Agricultural new energy autonomous navigation fruit and vegetable picking and carrying robot

Abstract

The invention belongs to the technical field of product carrying, and relates to an agricultural new energy autonomous navigation fruit and vegetable picking and carrying robot which comprises a tracking trolley, and a position adjusting mechanism, a loading mechanism and an auxiliary mechanism are arranged on the tracking trolley. According to the new energy autonomous navigation fruit and vegetable picking and carrying robot for agriculture, through the position adjusting mechanism, a wide turning space does not need to be reserved, the advancing efficiency on a narrow agricultural road is greatly improved, and then the fruit and vegetable conveying efficiency is improved; in the material frame carrying process, the angle and height of the loading plate can be flexibly adjusted, the material frame can be clamped and fixed after being placed, meanwhile, the friction force between the material frame and the plate is reduced through the balls on the loading plate, and the material frame carrying efficiency is further improved. The auxiliary mechanism is detachable, the driving motor B is used as power to pull the material frame, the physical strength of workers is saved, independent control can be achieved, flexible use in different scenes is facilitated, and the overall efficiency of agricultural fruit and vegetable picking and carrying work is comprehensively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of product handling, and particularly relates to a new energy autonomous navigation fruit and vegetable picking and handling robot for agriculture. Background Art

[0002] In the process of modern agricultural development, the fruit and vegetable industry, as an important part, its production efficiency and quality are directly related to agricultural economic benefits and market supply. Traditional fruit and vegetable picking and handling work mainly relies on manual labor, with problems such as high labor costs and low work efficiency. With the intensification of population aging and the continuous rise of labor costs, manual picking and handling can no longer meet the needs of large-scale and industrialized development of modern agriculture.

[0003] Currently, the problem of automatic movement can be achieved by using a path-tracking vehicle. However, during the use process, the turning angle of the path-tracking vehicle has great limitations. But in agricultural planting, the roads are very narrow, which is not convenient for the path-tracking vehicle to turn. At the same time, during transportation, workers still need to manually move the material box, increasing the physical consumption of the workers and affecting subsequent picking work. Summary of the Invention

[0004] The present invention provides a new energy autonomous navigation fruit and vegetable picking and handling robot for agriculture to solve the problems raised in the background art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A new energy autonomous navigation fruit and vegetable picking and handling robot for agriculture, including a path-tracking vehicle, and a position adjustment mechanism, a loading mechanism and an auxiliary mechanism are arranged on the path-tracking vehicle:

[0007] The position adjustment mechanism includes a slider fixedly connected to the lower part of the path-tracking vehicle. The slider is slidably arranged in a track. The track is fixedly connected to a connecting plate through a connecting rod. The track is fixedly connected to a support plate through an electro-hydraulic push rod. A bearing A is embedded on the upper surface of the connecting plate. A rotating shaft A is arranged in the bearing A. A driving motor A is installed on the upper surface of the connecting plate. Gears are respectively arranged on the surfaces of the rotating shaft A and the output shaft of the driving motor A, and the two gears are meshed and connected;

[0008] The loading mechanism includes a loading plate arranged above the path-tracking vehicle. A groove is formed on the upper surface of the loading plate. A sphere is arranged in the groove. The loading plate is hinged to the top end of an electric push rod A. The bottom end of the electric push rod A is hinged to a fixed block. The fixed block is fixedly connected to the upper surface of the path-tracking vehicle. The loading plate is hinged to the top end of an electric push rod B. The bottom end of the electric push rod B is fixedly connected to the upper surface of the path-tracking vehicle. A through hole A is formed on the upper surface of the loading plate;

[0009] The auxiliary mechanism includes two fixed plates. Bearing B is inlaid on the opposite surfaces of the two fixed plates respectively, and rotating shaft B is arranged in each of the two bearings B. The opposite ends of the two rotating shafts B are fixedly connected by a support rod. Through hole B is formed on the surface of the support rod. Driving motor B is installed on the side surface of the left fixed plate. Transmission wheels are respectively arranged on the surface of the output shaft of the driving motor B and the surface of the left rotating shaft B, and the two transmission wheels are connected by a transmission belt. A handle is arranged on the side surface of the fixed plate. Plug rods are respectively arranged on the lower surfaces of the fixed plate and the handle, and the plug rods are inserted into through hole A.

