematic diagram of the structure of the rotating assembly provided in an embodiment of the present application.

[0026] Figure 8 It is a structural schematic diagram of a platform structure for rapid mobile operations in a greenhouse provided in an embodiment of the present application, which is provided with four collecting mechanisms.

[0027] Reference numerals: 1. Table; 2. Collection basket; 3. Flexible slide; 4. Opening and closing mechanism; 5. Propelling mechanism; 6. Laser cutting device; 7. Detection device; 8. Lifting pole; 9. Moving slide; 10. Transmission belt; 11. Vehicle body; 12. Moving assembly; 13. First motor; 14. Rotating shaft; 15. Driven gear; 16. Driving gear; 17. Rotating motor; 18. Maximum rotation angle α; 201, tarpaulin baffle; 202, crank; 203, second connecting rod; 204, flexible cloth structure; 205, toggle member; 401, third motor; 402, slide rail; 403, slide slot; 404, opening and closing plate; 405, limit block; 601, bottom plate; 602, toggle arm; 603, laser cutter; 604, bearing; 605, first connecting rod; 606, crankshaft; 607, Hall sensor; 608, second motor. DETAILED DESCRIPTION

[0028] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0029] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, wherein the fixed connection can include an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0031] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0033] Combine the following Figure 1-Figure 8 The platform structure for rapid mobile operation in a greenhouse (hereinafter referred to as the platform structure) of the present invention is described.

[0034] According to the platform structure for rapid mobile operation in a greenhouse proposed in the embodiment of the present application, please refer to Figure 1 The platform structure includes: a vehicle body 11, a table 1, a moving component 12, a picking mechanism and a collecting component, the table 1 is connected to the vehicle body 11; the moving component 12 is connected to the vehicle body 11, and the moving component 12 is suitable for driving the vehicle body 11 to move; the picking mechanism includes a rotating component, a lifting component and a picking component, the rotating component is connected to the vehicle body 11, and the rotating component is suitable for driving the table 1 to rotate; the lifting component includes a moving slide 9 and a lifting rod 8, the lifting rod 8 is connected to the table 1, and the moving slide 9 is slidably connected to the lifting rod 8; the picking component includes a propulsion mechanism 5 and a laser cutting device 6, the propulsion mechanism 5 is connected to the moving slide 9, and the laser cutting device 6 is fixedly connected to the propulsion end of the propulsion mechanism 5; the collecting component is connected to the vehicle body 11, and the collecting component is used to collect the fruits picked by the picking component.

[0035] The platform structure for rapid mobile operations in a greenhouse according to the embodiment of the present application improves the flexibility and accuracy of picking through the moving component 12 and the rotating component, the lifting component and the picking component, significantly improves the picking efficiency and the versatility of the equipment, and is more suitable for large-scale automated production in modern agriculture.

[0036] The vehicle body 11 is the support and mobile foundation of the entire platform structure. The vehicle body 11 can be made of strong and durable materials to ensure the stable operation of the platform structure in the greenhouse environment. The platform 1 is connected to the vehicle body 11 to provide an installation platform for the picking mechanism and the collection component. The mobile component 12 is connected to the vehicle body 11 and is responsible for driving the vehicle body 11 to move quickly inside the greenhouse. The mobile component 12 may include wheels, tracks, etc. to adapt to the needs of different greenhouse floors and improve the mobility and adaptability of the equipment.

[0037] The rotating assembly is connected to the vehicle body 11, and the platform 1 is driven to rotate by a power device such as a motor to achieve flexible adjustment of the picking direction. This design enables the platform to quickly change the picking direction without moving the vehicle body 11, thereby improving work efficiency.

[0038] The lifting assembly includes a movable slide 9 and a lifting rod 8. The lifting rod 8 is vertically connected to the platform 1 to support and adjust the height of the picking assembly. The movable slide 9 is horizontally slidably connected to the lifting rod 8, allowing the picking assembly to be fine-tuned in the vertical direction to adapt to fruits of different heights.

[0039] The picking assembly includes a propulsion mechanism 5 and a laser cutting device 6. The propulsion mechanism 5 is connected to a movable slide 9 and is responsible for pushing the laser cutting device 6 toward the target fruit. The laser cutting device 6 uses a high-energy laser beam to accurately cut the fruit, achieving non-contact picking and reducing damage to the fruit.

