Robot

Abstract

The invention relates to the technical field of agricultural picking robots, in particular to a robot which comprises a carrying box, a supporting arm is rotatably connected to the left end of the carrying box, a joint arm is movably mounted at the end, away from the carrying box, of the supporting arm, an extension rod penetrates through the left end of the joint arm, and a pruning frame is rotatably mounted at the end, away from the joint arm, of the extension rod; a conveying pipe used for conveying fruits and vegetables is arranged on the left side of the carrying box, the outer surface of the conveying pipe is fixedly connected with the extension rod and the supporting arm, the outer surface of the right end of the pruning frame is fixedly sleeved with a power box, and a buffering device is arranged on the left side of the carrying box. The outer surfaces of fruits and vegetables are sleeved with the conveying pipe through rotation of the supporting ring, the fruits and vegetables can be accurately guided into the conveying pipe, deviation or collision of the fruits and vegetables in the transferring process is avoided, the diameter of the conveying pipe can be enlarged through the supporting ring, and the situation that the fruits and vegetables are too large and cannot be sleeved is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of picking robots, in particular to a robot. Background Art

[0002] With the rapid development of agricultural modernization, the scale of orchard planting has continued to expand, and the traditional manual picking method can no longer meet the needs of large-scale, high-efficiency picking. Manual picking has problems such as high labor intensity, low efficiency, high cost, and seasonal labor shortage. Especially during the fruit ripening period, the pressure of manual picking is more prominent. In addition, the manual picking process is prone to fruit damage due to improper operation, affecting the quality and economic benefits of the fruit.

[0003] After searching, it was found that the prior art publication number is CN113940197A, which discloses a robot, including a walking mechanism, a grasping mechanism, a collecting mechanism and a control module; an identification device is arranged in front of the walking mechanism; the grasping mechanism includes a mechanical claw assembly and an adjustment assembly that can drive the mechanical claw to rotate, move horizontally and vertically; the mechanical claw assembly is arranged on the moving part of the adjustment assembly; the control module controls the walking mechanism, the grasping mechanism and the collecting mechanism to perform coordinated actions; this scheme can identify road conditions and fruits, avoid roadblocks, accurately identify fruits, and drive the mechanical claw assembly to rotate, lift and translate through the adjustment assembly, so as to accurately pick fruits, improve picking efficiency, realize automatic control, reduce labor intensity, be easy to operate, avoid the safety problems of manual picking, reduce labor costs, and at the same time, its own structure is reasonable and compact.

[0004] Therefore, based on the above search and combined with the existing technology, the falling process of fruits and vegetables from the transmission tube to the cargo box usually relies on gravity, which causes the fruits and vegetables to be exposed to excessive mechanical shocks during transportation, especially for fragile fruits and vegetables, such as citrus, strawberries, etc., which not only increases the damage rate of fruits and vegetables, but also may lead to a decrease in transportation efficiency, and requires frequent inspection and repair of damaged fruits and vegetables. Therefore, we propose a robot. Summary of the invention

[0005] The object of the present invention is to provide a robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot comprises a cargo box, the left end of the cargo box is rotatably connected to a support arm, the end of the support arm away from the cargo box is movably installed with a joint arm, the left end of the joint arm is penetrated by an extension rod, and the end of the extension rod away from the joint arm is rotatably installed with a pruning frame, the inner end of the pruning frame is rotatably installed with two saw teeth capable of cutting branches, a transmission tube for conveying fruits and vegetables is provided on the left side of the cargo box, and the outer surfaces of the transmission tube are respectively fixedly connected to the extension rod and the support arm, a power box is fixedly sleeved on the outer surface of the right end of the pruning frame, and the bottom end of the power box is fixedly connected with an auxiliary shell, the interior of the auxiliary shell is provided with a collecting device for collecting cut fruits and vegetables, and a buffer device for decelerating fruits and vegetables is provided on the left side of the cargo box.

[0007] As a further solution of the present invention, a pushing rod is slidably installed at the inner end of the pruning frame, and pushing blocks are fixedly connected to the front and rear sides of the left end of the pushing rod, and the pushing block is located on the right side of the two saw teeth, and the ends of the two saw teeth away from each other are fixedly connected to a reset line, and the free end of the reset line is fixedly connected to the left end of the pushing rod.

