Orchard autonomous mobile platform capable of carrying mechanical arm

Abstract

The invention discloses an orchard autonomous moving platform capable of carrying a mechanical arm. The orchard autonomous moving platform comprises a base plate, a mounting plate, an adjusting mechanism and a moving system. The adjusting mechanism comprises a fixed block, a screw rod, a guide rod, a motor, a sliding block, a first connecting rod, a second connecting rod, a connecting block, a mounting block, a sliding rod and a movable block; the moving system comprises a fixed frame, a connecting piece, a movable frame, movable wheels, a fixed rod, a telescopic rod and a spring. The multi-shaft mechanical arm and the clamping jaw can be installed on the platform, the wide adaptability to fruit tree operation, the flexibility of the multi-shaft mechanical arm and the grabbing function of the clamping jaw are achieved, the platform can execute various operations such as pruning, picking and pesticide spraying, and therefore the requirement for diversified management of an orchard is met.

Description

Technical Field

[0001] This patent relates to the technical field of agricultural machinery and equipment, and specifically relates to an orchard autonomous mobile platform that can carry a robotic arm. Background Art

[0002] Traditional orchard management mainly relies on manual labor, which not only has low efficiency and high labor costs, but also has many processes and high labor intensity during the fruit production process. Relying solely on manual labor can no longer meet the production needs, and the demand for orchard management mechanization is becoming increasingly urgent. The lifting operation platform is one of the most widely researched and used types of machinery in orchard management. Its existing products not only cover functions such as picking and transportation, but some machines also integrate functions such as spraying, trenching, and fertilizing, with a very wide range of applications.

[0003] Currently, most orchard mobile platforms not only have relatively single functions, do not have the function of managing different types of orchards and cannot meet the requirements of different operations, but also do not have the function of adapting to roads of different widths by changing the left and right wheelbases.

[0004] To solve the above technical problems, an orchard autonomous mobile platform that can carry a robotic arm is provided. This technical solution solves the problems proposed in the above background art, that is, most current orchard mobile platforms not only have relatively single functions, do not have the function of managing different types of orchards and cannot meet the requirements of different operations, but also do not have the function of adapting to roads of different widths by changing the left and right wheelbases.

[0005] To achieve the above objectives, the technical solution adopted in this patent is: an orchard autonomous mobile platform that can carry a robotic arm, including a base plate, an installation plate is provided at the top end of the base plate, and the bottom end of the base plate is movably connected to a mobile system through an adjustment mechanism.

[0006] The adjustment mechanism includes fixing blocks. There are two groups of fixing blocks, both groups of fixing blocks are provided at the bottom end of the base plate, a lead screw is rotatably installed inside the two groups of fixing blocks, and a guide rod is also provided inside the two groups of fixing blocks. Two sliders are threadedly connected to the outer surface of the lead screw, and the bottom ends of the two sliders are movably connected to a connecting block through two groups of first connecting rods and second connecting rods. The four connecting blocks are all provided inside the four mobile systems.

[0007] Preferably, the mobile system includes a fixing frame. Both the left and right sides of the fixing frame are movably connected to a movable frame through two groups of connecting pieces. A movable wheel is rotatably installed inside the bottom end of the movable frame. Two fixing rods are provided at the top end of the movable frame. The outer surfaces of the two fixing rods are movably connected to the front side of the top end of the fixing frame through telescopic rods. Springs are sleeved on the outer surfaces of the two telescopic rods.

[0008] Preferably, two sets of mounting blocks are provided at both the left and right bottom ends of the substrate. Two sets of sliding rods are provided inside the two sets of mounting blocks. Moving blocks are provided on the outer surfaces of the two sets of sliding rods corresponding to the positions of the four sets of fixing frames. The four moving blocks are all slidably mounted on the outer surfaces of the sliding rods.

[0009] Preferably, the threads formed on the outer surface of the lead screw have opposite helix directions, and one end of the lead screw is fixedly installed at the output end of the motor.

[0010] Compared with the prior art, the beneficial effects of this patent are as follows: First, by providing an adjustment mechanism, the lead screw is driven by the motor, so that the rotation of the lead screw drives the slider to move along the guide rod, thereby adjusting the relative position between the connecting block and the moving system. This process realizes the dynamic adjustment of the left and right wheelbases, enabling the platform to adaptively adjust according to roads of different widths, improving the passing ability and working range of the platform. Second, the stability of the platform is enhanced by providing a moving system. The movable frame and the fixed frame are connected by a connecting member and a telescopic rod, and the addition of the spring further improves the damping effect, enabling the platform to operate smoothly on uneven roads and reducing vibrations and impacts during operation. Third, the platform can be installed with a multi-axis robotic arm and a gripper, realizing wide adaptability to fruit tree operations. The flexibility of the multi-axis robotic arm and the grasping function of the gripper enable the platform to perform various operations such as pruning, picking, and spraying, thus meeting the diverse management needs of orchards. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the external structure of this patent.

