Full-automatic self-adaptive agricultural picking vehicle

Abstract

The invention provides a full-automatic self-adaptive agricultural picking vehicle which comprises a vehicle frame, mounting sliding grooves distributed along the central axis are symmetrically formed in the bottom of the vehicle frame, and the full-automatic self-adaptive agricultural picking vehicle further comprises an expansion chassis slidably connected to the bottom wall of the vehicle frame through the mounting sliding grooves; the vertical frame is fixed to the top wall of the frame, and the reinforcing mechanism comprises reinforcing sliding ways formed in the two sides of the frame and reinforcing supporting rods slidably connected to the inner walls of the reinforcing sliding ways; the material loading module comprises a lifting mechanism fixed to the side wall of the vertical frame and a storage basket detachably clamped to the lifting end of the lifting mechanism, and a buffer protection assembly is integrated in the storage basket; the walking wheel sets are symmetrically installed on the two sides of the vehicle frame and the expansion chassis. The control case is fixed to the top wall of the frame, and an air pressure supply unit is integrated in the control case and communicates with the buffer protection assembly through an air channel; the labor demand of manual picking is reduced, the labor cost is reduced, only simple supervision and control are needed, and the economic benefits of agricultural production are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned picking, and more specifically, to a fully automatic adaptive agricultural picking vehicle. Background Art

[0002] China is a major fruit-producing country, and the cultivation areas of apples, pears, peaches, etc. rank first in the world. However, the mechanization level of orchards in China is not high, especially in the picking link, which accounts for 40% of the workload. At present, fruit picking is basically carried out manually, with extremely heavy workload and low efficiency. There is an urgent need for a picking robot to replace or assist people in the picking work.

[0003] At present, some universities and enterprises have developed a series of picking robots for the picking link, but it is found that there are still the following deficiencies in the actual application process: Low degree of unloading automation: Existing equipment relies on manual assistance to complete the unloading of fruits and vegetables, resulting in the disconnection between the picking and transportation links, limited operation efficiency, lack of a fast unloading method, and additional operation time consumption.

[0004] Contradiction between picking height adjustment and stability: Some equipment realizes height adjustment through the lifting of the robotic arm, but during the lifting process, the center of gravity of the vehicle body moves up synchronously, and it is prone to roll over in wet or sloping orchard environments. It is necessary to frequently interrupt the operation to adjust the balance, which seriously restricts the continuous operation ability.

[0005] Fruit protection and redundant picking path: After the traditional mechanical claw picks the fruit, it needs to move a long distance and accurately place it in the storage container, which not only increases the complexity of the robotic arm movement, but also has a high risk of fruit dropping or collision. Existing buffer designs are mostly static fixed structures and cannot dynamically absorb impacts.

[0006] Therefore, we make improvements and propose a fully automatic adaptive agricultural picking vehicle to solve the problems mentioned above. Summary of the Invention

[0007] The purpose of the present invention is to provide a fully automatic adaptive agricultural picking vehicle to solve the problems mentioned in the above background art.

[0008] To achieve the above-mentioned invention purpose, the present invention provides the following technical solutions: A fully automatic adaptive agricultural picking vehicle, including a vehicle frame, symmetrically arranged installation chutes distributed along the central axis are provided at the bottom of the vehicle frame, and further includes: An extended chassis, slidably connected to the bottom wall of the vehicle frame through the installation chute; An upright frame, fixed to the top wall of the vehicle frame, inside which a first slide rail and a second slide rail are provided, and a picking component and a linkage component are respectively slidably installed. A double-threaded adjusting screw is also pivotally connected inside the upright frame for synchronously adjusting the distance between the linkage component and the picking component; The reinforcement mechanism includes reinforcement chutes opened on both sides of the vehicle frame and reinforcement support rods slidably connected to the inner walls of the reinforcement chutes. The ends of the reinforcement support rods are hinged to support rollers and are mechanically linked to a linkage assembly; The telescopic screw rod is rotatably installed on the bottom wall of the vehicle frame through a bearing seat and is threadedly engaged with the extended chassis to control the lateral expansion and contraction of the extended chassis; The material loading module includes a lifting mechanism fixed to the side wall of the vertical frame and a storage basket detachably clamped to the lifting end of the lifting mechanism. A buffer protection assembly is integrated inside the storage basket; The walking wheel sets are symmetrically installed on both sides of the vehicle frame and the extended chassis; The control chassis is fixed to the top wall of the vehicle frame, and a pneumatic supply unit is integrated inside it. The pneumatic supply unit is connected to the buffer protection assembly through an air passage;