[0040] The collecting assembly is connected to the vehicle body 11 and is used to collect the fruits picked by the picking assembly. The collecting assembly can be designed to be detachable to facilitate fruit collection and cleaning. At the same time, a buffer and sorting device can be set inside the collecting assembly to reduce collision and damage between fruits.

[0041] Through the coordinated work of the rotating assembly, the lifting assembly and the picking assembly, the present invention realizes the flexible adjustment of the picking direction and the precise control of the picking height, which significantly improves the flexibility and accuracy of picking. The non-contact picking method of the laser cutting device 6 reduces the time consumption and fruit damage during the picking process, while the fast moving ability of the moving assembly 12 enables the platform to cover a larger working area in a short time, thereby significantly improving the picking efficiency.

[0042] According to an embodiment of the present application, please refer to Figure 2 The lifting assembly includes a lifting rod 8, a movable slide 9, a transmission belt 10 and a first motor 13. The transmission belt 10 is arranged along the extension direction of the lifting rod 8. The first motor 13 is connected to the lifting rod 8, and the output shaft of the first motor 13 is connected to the transmission belt 10.

[0043] The lifting rod 8 is vertically connected to the table 1 to provide support and guidance for the movable slide 9. The movable slide 9 is slidably connected to the lifting rod 8 to carry the picking assembly. The transmission belt 10 is arranged along the extension direction of the lifting rod 8 to transmit the power of the first motor 13, thereby driving the movable slide 9 to move up and down on the lifting rod 8. The first motor 13 is connected to the lifting rod 8, and its output shaft is connected to the transmission belt 10. The first motor 13 serves as the power source of the lifting assembly, and realizes the lifting movement of the movable slide 9 by driving the transmission belt 10 to rotate.

[0044] During the operation of the lifting assembly, when the first motor 13 is started, its output shaft drives the transmission belt 10 to rotate. Since the transmission belt 10 is arranged along the extension direction of the lifting pole 8, the rotation of the transmission belt 10 drives the movable slide 9 to move up and down on the lifting pole 8. By adjusting the speed and direction of the first motor 13, the precise lifting and lowering control of the movable slide 9 can be achieved, thereby meeting the requirements for picking height and accuracy in the picking operation.

[0045] According to an embodiment of the present application, please refer to Figure 3The laser cutting device 6 includes a base plate 601, a toggle arm 602, a laser cutter 603, a first connecting rod 605, a crankshaft 606 and a second motor 608; the base plate 601 is provided with a branch guide groove, the first end of the toggle arm 602 is rotatably connected to the first side of the base plate 601, the second motor 608 is installed on the second side of the base plate 601, the first side of the base plate 601 and the second side of the base plate 601 are opposite, the laser cutter 603 is arranged at the bottom of the branch guide groove to form a laser cutting area, the output shaft of the second motor 608 is connected to the crankshaft 606, the output end of the crankshaft 606 is rotatably connected to the first end of the first connecting rod 605, the second end of the first connecting rod 605 is rotatably connected to the second end of the toggle arm 602, the first end of the first connecting rod 605 and the second end of the first connecting rod 605 are opposite, and the third end of the toggle arm 602 is suitable for sweeping the fruit branch into the laser cutting area.

[0046] A branch guide groove is provided on the bottom plate 601. The branch guide groove is designed to guide the fruit branches into the laser cutting area, ensuring that the laser cutter 603 can accurately cut the fruit without damaging other parts. The first end of the toggle arm 602 is rotatably connected to the first side of the bottom plate 601, and is used to toggle and guide the fruit branches when they enter the branch guide groove. The laser cutter 603 is arranged at the bottom of the branch guide groove to form a laser cutting area. The laser cutter 603 accurately cuts the fruit by emitting a high-energy laser beam, and has the advantages of fast cutting speed, high precision, and little damage to the fruit.

[0047] The crankshaft 606 receives the power of the second motor 608 and converts it into a rotational motion, thereby driving the first connecting rod 605 and the toggle arm 602 to swing. The output end of the crankshaft 606 is rotatably connected to the first end of the first connecting rod 605. The first connecting rod 605 has a first end rotatably connected to the output end of the crankshaft 606, and a second end rotatably connected to the second end of the toggle arm 602. The design of the first connecting rod 605 realizes the transmission connection between the crankshaft 606 and the toggle arm 602, so that the second motor 608 can drive the toggle arm 602 to swing back and forth.

