An orchard robot for fruit coloring stage

Abstract

This invention belongs to the field of agricultural machinery and relates to an orchard robot for fruit coloring. It includes a frame, a walking device, a film covering device, a nailing device, a film cutting device, a monitoring device, and a control and power supply system. The film covering device includes a reflective film roll and a contour-following film pressing part that moves up and down. The nailing device is rotatably connected to the contour-following film pressing part, and a drive device is installed on the contour-following film pressing part. The drive device is connected to the nailing device to drive the nailing device to rotate relative to the contour-following film pressing part, allowing for adjustment of the nailing device's angle during the up-and-down movement of the contour-following film pressing part. The film cutting device is mounted at the rear of the frame. The monitoring device is used to detect the positions of the contour-following film pressing part and the nailing device, monitor the film laying length, and monitor the coloring of the bottom of the fruit. The control and power supply system is electrically connected to the walking device, the monitoring device, the drive device, and the film cutting device. This application enables efficient operation in low-lying, rugged orchard environments.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, and specifically relates to an orchard robot for use during the fruit coloring period. Background Technology

[0002] In orchard cultivation, sufficient sunlight allows the upper surface of fruit to color, but the lower and bottom parts often lack sunlight. It has been discovered that this problem can be solved by laying reflective film. Therefore, laying reflective film has become a key step in producing high-end commercial fruit. This technology can significantly improve the appearance quality and color uniformity of the fruit, and can also increase the sugar content to some extent, thereby improving the commercial grade of the fruit and the overall profitability of the orchard.

[0003] In low-lying, rugged orchard environments, existing film-laying equipment often results in inconsistent film tightness, wrinkles, or misalignment, severely impacting the uniformity of reflectivity. Therefore, traditional manual film laying followed by soil compaction is still commonly used in low-lying, rugged orchards. However, traditional manual laying is labor-intensive and costly. Furthermore, frequent trampling during operations in low-lying, rugged orchards can easily lead to contamination, damage, or displacement of the reflective film, severely affecting its reflective effect.

[0004] Therefore, there is an urgent need for an orchard robot for the fruit coloring stage that can operate efficiently in low-lying, rugged orchard environments. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes an orchard robot for fruit coloring stages, capable of efficient operation in low-lying, rugged orchard environments. The solution is as follows: An orchard robot for use during the fruit coloring stage includes: frame; The traveling device is installed at the front and rear of the frame; The laminating device is installed at the lower part of the frame and includes a reflective film roll and a contour pressing part that moves up and down. The contour pressing part is used to press the two sides of the reflective film to the ground. The stud device is used to fix the reflective film to the ground. The stud device is rotatably connected to the conformal pressing part. The conformal pressing part is equipped with a drive device. The drive device is connected to the stud device to drive the stud device to rotate relative to the conformal pressing part. This is used to adjust the angle of the stud device when the conformal pressing part moves up and down. The film cutting device is installed at the rear of the frame and is used to cut reflective film; The monitoring device is used to detect the position of the conformal pressing part and the nailing device, monitor the film laying length, and the coloring of the bottom of the fruit. The control and power supply system is electrically connected to the walking device, monitoring device, drive device, and film cutting device, respectively.

[0006] Furthermore, the conformal pressing section includes: Front frame, top fixed connection to the frame; The top pole is hinged at one end to the front frame and has a built-in telescopic spring for passive telescopic extension. The rear frame is hinged to the other end of the upper pole at its upper part. The lower pole is hinged at both ends to the front frame and the rear frame, respectively. The ground rollers are rotatably connected to the bottom of the rear frame; The drive unit is fixed on the front frame and located between the upper and lower poles.

[0007] Furthermore, the insert device includes: The bracket is connected to the drive unit and the lower rod respectively to allow the bracket to rotate relative to the conformal pressing part; A nail box, fixed to a bracket, is used to hold nails and has an opening for nails to dislodge. The rotating nail section is rotatably connected to the bracket. Several nail-receiving grooves are opened on the outer surface of the rotating nail section along the length direction. The open end of the nail box is attached to the outer surface of the rotating nail section. When the rotating nail section rotates, the nails in the nail box enter the nail-receiving grooves. The first guide part is mounted on the bracket and can move up and down relative to the bracket; The second guide section is mounted on the bracket; The nail-driving part has one end connected to the first guide part and can move synchronously with the first guide part, and the other end is movably connected in the nail-receiving groove. The nail-driving part strikes the nail, and the nail is driven out along the nail-receiving groove and the bottom of the second guide part. The second guide section includes: The outer shell partially encloses the outside of the rotating nail part and is coaxially arranged with the main body of the rotating nail part. The outer shell is provided with a clearance groove to allow the nailing part to move up and down smoothly. The round curtain fixing ring is fixed to the bottom of the outer casing; Hollow pipes are sequentially inserted into the circular curtain fixing ring and the bracket, with the lower part of the hollow pipes extending out of the bracket.

[0008] Furthermore, the rotating pin section includes: The upper shell is rotatably connected to the bracket; The lower shell is connected to the upper shell, and the bottom of the lower shell is rotatably connected to the support. The gear transmission mechanism is connected to the upper shell and the rotating loading part respectively; The rotating loading part is connected to the gear transmission mechanism and is used to drive the upper and lower shells to rotate synchronously; The pin-receiving grooves are formed on the outer surfaces of the upper and lower shells.

