A modular, interchangeable multi-functional orchard harvesting and sorting robot

Abstract

This invention belongs to the field of agricultural robot technology, specifically relating to a modular, interchangeable, multi-functional orchard harvesting and sorting robot. It includes an electric tracked chassis for providing power; a multi-functional assembly / disassembly platform mounted on the chassis, equipped with functional modules providing various operating modes; a jack mounted on the lower part of the platform, with wheels at its lower end for moving the platform; and a locking mechanism mounted on the upper part of the platform for securing it to the electric tracked chassis or functional modules. This invention enables multi-functionality, reduces assembly / disassembly workload and labor, improves efficiency, and saves on equipment purchase and operating costs.

Description

Technical Field

[0001] This invention belongs to the field of agricultural robot technology, specifically relating to a modularly interchangeable multifunctional robot for orchard harvesting and sorting. Background Technology

[0002] With the advancement of agricultural modernization, the demand for automation in orchard operations is growing. Traditional manual harvesting methods are inefficient, labor-intensive, and prone to damaging the fruit during the harvesting process. To address these issues, automated harvesting equipment and sorting systems have emerged on the market, which can be used for harvesting, sorting, and transportation, improving the level of intelligence in orchard machinery.

[0003] For example, Chinese Patent Publication No. CN212401399U discloses an anti-bump movement mechanism for an orchard picking robot. It uses a mounting frame to transfer the picking mechanism and lithium battery power supply to the mechanical chassis. Compression springs and anti-slip cotton are appropriately installed in the transfer frame to enhance the shock absorption effect during operation and avoid reducing the robot's working life due to vibration.

[0004] For example, Chinese Patent Publication No. CN118808148A discloses a fruit weighing and bouncing sorting machine, which uses the cooperation of the lifting fruit delivery unit and the conveying and arranging unit to make the fruit fall into the corresponding collection box.

[0005] Orchard robots like these typically have limited functionality, leaving them idle during off-peak hours and unable to fulfill other potential uses. Secondly, these robots lack adaptability, often failing to adapt to diverse orchard environments and operational needs. Furthermore, their relatively high purchase cost makes them impractical for most fruit growers, hindering widespread adoption. While some robots on the market integrate harvesting and transportation functions, their initial design often failed to adequately consider multi-functional requirements. Therefore, adding new functional modules later often increases the machine's load, resulting in unsatisfactory operational performance, and the complex modification process requires multiple operators. This addition process is not only time-consuming but also indirectly increases labor costs, significantly reducing overall economic efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a modular, interchangeable, multi-functional orchard picking and sorting robot that can perform multiple functions in one machine, reducing the workload of changing clothes, reducing the labor required for changing clothes, improving the efficiency of changing clothes, and saving the cost of purchasing and using the equipment.

[0007] The specific technical solution adopted by this invention is as follows:

[0008] A modularly interchangeable multifunctional orchard picking and sorting robot includes an electric tracked chassis, which provides power.

[0009] A multi-functional assembly and disassembly platform is mounted on an electric tracked chassis and is equipped with functional modules that provide multiple working modes.

[0010] A jack is installed at the lower part of the multi-functional disassembly and assembly platform, and the lower end of the jack is equipped with casters. The jack is used to move the multi-functional disassembly and assembly platform.

[0011] A locking part is installed on the upper part of the multi-functional assembly and disassembly platform, and the locking part is used to fix the multi-functional assembly and disassembly platform to the electric tracked chassis or functional module.

[0012] In a preferred embodiment, the electric tracked chassis includes a chassis frame, a battery and a controller are installed inside the chassis frame, tracked walking mechanisms are installed on both sides of the lower part of the chassis frame, a drive motor is installed on the lower part of the chassis frame, the output end of the drive motor is connected to the tracked walking mechanism, and multiple disassembly and assembly platform connecting sleeves are installed on the upper part of the chassis frame.

[0013] In a preferred embodiment, the multi-functional assembly and disassembly platform includes a support frame, on the upper part of which a functional module connecting sleeve and a functional module positioning hole are installed, and a connecting hole is also provided on the support frame next to the functional module positioning hole.

[0014] In a preferred embodiment, the functional module includes any one of a picking component, a sorting component, or a transport component. The sorting component includes a sorting and conveying functional module, and positioning holes are provided on both sides of the sorting and conveying functional module. The transport component includes a transport functional module, and positioning blocks are fixedly connected to each of the four corners of the transport functional module. The picking component includes a picking functional module, and mounting sleeves are fixedly connected to each of the four corners of the picking functional module. Positioning pins are provided on the mounting sleeves.

[0015] In a preferred embodiment, the locking part includes a connecting pin, which is inserted into a connecting hole next to the positioning hole of the functional module, and a positioning key is installed at one end of the connecting pin.

[0016] In a preferred embodiment, the locking part includes a bolt and a positioning pin. The positioning block corresponds to the positioning hole of the functional module. The interior of both the positioning block and the positioning hole of the functional module are threaded through holes with tapping. The positioning holes of the functional module and the positioning block are fixed by fastening bolts. The positioning holes on both sides of the sorting and conveying functional module are threaded through holes with tapping. The positioning holes of the functional module and the positioning hole are fixed by fastening bolts. The functional module connecting sleeve is connected to the mounting sleeve of the picking functional module by a positioning pin, and one end of the positioning pin is provided with a bolt.

