Electric fruit picking robot based on modularization technology

Abstract

The invention discloses an electric fruit picking robot based on a modularization technology, and the robot comprises a modularization wheel power chassis which comprises a chassis module; a plurality of modularized wheel sets are arranged; the sorting and conveying system comprises a box body, the box body is fixed to the top face of the chassis module, two sets of through openings are formed in the two opposite side faces of the box body correspondingly, and two sets of material receiving discs are symmetrically fixed to the top of the box body; the two groups of plane moving modules are mounted in the box body; two groups of lower-layer harvesting modules are symmetrically arranged at the bottom in the box body, and a pushing module is arranged between the two groups of lower-layer harvesting modules; the number of the upper-layer harvesting modules is two; the harvesting system comprises a transfer module, an auxiliary execution mechanism and a harvesting module. The picking efficiency can be improved, the fruit breakage rate is reduced, the device adapts to the complex terrain environment, and orderly fruit collection is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization equipment, and particularly to an electric fruit picking robot based on modular technology. Background Art

[0002] As a large agricultural country, China vigorously promotes the development of agricultural mechanization. With the continuous advancement of agricultural modernization, the demand for efficient and intelligent agricultural machinery in agricultural production is increasing day by day. Fruit harvesting robots need to be able to adapt to complex environments, including different terrains, fruit sizes and heights, etc. However, traditional picking robots still have the following technical problems:

[0003] 1) Fruits are often hidden among branches and leaves and blocked by them, making it difficult for cameras to capture their traces. During the picking process, the actuating mechanism is also often trapped by branches and leaves, which not only affects the picking efficiency but may also cause damage to the fruits.

[0004] 2) Most fruit picking machines only have a simple collection function and lack the orderly placement of fruits, which undoubtedly adds an unnecessary burden to the subsequent fruit processing work.

[0005] 3) Manual unloading operation is required.

[0006] 4) It has poor adaptability in hilly areas, with insufficient flexibility in walking and direction control, and poor climbing ability and downhill stability for multi-slope terrains.

[0007] 5) A single picking device can only be applicable to a single type of fruit tree, with poor versatility.

[0008] Based on the above technical problems, the present invention provides an electric fruit picking robot based on modular technology. Summary of the Invention

[0009] The purpose of the present invention is to provide an electric fruit picking robot based on modular technology to solve the problems existing in the prior art.

[0010] To achieve the above purpose, the present invention provides the following solution: The present invention provides an electric fruit picking robot based on modular technology, including:

[0011] A modular wheel-powered chassis, the modular wheel-powered chassis includes:

[0012] A chassis module;

[0013] Modular wheel groups, several groups of the modular wheel groups are symmetrically arranged on opposite sides of the chassis module;

[0014] A sorting and conveying system, the sorting and conveying system includes:

[0015] A box body, which is fixed on the top surface of the chassis module. Two groups of through ports are respectively opened on the opposite side surfaces of the box body, and two groups of receiving trays are symmetrically fixed on the top of the box body;

[0016] A planar movement module. Two groups of the planar movement modules are installed in the box body. A transmission cylinder is installed on the planar movement module, and the transmission cylinder is connected to the receiving tray through a flexible conveying pipe;

[0017] A lower-layer harvesting module. Two groups of the lower-layer harvesting modules are symmetrically arranged at the bottom inside the box body. A pushing module is arranged between the two groups of the lower-layer harvesting modules, and the two groups of the lower-layer harvesting modules are respectively arranged corresponding to the two groups of the planar movement modules;

[0018] An upper-layer harvesting module. Two groups of the upper-layer harvesting modules are respectively arranged between the planar movement module and the lower-layer harvesting module;

[0019] A harvesting system, which includes:

[0020] A transfer module, which is installed on the top of the box body;

[0021] An auxiliary execution mechanism, which is fixed on the top of the execution end of the transfer module;

[0022] A harvesting module, which is fixed on the auxiliary execution mechanism;

[0023] Wherein, the auxiliary execution mechanism is used to assist the harvesting module to extend out.

[0024] According to the electric fruit picking robot based on modular technology provided by the present invention, the chassis module includes:

[0025] A frame, and the frame is of a rectangular structure;

[0026] A backing plate, which is fixedly connected to the top surface of the frame;

[0027] A plurality of rollers. The backing plate is provided with a plurality of installation grooves, and the rollers are rotatably connected in the installation grooves, and the axes of the rollers are arranged parallel to the length direction of the through ports.

[0028] According to the electric fruit picking robot based on modular technology provided by the present invention, the modular wheel set includes:

[0029] A support plate I, which is fixedly connected to the side surface of the frame;

[0030] Support plate Ⅱ, which is fixedly connected to the top surface of the support plate Ⅰ. Both the support plate Ⅰ and the support plate Ⅱ are L-shaped structures, and the support plate Ⅰ and the support plate Ⅱ enclose a rectangular structure;

[0031] Reduction motor;

[0032] Transmission, which is fixed on the top surface of the support plate Ⅱ. The reduction motor is fixed on the transmission, and the output shaft of the reduction motor is axially connected to the input shaft of the transmission;

[0033] Steering shaft, which is vertically fixedly connected to the support plate Ⅰ. One end of the steering shaft is connected to the input shaft of the transmission, and the bottom end of the steering shaft passes through the support plate Ⅰ;

[0034] The first damping component, which includes a spring-damper shock absorber. Connecting blocks Ⅰ and Ⅱ are respectively installed at both ends of the spring-damper shock absorber. The connecting block Ⅰ is fixedly connected to the bottom end of the steering shaft, and the spring-damper shock absorber is vertically arranged;

[0035] Moving wheel, which is rotatably connected to the connecting block Ⅱ;

[0036] The second damping component, which includes two auxiliary plates. The two auxiliary plates are rotatably connected through a rotating shaft, and a torsion spring is installed on the rotating shaft. The two auxiliary plates are respectively rotatably connected to the connecting block Ⅰ and the connecting block Ⅱ.

[0037] According to the electric fruit picking robot based on modular technology provided by the present invention, the planar movement module includes:

[0038] Linear motor Ⅰ, and there are two groups of the linear motor Ⅰ, which are symmetrically arranged in the box body;

[0039] Linear motor Ⅱ, which is arranged between the two groups of the linear motor Ⅰ and is perpendicular to the linear motor Ⅰ. Both ends of the linear motor Ⅱ are respectively fixed on the sliders of the two groups of the linear motor Ⅰ;

[0040] Wherein, the transmission cylinder is fixed on the slider of the linear motor Ⅱ.

[0041] According to the electric fruit picking robot based on modular technology provided by the present invention, the pushing module includes:

[0042] Push rod Ⅰ, and there are no less than two groups of the push rod Ⅰ, which are symmetrically arranged at the middle position of the inner bottom of the box body. The push rod Ⅰ is respectively fixed to the two groups of the lower harvesting modules.

[0043] According to the electric fruit picking robot based on modular technology provided by the present invention, the upper harvesting module includes:

[0044] Track I, there are two sets of Track I, and the two sets of Track I are respectively horizontally fixed on the inner walls of the front and rear sides of the box body;

[0045] Baffle I, both ends of the bottom of the Baffle I are respectively fixedly connected with self-locking sliders I, and the self-locking sliders I are respectively slidably connected on the Track I. A through groove is opened at the bottom of the Baffle I along the length direction;

[0046] Track II, Track II is fixed in the through groove, and Track II is perpendicularly arranged with Track I;

[0047] Baffle II, there are several groups of Baffle II, the bottom end of the Baffle II is fixedly connected with a self-locking slider II, the self-locking slider II is slidably connected on the Track II, and a placement interval is formed by enclosing between the Baffle II and the Baffle I. An identification camera is installed in the box body, and the identification camera is used to identify whether the fruits in the placement interval are full;

[0048] Elastic air cushion, the elastic air cushion is fixed at the bottom of the Baffle I, and several through holes are opened on the elastic air cushion, and the through holes are arranged corresponding to the placement interval;

[0049] Air supply system, the air supply system is connected with the elastic air cushion for supplying air to the elastic air cushion;

[0050] Among them, the elastic air cushion is installed on the transmission cylinder, and the elastic air cushion is used to convey the fruits to the specified placement interval.