[0009] Furthermore, the nailing part includes: The connector is connected at one end to the first guide part and moves synchronously with the first guide part; The firing pin is connected to the other end of the connector, and slides up and down in the nail groove via the first guide.

[0010] Furthermore, the rotating loading part is a motor; the first guide part is a linear module.

[0011] Furthermore, the reflective film roll includes: A film-laying assembly includes a telescopic frame mounted on a frame, with a reel rotatably connected to the end of the telescopic frame, the reel being used to lay reflective film; The tensioning assembly includes a fixed frame mounted on a machine frame, on which a telescopic spring is mounted, and one end of the telescopic spring is fixedly connected to a pressure roller.

[0012] Furthermore, the film cutting device includes: The movable part is mounted on the frame and moves horizontally relative to the frame. The cutting water-cooling section is mounted on the moving section and moves synchronously with the moving section. The cutting water-cooling section includes a laser and a high-pressure water gun. The laser is used to cut the reflective film, and the high-pressure water gun is used to cool the cut reflective film. The cutting water-cooling section also includes a first housing fixedly connected to the moving section. The laser and the high-pressure water gun are installed inside the first housing. The high-pressure water gun is connected to a water tank through a pipeline. The water tank is mounted on the frame. The cutting water-cooling section also includes a cooling device, which is installed on the first housing and close to the laser, for cooling the laser.

[0013] Furthermore, the monitoring device includes two position sensors, which are respectively mounted on the conformal pressing part and the stud device.

[0014] Furthermore, the frame is configured as a flat frame structure; the drive unit is configured as an electric actuator.

[0015] Compared with the prior art, the advantages of the present invention are as follows: This invention relates to an orchard robot, which is applied during the fruit coloring period. It can automatically complete the entire process of laying reflective film, from unwinding, tensioning, fixing to cutting to a fixed length. It can also monitor the fruit coloring during the fruit coloring period. During the laying of reflective film, it can greatly reduce manual labor and effectively solve problems such as uneven film tension, insecure fixing, film contamination, and damage caused by people stepping on it. It essentially ensures the laying quality and use effect of reflective film and saves a lot of overall costs. After the reflective film is laid, the robot can monitor the fruit coloring in real time and report back to the back-end system, avoiding personnel entering the reflective film laying area and causing film contamination and damage by stepping on it, thus maximizing the utilization efficiency of reflective film during the fruit coloring period. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the orchard robot according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the orchard robot according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the orchard robot according to an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram showing the connection between the stud device and the conformal pressing part in an embodiment of the present invention; Figure 5 This is a schematic diagram of the embedded pin device according to an embodiment of the present invention; Figure 6 This is an exploded view of the embedded pin device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the embedded pin device from another perspective according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the bracket according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the nail box according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the rotating nail section according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the second guide portion according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the first guide part and the nailing part in an embodiment of the present invention;

[0017] Figure 13 This is a schematic diagram of the reflective film cutting device according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of the water-cooling section cut according to an embodiment of the present invention (the water tank and part of the second shell are hidden).

[0018] In the above figures: 100. Frame; 200. Laminating device; 210. Reflective film roll; 211. Film feeding assembly; 212. Tensioning assembly; 220. Contouring pressing section; 221. Front frame; 222. Upper rod; 223. Rear frame; 224. Lower rod; 225. Ground roller; 300. Nail-embedding device; 310. Bracket; 311. Column; 312. Bottom crossbeam; 313. Transverse frame; 3131. Guide rod; 314. First upper crossbeam; 315. Second upper crossbeam; 316. Mounting support; 320. Nail box; 321. First side; 322. Fixing surface; 323. Second side; 3231. Flanged plate; 324. Nail; 330. Rotating nail section; 331. Upper shell; 332. Lower shell; 333. Gear transmission Mechanism; 334, Rotary loading part; 335, Nail receiving groove; 340, First guide part; 350, Second guide part; 351, Outer shell; 3511, Clearance slot; 352, Circular curtain fixing ring; 3521, Nail gun nozzle; 353, Hollow pipe; 360, Nail driving part; 361, Connector; 362, Strike pin; 400, Drive device; 500, Film cutting device; 510, Moving part; 511, Motor; 512, Slide table; 513, Slider; 520, Cutting water cooling part; 521, First shell; 522, Laser; 523, High-pressure water gun; 524, Water tank; 525, Cooling device; 5251, Second shell; 5252, Heat dissipation coil; 5253, Cooling fan; 610, Position sensor. Detailed Implementation

[0019] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0020] In the description of this application, it should be noted that when a component is referred to as being "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intervening component.