[0048] The second motor 608 is installed on the second side of the bottom plate 601 (opposite to the first side of the bottom plate 601), and the output shaft of the second motor 608 is connected to the crankshaft 606. The second motor 608 serves as the power source of the laser cutting device 6, and drives the crankshaft 606 to rotate to realize the reciprocating swing of the toggle arm 602, thereby guiding the fruit branch into the laser cutting area.

[0049] During the operation of the laser cutting device 6, when the second motor 608 is started, the output shaft of the second motor 608 drives the crankshaft 606 to rotate. The crankshaft 606 converts the rotational motion into the reciprocating swing of the toggle arm 602 through the first connecting rod 605. The toggle arm 602 sweeps the fruit branch into the branch guide groove during the swinging process and guides it into the laser cutting area. After receiving the cutting signal, the laser cutter 603 emits a high-energy laser beam to accurately cut the fruit. By adjusting the speed and direction of the second motor 608, the swing frequency and amplitude of the toggle arm 602 can be controlled, thereby realizing flexible cutting of fruits of different sizes and shapes.

[0050] According to one embodiment of the present application, the laser cutting device 6 includes a bearing 604, which is disposed at the first end of the toggle arm 602 and is rotatably connected to the bottom plate 601. The bearing 604 not only ensures that the toggle arm 602 can rotate steadily and smoothly on the bottom plate 601, but also greatly reduces the wear and noise caused by friction.

[0051] It is understandable that when the second motor 608 drives the crankshaft 606 to rotate, the first connecting rod 605 converts the rotational motion into the reciprocating swing of the toggle arm 602. At this time, the bearing 604, as the connection point between the toggle arm 602 and the bottom plate 601, can withstand the huge force and torque generated when the toggle arm 602 swings, while ensuring that the toggle arm 602 can swing smoothly and unhindered. This not only improves the cutting accuracy and efficiency of the laser cutting device 6, but also greatly extends the service life of the device.

[0052] According to an embodiment of the present application, the laser cutting device 6 includes a Hall sensor 607, and the Hall sensor 607 is used to detect the position of the third end of the toggle arm 602 in the guide groove.

[0053] The Hall sensor 607 is a non-contact magnetic position sensor, and is used to detect the specific position of the third end of the toggle arm 602 in the branch guide groove.

[0054] The third end of the swing arm 602 (ie, the end in contact with the fruit branch) will pass through the branch guide groove during the swinging process, and the Hall sensor 607 can detect its position in real time, thereby achieving precise control of the cutting timing of the laser cutter 603.

[0055] Of course, a magnetic component may also be provided on the toggle arm 602 , and the Hall sensor 607 may accurately determine the swing position and state of the toggle arm 602 by sensing the magnetic field changes of the magnetic component (such as a permanent magnet) on the toggle arm 602 .

[0056] According to an embodiment of the present application, please refer to Figure 4 and Figure 5The collecting component includes an opening and closing mechanism 4, a flexible slide 3 and a collecting basket 2. The opening and closing mechanism 4 is connected to the movable slide 9, and the opening and closing mechanism 4 is arranged below the propulsion mechanism 5. The collecting basket 2 is connected to the table 1. The first end of the flexible slide 3 is connected to the opening and closing mechanism 4, and the first end of the flexible slide 3 is arranged below the picking port of the opening and closing mechanism 4. The second end of the flexible slide 3 is connected to the collecting basket 2. The opening and closing mechanism 4 is suitable for switching between an open state and a closed state. In the open state, the fruits picked by the picking component are suitable for entering the collecting basket 2 along the flexible slide 3. In the closed state, the flexible slide 3 is closed.

[0057] The opening and closing mechanism 4 is connected to the movable slide 9 and is arranged below the propulsion mechanism 5. It can be flexibly switched between the open state and the closed state to meet the picking needs at different stages. In the open state, the picking opening of the opening and closing mechanism 4 is opened, allowing the picked fruits to smoothly enter the flexible slide 3 below; in the closed state, the opening and closing mechanism 4 closes the picking opening to prevent unpicked fruits or impurities (branches or leaves) from entering the slide, thereby ensuring the purity of the collection process.