[0008] As a further solution of the present invention, the collecting device includes a support ring, which is rotatably connected to the left end of the auxiliary shell, and the input end of the transmission tube is fixedly connected to the support ring. When the support ring rotates toward the left, it drives the inlet of the transmission tube to move below the two saw teeth to collect the fruits and vegetables that are about to be cut.

[0009] As a further solution of the present invention, the inner end of the auxiliary shell is fixedly connected to a gas cylinder, a driving rod is passed through the interior of the gas cylinder, the front and rear ends of the support ring are fixedly connected to a receiving line, the free end of the receiving line is fixedly connected to the driving rod, a sliding groove is provided on the outer surface of the driving rod, a deflation rod is passed through the sliding groove, the end of the deflation rod away from the gas cylinder is fixedly connected to a rotating rod, and a transmission rod is provided at the inner left end of the auxiliary shell.

[0010] As a further solution of the present invention, the right end of the driving rod is fixedly connected with a piston, the piston is inserted into the interior of the air cylinder, and the piston and the air cylinder are connected by a trigger spring, the deflation rod is hollow, and the right end of the deflation rod and the inner end of the driving rod are fixedly connected with arc plates, and the two arc plates are in opposite directions.

[0011] As a further solution of the present invention, the buffer device includes a drain box, which is fixedly connected to the left side of the cargo box, a buffer bag is fixedly connected to the left end of the cargo box, and the buffer bag is fixedly connected to the outlet of the transmission pipe, the inner end of the drain box is rotatably connected to a winding rod, a pulling belt is wound on the outer surface of the winding rod, and the free end of the pulling belt is fixedly connected to the right bag opening of the buffer bag.

[0012] As a further solution of the present invention, a movable shell is passed through the upper end of the force release box, and the upper end of the movable shell contacts the bottom end of the pulling belt. The inner end of the force release box is fixedly connected to two reset push cylinders, and the upper ends of the two reset push cylinders are passed through a reset rod, and the upper end of the reset rod is fixedly connected to the inner end of the movable shell. The inner end of the force release box is fixedly connected to a trigger cylinder, and the front and rear ends of the trigger cylinder are respectively fixedly connected to the bottom ends of the two reset push cylinders.

[0013] As a further solution of the present invention, a gas guide cylinder is provided at the inner end of the trigger cylinder, and a gas guide hole is provided on the outer surface of the gas guide cylinder. After the gas guide cylinder moves downward, the gas guide hole is connected with the gas guide tube, and a passive rod is provided at the upper end of the gas guide cylinder. By providing the gas guide hole on the outer surface of the gas guide cylinder, the gas flow efficiency can be effectively enhanced. When the gas guide cylinder moves downward, the gas guide hole is connected with the gas guide tube, ensuring that the airflow can pass quickly and smoothly, thereby improving the stability and reliability of the gas guide process.

[0014] As a further solution of the present invention, the passive rod and the gas cylinder are connected by a buffer spring, a connecting ring is fixedly installed on the outer surface of the passive rod, and a plurality of hooks are fixedly connected to the outer surface of the connecting ring, a snap ring is fixedly installed on the outer surface of the upper end of the trigger cylinder, and the passive rod and the gas cylinder are connected by a buffer spring, which can effectively alleviate the load caused by impact or vibration during operation.