[0010] As a further solution of the present invention: the right side surface of the loading plate is fixedly connected with the side surface of the connecting block through electric push rod C. The side surface of the connecting block is fixedly connected with one end of the sliding rod. The other end of the sliding rod passes through the surface of the loading plate and is fixedly connected with the side surface of the clamping plate.

[0011] As a further solution of the present invention: the opposite surfaces of the two fixed plates are fixedly connected by a fixing rod.

[0012] As a further solution of the present invention: the driving motor A, electric push rod A, electric push rod B, electric push rod C and driving motor B are electrically connected with the power supply and the control system through cables respectively.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. For this agricultural new energy autonomous navigation fruit and vegetable picking and handling robot, in dealing with narrow roads, through the positioning mechanism, when the tracking car is in a position where it is not convenient to turn, the electro-hydraulic push rod makes the support plate contact the ground, separating the tracking car from the ground. Subsequently, the driving motor A drives the tracking car to rotate by means of gear transmission, changing the traveling direction, without the need to reserve a wide turning space, greatly improving the traveling efficiency on narrow agricultural roads, and thus enhancing the fruit and vegetable transportation efficiency; in the handling of the material box, the electric push rods A, B, and C of the loading mechanism work together, can flexibly adjust the angle and height of the loading plate, and can clamp and fix the material box after it is placed. At the same time, the spheres on the loading plate reduce the friction between the material box and the plate, further improving the material box handling efficiency; the auxiliary mechanism is detachable, uses the driving motor B as the power to pull the material box, saving the physical strength of the staff, and it can be independently controlled, facilitating flexible use in different scenarios, comprehensively enhancing the overall efficiency of agricultural fruit and vegetable picking and handling work. Description of the Drawings

[0015] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0016] Figure 1Schematic diagram of the three-dimensional structure of the present invention;

[0017] Figure 2 Schematic diagram of the structure of the position adjustment mechanism in the present invention;

[0018] Figure 3 Schematic diagram of the structure of the loading mechanism in the present invention;

[0019] Figure 4 Schematic diagram of the structure of the auxiliary mechanism in the present invention;

[0020] In the figure:

[0021] 1. Tracking trolley;

[0022] 2. Position adjustment mechanism; 201. Slide block; 202. Track; 203. Connecting rod; 204. Connecting plate; 205. Electric hydraulic push rod; 206. Support plate; 207. Bearing A; 208. Rotating shaft A; 209. Driving motor A; 210. Gear;

[0023] 3. Loading mechanism; 301. Loading plate; 302. Groove; 303. Electric push rod A; 304. Fixed block; 305. Electric push rod B; 306. Electric push rod C; 307. Connecting block; 308. Slide rod; 309. Clamping plate; 310. Through hole A;

[0024] 4. Auxiliary mechanism; 401. Fixed plate; 402. Insert rod; 403. Bearing B; 404. Rotating shaft B; 405. Support rod; 406. Through hole B; 407. Driving motor B; 408. Driving wheel; 409. Transmission belt; 410. Handle. Detailed implementation manners

[0025] 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.

[0026] Embodiment

[0027] Please refer to Figures 1-4 , the present invention provides the following technical solutions:

[0028] An agricultural new energy autonomous navigation fruit and vegetable picking and transporting robot, including a tracking trolley 1, and a position adjustment mechanism 2, a loading mechanism 3 and an auxiliary mechanism 4 are arranged on the tracking trolley 1:

[0029] The position adjustment mechanism 2 includes a slider 201 fixedly connected to the lower part of the tracking trolley 1. The slider 201 is slidably arranged in the track 202. The track 202 is fixedly connected to the connecting plate 204 through the connecting rod 203. The track 202 is fixedly connected to the support plate 206 through the electro-hydraulic push rod 205. A bearing A 207 is embedded on the upper surface of the connecting plate 204. A rotating shaft A 208 is arranged inside the bearing A 207. A driving motor A 209 is installed on the upper surface of the connecting plate 204. Gears 210 are respectively arranged on the surfaces of the rotating shaft A 208 and the output shaft of the driving motor A 209, and the two gears 210 are meshed and connected;

[0030] With the above structure or mechanism: the setting of the annular slider 201 and the slide rail can change the traveling direction of the tracking trolley 1 after the wheels of the tracking trolley 1 are separated from the ground, without reserving a relatively wide position for the tracking trolley 1, improving the traveling efficiency of the tracking trolley 1 and the transportation efficiency of fruits and vegetables.