[0017] In a preferred embodiment, the locking part further includes a quick-release mechanism, which comprises two slide rails. Each slide rail has a groove and a circular groove. A pointed conical rod is fixedly connected to the inner wall of the groove. A first sealing plate is inserted into the upper end of the groove in an array, and a first spring is fixedly connected between the first sealing plate and the slide rail. A circular rod is rotatably connected to the circular groove via a bearing. An auger blade is fixedly installed on the circular rod. A second sealing plate is inserted into the connection between the groove and the circular groove, and a second spring is fixedly connected between the second sealing plate and the slide rail. A locking block is also inserted into one end of the slide rail, and a third spring is fixedly connected between the locking block and the slide rail. An L-shaped plate is fixedly connected to one side of the locking block. One side has fixed support plates arranged in an array, and a first rotating rod is rotatably connected to the support plates via bearings. The upper end of the first rotating rod is rotatably connected to a first gear via a bearing. A take-up roller is rotatably connected to the first rotating rod via a bearing, and a traction rope is wound on the take-up roller and fixedly connected to a first sealing plate. A second rotating rod is rotatably connected to the chassis frame via bearings. A second gear and a second bevel gear are fixedly installed on the second rotating rod. A support plate is fixedly connected to the chassis frame, and a third rotating rod is rotatably connected to the support plate via bearings. A first bevel gear is fixedly installed at one end of the third rotating rod, a third gear is fixedly installed at the other end of the third rotating rod, and a fourth gear is fixedly installed at one end of the round rod.

[0018] In a preferred embodiment, the quick-release mechanism further includes a drive rod, which is rotatably connected to the top surface of the chassis frame via a bearing. Two threaded blocks are sleeved on the drive rod. A movable rod is fixedly connected to one side of the second sealing plate. Two connecting rods are hinged to the movable rod, and one end of each connecting rod is hinged to one of the two threaded blocks. A guide sleeve is slidably sleeved on the movable rod and is fixedly connected to the top surface of the chassis frame. A ring is fixedly sleeved on the first rotating rod. Movable grooves are distributed in an annular pattern on the ring. A mating block is inserted into the upper end of the movable groove, and a compression spring is fixedly connected between the mating block and the movable groove. A mating groove is distributed in an annular pattern on the bottom surface of the first gear.

[0019] In a preferred embodiment, the lower end of the ring is hinged with pawls arranged in a ring shape, a fourth spring is fixedly connected between the pawls and the ring, and a ratchet is fixedly connected to the upper end of the take-up roller.

[0020] In a preferred embodiment, a sliding block is slidably inserted into the groove, and the sliding block is fixedly connected to the bottom surface of the multi-functional disassembly and assembly platform. A rack is fixedly connected to the sliding block, a receiving groove is provided on the sliding block, and oil outlet holes are arranged in an array on both sides of the sliding block. A scraper is fixedly connected to one end of the sliding block through a support rod, and a locking groove is also provided on the sliding block.

[0021] The technical effects achieved by this invention are as follows:

[0022] This invention's multifunctional robot, through its modular design, allows for rapid interchange of different functional modules, such as harvesting, sorting, and transportation, significantly improving the flexibility of orchard operations. Traditional single-function agricultural machinery often requires multiple units for different tasks, while this invention only needs a single electric tracked chassis to achieve multiple function conversions, significantly reducing equipment purchase costs. Furthermore, the simple and quick switching between functional modules, requiring no complex tools or specialized skills, further enhances operational efficiency. For example, after harvesting, it can be quickly switched to a sorting unit to complete the initial screening of fruit directly in the orchard, reducing the time interval between harvesting and sorting and ensuring fruit freshness.

[0023] This invention incorporates an automatic lubrication function through a quick-release mechanism. When the sliding block is inserted into the slide groove, the lubricating grease in the receiving groove is squeezed out by the action of the pointed conical rod and distributed throughout the slide groove through the oil outlet. This design not only ensures that the sliding block is fully lubricated during the sliding process, reducing friction with the slide rail, but also improves the smoothness and stability of module installation. Furthermore, the rotating roller at the lower end of the sliding block further reduces friction during sliding, making module installation and disassembly smoother. This self-lubricating mechanism effectively avoids the dryness or jamming that may occur in traditional mechanical connections, ensuring long-term efficient operation of the equipment.