[0009] As a preferred technical solution of the present application, the picking assembly includes a first sliding frame slidably connected to the inner wall of the vertical frame through a first slide rail, a robotic arm mounting seat fixedly connected to the side wall of the first sliding frame, a robotic arm fixedly connected to the side wall of the robotic arm mounting seat, and a robotic claw fixedly connected to the end of the robotic arm. The clamping surface of the robotic claw is covered with a flexible buffer layer and integrates a pressure sensing unit, and the first sliding frame is threadedly connected to a double-threaded adjustment screw rod.

[0010] As a preferred technical solution of the present application, a first tension spring is also fixedly connected to the side wall of the reinforcement support rod, and the end of the first tension spring away from the reinforcement support rod is fixedly connected to the vehicle frame.

[0011] As a preferred technical solution of the present application, the linkage assembly includes a second sliding frame slidably connected to the inner wall of the vertical frame through a second slide rail. The second sliding frame is threadedly connected to the double-threaded adjustment screw rod. Linkage rods are rotatably connected to both ends of the second sliding frame through the second slide rail. The ends of the two groups of linkage rods away from the second sliding frame are respectively rotatably connected to the two groups of reinforcement support rods.

[0012] As a preferred technical solution of the present application, the lifting mechanism includes a fixed frame fixedly connected to the side wall of the vertical frame, a lifting frame slidably connected to the outer wall of the fixed frame, lifting rods fixedly connected to the side wall of the lifting frame and symmetrically arranged with respect to the vertical frame, an air passage integrated inside the lifting rod and an air passage interface at the top. A limit catch is provided at the end of the lifting rod away from the lifting frame. A gravity sensor is also provided on the side wall of the lifting frame. A second tension spring is also fixedly connected to the bottom wall of the lifting frame, and the end of the second tension spring away from the lifting frame is fixedly connected to the fixed frame. Traction steel cables symmetrically arranged with respect to the vertical frame are fixedly connected to the top wall of the lifting frame, and the traction steel cables are path-guided through a guiding pulley group.

[0013] As a preferred technical solution of the present application, the buffer protection component includes an inflatable airbag fixed to the bottom of the storage basket, and a docking air valve provided at the bottom of the inflatable airbag, which is hermetically connected to the air path interface of the lifting rod.

[0014] As a preferred technical solution of the present application, universal wheels are evenly distributed at the bottom of the storage basket, and a limiting groove cooperating with the lifting rod and the limiting block is further provided on the outer wall of the storage basket.

[0015] As a preferred technical solution of the present application, the air pressure supply unit includes an air pump fixed in the control chassis and a flexible air pipe connected to the outlet of the air pump, and the end of which is communicated with the air duct of the lifting rod.

[0016] As a preferred technical solution of the present application, a battery compartment is provided inside the control chassis, a power battery is provided inside the battery compartment, a control compartment is further provided inside the control chassis, a control module is fixedly connected inside the control compartment, a control panel is further provided on the side wall of the control chassis, a reinforcing rod symmetrically arranged with respect to the vertical frame is fixedly connected to the top wall of the control chassis, and the end of the reinforcing rod away from the control chassis is fixedly connected to the vertical frame, and a charging port is further provided on the side wall of the control chassis.