[0021] It should also be noted that, unless otherwise explicitly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] like Figures 1-3 As shown, the present invention proposes an orchard robot for fruit coloring period, which is suitable for laying reflective film in orchards, and is particularly suitable for low-lying and rugged orchard environments. The orchard robot includes a frame 100, on which a walking device, a film covering device 200, a nailing device 300, a film cutting device 500, a monitoring device, and a control and power supply system are arranged in sequence. A film covering device 200 is installed at the lower part of the frame 100. It includes a reflective film roll 210 and a vertically moving conformal pressing part 220, which presses the two edges of the reflective film to the ground. A pinning device 300 is rotatably connected to the conformal pressing part 220. A drive device 400 is installed on the conformal pressing part 220. The drive device 400 is connected to the pinning device 300 to drive the pinning device 300 to rotate relative to the conformal pressing part 220, so that the angle of the pinning device 300 can be adjusted when the conformal pressing part 220 moves up and down. A film cutting device 500 is installed at the tail of the frame 100 and is used to cut the reflective film. A monitoring device is used to detect the position of the conformal pressing part 220 and the pinning device 300 and to monitor the length of the film during film laying. After the film is laid, it is used to monitor the coloring of the bottom of the fruit during orchard inspection. A control and power supply system is electrically connected to the walking device, the monitoring device, the drive device 400, and the film cutting device 500, respectively. The control and power supply system includes an integrated controller and power supply unit.

[0024] The orchard robot of this invention can automatically complete the entire process of laying reflective film, from unwinding, tensioning, fixing to cutting to a fixed length. While greatly reducing manual labor, it can effectively solve problems such as uneven film tension, insecure fixing, film contamination, and damage caused by personnel stepping on the film during the laying process. It essentially ensures the laying quality and use effect of reflective film and saves a great deal of overall costs. After the reflective film is laid, the orchard robot can monitor the fruit coloring in real time and report back to the backend, avoiding personnel entering the reflective film laying area and causing film contamination and damage by stepping on the film, thus maximizing the use efficiency of reflective film during the fruit coloring period.

[0025] The structure and function of the main components are described in detail below.

[0026] 1. Rack 100: To better suit the low-lying, rugged orchard environment, the frame 100 adopts a flat frame structure, which can be formed by welding.

[0027] 2. Walking mechanism: The traveling device is installed at the front and rear ends of the frame 100. The structure of the traveling device is not an improvement in this application; existing technology capable of forward, backward, and turning can be used. Figure 1 As shown, in this embodiment, a tire-type walking device is selected.

[0028] 3. Film coating device 200: The laminating device 200 mainly consists of two parts: a reflective film roll 210 and a contour pressing part 220 that can move up and down.

[0029] Furthermore, the reflective film roll 210 includes a film-laying assembly 211 for mounting the reflective film and a tensioning assembly 212 for pressing the reflective film.

[0030] Specifically, the film-laying assembly 211 includes a telescopic frame mounted on the frame 100, with a rotatable roller connected to the end of the telescopic frame. The roller is used to place the reflective film. The telescopic frame is adjustable to accommodate orchard planting environments with different row spacings.

[0031] Specifically, the tensioning assembly 212 includes a fixed frame mounted on the frame 100, a telescopic spring mounted on the fixed frame, and one end of the telescopic spring connected to the pressure roller. The tensioning assembly 212 can adjust the pressure on the film surface in real time to ensure that the film roll is always in a constant optimal tension state during the unfolding process, and to prevent the film surface from becoming loose or misaligned.

[0032] Furthermore, the contour pressing section 220 is used to press the two sides of the reflective film to the ground.

[0033] like Figure 3 , 4 As shown, there is one contour pressing unit 220 on each side of the frame 100, including a front frame 221, an upper rod 222, a rear frame 223, a lower rod 224 and a pressing wheel 225. The front frame 221, the upper rod 222, the rear frame 223 and the lower rod 224 form a planar four-bar linkage.

[0034] Specifically, the top of the front frame 221 is fixedly connected to the frame 100, which is welded in this embodiment; one end of the upper rod 222 is hinged to the front frame 221 and the other end is hinged to the rear frame 223. The upper rod 222 has a built-in telescopic spring, which is a passive mechanical structure to form passive telescopic, so as to play a shock absorption role for the entire conformal pressing part 220; the two ends of the lower rod 224 are hinged to the front frame 221 and the rear frame 223 respectively; the bottom of the rear frame 223 is rotatably connected to the pressing wheel 225.

[0035] 4. Embedded fastener 300: like Figures 4-7As shown, the anchoring device 300 is used to fix the reflective film to the ground, and includes a bracket 310, an anchor box 320, a rotating anchor part 330, a first guide part 340, a second guide part 350, and an anchoring part 360. The anchoring device 300 of this application can effectively fix the reflective film, thereby eliminating the need for the existing soil-covered film fixing method and greatly increasing the effective usable area of ​​the reflective film.

[0036] like Figure 8 As shown, the bracket 310 serves as the basic support for the nailing device 300 and includes a vertical pole, a bottom crossbeam 312, a transverse frame 313, a first upper crossbeam 314, and a second upper crossbeam 315, which are fixedly connected by welding.

[0037] The upright 311 and the nail box 320 are detachably fixedly connected by screws, but can also be connected by welding. The bottom crossbeam 312 is detachably fixedly connected to the first guide part 340 and the second guide part 350 by screws, but can also be connected by welding. The bottom crossbeam 312 is also flanged and connected to the mounting bracket 316. The bottom crossbeam 312 is fixedly connected to the rotating loading part 334 of the rotating nail part 330 through the mounting bracket 316. The transverse frame 313 is located in the lower middle part of the upright. The transverse frame 313 is detachably fixedly connected to the first guide part 340 by screws, but can also be connected by welding. The first upper crossbeam 314 is located above the second upper crossbeam 315. The first upper crossbeam 314 is detachably fixedly connected to the first guide part 340 by screws, but can also be connected by welding. The second upper crossbeam 315 is rotatably connected to the rotating nail part 330 through a bearing.