[0024] This invention utilizes a scraper to remove residual lubricating grease from the inner wall of the slide groove and the outer wall of the conical rod during the removal of the sliding block. This prevents lubrication degradation caused by prolonged grease buildup. Furthermore, as the auger blades rotate, the scraped-off grease is effectively discharged from the circular groove, maintaining the cleanliness of the slide groove's interior. This design simplifies daily maintenance, extends equipment lifespan, and prevents performance degradation or malfunctions caused by lubricating oil deterioration. Simultaneously, the first sealing plate automatically resets after the sliding block is completely removed, sealing the upper end of the slide groove to prevent external impurities from entering and ensuring the slide groove remains in good condition for the next use. This undoubtedly increases the reliability and maintainability of the equipment, while reducing user operating costs and maintenance complexity. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the first locking part of the present invention installed on a multi-functional disassembly and assembly platform;

[0027] Figure 3 This is a schematic diagram of the structure of the sorting component of the present invention mounted on an electric tracked chassis;

[0028] Figure 4 This is a schematic diagram of the structure of the harvesting component of the present invention mounted on an electric tracked chassis;

[0029] Figure 5 This is a schematic diagram of the structure of the transport component of the present invention mounted on an electric tracked chassis;

[0030] Figure 6 This is a schematic diagram of a partial cross-section of the electric tracked chassis of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the first locking part of the present invention;

[0032] Figure 8 This is a schematic diagram of the first type of positioning method of the present invention, which is locked onto the picking component.

[0033] Figure 9 This is a schematic diagram of the structure of the second locking part of the present invention;

[0034] Figure 10 This is a partial cross-sectional view of the second type of locking part of the present invention on the disassembly and assembly platform connecting sleeve of the tracked chassis;

[0035] Figure 11 This is a schematic diagram of the quick-release mechanism of the present invention installed on an electric tracked chassis;

[0036] Figure 12 This is the present invention. Figure 11 The right-side view;

[0037] Figure 13 This is a schematic diagram of the connection between the slide rail and its upper structure according to the present invention;

[0038] Figure 14 This is the invention Figure 13 An enlarged schematic diagram of part A shown in the image;

[0039] Figure 15 This is the present invention. Figure 13 A front sectional view at the center locking block;

[0040] Figure 16 This is the present invention. Figure 13 A frontal sectional view at the first sealing plate along the middle edge;

[0041] Figure 17 This is the present invention. Figure 15 An enlarged schematic diagram of part B shown in the image;

[0042] Figure 18 This is a schematic diagram of the connection between the winding roller and the ring of the present invention;

[0043] Figure 19 This is a schematic diagram of the sliding block of the present invention installed on a multi-functional disassembly and assembly platform;

[0044] Figure 20 This is the present invention. Figure 19 An enlarged schematic diagram of part C shown in the figure.

[0045] The attached diagram lists the components represented by each number as follows:

[0046] 1. Electric tracked chassis; 11. Chassis frame; 12. Battery; 13. Controller; 14. Drive motor; 15. Tracked walking mechanism; 16. Assembly / disassembly platform connecting sleeve; 24. Harvesting function module; 41. Sorting and conveying function module; 45. Transportation function module;

[0047] 2. Multifunctional assembly / disassembly platform; 21. Functional module connecting sleeve; 22. Functional module positioning holes; 23. Load-bearing frame;

[0048] 4. Jack;

[0049] 5. Locking part; 46. Positioning block; 51. Connecting pin; 53. Positioning key; 54. Bolt; 67. Positioning pin; 68. Mounting sleeve; 8. Quick release mechanism;

[0050] 801. Slide rail; 802. Slide groove; 803. Conical rod; 804. First sealing plate; 805. First spring; 806. Circular groove; 807. Circular rod; 808. Screwdriver blade; 809. Second sealing plate; 810. Second spring; 811. Locking block; 812. L-shaped plate; 813. First rotating rod; 814. First gear; 815. Take-up roller; 816. Second rotating rod; 817. Second gear; 818. Third rotating rod 819. Rod; 820. First bevel gear; 821. Second bevel gear; 822. Third gear; 823. Fourth gear; 824. Drive rod; 825. Screw block; 826. Movable rod; 827. Connecting rod; 828. Guide sleeve; 829. Ring; 830. Movable groove; 831. Connecting block; 832. Compression spring; 833. Connecting groove; 834. Third spring; 835. Pawl; 836. Fourth spring; 837. Ratchet;

[0051] 9. Sliding block; 91. Rack; 92. Receiving groove; 93. Scraper; 94. Locking groove. Detailed Implementation

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0053] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0054] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0055] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth. Example

[0056] Please see the appendix Figures 1 to 10As shown, this is the first embodiment of the present invention. This embodiment provides a modularly interchangeable multifunctional orchard harvesting and sorting robot, including an electric tracked chassis 1 for providing power; a multifunctional assembly / disassembly platform 2, which is mounted on the electric tracked chassis 1 and has functional modules for providing multiple working modes; a jack 4, which is mounted on the lower part of the multifunctional assembly / disassembly platform 2 and has wheels at its lower end for moving the multifunctional assembly / disassembly platform 2; and a locking part 5, which is mounted on the upper part of the multifunctional assembly / disassembly platform 2 for fixing the multifunctional assembly / disassembly platform 2 to the electric tracked chassis 1 or the functional modules.

[0057] During the installation of the multi-functional assembly and disassembly platform 2, the multi-functional assembly and disassembly platform 2 is lifted by the jack 4 and moved to the upper part of the electric tracked chassis 1. After the functional module is fixed to the multi-functional assembly and disassembly platform 2 by the locking part 5, the multi-functional assembly and disassembly platform 2 is fixed to the electric tracked chassis 1 by the locking part 5.