[0017] As a preferred technical solution of the present application, a first driving motor for driving the telescopic screw rod is further provided on the bottom wall of the vehicle frame, a second driving motor for driving the double-threaded adjusting screw rod is further provided on the side wall of the vertical frame, a millimeter-wave radar is further provided on the bottom wall of the vehicle frame, a lighting lamp is further provided on the top walls of the two supporting ends of the extended chassis, a lidar is further provided on the side wall of the extended chassis, a panoramic camera is further provided on the side wall of the vertical frame, and warning lights are fixedly provided on both side walls of the vertical frame.

[0018] In the solution of the present application: 1. Through the linkage design of the extended chassis and the detachable storage basket, the continuous unloading and temporary storage of fruits and vegetables after picking are realized. After picking, the extended chassis retracts and drives the lifting frame to vertically lower, so that the storage basket touches the ground, and the storage basket can be quickly replaced, and external transportation equipment can be directly docked, significantly reducing the frequency of manual intervention and improving the overall operation continuity. The linkage between the extended chassis and the loading module can also reduce the volume of the equipment and improve the stability by retracting the extended chassis into the vehicle frame and the lifting rod touching the ground in the non-working state, so as to facilitate transportation and storage; 2. By setting the picking component to be linked with the reinforcement mechanism under the action of the linkage component, when the picking height is increased, the reinforcement mechanism is driven to unfold. When the robotic arm rises, the linkage component drives the reinforcement strut to expand outwards, and the support roller touches the ground to form an additional fulcrum, avoiding the offset of the vehicle body center of gravity and offsetting the overturning moment caused by the increase in the center of gravity, effectively dispersing the load pressure. This design realizes the dynamic balance of height and stability through pure mechanical linkage, avoiding the response lag problem caused by step-by-step adjustment of traditional equipment; 3. By integrating a multi-layer inflatable airbag structure inside the storage basket, when the robotic arm releases fruits and vegetables, the fruits freely fall onto the surface of the airbag. The impact force is dissipated through the deformation of the airbag and converted into the compression energy of the gas inside the air chamber, while reducing the movement path of the robotic arm. The movement path is shortened to only include the picking positioning and fine-tuning actions, significantly reducing the no-load energy consumption of the joint motors of the robotic arm. At the same time, it reduces the risk of fruit collision caused by redundant paths, further ensuring the smoothness of the operation and the integrity of the fruits. 4. This picking vehicle realizes automated picking operations, reducing the labor demand for manual picking and lowering labor costs. At the same time, the automated and intelligent design of the vehicle reduces the labor intensity of the operators, who only need to perform simple supervision and control. In the long run, although the initial investment in equipment is relatively large, it can continuously operate efficiently, save labor costs, and improve the economic benefits of agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 One of the three-dimensional structure diagrams of the storage basket in the raised state of the present invention; Figure 2 Two of the three-dimensional structure diagrams of the storage basket in the raised state of the present invention; Figure 3 The cross-sectional structure diagram of the control chassis of the present invention; Figure 4 Three of the three-dimensional structure diagrams of the storage basket in the raised state of the present invention; Figure 5 The structure diagram from the bottom perspective of the present invention; Figure 6 One of the partial structure diagrams of the present invention; Figure 7 Two of the partial structure diagrams of the present invention; Figure 8 One of the structure diagrams of the present invention in the no-load state; Figure 9 Two of the structure diagrams of the present invention in the no-load state; Figure 10 Three of the structure diagrams of the present invention in the no-load state; Figure 11 The structure diagram of the extended chassis in the retracted state of the present invention; Figure 12 The structure diagram of the storage basket in the present invention; Figure 13 The cross-sectional structure diagram of the storage basket in the present invention; Figure 14 Of the present invention Figure 8 The enlarged diagram of Structure A; Figure 15 Of the present invention Figure 9 The enlarged diagram of Structure B.