[0038] A guide rod 3131 is also provided on the middle transverse frame 313. The lower part of the guide rod 3131 is hinged to the lower rod 224, and the upper part of the guide rod 3131 is connected to the drive device 400. The angle of the bracket 310 is adjusted by the extension and retraction of the drive device 400, thereby adjusting the angle of the embedded pin.

[0039] like Figure 5 , 6 As shown in Figure 11, the nail box 320 is used to hold nails 324. The nail box 320 is fixed to the column 311 by screws or welding. The nail box 320 is provided with an open end for nail dispensing, and the open end is in contact with the outer surface of the rotating nail part 330.

[0040] In this embodiment, the nail box 320 is a strip with a sealed bottom and three sides. The three sides include a first side 321, a fixing surface 322 connected to the first side 321, and a second side 323 connected to the fixing surface 322. The ends of the first side 321 and the second side 323 away from the fixing surface 322 form an open end, and the width of the open end can only accommodate one nail 324 to be discharged.

[0041] During operation, the drive unit 400 extends and retracts to adjust the angle of the bracket 310, causing the nail box 320 to be tilted, so that the first side 321 is lower than the second side 323, and the nail 324 moves to the opening end by its own weight.

[0042] To facilitate the smoother movement of the nail 324 from inside the nail box 320 to the opening, the first side surface 321 is configured as a convex arc-shaped guide surface.

[0043] Specifically, the fixed surface 322 is fixedly connected to the column 311.

[0044] Specifically, a flange plate 3231 is also fixed at the end of the second side 323 to block the nail 324 and prevent the nail 324 from being discharged from a non-designed direction, where the non-designed direction refers to the nail 324 not entering the receiving groove.

[0045] The diameter of the nail 240 can be set to several millimeters, and the loss of reflective film area at each fixing point is negligible.

[0046] For nail 324, biodegradable nails can be selected. The degradation period of biodegradable nails and the working time of the reflective film for coloring the bottom of the fruit are basically consistent. The advantage of this is that it does not pollute the environment. At the same time, the reflective film can be recycled directly without removing the nails, thus improving recycling efficiency.

[0047] like Figure 6 As shown, the rotating nail part 330 is used to drive the nail 324 to rotate. The rotating nail part 330 is rotatably connected to the bracket 310. The outer surface of the rotating nail part 330 has a plurality of nail receiving grooves 335 along the length direction. The open end of the nail box 320 is attached to the outer surface of the rotating nail part 330. When the rotating nail part 330 rotates, the nail 324 in the nail box 320 enters the nail receiving groove 335.

[0048] Furthermore, the rotating pin part 330 includes an upper shell 331, a lower shell 332, a gear transmission mechanism 333, and a rotating loading part 334. The upper shell 331 is rotatably connected to the second upper crossbeam 315 of the bracket 310 via bearings. The upper part of the lower shell 332 is connected to the upper shell 331 by screws, and the rotating loading part 334 is fixedly mounted on the mounting support 360 by screws. The mounting support 360 is connected to the flange of the bracket 310. The gear transmission mechanism 333 includes a gear and a gear ring. The gear ring is fixed inside the upper shell 331, and the gear is connected to the output shaft of the rotating loading part 334. Of course, the structure and installation method of the gear transmission mechanism 333 can be replaced by other solutions and are not limited to this.

[0049] The rotating loading part 334 is connected to the gear transmission mechanism 333 and is used to drive the upper shell 331 and the lower shell 332 to rotate synchronously. In this embodiment, the rotating loading part 334 is a motor 511. Of course, the structure and installation method of the rotating loading part 334 can be replaced by other solutions and are not limited to this.

[0050] Specifically, the upper shell 331 and the lower shell 332 are coaxially arranged, and their outer surfaces are both columnar. The nail-receiving grooves 335 are formed on the outer surfaces of the upper shell 331 and the lower shell 332, corresponding one to one.

[0051] like Figure 9 As shown, the first guide part 340 is disposed on the bracket 310 and moves up and down relative to the bracket 310, its function being to drive the nailing part 360 to move up and down. In this embodiment, the first guide part 340 is a linear module, which is a purchased integral part. Here, the linear module is configured such that the motor 511 and the linear slide are perpendicular to each other. Of course, the structure and installation method of the first guide part 340 can be replaced by other solutions and are not limited to this.

[0052] like Figure 9 As shown, the nail-driving part 360 is used to strike the nail 324 to dislodge it. One end of the nail-driving part 360 is connected to the first guide part 340 by a screw and can move synchronously with the first guide part 340. The other end of the nail-driving part 360 is movably connected within the nail-receiving groove 335. During operation, the first guide part 340 drives the nail-driving part 360 to strike the nail 324, and the nail 324 is dislodged along the nail-receiving groove 335 and the bottom of the second guide part 350.