[0058] When installing the functional module, the locking part 5 removes the restriction between the functional module and the multi-functional disassembly and assembly platform 2, allowing the functional module to separate from the multi-functional disassembly and assembly platform 2. Then, the locking part 5 fixes the replacement functional module to the multi-functional disassembly and assembly platform 2.

[0059] Secondly, please refer to it again. Figure 6 The electric tracked chassis 1 includes a chassis frame 11, inside which a battery 12 and a controller 13 are installed. Tracked walking mechanisms 15 are installed on both sides of the lower part of the chassis frame 11. A drive motor 14 is installed on the lower part of the chassis frame 11, and the output end of the drive motor 14 is connected to the tracked walking mechanism 15. Multiple disassembly and assembly platform connecting sleeves 16 are installed on the upper part of the chassis frame 11.

[0060] In this embodiment, the battery 12 provides power to the entire robot, ensuring that all functional modules can operate normally. The controller 13, as the brain of the entire robot, is responsible for receiving operating instructions and controlling the coordinated work of various components to achieve precise operation and efficient work.

[0061] The tracked walking mechanism 15 is designed to enable the robot to walk stably on the complex terrain of the orchard, easily handling both flat ground and rugged slopes. The drive motor 14, through precise control, provides ample power to the tracked walking mechanism 15, ensuring the robot's stability and flexibility during movement.

[0062] The platform connection sleeve 16 is used to connect the multi-functional platform 2, ensuring a secure connection between the platform and the chassis. This design not only facilitates the quick installation and disassembly of the multi-functional platform 2, but also ensures the stability and reliability between the platform and the chassis during operation.

[0063] Among them, the battery 12, controller 13, drive motor 14 and track walking mechanism 15 are all products that are currently available on the market. When selecting the model, it is necessary to select one that meets the requirements of this application as much as possible, provided that the specifications and usage scenarios are suitable. Specific model specifications are not limited here.

[0064] Secondly, please refer to Figure 2 The multi-functional assembly and disassembly platform 2 includes a support frame 23. A functional module connecting sleeve 21 and a functional module positioning hole 22 are installed on the upper part of the support frame 23. A connection hole is also provided on the support frame 23 next to the functional module positioning hole 22.

[0065] In this embodiment, the connecting hole on the support frame 23, located next to the functional module positioning hole 22, cooperates with the disassembly and assembly platform connecting sleeve 16 to connect the platform and the chassis; the functional module connecting sleeve 21 and the functional module positioning hole 22 are used to connect the platform and the functional module.

[0066] Secondly, please refer to it again. Figure 3 , Figure 4 , Figure 5 and Figure 7 The functional modules include any one of a picking component, a sorting component, or a transport component. The sorting component includes a sorting and conveying functional module 41, which has positioning holes on both sides. The transport component includes a transport functional module 45, which has positioning blocks 46 fixedly connected to its four corners. The picking component includes a picking functional module 24, which has mounting sleeves 68 fixedly connected to its four corners. The mounting sleeves 68 are provided with positioning pins 67.

[0067] It should be noted that the functional module includes any one of the sorting component, picking component, and transportation component. The electric tracked chassis 1 and the multi-functional disassembly and assembly platform 2 are combined, and then combined with the sorting component, picking component, and transportation component to realize sorting, picking, and transportation operations respectively. Among them, in the field of orchard robots, the sorting component, picking component, and transportation component are conventional technologies and common knowledge among those skilled in the art, and will not be elaborated on further here.

[0068] Please refer to it again. Figure 9 The locking part 5 includes a connecting pin 51, which is inserted into the connecting hole opened next to the functional module positioning hole 22. A positioning key 53 is installed at one end of the connecting pin 51.

[0069] Please refer to it again. Figure 3 , Figure 4 , Figure 5 , Figure 7 and Figure 8 The locking part 5 includes a bolt 54 and a positioning pin 67. The positioning block 46 corresponds to the positioning hole 22 of the functional module. The interior of the positioning block 46 and the positioning hole 22 of the functional module are threaded through holes and tapped. The positioning hole 22 of the functional module and the positioning block 46 are fixed by fastening bolts. The positioning holes on both sides of the sorting and conveying functional module 41 are threaded through holes and tapped. The positioning hole 22 of the functional module and the positioning hole are fixed by fastening bolts. The functional module connecting sleeve 21 is connected to the mounting sleeve 68 of the picking functional module 24 by positioning pin 67. One end of the positioning pin 67 is provided with a bolt 54.

[0070] In this embodiment, when harvesting is carried out, the harvesting function module 24 with harvesting components is selected, the harvesting function module 24 is placed on the multi-functional disassembly and assembly platform 2, and the function module connecting sleeve 21 and the mounting sleeve 68 are connected by the positioning pin 67. The bolt 54 is screwed on the positioning pin 67, and the multi-functional disassembly and assembly platform 2 is lifted by the jack 4 and placed on the upper part of the electric tracked chassis 1.