[0015] As a further solution of the present invention, a movable sleeve is provided on the outer surface of the passive rod, and the movable sleeve is connected to the hook by an unlocking rope. After the movable sleeve moves upward, the hook is pulled by the unlocking rope to separate it from the connection between the snap rings. The movable sleeve is connected to the hook by the unlocking rope, which makes the separation process of the hook easier. When the movable sleeve moves upward, the unlocking rope quickly releases the connection between the hook and the snap ring through the traction action.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, the saw teeth quickly and cleanly cut the fruits and vegetables from the branches, and the transmission tube is sleeved on the outer surface of the fruits and vegetables by rotating the support ring, so that the fruits and vegetables can be accurately guided into the transmission tube, avoiding the deviation or collision of the fruits and vegetables during the transfer process, and the support ring can also expand the diameter of the transmission tube to avoid the fruits and vegetables being too large to be sleeved; 2. During the process of collecting fruits and vegetables in the present invention, the design of the buffer bag can effectively slow down the falling speed of fruits and vegetables from the transmission tube to the cargo box, avoiding the impact force caused by the rapid falling of fruits and vegetables due to gravity, thereby reducing the hard contact with the inner surface of the cargo box. Through the buffering effect of the buffer bag, the fruits and vegetables can fall into the cargo box at a relatively gentle speed, significantly reducing the risk of surface damage of the fruits and vegetables, and maintaining the integrity and appearance quality of the fruits and vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a schematic diagram of the structure of a robot; Figure 2 This is a structural diagram of the pruning rack; Figure 3 This is a disassembled diagram of the interior of the pruning rack; Figure 4 It is a structural schematic diagram of the pruning rack and the transmission pipe; Figure 5 It is a schematic diagram of the structure inside the accessory shell; Figure 6 It is a schematic diagram of the structure inside the air cylinder; Figure 7 Schematic diagram of the structure inside the driving rod; Figure 8 It is a schematic diagram of the structure of the cargo box; Fig. 9 This is a schematic diagram of the internal structure of the pressure relief box; Fig.10 It is a schematic diagram of the position relationship between the reset push cylinder and the trigger cylinder; Fig.11 This is the disassembly diagram of the trigger cylinder and the passive rod; Fig.12 It is a structural schematic diagram of the hook; Fig.13 Set up a trend diagram for the receiving line.

[0018] In the figure: 1, cargo box; 2, support arm; 3, articulated arm; 4, transmission tube; 41, buffer bag; 42, air pressure pump; 101, extension rod; 102, pruning frame; 103, power box; 104, sawtooth; 105, expansion disk; 106, support ring; 107, material collection line; 108, push rod; 109, push block; 110, reset line; 111, drive motor; 112, drive gear; 113, transmission gear; 114, slide; 201, auxiliary shell; 202, air cylinder; 203, transmission rod; 204, support bar; 205, rotating rod; 206, driving rod; 207, air release rod; 208, piston; 209, center rod; 210, sealing plate; 211, isolation plate; 212, push plate; 213, trigger spring; 301. Release box; 302. Pulling belt; 303. Reset torsion spring; 304. Winding rod; 305. Movable shell; 306. Reset push cylinder; 307. Reset rod; 308. Trigger cylinder; 309. Gas tube; 310. Passive rod; 311. Movable sleeve; 312. Unlocking rope; 313. Buffer spring; 314. Gas tube; 315. Gas hole; 316. Blocking spring; 317. Hook; 318. Connecting ring; 319. Extension block. DETAILED DESCRIPTION

[0019] 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.

[0020] Example 1: Please refer to Figure 1 - Figure 3 A robot includes a cargo box 1, the left end of the cargo box 1 is rotatably connected to a support arm 2 through a rotating shaft, and a joint arm 3 is movably installed at one end of the support arm 2 away from the cargo box 1. Specifically, the cargo box 1 is used to load agricultural products such as fruits and vegetables, and a plurality of driving wheels are connected to the bottom end of the cargo box 1 through a rotating shaft to support and move the cargo box 1. The joint arm 3 is installed at the upper end of the support arm 2 and can be flexibly deflected in any direction, thereby realizing multi-angle and multi-directional operation. An extension rod 101 is passed through the left end of the joint arm 3, and the end of the extension rod 101 away from the joint arm 3 is rotated. A pruning frame 102 is installed, and an electric push rod is fixedly installed on the inner end of the articulated arm 3. The telescopic end of the electric push rod is fixedly connected to the extension rod 101 by bolts to meet the needs of picking fruits and vegetables at a higher position. The pruning frame 102 is rotatable to further realize multi-angle picking operations. The left end of the cargo box 1 and the upper end of the support arm 2 are fixedly installed with a steering motor. The steering motor at the left end of the cargo box 1 is fixedly connected to the steering shaft of the support arm 2, and the steering motor at the upper end of the support arm 2 is fixedly connected to the steering shaft of the articulated arm 3, which is used to approach the fruits and vegetables that need to be picked. Specifically, a visual sensor is fixedly installed at the left end of the pruning rack 102 for identifying fruit and vegetable products. The visual sensor is the most commonly used sensing device for fruit picking robots, and is mainly used for identifying and locating fruits and vegetables. The image is processed by a computer vision algorithm to identify the type, color, shape and size of fruits and vegetables. Since this technology is an existing mature technology, it will not be described here. The inner end of the pruning frame 102 is rotatably mounted with two saw teeth 104 capable of cutting branches, the saw teeth 104 rotate in opposite directions, and the two saw teeth 104 are engaged with each other, a transmission tube 4 for transmitting fruits and vegetables is arranged on the left side of the cargo box 1, and the outer surface of the transmission tube 4 is fixedly connected to the extension rod 101 and the support arm 2 through a clamp, specifically, the transmission tube 4 is made of cloth and has a certain elasticity, a power box 103 is fixedly sleeved on the outer surface of the right end of the pruning frame 102, and an auxiliary shell 201 is fixedly welded to the bottom end of the power box 103, and a collecting device for collecting cut fruits and vegetables is arranged inside the auxiliary shell 201; In order to prevent the fruits and vegetables from sliding down too fast in the transmission tube 4 due to gravity and causing surface damage when falling into the cargo box 1, a buffer device for decelerating the fruits and vegetables is provided on the left side of the cargo box 1.