[0053] Specifically, the nail-driving part 360 includes a connector 361 and a firing pin 362. One end of the connector 361 is connected to the first guide part 340, and the other end of the connector 361 is connected to the firing pin 362. The firing pin 362 slides up and down in the nail-receiving groove 335 along with the first guide part 340.

[0054] like Figure 10 As shown, the second guide part 350 is disposed on the bracket 310 and has two functions. The first function is to guide the nail 324, and the second function is to extend the running track of the nail 324 to further accelerate the nail 324, thereby increasing the depth of the nail 324 embedded in the reflective film and improving the embedding quality.

[0055] Specifically, the second guide section 350 includes a housing 351, a circular curtain fixing ring 352, and a hollow tube 353. The housing 351 partially encloses the outside of the rotating nail section 330 and is coaxially arranged with the main body of the rotating nail section 330. The housing 351 has an clearance slot 3511 to allow the nailing section 360 to move smoothly up and down. In this embodiment, the clearance slot 3511 divides the housing 351 into two parts. The circular curtain fixing ring 352 is fixed to the bottom of the housing 351. In this embodiment, it can be fixed by welding or bonding. The circular curtain fixing ring 352 has a nail gun port 3521, and a corresponding through hole is opened on the bottom crossbeam 312 of the bracket 310. The hollow tube 353 passes through the circular curtain fixing ring 352 and the bottom crossbeam 312 in sequence, and the lower part of the hollow tube 353 extends out of the bracket 310. A position sensor (not shown in the figure) is installed near the nail gun nozzle 3521. When the receiving slot with nail 324 rotates with the motor 511 to the nail gun nozzle 3521, the position sensor transmits a detection signal to the controller. The controller then controls the first guide section 340 to drive the nail-driving section 360 to drive the nail. The control and power supply system is electrically connected to the first guide section 340, the rotating loading section 334, and the position sensor 610. It should be noted that the control principles and methods of the control and power supply system are well known to those skilled in the art and are set and selected according to actual conditions, and will not be elaborated here.

[0056] Furthermore, by setting the outer casing 351, the nail 324 is located between the outer casing 351 and the rotating nail part 330, which plays a lateral guiding role and can prevent the nail 324 from falling out of the receiving groove. By setting the circular curtain fixing ring 352, the nail 324 can be prevented from falling out from the bottom. The circular curtain fixing ring 352, together with the hollow pipe 353, plays a vertical guiding role.

[0057] When the pin-embedded device 300 is in operation, see Figure 4 , Figure 5 Initially, nails 324 are placed in nail box 320 with the nail tips facing down. Nail box 320 has openings at the top and left, and an arc-shaped baffle at the bottom to prevent nails 324 from falling out (nail box 320 is designed with a lower left and higher right to ensure that nails 324 can exit from the left side of nail box 320 under their own weight). The opening at the left side of nail box 320 abuts against rotating nail part 330. Nails 324 fall into the nail receiving groove 335 of rotating nail part 330 under their own weight. At the same time, to prevent nails 324 from falling out, rotating nail part 330 is covered by outer shell 351. Flanged plate 3231 is also provided on the side of nail box 320. A round curtain fixing ring 352 is fixed at the bottom of outer shell 351 to prevent nails 324 from falling out from the bottom. When the rotating part rotates, the nail 324 located in the receiving groove rotates synchronously. When the nail 324 rotates to the nail gun nozzle 3521, the first guide part 340 synchronously drives the firing pin 362 of the nail-driving part 360 to move, striking the nail 324. The nail 324 is then ejected from the nail gun nozzle 3521, completing the nail-driving operation.

[0058] This invention employs embedded nails for fixation, with nails only a few millimeters in diameter, resulting in negligible area loss at each fixing point. Compared to the area loss from soil covering, the actual area of ​​the reflective film participating in light reflection is significantly increased for the same laying area. This is especially advantageous in windy areas where high-density fixation is required, where soil covering methods would exponentially increase ineffective area, making the advantages of the embedded nail method even more pronounced.

[0059] In this invention, the nail penetrates the reflective film and extends deep into the ground. The nail shaft generates frictional resistance with the surrounding soil, and the nail tip or end creates pull-out resistance, thus forming a mechanical anchor. Compared with soil covering fixation, nail embedding fixation can resist greater wind loads under the same external force conditions, and the fixation point remains unchanged over a long period. This is particularly crucial in the actual environment of orchards where the ground is uneven and wind disturbances are frequent.

[0060] 5. Drive unit 400: The drive unit 400 is fixed on the front frame 221 and located between the upper rod 222 and the lower rod 224. The drive unit 400 drives the stud device 300 to rotate relative to the conformal pressing part 220.

[0061] In this embodiment, the drive device 400 is an electric push rod, which pushes the upper end of the bracket 310, and the bottom of the bracket 310 is hinged to the contour pressing part 220.

[0062] 6. Film cutting device 500: When laying reflective film under fruit trees, the reflective film needs to be cut after one row of fruit trees is laid. Because the reflective film is strong and tough, traditional manual or mechanical cutting is prone to tearing, rough edges and ripping, resulting in uneven cuts and rapid blade wear, which cannot meet the needs of automated continuous operation. The film cutting device 500 of this application can achieve smooth cuts without stopping the machine.