[0020] In the figure: 100, vehicle frame; 110, installation chute; 120, reinforcement slideway; 121, reinforcement support rod; 122, support roller; 123, first tension spring; 130, telescopic screw rod; 131, first driving motor; 140, traveling wheel set; 200, vertical frame; 210, first slide rail; 211, first sliding frame; 212, robotic arm mounting seat; 213, robotic arm; 214, robotic claw; 215, flexible buffer layer; 216, pressure sensing unit; 220, second slide rail; 221, second sliding frame; 222, linkage rod; 230, double-threaded adjustment screw rod; 231, second driving motor; 232, millimeter wave radar; 240, fixing frame; 241, lifting frame; 242, lifting rod; 243, limit block; 244, gas path interface; 245, second tension spring; 246, towing cable; 247, guide pulley set; 248, gravity sensor; 250, panoramic camera; 251, warning light; 300, extended chassis; 310, lighting lamp; 320, lidar; 400, storage basket; 410, inflatable airbag; 411, docking air valve; 412, limit groove; 420, universal wheel; 50, control chassis; 510, air pump; 511, flexible air pipe; 520, battery compartment; 521, power battery; 530, control compartment; 531, control module; 540, control panel; 550, strengthening rod; 560, charging port. Specific implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0022] Please refer to Figures 1-15 , this implementation mode proposes a fully automatic adaptive agricultural picking vehicle, including a vehicle frame 100. Installation chutes 110 are symmetrically arranged at the bottom of the vehicle frame 100 and are distributed along the central axis. It also includes: An extended chassis 300, which is slidably connected to the bottom wall of the vehicle frame 100 through the installation chute 110; A vertical frame 200, which is fixed to the top wall of the vehicle frame 100. A first slide rail 210 and a second slide rail 220 are arranged inside it, and a picking component and a linkage component are respectively slidably installed. A double-threaded adjustment screw rod 230 is also pivotally connected inside the vertical frame 200 for synchronously adjusting the distance between the linkage component and the picking component; The reinforcement mechanism includes reinforcement sliding channels 120 opened on both sides of the vehicle frame 100 and reinforcement support rods 121 slidably connected to the inner walls of the reinforcement sliding channels 120. The ends of the reinforcement support rods 121 are hinged to support rollers 122 and are mechanically linked to the linkage assembly; The telescopic screw rod 130 is rotatably installed on the bottom wall of the vehicle frame 100 through a bearing seat and is threadedly engaged with the extended chassis 300 for controlling the lateral expansion and contraction of the extended chassis 300; The loading module includes a lifting mechanism fixed to the side wall of the vertical frame 200 and a storage basket 40 detachably clamped to the lifting end of the lifting mechanism. A buffer protection assembly is integrated inside the storage basket 40; The traveling wheel sets 140 are symmetrically installed on both sides of the vehicle frame 100 and the extended chassis 300. The traveling wheel sets 140 adopt an omnidirectional wheel design to adapt to complex terrains such as muddy ground and slopes; The control chassis 50 is fixed to the top wall of the vehicle frame 100. An air pressure supply unit is integrated inside it, and the air pressure supply unit is communicated with the buffer protection assembly through an air passage; The traveling wheel sets 140 are symmetrically installed on both sides of the vehicle frame 100 and the extended chassis 300. The specifications of the wheels should be appropriate to ensure the stable traveling and flexible steering of the picking vehicle. First, a space for installing the air pressure supply unit is reserved inside the control chassis 50, and then the installation of the air pressure supply unit and the construction of the air passage are carried out to communicate it with the buffer protection assembly.

[0023] As a preferred embodiment, on the basis of the above method, further, the picking assembly includes a first sliding frame 211 slidably connected to the inner wall of the vertical frame 200 through a first sliding rail 210, a robotic arm mounting seat 212 fixedly connected to the side wall of the first sliding frame 211, a robotic arm 213 fixedly connected to the side wall of the robotic arm mounting seat 212, and a robotic claw 214 fixedly connected to the end of the robotic arm 213. The clamping surface of the robotic claw 214 is covered with a flexible buffer layer 215 and integrates a pressure sensing unit 216. And the first sliding frame 211 is threadedly connected to a double-threaded adjusting screw rod 230. A flexible buffer layer 215, such as a rubber pad, is pasted on the clamping surface of the robotic claw 214 to reduce damage to the fruits, and a pressure sensing unit 216 is integrated inside the robotic claw 214 to sense the clamping force and transmit the data to the control module 531.