[0021] like Figure 2 - Figure 5 , a pushing rod 108 is slidably installed at the inner end of the pruning frame 102, and a pushing block 109 is fixedly welded on both sides of the left end of the pushing rod 108, and the pushing block 109 is located on the right side of the two saw teeth 104. Specifically, the end of the pushing block 109 close to each other is rounded and contacts the outer surface of the two saw teeth 104, and the two saw teeth 104 are both semicircular, so that when the pushing block 109 moves to the left, it can push the two saw teeth 104 to rotate respectively, and the ends of the two saw teeth 104 away from each other are fixedly connected with a reset line 110, and the free end of the reset line 110 is fixedly connected to the left end of the pushing rod 108; More specifically, the inner end of the power box 103 is fixedly connected to the drive motor 111 by bolts, the output shaft of the drive motor 111 is connected to the drive gear 112, and the inner right end of the pruning frame 102 is rotatably installed with a transmission gear 113, the transmission gear 113 is meshed with the drive gear 112, and the outer surface of the push rod 108 is fixedly connected to a rack, which is meshed with the transmission gear 113.

[0022] Example 2: Please refer to Figure 3 - Figure 7 , Fig.13 , a robot, based on the basis of embodiment 1, the collecting device includes a support ring 106, the support ring 106 is rotatably connected to the left end of the auxiliary shell 201, the support ring 106 and the auxiliary shell 201 are connected by a retaining spring, and the input end of the transmission tube 4 is fixedly connected to the support ring 106, the support ring 106 is made of metal, has elasticity, and is elliptical, with an opening at the bottom to facilitate the expansion of the support ring 106, when the support ring 106 rotates to the left, it drives the inlet of the transmission tube 4 to move to the bottom of the two saw teeth 104 to collect the fruits and vegetables that are about to be cut; The inner end of the auxiliary shell 201 is fixedly connected to the air cylinder 202 through a clamp, and a driving rod 206 is passed through the interior of the air cylinder 202. The front and rear ends of the support ring 106 are fixedly connected to the material collection line 107, and the free end of the material collection line 107 is fixedly connected to the driving rod 206 (not shown in the figure). Specifically, the expansion disk 105 is rotatably installed on both the front and rear sides of the bottom end of the pruning frame 102, and the expansion disk 105 is connected to the pruning frame 102 through a retaining spring, and a limiting block is fixedly installed on the bottom end of the pruning frame 102, and a limiting slide groove is provided at the upper end of the expansion disk 105, and the limiting block is passed through the inside of the limiting slide groove, so that the expansion disk 105 can only rotate to a certain angle and can also be reset, and a collar is fixedly installed on the bottom end of the expansion disk 105, and the collar is located at a position deviated from the center of the circle, and the material collection line 107 is reversely passed through the inside of the collar (such as Fig.13 As shown in the figure, when the driving rod 206 moves to the left, the expansion disk 105 is driven to rotate through the collar under the action of traction, and the two collars move away from each other under the rotation of the expansion disk 105. Then, the support ring 106 is subjected to forces in two directions and drives the entrance of the transmission tube 4 to expand, so that fruits and vegetables can fall into the interior of the transmission tube 4 better; A sliding groove is provided on the outer surface of the driving rod 206, and a deflation rod 207 is passed through the sliding groove. The end of the deflation rod 207 away from the air cylinder 202 is fixedly connected to the rotating rod 205. A transmission rod 203 is provided at the inner left end of the auxiliary shell 201. A sliding opening 114 is provided at the bottom end of the pushing rod 108. The sliding opening 114 is inclined, and the upper end of the transmission rod 203 is passed through the inside of the sliding opening 114. The bottom end of the transmission rod 203 is rotatably connected to the upper end of the rotating rod 205 through a rotating shaft. A support bar 204 is fixedly welded to the inner end of the auxiliary shell 201, and the transmission rod 203 is rotatably connected to the support bar 204. When the pushing rod 108 moves to the left, the transmission rod 203 starts to rotate under the action of the sliding opening 114, and drives the deflation rod 207 to rotate through the rotating rod 205.