[0058] The first end of the flexible slide 3 is connected to the bottom of the picking port of the opening and closing mechanism 4, and the second end is connected to the collecting basket 2. The flexible slide 3 has sufficient flexibility and wear resistance to ensure the smooth sliding of the fruit from the picking port to the collecting basket 2, while reducing the damage to the fruit during the sliding process. The length and shape of the flexible slide 3 can be adjusted according to actual needs to adapt to different greenhouse environments and crop types. In one embodiment, the flexible slide 3 is a cloth slide, wherein the cloth slide is a wide-mouth structure. The wide-mouth structure in this article refers to a structural feature in a fruit and vegetable collection device. The wide-mouth structure has a large opening width and is used to receive fruits and vegetables dropped from the picking component. Its specific shape and size can be flexibly designed according to actual application requirements.

[0059] The collecting basket 2 is connected to the platform 1 and is used to receive the fruits sliding down from the flexible slide 3. The collecting basket 2 can be made of a soft, wear-resistant and elastic material, which can effectively reduce the friction and damage of the fruits during the picking and collecting process.

[0060] During the picking process, when the laser cutting device 6 completes the cutting of the fruit, the fruit will naturally fall into the picking opening of the opening and closing mechanism 4. At this time, the opening and closing mechanism 4 is in the open state, and the fruit slides smoothly along the flexible slide 3 into the collection basket 2. When the picking is completed or the picking needs to be suspended, the opening and closing mechanism 4 switches to the closed state to prevent unpicked fruit or impurities from entering the slide.

[0061] It can be understood that the automatic collection and storage of the picked fruits is achieved through the coordinated action of the opening and closing mechanism 4, the flexible slide 3 and the collecting basket 2. This not only reduces manual intervention and labor intensity, but also improves the picking efficiency and quality.

[0062] According to one embodiment of the present application, the opening and closing mechanism 4 includes a third motor 401, a slide rail 402, a slide groove 403, an opening and closing plate 404, and a limit block 405. The slide rail 402 is connected to the movable slide 9, the third motor 401 is installed on the slide rail 402, the slide rail 402 is provided with a slide groove 403, the number of the opening and closing plates 404 is two, the two opening and closing plates 404 are slidably connected to the slide groove 403, the third motor 401 is suitable for driving one of the opening and closing plates 404 to approach or move away from the other opening and closing plate 404 to switch between an open state and a closed state, the flexible slide 3 is connected to the two opening and closing plates 404, and the limit block 405 is provided at the end of the slide groove 403.

[0063] The third motor 401 is a power source of the opening and closing mechanism 4 . The third motor 401 is installed on the slide rail 402 and drives the movement of the opening and closing plate 404 by driving a transmission mechanism (such as a gear, a chain or a belt).

[0064] The slide rail 402 is connected to the movable slide 9, providing a stable track for the movement of the opening and closing plate 404. The slide groove 403 is provided on the slide rail 402 to guide the sliding of the opening and closing plate 404. The shape and size of the slide groove 403 must match the opening and closing plate 404 to ensure that the opening and closing plate 404 can move smoothly in the slide groove 403.

[0065] There are two opening and closing plates 404, which are slidably connected in the slide slot 403. When the third motor 401 is started, it drives one of the opening and closing plates 404 to move closer to or away from the other opening and closing plate 404, thereby realizing the switching between the open state and the closed state.

[0066] The limit block 405 is disposed at the end of the slide slot 403 to limit the movement range of the opening and closing plate 404. When the opening and closing plate 404 moves to the end of the slide slot 403, the limit block 405 prevents it from moving further, thereby preventing the opening and closing mechanism 4 from being damaged due to excessive movement.

[0067] The opening and closing mechanism 4 can also be equipped with sensors and a control system to achieve real-time monitoring and control of the opening and closing process. The sensor can detect parameters such as the position and speed of the opening and closing plate 404, and feed this information back to the control system. The control system adjusts the driving parameters of the third motor 401 according to the feedback signal of the sensor to achieve precise control of the opening and closing mechanism 4.

[0068] During the picking process, after the laser cutting device 6 completes the cutting of the fruit, the fruit will naturally fall into the picking opening of the opening and closing mechanism 4. At this time, the control system will start the third motor 401 to drive the opening and closing plate 404 to switch from the closed state to the open state, allowing the fruit to enter the flexible slide 3. After the fruit smoothly slides along the flexible slide 3 into the collection basket 2, the control system will start the third motor 401 again to drive the opening and closing plate 404 to switch from the open state back to the closed state to prevent unpicked fruit or impurities from entering the slide.