[0051] According to the electric fruit picking robot based on modular technology provided by the present invention, the lower harvesting module includes:

[0052] Harvesting basket, the harvesting basket is slidably connected to the top surface of the cushion plate, and the harvesting basket is slidably matched with the roller;

[0053] Partition plate, several groups of partition plates are arranged at equal intervals in the harvesting basket.

[0054] According to the electric fruit picking robot based on modular technology provided by the present invention, the transfer module includes:

[0055] Multi-degree-of-freedom robotic arm, the multi-degree-of-freedom robotic arm is fixed on the top of the box body;

[0056] Manipulator, the manipulator is installed at the execution end of the multi-degree-of-freedom robotic arm.

[0057] According to the electric fruit picking robot based on modular technology provided by the present invention, the auxiliary actuator includes:

[0058] A bottom plate, the bottom plate being fixedly connected to the top of the execution end of the mechanical arm through a wedge block;

[0059] Side panels, wherein two groups of side panels are provided, and the two groups of side panels are symmetrically arranged on the top surface of the bottom panel, and the bottom panel and the side panels are arranged in a 匚-shaped structure;

[0060] Push plates, wherein two groups of push plates are provided, and the two groups of push plates are horizontally slidably connected to the inner sides of the two groups of side plates respectively;

[0061] A top plate, the top plate is slidably connected to the top surface of the push plate, and a clearance groove is provided on the top plate along the length direction;

[0062] A mounting plate, the mounting plate being slidably connected to the top surface of the top plate;

[0063] A first-stage propulsion assembly, the first-stage propulsion assembly includes a mounting shaft I and a mounting shaft II, the mounting shaft I is provided with two groups, the mounting shaft I is arranged vertically with the side plate, the two groups of the mounting shaft I are symmetrically arranged at both ends of the side plate, and are rotatably connected with the side plates, the mounting shaft II is arranged between the two groups of the push plates, and is located at one end of the push plates, the mounting shaft II is rotatably connected with the push plates, the two groups of the mounting shaft I and the mounting shaft II are respectively provided with pulleys I, the three groups of the pulleys I are matched with each other through synchronous belts I, a fixing plate I is installed below the synchronous belt I through a bite seat, and the fixing plate I is fixed to the push plates;

[0064] A secondary propulsion assembly, the secondary propulsion assembly includes a mounting shaft III rotatably connected to the other end of the push plate, the mounting shaft III is arranged in parallel with the mounting shaft II, the mounting shaft III and the mounting shaft II are respectively mounted with pulleys II, the two groups of pulleys II are matched through a synchronous belt II transmission, a fixing plate II is mounted on the synchronous belt II through the bite seat, and the fixing plate II is fixedly connected to the bottom surface of the top plate;

[0065] A driving assembly, the driving assembly comprising a driving motor fixedly connected to the side plate, the inner wall of the side plate being rotatably connected to a driving shaft, the driving shaft being axially connected to the driving motor, a pulley III being respectively installed on the driving shaft and one of the mounting shafts I, and the two sets of pulleys III being driven by a synchronous belt III;

[0066] A vertical plate, the vertical plate is vertically fixedly connected to the top surface of the top plate, a push rod II is fixedly connected to the vertical plate, and one end of the push rod II is fixedly connected to the mounting plate;

[0067] A space scanning camera, which is installed at the end of the bottom plate and is connected to the terminal system;

[0068] Wherein, a locator is installed at one end of the top plate, and the locator is arranged corresponding to the push plate;

[0069] Tension wheels are respectively engaged on the synchronous belt I, the synchronous belt II, and the synchronous belt III.

[0070] According to the electric fruit picking robot based on modular technology provided by the present invention, the harvesting module includes:

[0071] A harvesting motor, which is fixed on the top surface of the mounting plate;

[0072] A saw blade, which is installed on the harvesting motor.

[0073] The present invention discloses the following technical effects:

[0074] 1) The modular wheel power chassis system significantly improves the stability and operation efficiency of agricultural machinery in complex terrains, enhances the passability of agricultural machinery, ensures its stable operation in various terrains, and effectively meets the urgent needs of hilly areas for agricultural mechanization.

[0075] 2) The modular design of the chassis and wheels enables rapid replacement when the chassis system is damaged, greatly reduces the maintenance difficulty, improves the convenience and efficiency of maintenance, and thus ensures the continuity and stability of agricultural machinery operation.

[0076] 3) By designing an actuator that can be flexibly replaced for different crops, the picking operation is made universal and flexible, the use efficiency of agricultural machinery is improved, and the procurement cost of farmers is reduced, having a wide market application prospect.

[0077] 4) By introducing an auxiliary mechanism, the challenges brought by foliage occlusion are effectively avoided, ensuring that the camera can accurately identify the picking target, improving the accuracy of the picking operation, and significantly enhancing the intelligent level of agricultural machinery.

[0078] 5) The setting of the sorting and conveying system realizes the precise classification and collection of fruits and the orderly placement, reduces the labor intensity of farmers, and significantly improves the operation efficiency of agricultural machinery.

[0079] 6) The actuator can be disassembled and replaced, and the upper harvesting module can be adjusted according to actual needs to adapt to the picking of fruits of different sizes, enabling a modular motor to replace multiple fruit harvesting machines, and improving the versatility of the device. Description of the Drawings

[0080] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0081] Figure 1 Structural schematic of the electric fruit picking robot based on modular technology of the present invention Figure Ⅰ ;

[0082] Figure 2 Structural schematic of the electric fruit picking robot based on modular technology of the present invention Figure Ⅱ ;

[0083] Figure 3 is Figure 2 The enlarged view of part A in

[0084] Figure 4 is Figure 2 The enlarged view of part B in

[0085] Figure 5 Structural schematic of the auxiliary execution mechanism of the present invention Figure Ⅰ ;

[0086] Figure 6 Structural schematic of the auxiliary execution mechanism of the present invention Figure Ⅱ ;

[0087] Figure 7 Structural schematic of the auxiliary execution mechanism of the present invention Figure Ⅲ ;

[0088] Figure 8 Structural schematic diagram of the modular wheel power chassis of the present invention.

[0089] Among them,

[0090] 1. Modular wheel power chassis;

[0091] 110. Chassis module; 120. Modular wheel set;

[0092] 111. Frame; 112. Lining board; 113. Drum;

[0093] 1201. Support plate Ⅰ; 1202. Support plate Ⅱ; 1203. Reduction motor; 1204. Transmission; 1205. Steering shaft; 1206. Spring damper; 1207. Connection block Ⅰ; 1208. Connection block Ⅱ; 1209. Moving wheel; 1210. Auxiliary plate; 1211. Elastic torsion spring;

[0094] 2. Sorting and conveying system;

[0095] 210, Box body; 220, Horizontal moving module; 230, Lower harvesting module; 240, Upper harvesting module; 250, Pushing module;

[0096] 211, Through port; 212, Material receiving tray; 213, Transfer cylinder;

[0097] 221, Linear motor Ⅰ; 222, Linear motor Ⅱ;

[0098] 231, Harvesting basket; 232, Partition board;

[0099] 241, Track Ⅰ; 242, Baffle Ⅰ; 243, Self-locking slide Ⅰ; 244, Track Ⅱ; 245, Self-locking slide Ⅱ; 246, Elastic air cushion;

[0100] 251, Push rod Ⅰ;

[0101] 3, Harvesting system;

[0102] 310, Transfer module; 320, Auxiliary actuator; 330, Harvesting module;

[0103] 311, Multi-degree-of-freedom robotic arm; 312, Manipulator;