[0063] like Figure 13 , 14 As shown, the film cutting device 500 includes a moving part 510 and a cutting and cooling part 520. The moving part 510 is mounted on the frame 100 and can move horizontally relative to the frame 100. The cutting and cooling part 520 is mounted on the moving part 510 and moves synchronously with the moving part 510.

[0064] The function of the moving part 510 is to drive the cutting water-cooling part 520 to move horizontally, thereby achieving rapid and smooth cutting of the reflective film. In this embodiment, the moving part 510 is a linear module, which is a purchased as a whole. Here, the linear module adopts a configuration where the motor 511 and the linear slide are perpendicular to each other. The linear slide includes a slide table 512 and a slider 513. Of course, the structure and installation method of the linear module can be replaced by other solutions and are not limited to this.

[0065] The cutting water-cooled section 520 includes a first housing 521, a laser 522, a high-pressure water gun 523, a water tank 524, and a cooling device 525.

[0066] The upper end of the first housing 521 is fixedly connected to the slider 513 of the linear module. The laser 522 and the high-pressure water gun 523 are integrated and installed inside the first housing 521. The cooling device 525 is installed on the outer wall of the first housing 521 and close to the laser 522. The cooling device 525 is used to cool the laser 522. This automated laser cutting technology uses a high-energy laser beam to cut the film material non-contactly, achieving a smooth, efficient, and stress-free cut. At the same time, the high-pressure water gun 523 can absorb the residual energy generated by the laser and cool the reflective film, ensuring safe and efficient operation.

[0067] Laser 522 is used to cut the reflective film, and high-pressure water gun 523 is used to cool the cut reflective film. More specifically, high-pressure water gun 523 is located adjacent to laser 522, and the arrangement direction of laser 522 and high-pressure water gun 523 is the same as the movement direction of the linear module.

[0068] The water tank 524 is fixedly installed above the rear of the frame 100 and is connected to the high-pressure water gun 523 and the cooling device 525 through a pipeline, and is used to provide water for the high-pressure water gun 523 and the cooling device 525.

[0069] When the cutting water-cooled part 520 is working, the laser 522 and the high-pressure water gun 523 operate synchronously. When the laser 522 starts to perform the cutting operation, the water in the water tank 524 is transported to the high-pressure water gun 523 through the pipeline. The water jet is sprayed to cool down the reflective film that has just been cut, in coordination with the laser 522 cutting operation, to prevent the reflective film from being excessively burned.

[0070] Specifically, the high-pressure water gun 523 primarily utilizes the principles of forced convection heat transfer and evaporative heat absorption to rapidly absorb and remove the localized high temperatures generated during the laser 522's cutting process. This effectively prevents the reflective film material from overheating and causing phenomena such as ignition, carbonization, melting deformation, or edge scorching, thereby significantly reducing the heat-affected zone and improving the quality of the cutting edges. The high-pressure water gun 523 can form a uniform and stable high-pressure water jet, ensuring precise water jet direction and not affecting the laser cutting path.

[0071] During the cutting process, the high-pressure water gun 523 and the laser 522 move in a highly synchronized manner, achieving a real-time coordination mode of "cutting and cooling at the same time". Through the direct contact local cooling method of the high-pressure water gun 523, the response is rapid and the cooling effect is significant, effectively ensuring the safety and processing accuracy of the small laser 522 when processing thermosensitive reflective film materials.

[0072] It should be noted that the structure of the high-pressure water gun 523 is a technology well known to those skilled in the art. It has a built-in high-pressure water pump, and water is sprayed out from the nozzle. The pressure of the high-pressure water gun 523 can be selected according to actual needs. This selection method adopts the existing technology in the art and will not be described in detail here.

[0073] It should be noted that the laser 522 in this application is a small laser and is a purchased item. The specific model can be selected according to the actual cutting volume of the device. The specific calculation method adopts the existing technology in the field. The emission principle and method of the laser 522 are well known in the field and will not be described in detail here.

[0074] The cooling device 525 is used to solve the problem of insufficient heat dissipation in small lasers. The cooling device 525 employs water cooling. Specifically, the cooling device 525 includes a second housing 5251 fixedly connected to the first housing 521. The second housing 5251 is equipped with a heat dissipation coil 5252 and a cooling fan 5253. The inlet end of the heat dissipation coil 5252 is connected to a water tank 524, and the outlet end is connected to a high-pressure water gun 523 to form a water cooling flow path. This cooling device 525, by incorporating the heat dissipation coil 5252 and the cooling fan 5253, forms a combination of "water cooling + forced air cooling," offering significant advantages such as high integration, miniaturization, low energy consumption, and precise heat dissipation.

[0075] In this embodiment, see Figure 14 The cooling device 525 is fixedly installed on the right side of the first housing 521. The second housing 5251 has a square structure and is internally arranged with multiple interconnected U-shaped and serpentine tubes forming a heat dissipation coil 5252. The cooling fan 5253 is an axial flow cooling fan 5253 with a protective cover. The two ends of the heat dissipation coil 5252 are connected to the water tank 524 and the high-pressure water gun 523, respectively. Water from the water tank 524 enters the heat dissipation coil 5252 to cool the laser 522, and finally sprays out from the high-pressure water gun 523, forming a complete cooling water flow path.