[0071] When performing sorting operations, select the sorting conveying function module 41 with sorting components, place the sorting conveying function module 41 on the multi-functional disassembly and assembly platform 2, and use fastening bolts to fix the positioning holes 22 of the function module and the positioning holes on both sides of the sorting conveying function module 41. Then, use jacks 4 to lift the multi-functional disassembly and assembly platform 2 and place it on the upper part of the electric tracked chassis 1.

[0072] When carrying out transportation operations, the transportation function module 45 with transportation components is selected, the transportation function module 45 is placed on the multi-functional disassembly and assembly platform 2, and the positioning holes 22 and positioning blocks 46 of the function module are fixed with fastening bolts. The multi-functional disassembly and assembly platform 2 is then lifted by the jack 4 and placed on the upper part of the electric tracked chassis 1.

[0073] The specific costume change process is as follows:

[0074] The orchard robot moves to a flat surface. First, disconnect the connection between the electric tracked chassis 1 and the multi-functional disassembly and assembly platform 2. Rotate the connecting pin 51 and then pull it out. Then, lift the multi-functional disassembly and assembly platform 2 with the jack 4 to remove the multi-functional disassembly and assembly platform 2 as a whole. Then, remove the picking function module 24 from the multi-functional disassembly and assembly platform 2.

[0075] Then, the sorting and conveying functional module 41 is moved onto the multi-functional disassembly and assembly platform 2, and the positioning holes 22 of the functional module and the positioning holes on both sides of the sorting and conveying functional module 41 are fixed with fastening bolts. The jack 4 is placed on the upper part of the electric track chassis 1, and the connecting hole opened next to the positioning hole 22 of the functional module and the disassembly and assembly platform connecting sleeve 16 are connected by connecting pin 51 and locked with knob to prevent it from falling off. In this way, the disassembly of the picking component and the installation of the sorting component on the electric track chassis 1 are completed.

[0076] Referring to the above replacement process, quick replacement of functions such as picking, sorting, and transportation can be completed. During the replacement process, only the jack 4 is needed to lift and move the multi-functional disassembly and assembly platform 2, and the locking part 5 locks the electric tracked chassis 1 and the functional modules respectively. The replacement speed is fast, and the picking, sorting, and transportation functional modules can share one electric tracked chassis 1 and multi-functional disassembly and assembly platform 2, which can greatly reduce the purchase and use costs of fruit farmers. Example

[0077] Please see the appendix Figures 11 to 20 As shown, this is the second embodiment of the present invention. This embodiment is a further improvement on the first embodiment. The difference between this embodiment and the first embodiment lies in the different installation method of the multi-functional disassembly and assembly platform 2.

[0078] Please refer to it again. Figures 11 to 16The locking part 5 also includes a quick-release mechanism 8, which includes two slide rails 801. The slide rails 801 have a slide groove 802 and a circular groove 806. A pointed conical rod 803 is fixedly connected to the inner wall of the slide groove 802. First sealing plates 804 are inserted into the upper end of the slide groove 802 in an array, and a first spring 805 is fixedly connected between the first sealing plate 804 and the slide rail 801. A circular rod 807 is rotatably connected to the circular groove 806 via a bearing. An auger blade 808 is fixedly installed on the circular rod 807. A second sealing plate 809 is inserted at the connection between the slide groove 802 and the circular groove 806, and a second spring 810 is fixedly connected between the second sealing plate 809 and the slide rail 801. A locking block 811 is also inserted into one end of the slide rail 801, and a third spring 833 is fixedly connected between the locking block 811 and the slide rail 801. An L-shaped plate 8 is fixedly connected to one side of the locking block 811. 12. A support plate is fixedly connected to one side of the slide rail 801 in an array, and a first rotating rod 813 is rotatably connected to the support plate via a bearing. A first gear 814 is rotatably connected to the upper end of the first rotating rod 813 via a bearing. A take-up roller 815 is rotatably connected to the first rotating rod 813 via a bearing, and a traction rope is wound on the take-up roller 815 and fixedly connected to the first sealing plate 804. A second rotating rod 816 is rotatably connected to the chassis frame 11 via a bearing. A second gear 817 and a second bevel gear 820 are fixedly installed on the second rotating rod 816. A support plate is fixedly connected to the chassis frame 11, and a third rotating rod 818 is rotatably connected to the support plate via a bearing. A first bevel gear 819 is fixedly installed at one end of the third rotating rod 818, and a third gear 821 is fixedly installed at the other end of the third rotating rod 818. A fourth gear 822 is fixedly installed at one end of the round rod 807.

[0079] Please refer to it again. Figure 11 , Figure 12 , Figure 17 and Figure 18The quick-release mechanism 8 also includes a drive rod 823, which is rotatably connected to the top surface of the chassis frame 11 via bearings. Two threaded blocks 824 are sleeved on the drive rod 823. A movable rod 825 is fixedly connected to one side of the second sealing plate 809. Two connecting rods 826 are hinged to the movable rod 825, and one end of each connecting rod 826 is hinged to one of the two threaded blocks 824. A guide sleeve 827 is slidably sleeved on the movable rod 825, and the guide sleeve 827 is fixedly connected to the top surface of the chassis frame 11. The first rotating rod 813 A ring 828 is fixedly sleeved on the upper part of the gear 814. Movable grooves 829 are distributed in a ring on the ring 828. A docking block 830 is inserted into the upper end of the movable groove 829. A compression spring 831 is fixedly connected between the docking block 830 and the movable groove 829. A docking groove 832 is distributed in a ring on the bottom surface of the first gear 814. A pawl 834 is hinged in a ring at the lower end of the ring 828. A fourth spring 835 is fixedly connected between the pawl 834 and the ring 828. A ratchet 836 is fixedly connected to the upper end of the take-up roller 815.