[0104] 3201, Bottom plate; 3202, Side plate; 3203, Pushing plate; 3204, Top plate; 3205, Mounting plate; 3206, Mounting shaft Ⅰ; 3207, Mounting shaft Ⅱ; 3208, Synchronous belt Ⅰ; 3209, Fixed plate Ⅰ; 3210, Mounting shaft Ⅲ; 3211, Synchronous belt Ⅱ; 3212, Fixed plate Ⅱ; 3213, Driving motor; 3214, Synchronous belt Ⅲ; 3215, Vertical plate; 3216, Push rod Ⅱ; 3217, Positioner; 3218, Tensioning pulley;

[0105] 331, Harvesting motor; 332, Saw blade. Specific implementation manner

[0106] The technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0107] Referring to Figures 1 - 8 , in the prior art, fruit picking operations often face problems such as difficult visual recognition caused by foliage occlusion, increased post-processing burden due to disorderly placement of collection devices, and insufficient adaptability to hilly terrain. Traditional picking robots adopt a fixed chassis structure, which is prone to side-slip or insufficient power when operating on slopes. Most fruit collection systems are single containers, and the mixed storage of fruits with different maturities results in low sorting efficiency. The harvesting execution mechanism lacks an obstacle avoidance function and is prone to interference with foliage, causing fruit damage.

[0108] To solve the above problems, it is found in the research and development process that the chassis structure plays a decisive role in terrain adaptability, and a walking mechanism with multi-directional adjustment capabilities needs to be designed. There is a contradiction between space utilization rate and sorting efficiency in the fruit collection link, and a three-dimensional temporary storage system needs to be established. In view of the foliage occlusion phenomenon, the execution mechanism needs to have path planning capabilities to bypass obstacles. By introducing the modular design concept, the walking system, sorting system, and harvesting system 3 are decoupled and recombined to form an integrated solution that can adapt to different operation scenarios.

[0109] Therefore, the present application proposes an electric fruit picking robot based on modular technology, including a modular wheel power chassis 1, a sorting and conveying system 2, and a harvesting system 3. The modular wheel power chassis 1 is composed of a chassis module 110 and symmetrically arranged modular wheel sets 120. The sorting and conveying system 2 includes a box body 210 fixed to the chassis module 110. A receiving tray 212 is provided at the top of the box body 210, and a planar movement module 220 and a transmission cylinder 213 are installed inside. The lower-layer harvesting module 230 adjusts the spacing through a pushing module 250, and the upper-layer harvesting module 240 is arranged below the planar movement module 220. The harvesting system 3 is composed of a transfer module 310, an auxiliary execution mechanism 320, and a harvesting module 330 installed at the top of the box body 210. The auxiliary execution mechanism 320 is used to control the extending action of the harvesting module 330.

[0110] Among them, the modular wheel power chassis 1 refers to a walking device with a replaceable wheel set structure, which can be specifically realized by an independent suspension system with a shock absorption component, and each wheel set is equipped with an independent drive unit. The planar movement module 220 of the sorting and conveying system 2 refers to a conveying device that can move two-dimensionally in the box body 210, and can specifically adopt a combination of linear motors arranged orthogonally to drive the displacement of the transmission cylinder 213. The lower-layer harvesting module 230 refers to a storage container arranged at the bottom of the box body 210, and can specifically adopt a sliding harvesting basket 231 with a partition plate 232, and its position change is controlled by a push rod. The upper-layer harvesting module 240 refers to a temporary storage device in the middle layer of the box body 210, and can specifically adopt a partition structure with adjustable baffles, and the size of the storage unit is adjusted through a slide rail. The auxiliary execution mechanism 320 refers to a propulsion device that controls the harvesting path, and can specifically adopt a multi-stage synchronous belt drive mechanism, and the directional extension of the harvesting module 330 is realized through mechanical linkage.

[0111] Specifically, the symmetric wheel set structure of the modular wheel power chassis 1 can automatically adjust the driving force distribution of each wheel when driving on a slope to maintain the stability of the vehicle body. After the receiving tray 212 in the sorting and conveying system 2 receives the fruits delivered by the harvesting module 330, it enters the transmission cylinder 213 through a flexible conveying pipe for buffering. The planar movement module 220 drives the transmission cylinder 213 to move horizontally in the box body 210, and imports the fruits into different layers of harvesting modules according to the fruit type. The pushing module 250 of the lower-layer harvesting module 230 adjusts the spacing between the two harvesting baskets 231 according to the storage capacity, and the upper-layer harvesting module 240 adapts to the storage of fruits of different sizes by adjusting the baffle spacing. After the spatial scanning camera in the harvesting system 3 locates the position of the fruits, the auxiliary execution mechanism 320 drives the harvesting module 330 to complete the picking along a predetermined trajectory through the gaps between the branches and leaves. Each functional module cooperates through an electric control system to realize the full-process automation from recognition and positioning, precise harvesting to classification and storage.

[0112] Traditional picking robots adopt a fixed wheelbase design and are prone to tipping over on complex terrains. The modular wheel set 120 improves terrain adaptability through an independent suspension system. Most existing sorting devices adopt a single-layer storage structure. In this solution, a three-dimensional sorting system is formed by the upper and lower harvesting modules 230 cooperating with the planar movement module 220, effectively improving space utilization. Conventional actuators lack an obstacle avoidance function. In this solution, a dynamic harvesting path planning is achieved through the secondary propulsion design of the auxiliary actuator 320 to avoid foliage interference.

[0113] Through the above technical solutions, this application can achieve stable walking on hilly terrains, complete automatic classification and storage of fruits through a double-layer sorting system, and use a push-type harvesting mechanism to break through foliage obstruction to complete precise picking. The modular design enables each functional unit to be independently replaced and maintained, reducing the equipment usage cost. The planar movement module 220 cooperates with a flexible conveying pipe to reduce fruit conveying damage, and the pushing module 250 automatically adjusts the position of the harvesting basket 231 according to the storage state to maintain the operation continuity.

[0114] This application further proposes the specific structure of the chassis module 110, which includes a frame 111, a backing plate 112, and rollers 113. The frame 111 is a rectangular structure. The backing plate 112 is fixedly connected to the top surface of the frame 111. There are several groups of rollers 113. Installation grooves are opened on the backing plate 112, and the rollers 113 are rotatably connected in the installation grooves, and the axis of the rollers 113 is parallel to the length direction of the through port 211.

[0115] Among them, the frame 111 refers to the main support structure that bears the chassis module 110. Specifically, it can be formed by welding high-strength aluminum alloy profiles into a rectangular frame 111 to provide overall rigid support. The backing plate 112 refers to the plate covering the top surface of the frame 111. Specifically, it can be a stamping formed steel plate, fixed to the frame 111 by bolts, to form a flat bearing surface and disperse the load. The rollers 113 refer to smooth cylindrical components. Specifically, they can adopt a polyurethane-coated steel shaft structure, rotatably connected to the installation groove through bearings, to reduce friction and guide the arrangement during fruit conveying. The installation groove refers to the groove structure opened on the backing plate 112. Specifically, it can adopt a rectangular groove body with a depth of 1.2 times the radius of the roller 113, to limit the radial displacement of the roller 113 and keep the axis parallel.

[0116] Specifically, the frame 111 forms a stable base support through a rectangular structure, capable of effectively resisting multi-directional impact loads in hilly terrains. After the backing plate 112 is fixed to the frame 111, a composite load-bearing platform is formed, enhancing the chassis' anti-deformation ability and providing a flat installation reference surface for the upper mechanism. The roller 113 arrays are arranged in parallel along the length direction of the through-port 211, enabling the fruits to roll on the surface of the rollers 113 after entering the box 210. By rotating, the sliding friction is reduced, avoiding skin damage. The depth of the installation groove is coordinated with the diameter of the roller 113 to ensure the support height and axial positioning of the roller 113, preventing offset and resulting in fruit accumulation.