[0023] The right end of the driving rod 206 is fixedly connected with a piston 208, which is inserted into the interior of the air cylinder 202 and fits tightly with the inner wall of the air cylinder 202. A sealing rubber ring is sleeved on the outer surface of the piston 208 to increase air tightness. The piston 208 is connected to the air cylinder 202 via a trigger spring 213. The deflation rod 207 is hollow. The right end of the deflation rod 207 and the inner end of the driving rod 206 are both fixedly connected with arc plates, and the two arc plates are in opposite directions, so the deflation rod 207 will expose a hole. Specifically, a sealing rubber ring is sleeved on the right end of the deflation rod 207. When the driving rod 206 moves to the left, the arc plate inside the driving rod 206 blocks the hole at the right end of the deflation rod 207, so that the air on the right side of the piston 208 cannot pass through the interior of the deflation rod 207. like Figure 6 , Figure 7As shown, the inner end of the driving rod 206 is fixedly connected with an isolation plate 211 and is located on the right side of the arc plate. A plurality of air leakage holes are opened on the outer surface of the isolation plate 211. A center rod 209 is passed through the inner end of the isolation plate 211. A sealing sheet 210 is fixedly welded on the outer surface of the center rod 209. The sealing sheet 210 is made of rubber material and blocks the air leakage holes on the outer surface of the isolation plate 211 after moving to the left. The left end of the center rod 209 is fixedly connected with a push sheet 212, and the push sheet 212 is located on the left side of the isolation plate 211. On the side, a rectangular block is fixedly installed at the bottom end of the push piece 212, and a rectangular groove is opened on the inner wall of the driving rod 206. The rectangular block slides in the rectangular groove to prevent the push piece 212 from rotating and avoiding collision with the arc plate on the inner wall of the driving rod 206. The push piece 212 corresponds to the deflation rod 207, and the right end of the center rod 209 is exposed on the right side of the piston 208. When the piston 208 moves to the right side, until the center rod 209 contacts the inner right end of the air cylinder 202, the center rod 209 moves to the left side.