[0031] The loading mechanism 3 includes a loading plate 301 arranged above the tracking trolley 1. A groove 302 is opened on the upper surface of the loading plate 301. A sphere is arranged inside the groove 302. The loading plate 301 is hinged to the top end of the electric push rod A 303. The bottom end of the electric push rod A 303 is hinged to a fixed block 304. The fixed block 304 is fixedly connected to the upper surface of the tracking trolley 1. The loading plate 301 is hinged to the top end of the electric push rod B 305. The bottom end of the electric push rod B 305 is fixedly connected to the upper surface of the tracking trolley 1. A through hole A 310 is opened on the upper surface of the loading plate 301. The right side surface of the loading plate 301 is fixedly connected to the side surface of the connecting block 307 through the electric push rod C 306. The side surface of the connecting block 307 is fixedly connected to one end of the sliding rod 308. The other end of the sliding rod 308 passes through the surface of the loading plate 301 and is fixedly connected to the side surface of the clamping plate 309;

[0032] With the above structure or mechanism: through the operation of the electric push rod A 303, the electric push rod B 305 and the electric push rod C 306, the angle and height of the loading plate 301 can be changed and the clamping work of the material box can be carried out after the material box is placed, further improving the transportation efficiency of the material box and thus improving the transportation efficiency of fruits and vegetables.

[0033] Auxiliary mechanism 4 includes two fixing plates 401. The opposite surfaces of the two fixing plates 401 are fixedly connected by fixing rods. Bearings B403 are respectively embedded in the opposite surfaces of the two fixing plates 401, and rotating shafts B404 are respectively arranged in the two bearings B403. The opposite ends of the two rotating shafts B404 are fixedly connected by a support rod 405. A through hole B406 is formed on the surface of the support rod 405. A driving motor B407 is installed on the side surface of the left fixing plate 401. Transmission wheels 408 are respectively arranged on the surface of the output shaft of the driving motor B407 and the surface of the left rotating shaft B404, and the two transmission wheels 408 are connected by a transmission belt 409. A handle 410 is arranged on the side surface of the fixing plate 401. Plug rods 402 are respectively arranged on the lower surfaces of the fixing plate 401 and the handle 410. The plug rods 402 are inserted into the through hole A310.

[0034] With the above structure or mechanism: The auxiliary mechanism 4 is connected to the through hole A310 on the loading mechanism 3 through the plug rod 402, and can be removed when the auxiliary mechanism 4 is not needed, and can also be removed after use. The driving motor B407 is used as the power to pull the material box, saving the physical strength of the staff.

[0035] Specifically, the driving motor A209, the electric push rod A303, the electric push rod B305, the electric push rod C306 and the driving motor B407 are electrically connected to the power supply and the control system through cables respectively.

[0036] With the above structure or mechanism: The auxiliary mechanism 4 is detachably arranged on the loading mechanism 3. An independent power supply and a control switch are arranged on the auxiliary mechanism 4, and the auxiliary switch can be controlled and used separately.

[0037] The working principle of the present invention is as follows:

[0038] The tracking trolley 1 is a trolley that can travel independently. The sensors in the tracking trolley 1 can sense the lines on the ground and can automatically navigate and travel during the handling work. During the travel of the tracking trolley 1, when it is in a position where it is not convenient to turn, the control system controls the electric hydraulic push rod 205 to work. The electric hydraulic push rod 205 makes the support plate 206 contact the ground. After the tracking trolley 1 is separated from the ground, the control system controls the driving motor A209 to work. The output shaft of the driving motor A209 makes the tracking trolley 1 rotate through the transmission of the gear 210, and thus the traveling direction of the tracking trolley 1 can be adjusted;

[0039] When the tracking trolley 1 moves to the position where the material box is placed, the staff can control the electric push rod A303 to work through the control system, further adjust the inclination angle of the loading plate 301. Then, the staff can connect one end of the material box with a rope, and then fix the other end on the support rod 405 through the through hole B406. When the driving motor B407 works, the support rod 405 can wind and pull the rope to move the material box. The spheres arranged on the loading plate 301 can reduce the friction between the material box and the loading plate 301. When no more material boxes can be placed on the loading plate 301, first restore the loading plate 301 to the horizontal state, and then control the electric push rod C306 to work, so that the clamping plate 309 moves to clamp and fix the material box on the loading plate 301;

[0040] Then, the staff can control the electric push rod A303 and the electric push rod B305 to work to raise the height of the loading plate 301, which is convenient for placing the material box above the tracking trolley 1 and improves the transportation efficiency of the material box.