[0117] Most traditional picking robot chassis adopt a single-layer steel plate structure, lacking a rigid support frame 111 and being prone to twisting and deforming in hilly terrains, resulting in insufficient mobile stability. At the same time, the fruit collection surface of the traditional chassis is a fixed plane, and the fruits are easily damaged due to frictional collisions during the sliding process. This solution improves the overall rigidity through the composite structure of the rectangular frame 111 and the backing plate 112, and combines the roller 113 arrays to achieve low-friction rolling transportation of fruits, significantly improving the mobile stability and fruit protection effect.

[0118] Through the above technical solution, this application solves the problem of mobile stability caused by insufficient rigidity of the traditional picking robot chassis, and at the same time avoids damage caused by sliding friction during the fruit collection process. The arrangement method of the axis of the roller 113 parallel to the direction of the through-port 211 can guide the fruits to be arranged in an orderly manner along a predetermined direction, reducing the risk of accumulation and collision, and improving the subsequent sorting and processing efficiency.

[0119] This application further proposes a modular wheel set 120 structure, including a support plate Ⅰ1201 fixedly connected to the side of the frame 111, a support plate Ⅱ1202 fixedly connected to the top surface of the support plate Ⅰ1201. Both the support plate Ⅰ1201 and the support plate Ⅱ1202 are L-shaped structures and enclose a rectangular structure. The reduction motor 1203 is fixed on the transmission 1204, and the transmission 1204 is fixed on the top surface of the support plate Ⅱ1202 and is axially connected to the reduction motor 1203. The steering shaft 1205 is vertically connected to the support plate Ⅰ1201 and is connected to the input shaft of the transmission 1204. The first damping component is composed of a spring-damper shock absorber 1206 connecting the bottom end of the steering shaft 1205 and the moving wheel 1209. The second damping component includes an auxiliary plate 1210 structure with an elastic torsion spring 1211 connecting the connecting block Ⅰ1207 and the connecting block Ⅱ1208.

[0120] Among them, the L-shaped structure of the support plate Ⅰ 1201 and the support plate Ⅱ 1202 means that two right-angled bent metal plates form a right-angle support through welding. Specifically, Q235 steel plates with a thickness of 5-8 mm can be used for bending processing. The right-angle sides of the two are welded to form a closed rectangular cross-section structure. The shaft connection between the transmission 1204 and the reduction motor 1203 means that power transmission is achieved through a coupling. Specifically, an elastic coupling can be used to compensate for installation errors, such as a plum blossom-shaped elastic coupling. The vertical setting of the spring damper 1206 means that its compression direction is perpendicular to the ground. Specifically, a combined structure of a cylindrical helical spring and a hydraulic damper can be used, and the spring stiffness coefficient can be selected within the range of 200-500 N / mm. The installation of the elastic torsion spring 1211 on the rotating shaft of the auxiliary plate 1210 means that the elastic deformation of the torsion spring is used to store energy. Specifically, 60Si2Mn spring steel with a wire diameter of 8-12 mm can be used for winding, and its pre-tightening torque can be set to 50-100 N·m.

[0121] Specifically, the rectangular frame 111 composed of the L-shaped support plates enhances the overall stiffness of the wheel set to cope with the lateral force on the slope. After the reduction motor 1203 adjusts the output torque through the transmission 1204, it drives the moving wheel 1209 to rotate through the steering shaft 1205, and its power transmission path is restricted within the rigid support structure to maintain stability. When encountering undulating terrain, the spring damper 1206 absorbs the vertical impact through axial compression, while the structure of the auxiliary plate 1210 generates a rotational displacement under the action of the elastic torsion spring 1211, allowing the connecting block Ⅱ 1208 to swing horizontally relative to the connecting block Ⅰ 1207, thereby resolving the lateral impact force. During the climbing process, the pre-tightening torque of the elastic torsion spring 1211 can maintain the effective contact between the moving wheel 1209 and the slope surface to prevent slipping. When braking downhill, the rotational freedom of the second damping component can avoid mechanical structure overload caused by inertial force.

[0122] Traditional wheeled walking mechanisms mostly use a single shock-absorbing spring or hydraulic suspension, which cannot balance the absorption of vertical and lateral vibrations. This structure forms a three-dimensional buffer system through the synergistic effect of the spring damper and the torsion spring of the auxiliary plate 1210, which can adapt to terrain changes with different slopes while maintaining the stability of power transmission. Most existing wheel set steering mechanisms are directly installed on the chassis and lack an independent damping module. In this solution, the steering shaft 1205 and the damping component are integrated and designed, which enhances the terrain adaptability on the premise of ensuring steering accuracy.

[0123] Through the above technical solutions, the present application effectively solves the problem of poor walking stability of the robot in hilly terrain. Multi-dimensional shock absorption is achieved through a rigid-flexible combined structure design, enhancing the adaptive ability of the wheel set to different slopes. The dual-stage shock absorption system can synchronously resolve vertical vibration and lateral torsion, preventing mechanical damage caused by complex terrains. The compact layout of the transmission 1204 and the reduction motor 1203 optimizes the utilization rate of the chassis space while ensuring power output. The combined mechanism of the elastic torsion spring 1211 and the auxiliary plate 1210 automatically adjusts the wheel set attitude during ramp driving, significantly improving the grip performance and the direction control accuracy.

[0124] The present application further proposes that the planar movement module 220 includes two sets of linear motors I 221 symmetrically arranged in the box body 210, and a linear motor II 222 disposed between the two sets of linear motors I 221 and perpendicular to the linear motors I 221. Both ends of the linear motor II 222 are respectively fixed on the sliders of the two sets of linear motors I 221, and the transmission cylinder 213 is fixed on the slider of the linear motor II 222.

[0125] Among them, the linear motor I 221 refers to a linear drive unit arranged along the length direction of the box body 210, which can be specifically implemented by a permanent magnet synchronous linear motor. Its slider makes a linear reciprocating motion along the guide rail, forming a motion reference for the X-axis direction of planar movement. The linear motor II 222 refers to a linear drive unit perpendicular to the X-axis direction, which can be specifically implemented by a coreless linear motor. Its two ends are fixed to the sliders of the linear motor I 221, forming a motion reference for the Y-axis direction of planar movement. The transmission cylinder 213 refers to a material conveying device with a guiding function, which can be specifically implemented by a stainless steel corrugated pipe structure, and realizes precise positioning in a two-dimensional plane through slider linkage.

[0126] Specifically, the two sets of linear motors I 221 are arranged in parallel on both sides inside the box body 210 to form a basic track. When its slider moves along the X-axis direction, it drives the whole linear motor II 222 to translate. When the slider of the linear motor II 222 moves along the Y-axis direction itself, it drives the transmission cylinder 213 to achieve positioning at any position in the XY plane. When the transmission cylinder 213 needs to dock with the receiving trays 212 at different positions, the combined movement of the linear motor I 221 and the linear motor II 222 makes the outlet end of the transmission cylinder 213 form a planar movement track, and with the telescopic compensation of the flexible conveying pipe, the dynamic adjustment of the fruit conveying path is realized. The movement accuracy of the transmission cylinder 213 is maintained through the closed-loop control of the linear motor, and the positioning error can be controlled within the range of ±1 mm.

[0127] Traditional fruit collection devices mostly use fixed chutes or single-direction conveyor belts, which cannot meet the collection requirements of multiple target points. In this solution, a two-dimensional motion platform is constructed by orthogonally arranged double linear motors, enabling the transfer cylinder 213 to have the positioning ability at any coordinate within the plane, expanding 2 degrees of freedom of motion compared with the single-axis slide rail structure. Compared with the serial robotic arm structure, this layout avoids the cumulative error of multiple joints and improves the positioning accuracy by about 40%. The direct drive method of the linear motor improves the transmission efficiency by 25% compared with the traditional gear-rack drive, and there is no mechanical backlash problem.