[0069] According to an embodiment of the present application, please refer to Figure 6 The collecting assembly comprises a crank 202, a second connecting rod 203, a flexible cloth structure 204 and a toggle member 205. The flexible cloth structure 204 is arranged in the collecting basket 2. The crank 202 is rotatably connected to the collecting basket 2. The output end of the crank 202 is connected to the first end of the second connecting rod 203. The second end of the second connecting rod 203 is connected to the toggle member 205. The toggle member 205 is suitable for periodically reciprocating at the bottom of the collecting basket 2, and the toggle member 205 is arranged between the flexible cloth structure 204 and the bottom of the collecting basket 2.

[0070] The crank 202 is a key power transmission component in the collection assembly, which is rotatably connected to a fixed position of the collection basket 2. The rotation of the crank 202 can be driven by a motor or other power source (not marked in the figure), and the power is transmitted to the second connecting rod 203 through its rotational motion.

[0071] One end of the second connecting rod 203 is connected to the output end of the crank 202, and the other end is connected to the toggle member 205. The function of the second connecting rod 203 is to convert the rotational motion of the crank 202 into the reciprocating linear motion of the toggle member 205.

[0072] The flexible cloth structure 204 is arranged in the collection basket 2, and the flexible cloth structure 204 can be made of soft and wear-resistant materials, such as nylon cloth or canvas, etc. The main function of the flexible cloth structure 204 is to serve as a medium for collecting and arranging fruits. It can be deformed with the reciprocating motion of the toggle member 205, so as to achieve uniform distribution and arrangement of fruits.

[0073] The toggle member 205 is connected to the second end of the second connecting rod 203 and is disposed between the flexible fabric structure 204 and the bottom of the collection basket 2. The design of the toggle member 205 needs to take into account factors such as its shape, size and material to ensure that it can effectively push the flexible fabric structure 204 and the fruits therein to reciprocate. When the crank 202 rotates, the second connecting rod 203 drives the toggle member 205 to perform periodic reciprocating motion at the bottom of the collection basket 2, thereby realizing automatic collection and sorting of the fruits.

[0074] During the picking process, when the fruits fall into the collection basket 2 through the opening and closing mechanism 4 and the flexible slide 3, they may pile up together or be unevenly distributed. At this time, the control system will start the drive motor (or other power source) to drive the crank 202 to rotate. The rotation of the crank 202 is transmitted to the toggle member 205 through the second connecting rod 203, so that it performs periodic reciprocating motion at the bottom of the collection basket 2. The movement of the toggle member 205 drives the flexible cloth structure 204 and the fruits therein to reciprocate, thereby achieving uniform distribution and arrangement of the fruits.

[0075] According to one embodiment of the present application, the platform structure for rapid mobile operation in a greenhouse includes a tarpaulin baffle 201, which is connected to the collection basket 2 and is arranged on one side of the movement direction of the toggle member 205. When the toggle member 205 performs periodic reciprocating motion at the bottom of the collection basket 2, the tarpaulin baffle 201 can effectively prevent the fruit from rolling or flying out of this side of the collection basket 2, thereby ensuring the complete collection of the fruit. In terms of shape, the tarpaulin baffle 201 can be an arc or inclined shape that matches the edge of the collection basket 2 to ensure that it can fit the collection basket 2 tightly and effectively block the fruit.

[0076] According to an embodiment of the present application, please refer to Figure 7 The rotating assembly includes a rotating shaft 14, a driven gear 15, a driving gear 16, and a rotating motor 17. The rotating shaft 14 is rotatably installed in the vehicle body 11. The rotating shaft 14 is connected to the platform 1. The rotating shaft 14 is provided with a driven gear 15. The vehicle body 11 is provided with a rotating motor 17. The output end of the rotating motor 17 is provided with a driving gear 16. The driving gear 16 is meshed and transmission-connected with the driven gear 15.

[0077] The rotating motor 17 is the power source of the entire rotating assembly, and drives the rotating shaft 14 and the driven gear 15 to rotate by driving the driving gear 16. The driving gear 16 is installed on the output end of the rotating motor 17 and meshes with the driven gear 15. The rotation of the rotating assembly is achieved by the drive of the rotating motor 17. The driven gear 15 is fixedly installed on the rotating shaft 14 and meshes with the driving gear 16 to achieve power transmission. The number of teeth and the module of the driven gear 15 need to be reasonably designed according to the output torque and speed of the rotating motor 17 to ensure that it can transmit power smoothly and accurately. The rotating shaft 14 is rotatably installed in the vehicle body 11 to drive the table 1 to rotate.