[0076] The controller in the control and power supply system is electrically connected to motor 511, laser 522, high-pressure water gun 523, and cooling fan. It should be noted that the control principles and methods of the controller are well known to those skilled in the art, and are set and selected according to actual conditions; therefore, they will not be elaborated upon here.

[0077] When the film cutting device 500 is working, the control and power supply system controls the motor 511 of the linear module to drive the slider 513 to move smoothly within the slide table 512, simultaneously driving the cutting water-cooling unit 520 to move smoothly along the surface of the reflective film. During the movement of the slider 513, the controller controls the laser 522 to perform non-contact cutting of the reflective film on the ground, while simultaneously controlling the high-pressure water gun 523 to spray a water jet. The high-pressure water gun 523 sprays a thin, straight, and stable water jet through its bottom nozzle, precisely targeting the cut seam and heat-affected zone for immediate and continuous cooling. While the film cutting device 500 is operating, the controller controls the cooling fan 5253 to operate, and the cooling device 525 uses its internal heat sink 5252 and cooling fan 5253 to cool the laser 522 in real time.

[0078] 7. Monitoring devices: The monitoring device includes two position sensors 610, which are respectively installed on the conformal pressing section 220 and the stapling device 300. The position sensors 610 feed back data to the controller in the control and power supply system. The controller has preset angle thresholds and preset length thresholds. The controller adjusts the extension and retraction of the drive device 400 according to the angle threshold to adjust the angle between the stapling device 300 and the conformal pressing section 220. Then, it determines the length of the reflective film to be laid according to the length threshold. When the length of the reflective film is reached, the stapling device 300 is started to nail the film. The controller also has a pre-stored orchard positioning map. After the orchard robot has laid a row of reflective film, the controller controls the film cutting device 500 to work. During the reflective film laying process, the monitoring device is used to detect the position of the conformal pressing section 220 and the stapling device 300, monitor the film laying length, and feed back to the controller. The controller controls the movement of the walking device, the stapling device 300, the drive device 400, and the film cutting device 500.

[0079] After the reflective film is laid, a monitoring device is used to monitor the coloring of the fruit bottom during the robot's inspection. The robot's inspection route is the same as the route taken when laying the reflective film, which ensures that the robot does not damage the reflective film. The specific method for setting the route is readily available in the art and will not be elaborated here. Specifically, the monitoring device also includes image acquisition modules installed at the front and rear ends of the frame 100. The image acquisition modules include industrial cameras and light sources (not shown in the figure). In this embodiment, LED lights are used as the light source. The image acquisition modules feed back the acquired image data to the control and power supply system, which can upload the data to a backend database or to the cloud. Staff can analyze the data acquired by the image acquisition modules. If sunburn or disease is found at the bottom of the fruit, timely intervention is needed to adjust the reflective film to weaken the radiant light. If the coloring of the fruit bottom is not up to standard in some areas, the laying time of the reflective film needs to be extended. This can effectively improve the commercial grade of the fruit and the overall income of the orchard.

[0080] Overall machine operation process: During the laying process, a portion of the reflective film is rolled out and pressed firmly at the pressing roller 225. Due to friction, the reflective film will be laid out smoothly and orderly as the machine moves forward. The control and power supply system controls the drive device 400 to adjust the angle between the stapling device 300 and the conformal pressing part 220. When the length of the reflective film laid reaches the length threshold, the control and power supply system controls the stapling device 300 to eject the film-laying stapling, fixing the reflective film to the ground. After the robot lays a row of reflective film, the control and power supply system controls the film-cutting device 500 to cut the reflective film below; the above process is repeated. During inspection, the image acquisition module captures images of the bottom of the fruit and feeds the collected data back to the control and power supply system, which can effectively prevent and screen for sunburn and diseases. If sunburn or disease is found on the bottom of the fruit, timely intervention is made to adjust the reflective film to weaken the radiant light. If the coloring of the bottom of the fruit is not up to standard, the time for laying the reflective film needs to be extended.

[0081] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An orchard robot for use during the fruit coloring stage, characterized in that, include: Rack (100); The traveling device is installed at the front and rear of the frame (100); The laminating device (200) is installed at the lower part of the frame (100) and includes a reflective film roll (210) and a contour pressing part (220) that moves up and down. The contour pressing part (220) is used to press the two sides of the reflective film to the ground. An insert device (300) is used to fix the reflective film to the ground. The insert device (300) is rotatably connected to the conformal pressing part (220). A drive device (400) is provided on the conformal pressing part (220). The drive device (400) is connected to the insert device (300) to drive the insert device (300) to rotate relative to the conformal pressing part (220). This is used to adjust the angle of the insert device (300) when the conformal pressing part (220) moves up and down. A film cutting device (500) is installed at the tail of the frame (100) and is used to cut reflective film; The monitoring device is used to detect the position of the conformal pressing part (220), the nailing device (300), monitor the film laying length, and the coloring of the bottom of the fruit; The control and power supply system is electrically connected to the walking device, monitoring device, drive device (400), and film cutting device (500), respectively.