[0128] Through the above technical solution, this application realizes the intelligent positioning function of the fruit conveying channel, and can adjust the outlet coordinates of the transfer cylinder 213 in real time according to the collection position requirements of different fruits. The plane movement range of the transfer cylinder 213 covers all the through openings 211 areas on both sides of the box body 210, and can be docked with multiple receiving trays 212 at the same time to complete classified collection. The fast response characteristic of the linear motor shortens the position switching time of the transfer cylinder 213 to within 2 seconds, and the efficiency is improved by about 60% compared with the traditional mechanical drive method. The combined use of the two-dimensional motion platform and the flexible conveying pipe enables the adjustment range of the fruit conveying path to reach ±30 cm, meeting the harvesting requirements of different tree crown heights.

[0129] This application further proposes that the pushing module 250 includes the push rod Ⅰ 251. There are no less than two groups of push rod Ⅰ 251, and the two groups of push rod Ⅰ 251 are symmetrically arranged at the middle position of the inner bottom of the box body 210. The push rod Ⅰ 251 is respectively fixed to the two groups of lower harvesting modules 230.

[0130] Among them, the push rod Ⅰ 251 refers to a linear actuator, which can be specifically realized by an electric push rod or a hydraulic push rod. Its function is to drive the lower harvesting module 230 to translate through telescopic motion. Symmetrical arrangement means that the two groups of push rod Ⅰ 251 are respectively located at the left and right symmetrical positions at the bottom of the box body 210, and its function is to ensure that the lower harvesting module 230 is evenly stressed during the movement. The middle position of the inner bottom of the box body 210 refers to the midline area along the length direction of the bottom surface of the box body 210, and its function is to enable the push rod Ⅰ 251 to push the lower harvesting module 230 along the shortest path, reducing power loss.

[0131] Specifically, the telescopic end of the push rod Ⅰ 251 is rigidly connected to the lower harvesting module 230. When it is necessary to load and unload the fruit basket, the push rod Ⅰ 251 extends synchronously, pushing the lower harvesting module 230 outwards along the bottom of the box body 210 to the loading and unloading position; after the loading and unloading are completed, the push rod Ⅰ 251 contracts synchronously, driving the lower harvesting module 230 to return to the initial position. Through the symmetrical drive of the two groups of push rod Ⅰ 251, the lower harvesting module 230 maintains a horizontal motion posture during translation, avoiding offset or jamming caused by unilateral force application.

[0132] The loading and unloading of the harvesting basket 231 of the traditional fruit harvester usually rely on manual handling or single push rod pushing. Manual handling has low efficiency and high labor intensity, while a single push rod is likely to cause the movement trajectory of the harvesting basket 231 to deviate, and additional position adjustment is required. In this solution, two groups of symmetrically arranged push rods I 251 are used to drive collaboratively, so that the lower-layer harvesting module 230 moves smoothly in a straight line, and the loading and unloading positioning can be completed without manual intervention.

[0133] Through the above technical solution, the present application realizes the full-automatic loading and unloading of the lower-layer harvesting module 230. The operator only needs to replace the fruit basket at the loading and unloading position and does not need to enter the equipment to carry it, significantly reducing the difficulty and labor intensity of manual operation.

[0134] The present application further proposes that the upper-layer harvesting module 240 includes a track I 241, a baffle I 242, a track II 244, a baffle II, an elastic air cushion 246 and a gas supply system. Two groups of track I 241 are horizontally fixed on the inner walls of the front and rear sides of the box body 210. The two ends of the bottom of the baffle I 242 are respectively fixedly connected with a self-locking sliding seat I 243, and the self-locking sliding seat I 243 is slidably connected to the track I 241. A through groove is opened at the bottom of the baffle I 242. The track II 244 is fixed in the through groove and is vertically arranged perpendicular to the track I 241. Several groups of baffle II are provided, and the bottom end is fixedly connected with a self-locking sliding seat II 245. The self-locking sliding seat II 245 is slidably connected to the track II 244. The baffle II and the baffle I 242 enclose a placement area, and an identification camera is installed in the box body. The identification camera is used to identify whether the fruits in the placement area are full. The elastic air cushion 246 is fixed at the bottom of the baffle I 242 and is provided with a number of through holes, and the through holes are arranged corresponding to the placement area. The gas supply system is connected to the elastic air cushion 246, and the transfer cylinder 213 is provided with an elastic air cushion 246, and the elastic air cushion 246 is used to convey the fruits to the designated placement area.

[0135] Among them, the track I 241 refers to a horizontal guiding structure fixed on the front and rear inner walls of the box body 210, which can be realized by using an aluminum alloy profile track and is used to support the horizontal displacement of the baffle I 242. The self-locking sliding seat I 243 refers to a sliding component equipped with a self-locking function, which can be realized by using a slider assembly with an electromagnetic brake and is used to position the baffle I 242 on the track I 241. The track II 244 refers to a vertical guiding structure embedded in the through groove of the baffle I 242, which can be realized by using a micro linear guide rail and is used to adjust the longitudinal position of the baffle II. The self-locking sliding seat II 245 refers to a micro sliding device with a self-locking function, which can be realized by using a ball slider with a mechanical locking mechanism and is used to fix the position of the baffle II. The elastic air cushion 246 refers to an inflatable flexible buffer layer, which can be realized by using a silica gel airbag structure, and its through holes are formed by laser cutting and are used to absorb the impact force of the fruits. The gas supply system refers to a pressure regulating device, which can be realized by using a micro air pump in cooperation with a pressure sensor and is used to control the inflation pressure of the airbag.

[0136] Specifically, the track I 241 is arranged along the width direction of the box body 210. The baffle I 242 is driven to move horizontally by the self-locking slide I 243 to form the basic storage frame 111. The track II 244 is vertically arranged in the through slot of the baffle I 242. By adjusting the position of the baffle II on the track II 244, the storage space is divided into grid-like intervals. When the fruits fall through the flexible conveying pipe, the distance between the baffles II is pre-adjusted according to the fruit size, so that fruits of different specifications fall into the corresponding placement intervals. The elastic air cushion 246 maintains an appropriate air pressure under the control of the air supply system. After the fruits fall, they contact the surface of the air cushion through the perforations, and the elastic deformation of the airbag absorbs the impact energy. When it is necessary to change the storage layout, the self-locking state of the slide is released, and the baffle I 242 is moved along the track I 241 or the baffle II is adjusted along the track II 244 to form a new division of storage units.

[0137] Most traditional fruit storage devices use fixed containers and cannot dynamically adjust the storage units according to the fruit size. Most of the existing buffer structures are foam layers with a fixed thickness and cannot meet the buffer requirements of fruits with different weights. This solution realizes the grid-like dynamic division of the storage space through the orthogonal track system, and combines the elastic air cushion 246 with adjustable air pressure to form an adaptive buffer layer, solving the problems of disordered storage and insufficient buffering of traditional devices.

[0138] Through the above technical solutions, the present application realizes the classified storage of fruits according to size, avoiding mutual extrusion and collision of fruits. The pressure adjustment function of the elastic air cushion 246 can adapt to the falling impact of fruits with different weights and reduce mechanical damage. The two-way adjustment ability of the track system enables the size of the storage unit to be flexibly changed to meet the sorting requirements of fruits of various specifications. The self-locking slide ensures the stable positioning of the baffle and prevents displacement deviation during operation.

[0139] The present application further proposes a structural design in which the lower-layer harvesting module 230 includes a harvesting basket 231 and a partition plate 232. The harvesting basket 231 is slidably connected to the top surface of the backing plate 112 and forms a sliding fit with the roller 113. Multiple groups of partition plates 232 are arranged at equal intervals in the harvesting basket 231.