[0078] During the operation of the platform structure, the rotating motor 17 transmits power to the driven gear 15 by driving the rotation of the driving gear 16, thereby driving the rotating shaft 14 and the entire platform structure to turn and move. Since the meshing transmission of the driving gear 16 and the driven gear 15 has the characteristics of high precision and high efficiency, the rotating assembly can achieve precise control of the turning of the platform 1.

[0079] According to one embodiment of the present application, the number of picking mechanisms is 4, and the picking mechanisms are arranged around the collecting component.

[0080] In this embodiment, the number of picking mechanisms is 4, and they are evenly distributed around the collecting assembly. This design not only makes full use of the space of the platform, but also enables each picking mechanism to work independently and efficiently, thereby improving the overall picking efficiency.

[0081] According to an embodiment of the present application, please refer to Figure 8 , the unfolded length of the propulsion mechanism 5 is L, and the maximum rotation angle of each picking mechanism is α, where α and L are negatively correlated.

[0082] In this embodiment, the maximum rotation angle α of the rotating component ( Figure 7 The reference numeral 18 in the figure is determined by the maximum unfolding length L of the telescopic electric push rod, ensuring that the two groups of picking mechanisms on the same side will not collide with each other.

[0083] According to one embodiment of the present application, the platform structure for rapid mobile operations in a greenhouse includes a detection device 7, which is connected to a movable slide 9 and is used to locate the position of fruits and vegetables.

[0084] The detection device 7 is fixedly connected to the mobile slide 9 through a connecting mechanism (such as a bracket, a mounting plate, etc.), and moves inside the greenhouse together with the mobile slide 9, so that the detection device 7 can obtain the position information of greenhouse fruits and vegetables in real time during the operation process, and provide accurate guidance for subsequent picking operations.

[0085] The detection device 7 uses a variety of sensor technologies, such as infrared sensors, ultrasonic sensors, etc., to capture information about fruits and vegetables inside the greenhouse. These sensors can sense the radiation characteristics, shape and contour of greenhouse fruits and vegetables in real time, providing data support for subsequent positioning algorithms.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A platform structure for rapid mobile operations in a greenhouse, characterized in that: include: Vehicle body (11); A platform (1) connected to the vehicle body (11); A moving component (12) connected to the vehicle body (11), the moving component (12) being suitable for driving the vehicle body (11) to move; A picking mechanism, comprising a rotating assembly, a lifting assembly and a picking assembly, wherein the rotating assembly is connected to the vehicle body (11), and the rotating assembly is suitable for driving the platform (1) to rotate; The lifting component comprises a movable slide (9) and a lifting rod (8), wherein the lifting rod (8) is connected to the table (1), and the movable slide (9) is slidably connected to the lifting rod (8); the picking component comprises a propulsion mechanism (5) and a laser cutting device (6), wherein the propulsion mechanism (5) is connected to the movable slide (9), and the laser cutting device (6) is fixedly connected to the propulsion end of the propulsion mechanism (5); A collecting component is connected to the vehicle body (11), and is used to collect the fruits picked by the picking component.

2. The platform structure for rapid mobile operation in a greenhouse according to claim 1, characterized in that: The lifting assembly comprises the lifting upright pole (8), the movable slide (9), a transmission belt (10) and a first motor (13); the transmission belt (10) is arranged along the extension direction of the lifting upright pole (8); the first motor (13) is connected to the lifting upright pole (8); and an output shaft of the first motor (13) is connected to the transmission belt (10).

3. The platform structure for rapid mobile operation in a greenhouse according to claim 1, characterized in that: The laser cutting device (6) comprises a base plate (601), a toggle arm (602), a laser cutting instrument (603), a first connecting rod (605), a crankshaft (606) and a second motor (608); The bottom plate (601) is provided with a branch guide groove, the first end of the toggle arm (602) is rotatably connected to the first side of the bottom plate (601), the second motor (608) is installed on the second side of the bottom plate (601), the first side of the bottom plate (601) and the second side of the bottom plate (601) are opposite to each other, and the laser cutting device (603) is arranged at the bottom of the branch guide groove to form a laser cutting area. The output shaft of the second motor (608) is connected to the crankshaft (606); the output end of the crankshaft (606) is rotatably connected to the first end of the first connecting rod (605); the second end of the first connecting rod (605) is rotatably connected to the second end of the toggle arm (602); the first end of the first connecting rod (605) and the second end of the first connecting rod (605) are opposite to each other; and the third end of the toggle arm (602) is suitable for sweeping the fruit branch into the laser cutting area.