2. The orchard robot for fruit coloring stage according to claim 1, characterized in that, The conformal molding section (220) includes: Front frame (221), top fixed connection frame (100); The upper rod (222) is hinged at one end to the front frame (221) and has a built-in telescopic spring to form passive telescopic movement; The rear frame (223) is hinged to the other end of the upper rod (222); The lower rod (224) is hinged at both ends to the front frame (221) and the rear frame (223) respectively; The ground roller (225) is rotatably connected to the bottom of the rear frame (223); The drive unit (400) is fixed on the front frame (221) and located between the upper rod (222) and the lower rod (224).

3. The orchard robot for fruit coloring stage according to claim 2, characterized in that, The stud device (300) includes: The bracket (310) is connected to the drive device (400) and the lower rod (224) respectively to allow the bracket (310) to rotate relative to the conformal pressing part (220); A nail box (320), fixed on a bracket (310), is used to hold nails (324), and the nail box (320) is provided with an open end for nails to be dispensed; The rotating nail part (330) is rotatably connected to the bracket (310). The outer surface of the rotating nail part (330) has several nail-receiving grooves (335) along the length direction. The open end of the nail box (320) is attached to the outer surface of the rotating nail part (330). When the rotating nail part (330) rotates, the nails (324) in the nail box (320) enter the nail-receiving grooves (335). The first guide part (340) is disposed on the bracket (310) and can move up and down relative to the bracket (310); The second guide section (350) is disposed on the bracket (310); The nail-driving part (360) is connected at one end to the first guide part (340) and can move synchronously with the first guide part (340), and the other end is movably connected in the nail-receiving groove (335). The nail-driving part (360) strikes the nail (324), and the nail (324) is driven out along the nail-receiving groove (335) and the bottom of the second guide part (350). The second guide section (350) includes: The outer shell (351) is partially wrapped around the outside of the rotating nail part (330) and is coaxially arranged with the main body of the rotating nail part (330). The outer shell (351) is provided with a clearance slot (3511) to allow the nailing part (360) to move up and down smoothly. A circular curtain fixing ring (352) is fixed to the bottom of the outer casing (351); A hollow pipe (353) is sequentially inserted through the circular curtain fixing ring (352) and the bracket (310), and the lower part of the hollow pipe (353) extends out of the bracket (310).

4. An orchard robot for fruit coloring stage according to claim 3, characterized in that, The rotating nail section (330) includes: The upper shell (331) is rotatably connected to the bracket (310); The lower shell (332) is connected to the upper shell (331), and the bottom of the lower shell (332) is rotatably connected to the bracket (310); The gear transmission mechanism (333) is connected to the upper shell (331) and the rotating loading part (334) respectively; The rotating loading part (334) is connected to the gear transmission mechanism (333) and is used to drive the upper shell (331) and the lower shell (332) to rotate synchronously; The pin-receiving groove (335) is formed on the outer surface of the upper shell (331) and the lower shell (332).

5. An orchard robot for fruit coloring stage according to claim 3, characterized in that, The nailing section (360) includes: The connector (361) is connected at one end to the first guide part (340) and moves synchronously with the first guide part (340); The firing pin (362) is connected to the other end of the connector (361), and the firing pin (362) slides up and down in the nail receiving groove (335) through the first guide (340).

6. An orchard robot for fruit coloring stage according to claim 3, characterized in that, The rotary loading part (334) is a motor (511); the first guide part (340) is a linear module.

7. An orchard robot for fruit coloring stage according to claim 1, characterized in that, The reflective film roll (210) includes: The film-laying assembly (211) includes a telescopic frame mounted on a frame (100), the ends of which are rotatably connected to a reel for placing reflective film; The tensioning assembly (212) includes a mounting bracket on a frame (100) with a telescopic spring mounted on the bracket, one end of which is connected to a pressure roller.

8. An orchard robot for fruit coloring stage according to claim 1, characterized in that, The film cutting device (500) includes: The movable part (510) is mounted on the frame (100) and moves horizontally relative to the frame (100); The cutting water cooling unit (520) is mounted on the moving part (510) and moves synchronously with the moving part (510). The cutting water cooling unit (520) includes a laser (522) and a high-pressure water gun (523). The laser (522) is used to cut the reflective film, and the high-pressure water gun (523) is used to cool the cut reflective film. The cutting water-cooling section (520) also includes a first housing (521) fixedly connected to the moving section (510). The laser (522) and the high-pressure water gun (523) are installed inside the first housing (521). The high-pressure water gun (523) is connected to a water tank (524) through a pipeline. The water tank (524) is mounted on the frame (100). The cutting water-cooling section (520) also includes a cooling device (525), which is mounted on the first housing (521) and close to the laser (522) for cooling the laser (522).

9. An orchard robot for fruit coloring stage according to claim 1, characterized in that, The monitoring device includes two position sensors (610), which are respectively installed on the conformal pressing part (220) and the stud device (300); it also includes an image acquisition module installed at the front and rear ends of the frame (100), the image acquisition module including an industrial camera and a light source.

10. An orchard robot for fruit coloring stage according to claim 1, characterized in that, The frame (100) is configured as a flat frame structure; the drive unit (400) is configured as an electric push rod.

Images