[0140] Among them, the sliding connection means that the bottom of the harvesting basket 231 and the top surface of the backing plate 112 are matched with a guide rail or a chute. Specifically, it can be realized by combining a high-density polyethylene slider and a stainless steel guide rail to form a sliding pair with a low friction coefficient. The roller 113 is rotatably connected in the installation groove of the backing plate 112. Specifically, an aluminum roller 113 with a rubber layer on the surface can be used to replace sliding friction with rolling friction. The partition plate 232 is vertically fixed in the inner cavity of the harvesting basket 231. Specifically, a detachable polypropylene plate can be used, and the position adjustment is realized through equally spaced card slots. The axis of the roller 113 is arranged parallel to the length direction of the through port 211, so that the moving direction of the harvesting basket 231 is orthogonal to the rotation direction of the roller 113.

[0141] Specifically, when the harvesting basket 231 slides horizontally on the backing plate 112, the bottom slider moves along the guide rail, and the roller 113 rotates to counteract the lateral stress caused by ground bumps. When the robot turns, the harvesting basket 231 automatically adjusts the center of gravity position through the sliding connection to keep the chassis stable. The partition plate 232 divides the interior of the harvesting basket 231 into independent compartments, and each compartment can correspond to fruits of different varieties or maturity levels. During transportation, the roller 113 continuously rotates to eliminate the inertial displacement of the fruits, and together with the restraint of the partition plate 232, it avoids the accumulation and collision of the fruits. After the harvesting basket 231 reaches the unloading position, the entire basket can be directly pushed out by an external push rod, and the fruits in each partitioned compartment remain in an orderly state.

[0142] Most traditional harvesting containers adopt a fixed box body 210, lacking the ability of mobile adjustment and being prone to tipping over during transportation on hilly terrain. Most conventional partitioning devices are fixed partitions and cannot adapt to the sorting requirements of fruits of different sizes. Through the synergistic effect of the sliding connection and the roller 113, this solution enables the harvesting basket 231 to have the ability of dynamic balance. At the same time, the design of the adjustable spacing of the partition plate 232 not only ensures the transportation stability but also realizes refined classified storage.

[0143] Through the above technical solutions, this application solves the problem of difficult subsequent processing caused by the disordered collection of traditional fruits and realizes the automatic classified storage of fruits by type. The sliding connection structure cooperates with the roller 113 to effectively absorb terrain bumps and ensure the transportation stability under complex road conditions. The modular designed harvesting basket 231 can be directly docked with automated unloading equipment, significantly improving the operation efficiency. The adjustable characteristic of the partition plate 232 can adapt to the size differences of different agricultural products and expands the application scope of the device.

[0144] This application further proposes that the transfer module 310 includes a multi-degree-of-freedom robotic arm 311 fixed on the top of the box body 210, and a manipulator 312 is installed at the execution end of the multi-degree-of-freedom robotic arm 311.

[0145] Among them, the multi-degree-of-freedom robotic arm 311 refers to a mechanical structure with multiple degrees of freedom of movement in three-dimensional space. Specifically, it can be implemented by a six-axis or seven-axis linkage robotic arm. Each joint is driven to rotate through the combination of a servo motor and a harmonic reducer, enabling the end effector to adjust the spatial posture. Among them, the manipulator 312 refers to an execution device installed at the end of the robotic arm. Specifically, it can be implemented by a flexible gripper or a vacuum suction cup structure. A pressure sensor array is arranged on the clamping surface, and the clamping force is controlled through closed-loop feedback.

[0146] Specifically, the multi-degree-of-freedom robotic arm 311 is rigidly fixed at the central position on the top of the box body 210 through a base, and its joints adopt a modular design to adapt to different working scenarios. The flange at the end of the robotic arm is connected to the manipulator 312 through a quick-change interface. The manipulator 312 integrates a vision positioning module and a force control module inside. When the robotic arm works, it plans an obstacle avoidance path and adjusts the end posture according to the fruit coordinate information obtained by the spatial scanning camera, so that the manipulator 312 approaches the target fruit at a preset angle. After the manipulator 312 contacts the fruit, the pressure sensor monitors the clamping force in real time. When the threshold value is reached, the closing action stops, and then the robotic arm transports the fruit to the designated collection position.

[0147] Most traditional picking devices use two-axis or three-axis robotic arms, and the end effector can only perform planar movement and cannot avoid the occlusion of dense branches and leaves. The existing manipulators 312 generally adopt a rigid clamping structure, which is easy to cause damage to the fruit skin during the grasping process. This application realizes three-dimensional space path planning through the multi-degree-of-freedom robotic arm 311, combined with a flexible end grasping mechanism, which can accurately avoid obstacles and complete non-destructive picking in a complex branch and leaf environment.

[0148] Through the above technical solutions, this application can effectively break through the physical block of the branches and leaves to the actuator, reduce the fruit collision risk through the space obstacle avoidance path, and at the same time reduce the frequency of manual unloading operations by using an automated transfer system. The coordinated control of the robotic arm and the manipulator 312 realizes the accurate positioning and flexible grasping of the fruit, and solves the problem of low picking efficiency caused by insufficient degrees of freedom of movement of traditional devices.

[0149] This application further proposes that the auxiliary actuator 320 includes a bottom plate 3201 fixedly connected to the top of the execution end of the robotic arm through a wedge block, side plates 3202 symmetrically arranged on the top surface of the bottom plate 3201 to form a U-shaped structure, a push plate 3203 horizontally slidably connected to the inner side of the side plates 3202, a top plate 3204 slidably connected to the top surface of the push plate 3203 and provided with a relief groove, and a mounting plate 3205 slidably connected to the top surface of the top plate 3204. The first-level propulsion component drives the synchronous belt I 3208 through the mounting shaft I 3206 and the mounting shaft II 3207 to drive the push plate 3203 to move horizontally. The second-level propulsion component drives the synchronous belt II 3211 through the mounting shaft III 3210 to drive the top plate 3204 to move longitudinally. The drive component drives the drive shaft and the mounting shaft I 3206 through the synchronous belt III 3214, and the vertical plate 3215 pushes the mounting plate 3205 to move vertically through the push rod II 3216. The spatial scanning camera and the positioner 3217 cooperate to realize position closed-loop detection, and the tension pulley 3218 keeps the tension of the synchronous belt stable.

[0150] Among them, the fixed connection method of the wedge block refers to forming a non-vertical installation structure between the bottom plate 3201 and the execution end of the robotic arm through a connecting piece with an inclined angle. Specifically, it can be achieved by using a trapezoidal aluminum alloy block and bolts for fixing, which is used to adjust the initial operation angle of the harvesting module 330 and cut and remove the branches on the cutting path. The U-shaped structure refers to the semi-closed frame 111 formed by the bottom plate 3201 and the two side plates 3202. Specifically, it can be achieved by combining welded steel plates, providing stable guiding support for the sliding of the push plate 3203. The three-group pulley drive layout of the synchronous belt I 3208 means that three groups of coaxial pulleys are arranged at both ends and the middle position of the push plate 3203. Specifically, it can be achieved by using a nylon synchronous belt and a steel pulley in cooperation to ensure that the forces on both sides of the push plate 3203 are balanced and avoid unilateral deviation. The fixed connection method of the engaging seat refers to rigidly connecting the synchronous belt and the fixed plate through a slot structure. Specifically, it can be achieved by using a metal clip and a fastening bolt to eliminate the elastic deformation error during the transmission process. The closed-loop detection of the positioner 3217 refers to real-time monitoring of the displacement of the push plate 3203 through an optoelectronic sensor. Specifically, it can be achieved by using an infrared ranging module and an encoder in cooperation to provide a position feedback signal for the terminal system.

[0151] Specifically, when the driving motor 3213 is started, the power is simultaneously transmitted to the mounting shaft I 3206 and the driving shaft through the synchronous belt III 3214, driving the synchronous belt I 3208 to make the two push plates 3203 symmetrically move horizontally along the inner side of the side plate 3202. When the push plate 3203 moves, it drives the mounting shaft III 3210 to rotate through the synchronous belt II 3211, so that the top plate 3204 slides longitudinally along the top surface of the push plate 3203. The push rod II 3216 pushes the mounting plate 3205 to vertically lift and lower along the top surface of the top plate 3204, forming a three-dimensional space motion trajectory. The space scanning camera captures the fruit position in real time and transmits it to the terminal system. The positioner 3217 detects the actual displacement of the push plate 3203 and compares it with the target position, and realizes dynamic deviation correction by adjusting the rotation speed of the driving motor 3213. The tensioning pulley 3218 continuously applies a constant pre-tightening force to the synchronous belt to compensate for the belt body relaxation phenomenon during operation.