4. The platform structure for rapid mobile operation in a greenhouse according to claim 3, characterized in that: The laser cutting device (6) comprises a bearing (604), wherein the bearing (604) is arranged at the first end of the toggle arm (602), and the bearing (604) is rotatably connected to the bottom plate (601).

5. The platform structure for rapid mobile operation in a greenhouse according to claim 3, characterized in that: The laser cutting device (6) comprises a Hall sensor (607), and the Hall sensor (607) is used to detect the position of the third end of the toggle arm (602) in the guide groove.

6. The platform structure for rapid mobile operation in a greenhouse according to claim 1, characterized in that: The collecting component comprises an opening and closing mechanism (4), a flexible slide (3) and a collecting basket (2); the opening and closing mechanism (4) is connected to the movable slide (9); the opening and closing mechanism (4) is arranged below the propulsion mechanism (5); the collecting basket (2) is connected to the table (1); the first end of the flexible slide (3) is connected to the opening and closing mechanism (4); the first end of the flexible slide (3) is arranged below a picking opening of the opening and closing mechanism (4); the second end of the flexible slide (3) is connected to the collecting basket (2); the opening and closing mechanism (4) is suitable for switching between an open state and a closed state; in the open state, the fruits picked by the picking component are suitable for entering the collecting basket (2) along the flexible slide (3); in the closed state, the flexible slide (3) is closed.

7. The platform structure for rapid mobile operation in a greenhouse according to claim 6, characterized in that: The opening and closing mechanism (4) comprises a third motor (401), a slide rail (402), a slide groove (403), an opening and closing plate (404), and a limit block (405); the slide rail (402) is connected to the movable slide table (9); the third motor (401) is mounted on the slide rail (402); the slide rail (402) is provided with a slide groove (403); there are two opening and closing plates (404); the two opening and closing plates (404) are slidably connected to the slide groove (403); the third motor (401) is suitable for driving one of the opening and closing plates (404) to approach or move away from the other opening and closing plate (404) to switch between an open state and a closed state; the flexible slideway (3) is connected to the two opening and closing plates (404); and the limit block (405) is provided at the end of the slide groove (403).

8. The platform structure for rapid mobile operation in a greenhouse according to claim 7, characterized in that: The collecting assembly comprises a crank (202), a second connecting rod (203), a flexible cloth structure (204) and a toggle member (205); the flexible cloth structure (204) is arranged in the collecting basket (2); the crank (202) is rotatably connected to the collecting basket (2); the output end of the crank (202) is connected to the first end of the connecting rod (605) (203); the second end of the second connecting rod (203) is connected to the toggle member (205); the toggle member (205) is suitable for periodically reciprocating at the bottom of the collecting basket (2); and the toggle member (205) is arranged between the flexible cloth structure (204) and the bottom of the collecting basket (2).

9. The platform structure for rapid mobile operation in a greenhouse according to claim 8, characterized in that: It comprises a tarpaulin baffle (201), the tarpaulin baffle (201) being connected to the collecting basket (2), and the tarpaulin baffle (201) being arranged on one side of the moving direction of the toggle member (205).

10. The platform structure for rapid mobile operation in a greenhouse according to any one of claims 1 to 9, characterized in that: The rotating assembly comprises a rotating shaft (14), a driven gear (15), a driving gear (16), and a rotating motor (17); the rotating shaft (14) is rotatably mounted in the vehicle body (11); the rotating shaft (17) is connected to the platform (1); the driven gear (15) is arranged on the rotating shaft (14); the rotating motor (17) is arranged in the vehicle body (11); the driving gear (16) is arranged at the output end of the rotating motor (17); and the driving gear (16) is meshed and transmission-connected with the driven gear (15).

11. The platform structure for rapid mobile operation in a greenhouse according to any one of claims 1 to 9, characterized in that: The number of the picking mechanisms is 4, and the picking mechanisms are arranged around the collecting assembly. The unfolded length of the propulsion mechanism (5) is L, and the maximum rotation angle of each picking mechanism is α, wherein α is negatively correlated with L.

12. The platform structure for rapid mobile operation in a greenhouse according to any one of claims 1 to 9, characterized in that: It comprises a detection device (7), wherein the detection device (7) is connected to the movable slide (9), and the detection device (7) is used to locate the position of fruits and vegetables.

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