[0080] In this embodiment, since the ring 828 and the first rotating rod 813 are fixedly connected, and the first gear 814 and the first rotating rod 813 are rotatably connected, and the mating block 830 on the ring 828 is embedded in the mating groove 832 on the first gear 814, when the first gear 814 rotates, it can drive the first rotating rod 813 to rotate synchronously with the first gear 814 through its connection with the ring 828. However, if the first rotating rod 813 encounters significant resistance during rotation, the mating block 830 on the ring 828 will retract into the movable groove 829 due to pressure, thereby disengaging from the mating groove 832 on the first gear 814, causing slippage between the ring 828 and the first gear 814. In this case, the first rotating rod 813 will not rotate synchronously with the first gear 814.

[0081] Since the take-up roller 815 and the first rotating rod 813 are rotatably connected, when the first rotating rod 813 and the ring 828 rotate, the ratchet 836 on the take-up roller 815 and the pawl 834 on the ring 828 work together to form a unidirectional drive structure.

[0082] Specifically: Pad 834, under the action of the fourth spring 835, engages in the tooth groove of ratchet 836, thus the ring 828 can only drive the take-up roller 815 to rotate in one direction. When the first rotating rod 813 rotates in the forward direction, the ring 828 rotates accordingly, and the pawl 834 pushes the ratchet 836, thereby driving the take-up roller 815 to perform the take-up operation. When it is necessary to release the traction rope on the take-up roller 815, the ring 828 on the first rotating rod 813 simply rotates in the reverse direction. At this time, the ratchet 836 loses the resistance of the pawl 834, and can pull the traction rope to cause the take-up roller 815 to rotate in the reverse direction for unwinding.

[0083] Please refer to it again. Figure 19 and Figure 20 A sliding block 9 is slidably inserted into the sliding groove 802, and the sliding block 9 is fixedly connected to the bottom surface of the multi-functional disassembly and assembly platform 2. A rack 91 is fixedly connected to the sliding block 9. A receiving groove 92 is opened on the sliding block 9, and oil outlet holes are arranged in an array on both sides of the sliding block 9. A scraper 93 is fixedly connected to one end of the sliding block 9 through a support rod. A locking groove 94 is also opened on the sliding block 9.

[0084] In this embodiment, the sliding block 9 is aligned with and inserted into the groove 802. The rack 91 on the sliding block 9 moves synchronously, and the rack 91 meshes with the first gear 814, driving the first gear 814 to rotate. This, in turn, drives the first rotating rod 813 and the winding roller 815 to rotate. The rotation of the winding roller 815 winds up the traction rope and pulls the first sealing plate 804 to move. At the same time, it stretches the first spring 805, causing the first sealing plate 804 to move out of the groove 802, at which point the sliding block 9 can be inserted. The groove 802 is V-shaped, making it easier to insert.

[0085] As the rack 91 continues to move, the rack 91 and the first gear 814 continue to mesh. When the first spring 805 is stretched to a certain extent, the first spring 805 will no longer be able to stretch. At this time, the mating block 830 on the ring 828 is retracted into the movable groove 829 under pressure and disengages from the mating groove 832 on the first gear 814, causing the ring 828 and the first gear 814 to slip. At this time, the first rotating rod 813 will no longer rotate. The upper end of the mating block 830 and the mating groove 832 are both hemispherical.

[0086] Before installation, lubricating grease is injected into the receiving groove 92. After the sliding block 9 is inserted into the sliding groove 802, the pointed rod 803 will be inserted into the receiving groove 92 to squeeze the lubricating grease. Then the lubricating grease is squeezed out from the oil outlet and distributed in the sliding groove 802. When the sliding block 9 is fully inserted, the locking groove 94 on the sliding block 9 is just located at the locking block 811. The magnet inside the locking groove 94 attracts the locking block 811, causing the locking block 811 to be inserted into the locking groove 94 and compressing the third spring 833.

[0087] It should be noted that a magnet is fixedly embedded in the locking groove 94, and the locking block 811 is made of iron. In the initial state, one end of the locking block 811 is flush with the inner wall of the slide groove 802 and will not affect the sliding block 9 from entering the slide groove 802.

[0088] The lower end of the sliding block 9 is rotatably connected to rotating rollers arranged in an array to reduce the friction between the sliding block 9 and the groove 802.