[0152] The execution mechanisms of traditional picking robots mostly adopt the single-stage linear guide rail drive method, which has the problems of limited degrees of freedom of motion and lack of a position feedback mechanism. This solution constructs a composite motion system through multi-stage synchronous belt drive, forms decoupled control in the horizontal, longitudinal, and vertical directions, and combines optoelectronic sensing and closed-loop algorithms to achieve millimeter-level positioning accuracy, effectively solving the problem of path planning deviation caused by foliage occlusion.

[0153] Through the above technical solution, the present application can dynamically adjust the three-dimensional motion trajectory of the harvesting module 330 according to the actual position of the fruit, avoiding interference from branches and leaves to achieve precise positioning. The multi-stage transmission system reduces the mutual influence of motions in each direction through mechanical decoupling design. The space scanning camera and the locator 3217 form a dual detection mechanism to ensure the accuracy of path planning. The tension pulley 3218 maintains the stability of the transmission system, thereby reducing the probability of fruit damage.

[0154] The present application further proposes that the harvesting module 330 includes a harvesting motor 331 and a saw blade 332. The harvesting motor 331 is fixed on the top surface of the mounting plate 3205, and the saw blade 332 is installed on the harvesting motor 331.

[0155] Among them, the harvesting motor 331 refers to a device that generates rotational power through the electromagnetic interaction between the stator and the rotor. Specifically, a brushless DC motor can be used to implement it, and its rotor shaft is directly connected to the saw blade 332 to form a direct drive structure. The direct drive design eliminates the clearance of the transmission chain and ensures the response speed of the cutting action. Among them, the fixing method on the top surface of the mounting plate 3205 refers to a mounting structure using bolts in cooperation with positioning pins. Specifically, it can be realized by four groups of M8 hexagon socket head cap screws in cooperation with two Φ6 positioning pin holes. Rigid connection is adopted to avoid the deviation of the power transmission path. The arrangement that the plane of the saw blade 332 is perpendicular to the fruit growth direction means that the rotation axis of the saw blade 332 is parallel to the extension direction of the fruit stalk. Specifically, a laser marking device can be used to assist in positioning the installation angle, so that the cutting direction of the saw blade 332 forms an orthogonal cutting trajectory with the fruit stalk.

[0156] Specifically, after the harvesting motor 331 is powered on, it drives the saw blade 332 to rotate at a high speed of 3000 revolutions per minute. When the robotic arm moves the saw blade 332 to the position of the fruit stalk, the rotating saw teeth instantly cut off the fruit stalk. The direct drive structure makes the rotation speed of the saw blade 332 strictly synchronized with the motor output, avoiding the slipping phenomenon existing in the traditional belt drive. The top surface of the mounting plate 3205 is fixed by bolts to form a stable reference surface, keeping the motor axis perpendicular during the movement of the robotic arm to prevent the cutting direction from deviating and causing pulp damage. The arrangement that the plane of the saw blade 332 is orthogonal to the fruit stalk makes the cutting process form a pure shearing action, reducing the tearing length of the fruit stalk fibers and the juice loss at the fruit peduncle compared with the oblique cutting.

[0157] Most of the existing fruit cutting devices adopt a reciprocating cutter or a rotary cutter head with a lateral installation structure. During the cutting process, it is easily interfered by the swinging of the branches, resulting in inaccurate positioning. However, this solution realizes instantaneous cutting through a directly driven high-speed saw blade 332, and the cutting time is shortened to within 0.2 seconds, significantly reducing the position deviation caused by the shaking of the branches. The traditional clamping type harvesting mechanism requires precise control of the clamping force, while this solution's operation method of directly cutting off the fruit stalk avoids direct contact pressure on the fruit.

[0158] Through the above technical solutions, the present application realizes the rapid and precise cutting of the fruit stalk, and the cutting process is not affected by the entanglement of branches and leaves. The direct drive structure ensures the stability of power transmission, enabling the saw blade 332 to maintain a constant rotational speed when encountering fruit stalks of different hardnesses. The modular installation method facilitates the replacement of saw blades 332 with different diameters according to the fruit type. For example, a fine-tooth saw blade 332 with a diameter of Φ80mm can be installed for strawberry harvesting, while a coarse-tooth saw blade 332 with a diameter of Φ120mm is used for apple harvesting. The design with the cutting direction orthogonal to the fruit stalk minimizes the cut area to the greatest extent, reducing the risk of microbial invasion during fruit storage by 37%.

[0159] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electric fruit picking robot based on modular technology, characterized in that Including: A modular wheel-powered chassis (1), and the modular wheel-powered chassis (1) includes: A chassis module (110); A modular wheel set (120), and several groups of the modular wheel sets (120) are provided. The several groups of the modular wheel sets (120) are symmetrically arranged on opposite sides of the chassis module (110); A sorting and conveying system (2), and the sorting and conveying system (2) includes: A box body (210), and the box body (210) is fixed on the top surface of the chassis module (110). Two groups of through openings (211) are respectively formed on opposite side surfaces of the box body (210), and two groups of receiving trays (212) are symmetrically fixed on the top of the box body (210); A planar movement module (220), and two groups of the planar movement modules (220) are installed in the box body (210). A transmission cylinder (213) is installed on the planar movement module (220), and the transmission cylinder (213) is connected to the receiving tray (212) through a flexible conveying pipe; A lower-layer harvesting module (230), and two groups of the lower-layer harvesting modules (230) are symmetrically arranged at the bottom of the box body (210). A pushing module (250) is arranged between the two groups of the lower-layer harvesting modules (230), and the two groups of the lower-layer harvesting modules (230) are respectively arranged corresponding to the two groups of the planar movement modules (220); An upper-layer harvesting module (240), and two groups of the upper-layer harvesting modules (240) are provided. The two groups of the upper-layer harvesting modules (240) are respectively arranged between the planar movement module (220) and the lower-layer harvesting module (230); A harvesting system (3), and the harvesting system (3) includes: A transfer module (310), and the transfer module (310) is installed on the top of the box body (210); An auxiliary execution mechanism (320), which is fixed on the top of the execution end of the transfer module (310); A harvesting module (330), and the harvesting module (330) is fixed on the auxiliary execution mechanism (320); Wherein, the auxiliary execution mechanism (320) is used to assist the harvesting module (330) to extend out.

2. The electric fruit picking robot based on modular technology according to claim 1, wherein The chassis module (110) includes: A frame (111), and the frame (111) is of a rectangular structure; A backing plate (112), and the backing plate (112) is fixedly connected to the top surface of the frame (111); A roller (113), and several groups of the rollers (113) are provided. Several installation grooves are formed on the backing plate (112), and the roller (113) is rotatably connected in the installation groove, and the axis of the roller (113) is parallel to the length direction of the through opening (211).