[0024] As a preferred embodiment, on the basis of the above method, further, a first tension spring 123 is also fixedly connected to the side wall of the reinforcement support rod 121, and the end of the first tension spring 123 away from the reinforcement support rod 121 is fixedly connected to the vehicle frame 100.

[0025] As a preferred embodiment, on the basis of the above-described manner, further, the linkage assembly includes a second sliding frame 221 slidably connected to the inner wall of the vertical frame 200 through a second slide rail 220. The second sliding frame 221 is threadedly connected to a double-threaded adjustment screw 230. Both ends of the second sliding frame 221 pass through the second slide rail 220 and are rotatably connected to a linkage rod 222. One end of the two linkage rods 222 away from the second sliding frame 221 is respectively rotatably connected to the two reinforcing support rods 121.

[0026] As a preferred embodiment, on the basis of the above-described manner, further, the lifting mechanism includes a fixed frame 240 fixedly connected to the side wall of the vertical frame 200, a lifting frame 241 slidably connected to the outer wall of the fixed frame 240, lifting rods 242 fixedly connected to the side wall of the lifting frame 241 and symmetrically arranged with respect to the vertical frame 200, an air passage integrated inside the lifting rods 242 and an air passage interface 244 at the top. A limit block 243 is provided at one end of the lifting rod 242 away from the lifting frame 241. A gravity sensor 248 is also provided on the side wall of the lifting frame 241. A second tension spring 245 is fixedly connected to the bottom wall of the lifting frame 241, and one end of the second tension spring 245 away from the lifting frame 241 is fixedly connected to the fixed frame 240. A traction cable 246 symmetrically arranged with respect to the vertical frame 200 is fixedly connected to the top wall of the lifting frame 241. The traction cable 246 is path-guided through a guide pulley group 247.

[0027] As a preferred embodiment, on the basis of the above-described manner, further, the buffer protection assembly includes an inflatable airbag 410 fixed to the bottom of the storage basket 40 and a docking air valve 411 provided at the bottom of the inflatable airbag 410, which is hermetically connected to the air passage interface 244 of the lifting rod 242.

[0028] As a preferred embodiment, on the basis of the above-described manner, further, universal wheels 420 are uniformly distributed at the bottom of the storage basket 40. A limiting groove 412 that cooperates with the lifting rod 242 and the limiting block 243 is further provided on the outer wall of the storage basket 40. The storage basket 40 should be made of a lightweight material with a certain strength, and its shape should be adapted to the lifting rod 242 and the limiting block 243 of the lifting mechanism. Universal wheels 420 are uniformly arranged at the bottom of the storage basket 40, and the specifications of the universal wheels 420 should be appropriate to ensure that the storage basket 40 can rotate flexibly when placed on the ground or moved. At the same time, a limiting groove 412 that cooperates with the lifting rod 242 and the limiting block 243 is machined on the outer wall of the storage basket 40 to ensure that the storage basket 40 can be accurately installed on the lifting mechanism and remain stable during the lifting process. A buffer protection component is integrated inside the storage basket 40, and an inflatable airbag 410 is fixedly installed. The size and shape of the airbag should be adapted to the internal space of the storage basket 40 to provide buffer protection for the picked fruits. A docking air valve 411 is installed at the bottom of the inflatable airbag 410, and its specifications should be adapted to the air passage interface 244 of the lifting rod 242. The docking air valve 411 is hermetically connected to the air passage interface 244 through a connecting member such as a hose to ensure the smoothness of the air passage.

[0029] As a preferred embodiment, on the basis of the above-described manner, further, the air pressure supply unit includes an air pump 510 fixed in the control chassis 50 and a flexible air pipe 511 connected to the outlet of the air pump 510. The end of the flexible air pipe 511 is communicated with the air passage of the lifting rod 242. One end of the flexible air pipe 511 is connected to the outlet of the air pump 510, and the other end is communicated with the air passage of the lifting rod 242, so that the air pressure supply unit can provide air pressure support for the buffer protection component through the air passage.