[0089] During disassembly, the user first rotates the drive rod 823, causing the two threaded blocks 824 to move away from each other (the outer wall of the drive rod 823, located at the two threaded blocks 824, has threads in opposite directions, and the threaded blocks 824 are threadedly connected to the drive rod 823). The moving away of the threaded blocks 824 causes the two movable rods 825 to move closer together via the connecting rod 826. The two movable rods 825 moving closer together cause the second sealing plate 809 to move and stretch the second spring 810. The movement of the second sealing plate 809 will cause the L-shaped plate 812 to move synchronously, causing the L-shaped plate 812 to pull out the locking block 811. At this time, the locking block 811 disengages from the locking groove 94, and the sliding block 9 will lose its limit and can be moved out of the sliding groove 802. During the removal process, the rack 91 meshes with the first gear 814, causing the first rotating rod 813 to rotate. As the sliding block 9 moves, the corresponding first sealing plate 804 will lose the resistance of the sliding block 9, and the first sealing plate 804 will lose its traction force. Therefore, the first sealing plate 804 will... The plate 804 will reset and re-insert into the slide groove 802 under the reset force of the first spring 805, thereby sealing the upper end of the slide groove 802. This prevents lubricating grease from leaking from the upper end of the slide groove 802 and prevents external impurities from entering the slide groove 802 from the upper end, ensuring the cleanliness of the slide groove 802. After the sliding block 9 is removed, the drive rod 823 is rotated in the opposite direction, causing the second sealing plate 809 to reset. At this time, the locking block 811 will not move into the slide groove 802 due to the influence of the third spring 833.

[0090] It should be noted that when the sliding block 9 is inserted into the groove 802, the first gear 814 meshes with the rack 91, causing the first gear 814 to rotate. The rotation of the first gear 814 drives the ring 828 to rotate, which in turn drives the pawl 834 to rotate. The rotation of the pawl 834 drives the ratchet 836 to rotate, thereby causing the winding roller 815 to rotate for winding, thus pulling the first sealing plate 804 to move. When the sliding block 9 is pulled out of the groove 802, the rack 91 drives the first gear 814 to rotate in the opposite direction. 14. Reverse rotation causes the ring 828 and pawl 834 to rotate in the opposite direction. When the pawl 834 rotates in the opposite direction, it will not contact the ratchet 836 and will not be able to drive the ratchet 836 to rotate. As the pawl 834 rotates, it will momentarily lose contact with the ratchet 836. However, under the action of the reset force of the first spring 805, it will drive the first sealing plate 804 to reset. The reset of the first sealing plate 804 will pull the traction rope, thereby driving the take-up roller 815 to rotate in the opposite direction to unwind, thus causing the first sealing plate 804 to reset.

[0091] The first gear 814, located at the inlet end of the slide rail 801, will continuously mesh with the rack 91 until the sliding block 9 is completely removed from the slide groove 802, thus continuously rotating. The first gear 814 also meshes with the second gear 817, driving the second rotating rod 816 to rotate. The second bevel gear 820 on the second rotating rod 816 meshes with the first bevel gear 819 on the third rotating rod 818, thus driving the third rotating rod 818 to rotate. The third gear 821 on the third rotating rod 818 meshes with the first bevel gear 819 on the round rod 807... The four gears 822 are connected by a toothed belt, which drives the round rod 807 to rotate synchronously. The rotation of the round rod 807 drives the auger blades 808 to rotate. When the sliding block 9 moves outward, the scraper 93 at one end can scrape off the lubricating grease adhering to the inner wall of the slide groove 802 and the outer wall of the conical rod 803. Since the upper end of the slide groove 802 is sealed by the first sealing plate 804, the scraped lubricating grease is squeezed and falls into the round groove 806, and is pushed out of the round groove 806 by the rotating auger blades 808. This achieves the purpose of cleaning the lubricating grease and prevents the lubricating grease from losing its lubricating effect after long-term use, which would affect the smoothness of installation.

[0092] The working principle of this invention is as follows:

[0093] The multi-functional assembly / disassembly platform 2, mounted on the electric tracked chassis 1, allows for the selection of appropriate functional modules to meet diverse application needs. During module replacement, the locking mechanism 5 must first be released from its lock on the multi-functional assembly / disassembly platform 2 and the electric tracked chassis 1. Then, the jack 4 is used to separate the multi-functional assembly / disassembly platform 2 from the electric tracked chassis 1, and the multi-functional assembly / disassembly platform 2, along with the functional modules, is moved to the outside of the electric tracked chassis 1. Next, the locking mechanism 5 is released from its lock on the multi-functional assembly / disassembly platform 2 and the functional modules to allow the selected functional modules to be installed on the multi-functional assembly / disassembly platform 2. Finally, the jack 4 is used to move the multi-functional assembly / disassembly platform 2, along with the functional modules, back onto the electric tracked chassis 1, and the locking mechanism 5 securely fixes it in place.