[0024] Example 3: Please refer to Figure 8 - Fig.12 , a robot, based on embodiments 1 and 2, the buffer device includes a pressure relief box 301, the pressure relief box 301 is fixedly connected to the left side of the cargo box 1 by bolts, the left end of the cargo box 1 is fixedly connected with a buffer bag 41, and the buffer bag 41 is fixedly connected to the outlet of the transmission pipe 4 by a cable tie, and the fruit and vegetable products fall into the buffer bag 41 under the action of gravity to avoid direct hard contact with the inner wall of the cargo box 1, which causes the outer surface of the fruit and vegetable to be bumped and damaged, the inner end of the pressure relief box 301 is rotatably connected with a winding rod 304, the winding rod 304 and the pressure relief box 301 are connected by a reset torsion spring 303, the outer surface of the winding rod 304 is wound with a pulling belt 302, and the free end of the pulling belt 302 is fixedly connected to the right bag opening of the buffer bag 41 by a cable tie; The upper end of the force release box 301 is penetrated with a movable shell 305, and the upper end of the movable shell 305 is in contact with the bottom end of the pulling belt 302. Specifically, the buffer bag 41 is a trapezoidal shape (not a standard trapezoidal shape). When the buffer bag 41 is filled with fruits and vegetables, its center of gravity is to the right, and the movable shell 305 is pressed downward under the action of gravity. At this time, the winding rod 304 rotates under the elastic force of the return torsion spring 303, winding the pulling belt 302, so that the bag opening of the buffer bag 41 faces the cargo box 1, and then the fruits and vegetables fall into the cargo box 1 under the action of gravity, completing the picking and collection; The inner end of the force release box 301 is fixedly connected to two reset push cylinders 306 through a clamp, and the upper ends of the two reset push cylinders 306 are penetrated with reset rods 307, and the upper ends of the reset rods 307 are fixedly connected to the inner end of the movable shell 305. The inner end of the force release box 301 is fixedly connected to a trigger cylinder 308, and the front and rear ends of the trigger cylinder 308 are respectively fixedly connected to the bottom ends of the two reset push cylinders 306; like Figure 1 , Figure 5 , Fig.10 As shown, specifically, a pneumatic pump 42 is provided at the bottom end of the cargo box 1, and an output end of the pneumatic pump 42 is fixedly connected to an air guide tube 309, and the air guide tube 309 has two output ends, which are respectively fixedly connected to the input ends of the air cylinder 202 and the trigger cylinder 308; The inner end of the trigger cylinder 308 is penetrated by a gas cylinder 314, and the outer surface of the gas cylinder 314 is provided with a gas hole 315. After the gas cylinder 314 moves downward, the gas hole 315 is communicated with the gas pipe 309, and the gas cylinder 314 and the trigger cylinder 308 are connected by a blocking spring 316. A passive rod 310 is penetrated by the upper end of the gas cylinder 314, and the passive rod 310 and the gas cylinder 314 are connected by a buffer spring 313. A connecting ring 318 is fixedly welded on the outer surface of the passive rod 310, and a plurality of hooks 317 are fixedly connected to the outer surface of the connecting ring 318. A snap ring is fixedly installed on the outer surface of the upper end of the trigger cylinder 308, and the bottom ends of the snap hooks 317 are beveled, and the snap hooks 317 are made of elastic metal. After the passive rod 310 moves downward, the beveled surface of the bottom end of the snap hook 317 contacts the outer surface of the snap ring, and the snap ring is clamped after being subjected to a continuous downward extrusion force. like Figure 8 , Fig.11 , Fig.12 As shown, the outer surface of the passive rod 310 is sleeved with a movable sleeve 311, and the movable sleeve 311 is connected to the hook 317 by an unlocking rope 312. After the movable sleeve 311 moves upward, the hook 317 is pulled by the unlocking rope 312 to make it detach from the connection between the clamping rings. Specifically, the diameter of the movable sleeve 311 is larger than the distance between the two relative hooks 317 to avoid the problem that the unlocking rope 312 cannot pull the hook 317. A plurality of extension blocks 319 are fixedly welded on the outer surface of the passive rod 310, and a plurality of rectangular holes are opened on the outer surface of the movable sleeve 311, and each extension block 319 is penetrated inside the rectangular hole. More specifically, a push plate is fixedly installed at the inner end of the movable shell 305, and the push plate corresponds to the passive rod 310. After the movable shell 305 is completely moved to the bottom end, the push plate presses the passive rod 310 completely downward. At this time, the hook 317 will be connected to the snap ring, and the air hole 315 is connected to the air pipe 309. Before the air hole 315 is completely connected to the air pipe 309, the fruits and vegetables inside the buffer bag 41 have fallen into the interior of the cargo box 1.