3. The electric fruit picking robot based on modular technology according to claim 2, characterized in that, The modular wheel set (120) includes: A support plate I (1201), and the support plate I (1201) is fixedly connected to the side surface of the frame (111); Support plate II (1202), the support plate II (1202) is fixedly connected to the top surface of the support plate I (1201), both the support plate I (1201) and the support plate II (1202) are L-shaped structures, and the support plate I (1201) and the support plate II (1202) enclose a rectangular structure; Reduction motor (1203); Transmission (1204), the transmission (1204) is fixed on the top surface of the support plate II (1202), the reduction motor (1203) is fixed on the transmission (1204), and the output shaft of the reduction motor (1203) is axially connected to the input shaft of the transmission (1204); Steering shaft (1205), the steering shaft (1205) is vertically fixedly connected to the support plate I (1201), one end of the steering shaft (1205) is connected to the input shaft of the transmission (1204), and the bottom end of the steering shaft (1205) passes through the support plate I (1201); First damping component, the first damping component includes a spring damper (1206), connection blocks I (1207) and II (1208) are respectively installed at both ends of the spring damper (1206), the connection block I (1207) is fixedly connected to the bottom end of the steering shaft (1205), and the spring damper (1206) is vertically arranged; Moving wheel (1209), the moving wheel (1209) is rotatably connected to the connection block II (1208); Second damping component, the second damping component includes two auxiliary plates (1210), the two auxiliary plates (1210) are rotatably connected through a rotating shaft, a resilient torsion spring (1211) is installed on the rotating shaft, and the two auxiliary plates (1210) are respectively rotatably connected to the connection block I (1207) and the connection block II (1208).

4. The electric fruit picking robot based on modular technology according to claim 1, characterized in that, The planar moving module (220) includes: Linear motor I (221), there are two sets of the linear motor I (221), and the two sets of the linear motor I (221) are symmetrically arranged in the box body (210); Linear motor II (222), the linear motor II (222) is arranged between the two sets of the linear motor I (221) and is perpendicularly arranged to the linear motor I (221), and both ends of the linear motor II (222) are respectively fixed on the sliders of the two sets of the linear motor I (221); Among them, the transmission cylinder (213) is fixed on the slider of the linear motor II (222).

5. The electric fruit picking robot based on modular technology according to claim 2, characterized in that, The pushing module (250) includes: Push rod I (251), there are no less than two sets of the push rod I (251), the two sets of the push rod I (251) are symmetrically arranged at the middle position of the inner bottom of the box body (210), and the push rod I (251) is respectively fixed to the two sets of the lower harvesting modules (230).

6. The electric fruit picking robot based on modular technology according to claim 1, characterized in that, The upper harvesting module (240) includes: Track Ⅰ (241), two sets of the Track Ⅰ (241) are provided, and the two sets of the Track Ⅰ (241) are respectively horizontally fixed on the inner walls of the front and rear sides of the box body (210); Baffle Ⅰ (242), the two bottom ends of the Baffle Ⅰ (242) are respectively fixedly connected with self-locking sliders Ⅰ (243), the self-locking sliders Ⅰ (243) are respectively slidably connected on the Track Ⅰ (241), and a through groove is formed at the bottom of the Baffle Ⅰ (242) along the length direction; Track Ⅱ (244), the Track Ⅱ (244) is fixed in the through groove, and the Track Ⅱ (244) is vertically arranged with respect to the Track Ⅰ (241); Baffle Ⅱ, several groups of the Baffle Ⅱ are provided, the bottom end of the Baffle Ⅱ is fixedly connected with a self-locking slider Ⅱ (245), the self-locking slider Ⅱ (245) is slidably connected on the Track Ⅱ (244), and a placement interval is formed by enclosing between the Baffle Ⅱ and the Baffle Ⅰ (242). An identification camera is installed in the box body (210), and the identification camera is used to identify whether the fruits in the placement interval are full; Elastic air cushion (246), the Elastic air cushion (246) is fixed at the bottom of the Baffle Ⅰ (242), and a plurality of through holes are formed in the Elastic air cushion (246), and the through holes are arranged corresponding to the placement interval; Air supply system, the air supply system is connected to the Elastic air cushion (246) and is used to supply air to the Elastic air cushion (246); Among them, the Elastic air cushion (246) is installed on the transfer cylinder (213), and the Elastic air cushion (246) is used to convey the fruits to the specified placement interval.

7. The electric fruit picking robot based on modular technology according to claim 5, characterized in that, The lower-layer harvesting module (230) includes: Harvesting basket (231), the harvesting basket is slidably connected to the top surface of the cushion plate (112), and the harvesting basket (231) is slidably matched with the roller (113); Partition plate (232), several groups of the partition plates (232) are arranged at equal intervals in the harvesting upper-layer harvesting module basket (231).

8. The electric fruit picking robot based on modular technology according to claim 1, wherein The transfer module (310) includes: Multi-degree-of-freedom robotic arm (311), the multi-degree-of-freedom robotic arm (311) is fixed on the top of the box body (210); Manipulator (312), the manipulator (312) is installed at the execution end of the multi-degree-of-freedom robotic arm (311).

9. The electric fruit picking robot based on modular technology according to claim 8, characterized in that, The auxiliary execution mechanism (320) includes: Bottom plate (3201), the bottom plate (3201) is fixedly connected to the top of the execution end of the robotic arm through a wedge block; Side plates (3202), two sets of the side plates (3202) are provided, and the two sets of the side plates (3202) are symmetrically arranged on the top surface of the bottom plate (3201), and the bottom plate (3201) and the side plates (3202) are arranged in a U-shaped structure; Push plates (3203), two sets of the push plates (3203) are provided, and the two sets of the push plates (3203) are respectively horizontally slidably connected to the inner sides of the two sets of the side plates (3202); Top plate (3204), the top plate (3204) is slidably connected to the top surface of the push plate (3203), and a relief groove is provided on the top plate (3204) along the length direction; Mounting plate (3205), the mounting plate (3205) is slidably connected to the top surface of the top plate (3204); Primary propulsion assembly, the primary propulsion assembly includes mounting shaft I (3206) and mounting shaft II (3207), there are two sets of mounting shaft I (3206), the mounting shaft I (3206) is arranged perpendicular to the side plate (3202), the two sets of mounting shaft I (3206) are symmetrically arranged at both ends of the side plate (3202), and are rotatably connected to the side plate (3202), the mounting shaft II (3207) is arranged between the two sets of push plates (3203), and is located at one end of the push plate (3203), the mounting shaft II (3207) is rotatably connected to the push plate (3203), belt pulleys I are respectively installed on the two sets of mounting shaft I (3206) and the mounting shaft II (3207), and the three belt pulleys I are in transmission cooperation through a synchronous belt I (3208), a fixing plate I (3209) is installed below the synchronous belt I (3208) through a clamping seat, and the fixing plate I (3209) is fixed to the push plate (3203); Secondary propulsion assembly, the secondary propulsion assembly includes a mounting shaft III (3210) rotatably connected to the other end of the push plate (3203), the mounting shaft III (3210) is arranged parallel to the mounting shaft II (3207), belt pulleys II are respectively installed on the mounting shaft III (3210) and the mounting shaft II (3207), and the two belt pulleys II are in transmission cooperation through a synchronous belt II (3211), a fixing plate II (3212) is installed on the synchronous belt II (3211) through the clamping seat, and the fixing plate II (3212) is fixedly connected to the bottom surface of the top plate (3204); Drive assembly, the drive assembly includes a drive motor (3213) fixedly connected to the side plate (3202), a drive shaft is rotatably connected to the inner wall of the side plate (3202), the drive shaft is axially connected to the drive motor (3213), belt pulleys III are respectively installed on the drive shaft and one of the mounting shaft I (3206), and the two belt pulleys III are in transmission cooperation through a synchronous belt III (3214); Vertical plate (3215), the vertical plate (3215) is vertically and fixedly connected to the top surface of the top plate (3204), a push rod II (3216) is fixedly connected to the vertical plate (3215), and one end of the push rod II (3216) is fixedly connected to the mounting plate (3205); Space scanning camera, the space scanning camera is installed at the end of the bottom plate (3201), and the space scanning camera is connected to the terminal system; Wherein, a locator (3217) is installed at one end of the top plate (3204), and the locator (3217) is arranged corresponding to the push plate (3203); The timing belt I (3208), the timing belt II (3211), and the III are respectively fitted with a tension pulley (3218).

10. The electric fruit picking robot based on modular technology according to claim 9, characterized in that, The harvesting module (330) includes: A harvesting motor (331), the harvesting motor (331) being fixed on the top surface of the mounting plate (3205); A saw blade (332), the saw blade (332) being mounted on the harvesting motor (331).

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