[0094] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A modular, interchangeable, multi-functional orchard harvesting and sorting robot, characterized in that, include: An electric tracked chassis, wherein the electric tracked chassis is used to provide power; A multi-functional assembly and disassembly platform is mounted on an electric tracked chassis and is equipped with functional modules that provide multiple working modes. A jack is installed at the lower part of the multi-functional disassembly and assembly platform, and a caster wheel is installed at the lower end of the jack. The jack is used to move the multi-functional disassembly and assembly platform. A locking part is installed on the upper part of the multi-functional assembly and disassembly platform, and the locking part is used to fix the multi-functional assembly and disassembly platform to the electric tracked chassis or functional module; The electric tracked chassis includes a chassis frame. The locking part further includes a quick-release mechanism. The quick-release mechanism includes two slide rails, each with a groove and a circular groove. A pointed conical rod is fixedly connected to the inner wall of the groove. A first sealing plate is inserted into the upper end of the groove in an array, and a first spring is fixedly connected between the first sealing plate and the slide rail. A circular rod is rotatably connected to the circular groove via a bearing, and an auger blade is fixedly installed on the circular rod. A second sealing plate is inserted into the connection between the groove and the circular groove, and a second spring is fixedly connected between the second sealing plate and the slide rail. A locking block is also inserted into one end of the slide rail, and a third spring is fixedly connected between the locking block and the slide rail. An L-shaped plate is fixedly connected to one side of the locking block. One side of the slide rail is fixedly connected to a support plate arranged in an array, and a first rotating rod is rotatably connected to the support plate via a bearing. The upper end of the first rotating rod is rotatably connected to a first gear via a bearing. A winding roller is rotatably connected to the first rotating rod via a bearing, and a traction rope is wound on the winding roller and fixedly connected to a first sealing plate. A second rotating rod is rotatably connected to the chassis frame via a bearing. A second gear and a second bevel gear are fixedly installed on the second rotating rod. A support plate is fixedly connected to the chassis frame, and a third rotating rod is rotatably connected to the support plate via a bearing. A first bevel gear is fixedly installed at one end of the third rotating rod, a third gear is fixedly installed at the other end of the third rotating rod, and a fourth gear is fixedly installed at one end of the round rod. The quick-release mechanism also includes a drive rod, which is rotatably connected to the top surface of the chassis frame via a bearing. Two screw blocks are sleeved on the drive rod. A movable rod is fixedly connected to one side of the second sealing plate. Two connecting rods are hinged to the movable rod, and one end of each connecting rod is hinged to one of the two screw blocks. A guide sleeve is slidably sleeved on the movable rod, and the guide sleeve is fixedly connected to the top surface of the chassis frame. A ring is fixedly sleeved on the first rotating rod. Movable grooves are distributed in a ring on the ring. A docking block is inserted into the upper end of the movable groove, and a compression spring is fixedly connected between the docking block and the movable groove. A docking groove is distributed in a ring on the bottom surface of the first gear. A sliding block is slidably inserted into the groove, and the sliding block is fixedly connected to the bottom surface of the multi-functional disassembly and assembly platform. A rack is fixedly connected to the sliding block, and a receiving groove is opened on the sliding block. Oil outlet holes are arranged in an array on both sides of the sliding block. A scraper is fixedly connected to one end of the sliding block through a support rod. A locking groove is also opened on the sliding block.

2. The modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 1, characterized in that: The electric tracked chassis also includes a battery and controller installed inside the chassis frame. Tracked walking mechanisms are installed on both sides of the lower part of the chassis frame. A drive motor is installed on the lower part of the chassis frame, and the output end of the drive motor is connected to the tracked walking mechanism. Multiple disassembly and assembly platform connecting sleeves are installed on the upper part of the chassis frame.

3. The modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 1, characterized in that: The multi-functional assembly and disassembly platform includes a support frame, on the upper part of which a functional module connecting sleeve and a functional module positioning hole are installed. A connection hole is also provided on the support frame next to the functional module positioning hole.

4. The modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 3, characterized in that: The functional module includes any one of a picking component, a sorting component, or a transport component. The sorting component includes a sorting and conveying functional module, and positioning holes are provided on both sides of the sorting and conveying functional module. The transport component includes a transport functional module, and positioning blocks are fixedly connected to the four corners of the transport functional module. The picking component includes a picking functional module, and mounting sleeves are fixedly connected to the four corners of the picking functional module. Positioning pins are provided on the mounting sleeves.

5. A modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 3, characterized in that: The locking part includes a connecting pin, which is inserted into a connecting hole next to the positioning hole of the functional module, and a positioning key is installed at one end of the connecting pin.

6. The modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 4, characterized in that: The locking part includes bolts and positioning pins. The positioning block corresponds to the positioning hole of the functional module. The interior of the positioning block and the positioning hole of the functional module are threaded through holes with tapping. The positioning hole of the functional module and the positioning block are fixed by fastening bolts. The positioning holes on both sides of the sorting and conveying functional module are threaded through holes with tapping. The positioning hole of the functional module and the positioning hole are fixed by fastening bolts. The functional module connecting sleeve is connected to the mounting sleeve of the picking functional module by positioning pins. One end of the positioning pin is provided with a bolt.

7. The modularly interchangeable multifunctional orchard harvesting and sorting robot according to claim 1, characterized in that: The lower end of the ring is hinged with pawls arranged in a ring shape, and a fourth spring is fixedly connected between the pawls and the ring. The upper end of the take-up roller is fixedly connected with a ratchet.

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