[0030] As a preferred embodiment, on the basis of the above method, further, a battery compartment 520 is provided inside the control chassis 50, a power battery 521 is provided inside the battery compartment 520, a control compartment 530 is also provided inside the control chassis 50, a control module 531 is fixedly connected inside the control compartment 530, a control panel 540 is also provided on the side wall of the control chassis 50, a reinforcing rod 550 symmetrically arranged with respect to the upright frame 200 is fixedly connected to the top wall of the control chassis 50, one end of the reinforcing rod 550 away from the control chassis 50 is fixedly connected to the upright frame 200, a charging port 560 is also provided on the side wall of the control chassis 50. The control panel 540 is installed on the side wall of the control chassis 50. Various operation buttons, display screens, etc. are provided on the control panel 540 for the operator to manually control the picking vehicle and set parameters. The control panel 540 is connected to the control module 531 through internal lines to realize the man-machine interaction function. The reinforcing rods 550 are symmetrically and fixedly installed on the top wall of the control chassis 50. The reinforcing rods 550 are made of strong metal materials. One end of them is fixedly connected to the control chassis 50, and the other end is fixedly connected to the upright frame 200. The structural strength between the control chassis 50 and the upright frame 200 is enhanced through the reinforcing rods 550, and the stability of the whole vehicle is improved. A charging port 560 is also provided on the side wall of the control chassis 50. The specification of the charging port 560 should be adapted to the charging plug of the external charging device and is connected to the power battery 521 through a charging line to facilitate charging of the power battery 521.

[0031] As a preferred embodiment, on the basis of the above method, further, a first driving motor 131 for driving the telescopic screw 130 is also provided on the bottom wall of the vehicle frame 100, a second driving motor 231 for driving the double-threaded adjusting screw 230 is also provided on the side wall of the upright frame 200, a millimeter-wave radar 232 is also provided on the bottom wall of the vehicle frame 100, a lighting lamp 310 is also provided on the top walls of the two supporting ends of the extended chassis 300, a lidar 320 is also provided on the side wall of the extended chassis 300, a panoramic camera 250 is also provided on the side wall of the upright frame 200, and warning lights 251 are fixedly provided on both side walls of the upright frame 200. The millimeter-wave radar 232 is installed at a suitable position on the bottom wall of the vehicle frame 100, and its installation height and angle should be precisely adjusted so as to effectively detect and range the obstacles in front of and around the picking vehicle, providing accurate data support for the automatic walking and obstacle avoidance of the picking vehicle. The panoramic camera 250 is installed on the side wall of the upright frame 200. The installation position of the panoramic camera 250 should be able to cover a large field of view around the picking vehicle. It is fixed on the upright frame 200 through components such as a camera bracket, and the lens of the camera is ensured to face the appropriate direction. At the same time, the warning lights 251 are symmetrically installed on both side walls of the upright frame 200. The warning lights 251 can be selected as high-brightness LED lights and are fixedly installed through components such as lamp holders to remind the surrounding personnel and vehicles to pay attention to safety when the picking vehicle is working.