[0041] In the present invention, the installation methods, connection methods or setting methods of all the above-mentioned components are common mechanical methods, and the specific structures, models and coefficient indexes of all their components are their own technologies. As long as their beneficial effects can be achieved, they can be implemented, so no more details will be described.

[0042] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A new energy autonomous navigation fruit and vegetable picking and handling robot for agriculture, comprising a path tracking vehicle (1), characterized in that: A positioning adjustment mechanism (2), a loading mechanism (3) and an auxiliary mechanism (4) are provided on the tracking trolley (1): The positioning adjustment mechanism (2) includes a slider (201) fixedly connected to the lower part of the tracking trolley (1). The slider (201) is slidably arranged in a track (202). The track (202) is fixedly connected to a connecting plate (204) through a connecting rod (203). The track (202) is fixedly connected to a support plate (206) through an electro-hydraulic push rod (205). A bearing A (207) is inlaid on the upper surface of the connecting plate (204). A rotating shaft A (208) is arranged inside the bearing A (207). A driving motor A (209) is installed on the upper surface of the connecting plate (204). Gears (210) are respectively arranged on the surfaces of the rotating shaft A (208) and the output shaft of the driving motor A (209), and the two gears (210) are meshed and connected; The loading mechanism (3) includes a loading plate (301) arranged above the tracking trolley (1). Grooves (302) are formed on the upper surface of the loading plate (301). Spheres are arranged inside the grooves (302). The loading plate (301) is hinged to the top end of an electric push rod A (303). The bottom end of the electric push rod A (303) is hinged to a fixed block (304). The fixed block (304) is fixedly connected to the upper surface of the tracking trolley (1). The loading plate (301) is hinged to the top end of an electric push rod B (305). The bottom end of the electric push rod B (305) is fixedly connected to the upper surface of the tracking trolley (1). A through hole A (310) is formed on the upper surface of the loading plate (301); The auxiliary mechanism (4) includes two fixing plates (401). Bearings B (403) are respectively inlaid on the opposite surfaces of the two fixing plates (401). Rotating shafts B (404) are respectively arranged inside the two bearings B (403). The opposite ends of the two rotating shafts B (404) are fixedly connected through a support rod (405). Through holes B (406) are formed on the surface of the support rod (405). A driving motor B (407) is installed on the side surface of the left fixing plate (401). Transmission wheels (408) are respectively arranged on the surface of the output shaft of the driving motor B (407) and the surface of the left rotating shaft B (404), and the two transmission wheels (408) are connected by a transmission belt (409). A handle (410) is arranged on the side surface of the fixing plate (401). Insertion rods (402) are respectively arranged on the lower surfaces of the fixing plate (401) and the handle (410). The insertion rods (402) are inserted into the through hole A (310).

2. The new energy autonomous navigation fruit and vegetable picking and handling robot for agricultural use according to claim 1, characterized in that: The right side surface of the loading plate (301) is fixedly connected to the side surface of a connecting block (307) through an electric push rod C (306). The side surface of the connecting block (307) is fixedly connected to one end of a sliding rod (308). The other end of the sliding rod (308) passes through the surface of the loading plate (301) and is fixedly connected to the side surface of a clamping plate (309).

3. The new energy autonomous navigation fruit and vegetable picking and handling robot for agricultural use according to claim 1, characterized in that: The opposite surfaces of the two fixing plates (401) are fixedly connected through a fixing rod.

4. The new energy autonomous navigation fruit and vegetable picking and handling robot for agricultural use according to claim 1, characterized in that: The drive motor A (209), electric push rod A (303), electric push rod B (305), electric push rod C (306) and drive motor B (407) are electrically connected to the power supply and the control system through cables respectively.

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