[0025] The working principle of the present invention is: During operation, the position of fruits and vegetables is identified by the visual sensor, and then the output shafts of the two steering motors are rotated respectively, and the electric push rod inside the articulated arm 3 is driven to make the pruning frame 102 close to the branches connected to the fruits and vegetables, and then the output end of the driving motor 111 drives the transmission gear 113 to rotate through the driving gear 112, and then the push rod 108 moves to the right, and pulls the saw teeth 104 to rotate through the reset line 110, and the fruits and vegetables are picked from the branches. At the same time, under the movement of the push rod 108, the sliding mouth 114 at the bottom drives the transmission rod 203 to deflect, and then drives the deflation rod 207 to rotate through the rotating rod 205 (before the deflation The hole on the right side of the air rod 207 is blocked by the arc plate at the inner end of the driving rod 206), and then the hole on the right side of the air release rod 207 is exposed, so that the air on the right side of the piston 208 leaks quickly, triggering the spring 213 to release the elastic force and push the piston 208 to move to the right. At this time, the movement of the piston 208 drives the driving rod 206 to move. At this time, the driving rod 206 moves through the receiving line 107 to pull the support ring 106 to rotate, and the inlet of the transmission tube 4 is set on the outer surface of the fruits and vegetables. It is worth mentioning that when the push rod 108 starts to move, the support ring 106 has been triggered, and the fruits and vegetables are not completely cut off at this time, so the fruits and vegetables will not fall to the ground prematurely; When the piston 208 moves to the right, until the center rod 209 contacts the inner right end of the air cylinder 202, the center rod 209 is subjected to a force to move to the left, and then the sealing plate 210 seals the isolation plate 211. Since the air inside the air cylinder 202 is continuously filled, the piston 208 moves to the left, and the push rod 108 restores the deflation rod 207 to its initial state during the resetting process. Then the piston 208 moves to the left until the push plate 212 contacts the deflation rod 207. Under the continuous squeezing force, the center rod 209 moves to the right, and at this time, the arc plate inside the driving rod 206 blocks the hole at the right end of the deflation rod 207 again. When fruits and vegetables fall from the transmission tube 4 into the buffer bag 41, the movable shell 305 moves downward under the driving force of gravity, and the pulling belt 302 becomes loose. At this time, the winding rod 304 rotates under the elastic force of the reset torsion spring 303, and the pulling belt 302 is wound around its outer surface, so that the bag opening of the buffer bag 41 faces the cargo box 1. Then, the fruits and vegetables fall into the cargo box 1 under the action of gravity, and the reset rod 307 is also retracted into the reset push cylinder 306. Then, the push plate presses the passive rod 310 completely downward. At this time, the hook 317 is connected to the snap ring, and the buffer spring 313 is compressed (the buffer spring The elastic force of 313 is greater than the elastic force of the hook 317), the air guide hole 315 is connected to the air guide tube 309, and the interior of the reset push cylinder 306 is also in an inflated state, so that the reset rod 307 moves upward, which drives the movable shell 305 to move upward, and then the passive rod 310 moves upward under the elastic force of the buffer spring 313. After moving upward for a distance, the movable sleeve 311 is driven to move upward through the extension block 319, and the hook 317 is pulled over by the unlocking rope 312, so that the hook 317 is disconnected from the connection with the clamp ring, and the movable shell 305 is then restored to the initial position, and then the buffer bag 41 waits for the next fruit or vegetable to fall in.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed in the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot, comprising a carrying box (1), characterized in that: The left end of the cargo box (1) is rotatably connected to a support arm (2); an end of the support arm (2) away from the cargo box (1) is movably mounted with a joint arm (3); an extension rod (101) is passed through the left end of the joint arm (3); and an end of the extension rod (101) away from the joint arm (3) is rotatably mounted with a pruning frame (102); the inner end of the pruning frame (102) is rotatably mounted with two saw teeth (104) capable of cutting branches; and the left side of the cargo box (1) is provided with a A transmission tube (4) for transmitting fruits and vegetables, wherein the outer surface of the transmission tube (4) is fixedly connected to the extension rod (101) and the support arm (2) respectively; a power box (103) is fixedly sleeved on the outer surface of the right end of the pruning frame (102); and the bottom end of the power box (103) is fixedly connected to an auxiliary shell (201); a collecting device for collecting fruits and vegetables is arranged inside the auxiliary shell (201); and a buffer device for decelerating fruits and vegetables is arranged on the left side of the cargo box (1).