[0032] Specifically, when the full-automatic adaptive agricultural picking vehicle is in use: Push the storage basket 40 to the middle of the extended chassis 300, and align the limit slot 412 with the lifting rod 242. Start the first driving motor 131, which drives the telescopic screw rod 130 to rotate, thereby driving the extended chassis 300 to extend relative to the vehicle frame 100. During the movement, the traction cable 246 pulls the lifting frame 241 to rise under the action of the guiding pulley group 247, and drives the storage basket 40 to rise through the lifting rod 242 until it reaches the highest point. The limit block 243 and the limit slot 412 cooperate to limit the storage basket 40. At the same time, the docking air valve 411 is clamped with the air path interface 244, and the air pump 510 inflates the inflatable airbag 410 through the flexible air pipe 511 via the air path. When the mechanical claw 214 releases the fruits and vegetables, the fruits freely fall onto the surface of the airbag, and the impact force is dissipated as the compression energy of the gas in the air chamber through the deformation of the inflatable airbag 410, reducing the movement path of the robotic arm 213, significantly reducing the no-load energy consumption of the joint motors of the robotic arm 213, and at the same time reducing the risk of fruit collision caused by path redundancy, further ensuring the operation smoothness and fruit integrity, and adjusting the height of the inflatable airbag 410 along with the progress of picking; Through the linkage design of the extended chassis 300 and the detachable storage basket 40, the continuous unloading and temporary storage of fruits and vegetables after picking are realized. After picking, the storage basket 40 is placed on the ground, and the storage basket 40 is quickly replaced, which can be directly docked with external transportation equipment, significantly reducing the frequency of manual intervention. The gravity sensor 248 can collect the total amount of fruits and vegetables in each storage basket 40 and summarize it, improving the overall operation continuity. The linkage between the extended chassis 300 and the loading module can also reduce the volume of the equipment and improve the stability by retracting the extended chassis 300 into the vehicle frame and making the lifting rod 242 touch the ground in the non-working state, facilitating transportation and storage; Start the power supply of the control chassis 50, select the operation mode through the control panel 540. The lidar 320 scans the terrain in front of the vehicle body, such as the distribution of fruit trees and the width of the ridges and furrows. The millimeter-wave radar 232 detects surrounding obstacles such as stones and gullies. The panoramic camera 250 takes images of the fruit tree canopy above the vehicle body to identify the areas with dense fruit distribution; The control module 531 calculates the target height of the robotic arm according to the fruit position. The second driving motor 231 is started, driving the double-threaded adjusting screw rod 230 to rotate clockwise, driving the first sliding frame 211 to rise along the first slide rail 210 to the set height. Synchronously, the second sliding frame 221 moves down along the second slide rail 220, and pushes the reinforcement support rod 121 to slide outwards along the reinforcement slide way 120 through the linkage rod 222, forming a stable support for the vehicle frame 10 through the support roller 122, and the center of gravity projection is always within the support surface, increasing the overall stability. This design realizes the dynamic balance of height and stability through pure mechanical linkage, avoiding the response lag problem caused by step-by-step adjustment of traditional equipment.

[0033] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0034] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fully automatic self-adaptive agricultural harvesting vehicle, comprising a vehicle frame (100), characterized in that: The bottom of the vehicle frame (100) is symmetrically provided with mounting slide grooves (110) distributed along the central axis, and further comprises: An extended chassis (300) is slidably connected to the bottom wall of the vehicle frame (100) via an installation slide groove (110); A stand (200) is fixed to the top wall of the vehicle frame (100), and is provided with a first slide rail (210) and a second slide rail (220) inside the stand, on which a picking assembly and a linkage assembly are slidably mounted respectively; a double-threaded adjustment screw (230) is also pivotally connected inside the stand (200) for synchronously adjusting the distance between the linkage assembly and the picking assembly; The reinforcement mechanism comprises reinforcement slideways (120) provided on both sides of the vehicle frame (100) and reinforcement support rods (121) slidably connected to the inner walls of the reinforcement slideways (120), wherein the ends of the reinforcement support rods (121) are hingedly connected to support rollers (122) and are mechanically linked to the linkage assembly; The telescopic screw rod (130) is rotatably mounted on the bottom wall of the vehicle frame (100) via a bearing seat and is threadedly engaged with the expansion chassis (300) to control the lateral expansion and contraction of the expansion chassis (300); The loading module comprises a lifting mechanism fixed to the side wall of the stand (200) and a storage basket (40) detachably connected to the lifting end of the lifting mechanism, wherein a buffer protection component is integrated inside the storage basket (40); The running wheel set (140) is symmetrically mounted on both sides of the vehicle frame (100) and the extended chassis (300); The control box (50) is fixed to the top wall of the vehicle frame (100), and has an air pressure supply unit integrated therein, wherein the air pressure supply unit is in communication with the buffer protection component via an air path.

2. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The picking assembly comprises a first sliding frame (211) slidably connected to the inner wall of the stand (200) via a first sliding rail (210), a mechanical arm mounting seat (212) fixedly connected to the side wall of the first sliding frame (211), a mechanical arm (213) fixedly connected to the side wall of the mechanical arm mounting seat (212), and a mechanical claw (214) fixedly connected to the end of the mechanical arm (213); a clamping surface of the mechanical claw (214) is covered with a flexible buffer layer (215) and an integrated pressure sensing unit (216); and the first sliding frame (211) is threadedly connected to a double-threaded adjusting screw (230).

3. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The side wall of the reinforcing support rod (121) is also fixedly connected to a first tension spring (123), and one end of the first tension spring (123) away from the reinforcing support rod (121) is fixedly connected to the vehicle frame (100).

4. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The linkage assembly comprises a second sliding frame (221) slidably connected to the inner wall of the stand (200) via a second sliding rail (220); the second sliding frame (221) is threadedly connected to a double-threaded adjusting screw (230); both ends of the second sliding frame (221) pass through the second sliding rail (220) and are rotatably connected to linkage rods (222); ends of the two groups of linkage rods (222) away from the second sliding frame (221) are rotatably connected to the two groups of reinforcement support rods (121) respectively.

5. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The lifting mechanism comprises a fixing frame (240) fixedly connected to the side wall of the stand (200), a lifting frame (241) slidably connected to the outer wall of the fixing frame (240), a lifting rod (242) fixedly connected to the side wall of the lifting frame (241) and symmetrically arranged with respect to the stand (200), and an air passage integrated in the lifting rod (242) and an air passage interface (244) at the top. A limiting block (243) is arranged at one end of the lifting rod (242) away from the lifting frame (241). The side wall of the lifting frame (241) is also provided with a gravity sensor (248); the bottom wall of the lifting frame (241) is also fixedly connected with a second tension spring (245); and one end of the second tension spring (245) away from the lifting frame (241) is fixedly connected to the fixed frame (240); the top wall of the lifting frame (241) is also fixedly connected with a traction steel cable (246) symmetrically arranged with respect to the vertical frame (200); and the traction steel cable (246) is guided by a guide pulley group (247) to achieve path guidance.

6. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The buffer protection component comprises an inflatable airbag (410) fixed to the bottom of the storage basket (40), and a docking air valve (411) provided at the bottom of the inflatable airbag (410), which is airtightly connected to the air path interface (244) of the lifting rod (242).

7. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The bottom of the storage basket (40) is provided with evenly distributed universal wheels (420), and the outer wall of the storage basket (40) is also provided with a limiting groove (412) that cooperates with the lifting rod (242) and the limiting block (243).

8. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The air pressure supply unit comprises an air pump (510) fixed in the control cabinet (50) and a flexible air supply pipe (511) connected to the outlet of the air pump (510), the end of which is in communication with the air passage of the lifting rod (242).

9. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The control box (50) is provided with a battery compartment (520) inside, and a power battery (521) is provided inside the battery compartment (520). The control box (50) is also provided with a control cabin (530) inside, and a control module (531) is fixedly connected inside the control cabin (530). A control panel (540) is also provided on a side wall of the control box (50). A reinforcing rod (550) symmetrically arranged with respect to the stand (200) is fixedly connected to the top wall of the control box (50), and one end of the reinforcing rod (550) away from the control box (50) is fixedly connected to the stand (200). A charging port (560) is also provided on the side wall of the control box (50).

10. The fully automatic adaptive agricultural harvesting vehicle according to claim 1, characterized in that: The bottom wall of the vehicle frame (100) is also provided with a first drive motor (131) for driving the telescopic screw (130), the side wall of the stand (200) is also provided with a second drive motor (231) for driving the double-threaded adjustment screw (230), the bottom wall of the vehicle frame (100) is also provided with a millimeter wave radar (232), the top walls of the two supporting ends of the expansion chassis (300) are also provided with lighting lamps (310), the side walls of the expansion chassis (300) are also provided with a laser radar (320), the side walls of the stand (200) are also provided with a panoramic camera (250), and the two side walls of the stand (200) are also fixedly provided with warning lights (251).

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