[0012] Figure 2 It is a schematic diagram of the structure of this patent from another perspective.

[0013] Figure 3 It is a schematic diagram of the adjustment mechanism of this patent.

[0014] Figure 4 It is a schematic diagram of the movable wheel mechanism of this patent.

[0015] The reference numerals in the figure are: 1, substrate; 2, mounting plate; 3, adjustment mechanism; 301, fixed block; 302, lead screw; 303, guide rod; 304, motor; 305, slider; 306, first connecting rod; 307, second connecting rod; 308, connecting block; 309, mounting block; 310, sliding rod; 311, moving block; 4, moving system; 401, fixed frame; 402, connecting member; 403, movable frame; 404, movable wheel; 405, fixed rod; 406, telescopic rod; 407, spring; 5, multi-axis robotic arm; 6, control device body. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The following description is used to disclose this patent so that those skilled in the art can implement this patent. The preferred embodiments in the following description are only examples, and other obvious variations can be conceived by those skilled in the art.

[0017] Referring to Figures 1-4 As shown, an autonomous mobile platform for orchards that can carry a robotic arm includes a base plate 1. An installation plate 2 is provided at the top of the base plate 1. The bottom end of the base plate 1 is movably connected to a mobile system 4 through an adjustment mechanism 3. The adjustment mechanism 3 includes fixing blocks 301. There are two groups of fixing blocks 301, and both groups of fixing blocks 301 are provided at the bottom end of the base plate 1. A lead screw 302 is rotatably installed inside the two groups of fixing blocks 301. The thread directions of the threads provided on the outer surface of the lead screw 302 are opposite, and one end of the lead screw 302 is fixedly installed at the output end of a motor 304. Also, guide rods 303 are provided inside the two groups of fixing blocks 301. Two sliders 305 are threadedly connected to the outer surface of the lead screw 302. The bottom ends of the two sliders 305 are movably connected to a connection block 308 through two groups of first connecting rods 306 and second connecting rods 307. The four connection blocks 308 are all provided inside the four mobile systems 4.

[0018] In this solution, the motor 304 is driven to rotate the lead screw 302. Since the thread directions of the threads provided on the outer surface of the lead screw 302 are opposite, the two sliders 305 can move synchronously but in opposite directions. Through the transmission of the first connecting rod 306 and the second connecting rod 307, the distance between the connection block 308 and the mobile system 4 connected thereto is adjusted, realizing the optimization of the platform stability under different terrain conditions and enhancing the adaptability and passability of the platform.

[0019] Referring to Figures 1-4 As shown, the mobile system 4 includes a fixing frame 401. Both the left and right sides of the fixing frame 401 are movably connected to a movable frame 403 through two groups of connecting members 402. A movable wheel 404 is rotatably installed inside the bottom end of the movable frame 403. Two fixing rods 405 are provided at the top of the movable frame 403. The outer surfaces of the two fixing rods 405 are movably connected to the front side of the top end of the fixing frame 401 through telescopic rods 406. Springs 407 are sleeved on the outer surfaces of the two telescopic rods 406.

[0020] In this solution, a combination of a spring 407 and a telescopic rod 406 is provided inside the mobile system 4. Through the elastic buffering effect of the spring 407 and the telescopic adjustment function of the telescopic rod 406, automatic shock absorption and adaptation of the movable frame 403 and the movable wheel 404 when encountering uneven ground are realized. This design greatly enhances the obstacle-crossing ability and driving stability of the platform, enabling the platform to move smoothly in a complex orchard environment and improving the operation range and efficiency.

[0021] Referring to Figures 1-3As shown in the figure, two sets of mounting blocks 309 are provided at the left and right bottom ends of the substrate 1. Two sets of sliding rods 310 are provided inside the two sets of mounting blocks 309. Moving blocks 311 are provided on the outer surfaces of the two sets of sliding rods 310 corresponding to the positions of the four sets of fixing frames 401. The four moving blocks 311 are all slidably mounted on the outer surfaces of the sliding rods 310.

[0022] In this solution, the combination of the mounting blocks 309, the sliding rods 310, and the moving blocks 311 provided at the left and right bottom ends of the substrate 1 provides an additional stability guarantee for the moving system 4. The sliding mounting of the moving blocks 311 on the sliding rods 310 allows the moving system 4 to maintain a certain stability when adjusting the height, preventing shaking caused by height changes, and further improving the overall stability and operation safety of the platform.

[0023] Refer to Figures 1-2 As shown in the figure, multi-axis robotic arms 5 can be installed at the front and rear top ends of the substrate 1. Claws are provided at the moving ends of the two multi-axis robotic arms 5. A control device body 6 is also provided at the top end of the substrate 1.

[0024] In this solution, the multi-axis robotic arms 5 provided at the front and rear top ends of the substrate 1 achieve precise picking and handling of fruits in the orchard through their flexible moving ends and claw designs. The high degree of freedom and precise control of the multi-axis robotic arms 5 enable the platform to efficiently complete complex operation tasks, such as picking fruits at different heights and positions, greatly improving the operation efficiency and fruit quality. At the same time, the control device body 6 at the top end of the substrate 1, as the command center of the entire platform, is responsible for receiving instructions, processing data, and controlling each component to work together, ensuring the intelligence and automation level of the platform.