2. A robot according to claim 1, characterized in that: A push rod (108) is slidably mounted on the inner end of the pruning frame (102); push blocks (109) are fixedly connected to the front and rear sides of the left end of the push rod (108); the push blocks (109) are located on the right side of the two saw teeth (104); the ends of the two saw teeth (104) that are away from each other are fixedly connected to a reset line (110); and the free end of the reset line (110) is fixedly connected to the left end of the push rod (108).

3. A robot according to claim 1, characterized in that: The collecting device comprises a support ring (106), the support ring (106) being rotatably connected to the left end of the auxiliary shell (201), and the input end of the transmission tube (4) being fixedly connected to the support ring (106); when the support ring (106) rotates toward the left, it drives the inlet of the transmission tube (4) to move below the two saw teeth (104) to collect the fruits and vegetables that are about to be cut.

4. A robot according to claim 3, characterized in that: The inner end of the auxiliary shell (201) is fixedly connected to a gas cylinder (202), a driving rod (206) is passed through the interior of the gas cylinder (202), the front and rear ends of the support ring (106) are fixedly connected to a material receiving line (107), the free end of the material receiving line (107) is fixedly connected to the driving rod (206), a sliding groove is provided on the outer surface of the driving rod (206), a deflation rod (207) is passed through the sliding groove, and the end of the deflation rod (207) away from the gas cylinder (202) is fixedly connected to a rotating rod (205), and a transmission rod (203) is provided at the inner left end of the auxiliary shell (201).

5. A robot according to claim 4, characterized in that: The right end of the driving rod (206) is fixedly connected to a piston (208), the piston (208) is inserted into the interior of the air cylinder (202), and the piston (208) and the air cylinder (202) are connected via a trigger spring (213). The air release rod (207) is hollow, and the right end of the air release rod (207) and the inner end of the driving rod (206) are both fixedly connected to arc plates, and the two arc plates are in opposite directions.

6. A robot according to claim 1, characterized in that: The buffer device comprises a pressure relief box (301), the pressure relief box (301) is fixedly connected to the left side of the cargo box (1), a buffer bag (41) is fixedly connected to the left end of the cargo box (1), and the buffer bag (41) is fixedly connected to the outlet of the transmission pipe (4), the inner end of the pressure relief box (301) is rotatably connected to a winding rod (304), a pulling belt (302) is wound around the outer surface of the winding rod (304), and the free end of the pulling belt (302) is fixedly connected to the right bag opening of the buffer bag (41).

7. A robot according to claim 6, characterized in that: A movable shell (305) is passed through the upper end of the force release box (301), and the upper end of the movable shell (305) contacts the bottom end of the pulling belt (302). Two reset push cylinders (306) are fixedly connected to the inner end of the force release box (301), and reset rods (307) are passed through the upper ends of the two reset push cylinders (306). The upper ends of the reset rods (307) are fixedly connected to the inner end of the movable shell (305). A trigger cylinder (308) is fixedly connected to the inner end of the force release box (301), and the front and rear ends of the trigger cylinder (308) are respectively fixedly connected to the bottom ends of the two reset push cylinders (306).

8. A robot according to claim 7, characterized in that: An air guide cylinder (314) is inserted through the inner end of the trigger cylinder (308), and an air guide hole (315) is opened on the outer surface of the air guide cylinder (314). After the air guide cylinder (314) moves downward, the air guide hole (315) is communicated with the air guide pipe (309), and a passive rod (310) is inserted through the upper end of the air guide cylinder (314).

9. A robot according to claim 8, characterized in that: The passive rod (310) is connected to the gas guide cylinder (314) via a buffer spring (313); a connecting ring (318) is fixedly mounted on the outer surface of the passive rod (310); and a plurality of hooks (317) are fixedly connected to the outer surface of the connecting ring (318); and a snap ring is fixedly mounted on the outer surface of the upper end of the trigger cylinder (308).

10. A robot according to claim 9, characterized in that: The outer surface of the passive rod (310) is sleeved with a movable sleeve (311), and the movable sleeve (311) is connected to the hook (317) via an unlocking rope (312). When the movable sleeve (311) moves upward, the hook (317) is pulled by the unlocking rope (312) to separate it from the connection between the clamping rings.

Images