[0025] Working principle of this patent: First, the platform moves through its mobile system 4. The fixed frame 401 is movably connected to the movable frame 403 through the connecting member 402. The movable wheels 404 are rotatably installed on the inner side of the bottom end of the movable frame 403, enabling the platform to move smoothly in the orchard environment. When encountering uneven ground, the pressure received by the movable frame 403 and the movable wheels 404 is transmitted to the telescopic rod 406 through the fixed rod 405. The telescopic rod 406 performs telescopic adjustment. At the same time, the spring 407 plays its elastic buffering role, jointly realizing automatic shock absorption and terrain adaptation, ensuring that the platform can pass through complex terrains smoothly. During the movement, the platform needs to adjust its stability according to the terrain conditions. At this time, the adjustment mechanism 3 comes into play. The motor 304 drives the screw rod 302 to rotate. Since the thread directions on the outer surface of the screw rod 302 are opposite, the two groups of sliders 305 can move synchronously but in opposite directions. Through the transmission of the first connecting rod 306 and the second connecting rod 307, the sliders 305 drive the adjustment of the distance between the connecting block 308 and the mobile system 4 connected thereto. This distance adjustment can optimize the stability of the platform under different terrain conditions, enhancing the adaptability and passability of the platform. In addition, the combination of the mounting blocks 309, the sliding rods 310, and the movable blocks 311 provided at the left and right bottom ends of the substrate 1 provides an additional stability guarantee for the mobile system 4. The sliding installation of the movable blocks 311 on the sliding rods 310 allows the mobile system 4 to maintain a certain stability when adjusting the height, preventing shaking caused by height changes, and further improving the overall stability and operation safety of the platform. Finally, when the platform reaches the designated position, the multi-axis robotic arm 5 starts to work. Through its flexible movable end and jaw design, the multi-axis robotic arm 5 realizes the precise picking and handling of fruits in the orchard. The high degree of freedom and precise control of the multi-axis robotic arm 5 enable the platform to efficiently complete complex operation tasks, such as picking fruits at different heights and positions. At the same time, the control device body 6 at the top of the substrate 1 is responsible for receiving instructions, processing data, and controlling the coordinated work of each component, ensuring the intelligent and automated level of the platform.

[0026] The above shows and describes the basic principle, main features, and advantages of this patent. Those skilled in the art should understand that this patent is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of this patent. Without departing from the spirit and scope of this patent, this patent will have various changes and improvements, and these changes and improvements all fall within the scope of this patent claimed. The scope of protection claimed by this patent is defined by the appended claims and their equivalents.

Claims

1. An orchard autonomous mobile platform capable of carrying a robotic arm, comprising a base plate (1), characterized in that: A mounting plate (2) is arranged at the top end of the substrate (1); the bottom end of the substrate (1) is movably connected to the moving system (4) via an adjusting mechanism (3); the adjusting mechanism (3) comprises a fixed block (301), a screw rod (302), a guide rod (303), a motor (304), a slider (305), a first connecting rod (306), a second connecting rod (307), a connecting block (308), a mounting block (309), a sliding rod (310), and a movable block (311); the fixed block (301) is arranged at the bottom end of the substrate (1); the screw rod (302) is rotatably mounted on the inner side of the fixed block (301); A guide rod (303) is also provided on the inner side of the fixed block (301); a slider (305) is threadedly connected to the outer surface of the screw rod (302); the bottom end of the slider (305) is movably connected to a connecting block (308) via a first connecting rod (306) and a second connecting rod (307); and the connecting block (308) is provided on the inner side of the moving system (4).

2. The orchard autonomous mobile platform capable of carrying a mechanical arm according to claim 1, characterized in that: The mobile system (4) comprises a fixed frame (401), a connecting piece (402), a movable frame (403), a movable wheel (404), a fixed rod (405), a telescopic rod (406), and a spring (407); the left and right sides of the fixed frame (401) are movably connected to the movable frame (403) via the connecting piece (402); the movable wheel (404) is rotatably mounted on the inner side of the bottom end of the movable frame (403); the top end of the movable frame (403) is provided with a fixed rod (405); the outer surface of the fixed rod (405) is movably connected to the front side of the top end of the fixed frame (401) via the telescopic rod (406); and the outer surface of the telescopic rod (406) is sleeved with a spring (407).

3. The orchard autonomous mobile platform capable of carrying a mechanical arm according to claim 1, characterized in that: The left and right bottom ends of the base plate (1) are provided with mounting blocks (309), the inner side of the mounting blocks (309) is provided with a sliding rod (310), and the outer surface of the sliding rod (310) is provided with a movable block (311) at a position corresponding to the fixing frame (401), and the movable block (311) is slidably mounted on the outer surface of the sliding rod (310).

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