A fruit basket transfer machine

Abstract

The present application relates to fruit picking and transporting equipment technical field, especially to a kind of fruit basket transfer machine.It includes: chassis, for supporting structure;Double rocker lifting and translation module, for the height and translation state of lateral fine adjustment module and visual clamping module are adjusted;Double rocker lifting and translation module includes: first bearing with seat, set at the top of chassis both ends two sides;Double rocker assembly, for driving visual clamping module contact fruit basket;Adjusting mechanism, for adjusting double rocker assembly, lateral fine adjustment module, for the horizontal state adjustment of visual clamping module;Visual clamping module, for fruit basket clamping.The fruit basket transfer machine provided by the present application realizes the self-tracking, accurate positioning and automatic grabbing of field fruit basket through the deep coupling of multi-dimensional mechanical mechanism and visual identification technology, effectively overcomes the defects such as low automation, poor terrain adaptability and limited alignment accuracy in the prior art.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting and transfer equipment, and in particular to a fruit basket transfer machine. Background Technology

[0002] Currently, existing technologies for transporting fruit baskets during field fruit harvesting and transfer mainly fall into two categories:

[0003] 1. Traditional agricultural transport vehicles / tracked vehicles: These types of equipment are usually fuel- or battery-powered. It requires manual labor to first move the fruit baskets filled with fruit one by one and stack them into the transport vehicle's cargo compartment. Then, the driver drives the vehicle to the field or distribution point, and finally, the fruit baskets are unloaded manually again.

[0004] 2. Fixed-track transport machines and simple trolleys: Some orchards use single-track / double-track transport machines, or directly use wheelbarrows or flatbed trolleys for manual transport.

[0005] The following problems exist when transporting fruit using the above methods:

[0006] 1) Existing agricultural transportation equipment only solves the power problem during "transportation". Grabbing, lifting, loading and unloading fruit baskets still requires a lot of manual labor. With the shortage and aging of agricultural labor, this method is costly and extremely labor-intensive.

[0007] 2) During the peak harvest season, frequent manual loading and unloading is time-consuming and labor-intensive, causing a disruption in the overall harvesting and transportation rhythm. The slow speed of manual handling can easily lead to the fruit remaining in the field for too long, affecting the freshness and quality of the fruit.

[0008] 3) Large agricultural vehicles are bulky and difficult to maneuver between rows of fruit trees with narrow spacing. They can also damage crops and compact the soil. While monorail and other rail transport vehicles are narrower, they require a high initial investment to lay fixed tracks and can only run on predetermined routes, making it impossible to flexibly cover the entire orchard or field.

[0009] Therefore, a fruit basket transfer machine is designed to provide a technical solution to the above-mentioned technical problems. Summary of the Invention

[0010] Therefore, it is necessary to provide a fruit basket transfer machine to address the above-mentioned technical problems, which is to solve the technical problem that the existing technology often uses manual methods to transport fruit baskets, resulting in low efficiency and high labor costs.

[0011] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0012] A fruit basket transfer machine includes:

[0013] The chassis is used to support the structure.

[0014] The dual-joystick lifting and translation module is used to adjust the height and translation status of the lateral fine-tuning module and the vision clamping module;

[0015] The horizontal fine-tuning module is used to adjust the horizontal state of the vision clamping module;

[0016] The vision clamping module is used to clamp the fruit basket.

[0017] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, a supporting aluminum profile is fixed to the top of the chassis, a power module is fixed to the rear end of the chassis, and a control box is fixed to one side of the rear end of the chassis.

[0018] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, a forward-looking camera is fixed on the front of the chassis for judging the road conditions ahead and initially identifying the position of the fruit basket.

[0019] As a preferred embodiment of the fruit basket transfer machine provided by the present invention, the dual rocker arm lifting and translation module includes:

[0020] The first bearing with a mounting plate is located on both sides of the top of the chassis, and a connecting shaft is rotatably connected inside the first bearing with a mounting plate.

[0021] A dual rocker assembly is used to drive the vision clamping module to contact the fruit basket;

[0022] The adjustment mechanism, installed at both ends of the top of the supporting aluminum profile, is used to adjust the dual rocker assembly.

[0023] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the dual rocker assembly includes:

[0024] Linkage rods are set at both ends of the top of the chassis. Each link is rotatably connected to two sides of a rocker arm. A second bearing with a seat is fixed on one side of the rocker arm at a position corresponding to the connecting shaft. The inner side of the second bearing with a seat is rotatably connected to the connecting shaft. A connecting column is fixed at the bottom of the rocker arm.

[0025] The middle connecting rod is fixed to the bottom of the two connecting rods.

[0026] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the adjusting mechanism includes:

[0027] The horizontal adjustment assembly is used to drive the rocker arm for longitudinal movement adjustment;

[0028] A vertical adjustment component is used to adjust the height of the rocker arm by moving the connecting post.

[0029] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the horizontal adjustment component includes:

[0030] A support frame is fixed to the top of the supporting aluminum profile. A guide rail support slider is provided on the inner side of the support frame. The top of the guide rail support slider is fixed to the corresponding first bearing with a seat.

[0031] A horizontal control screw is rotatably connected to the inner side of the top of the support frame, and the outer side of the horizontal control screw is threadedly connected to the guide rail support slider;

[0032] A horizontal drive motor is fixed to one side of the support frame, and the output end of the horizontal drive motor is connected to a horizontal control lead screw;

[0033] The vertical adjustment component includes:

[0034] Connecting seats are fixed on both sides of one end of the front-view camera. A vertical control screw is rotatably connected between the two connecting seats. A vertical adjustment block is threaded onto the outer side of the vertical control screw.

[0035] The third bearing with a seat is fixed to one end of the vertical adjusting block. A rotation control ring is rotatably connected to the inner side of the third bearing with a seat, and the inner side of the rotation control ring is slidably connected to the connecting column.

[0036] A vertical drive motor is fixed to one side of one of the connecting seats, and the output end of the vertical drive motor is connected to a vertical control lead screw.

[0037] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the lateral fine-tuning module includes:

[0038] A horizontal movement drive motor is located on one side of the central connecting rod, and an adjusting gear is connected to the output end of the horizontal movement drive motor;

[0039] An adjusting rack is fixed to the bottom of the middle connecting rod, and the top of the adjusting gear is engaged with the adjusting rack;

[0040] A fixed housing is slidably connected to the bottom of the central connecting rod on the side away from the adjusting rack, and the horizontal movement drive motor is fixed to the fixed housing.

[0041] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the vision clamping module includes:

[0042] The clamp is installed inside the fixed shell and is used to hold the fruit basket.

[0043] A camera is clamped and positioned at the bottom of the fixed housing to identify the position of the fruit basket handle.

[0044] In a preferred embodiment of the fruit basket transfer machine provided by the present invention, the clamp includes:

[0045] A fixed guide rail is fixed on both sides of the inner side of the fixed shell. A clamping rack is slidably connected to the outer side of the fixed guide rail. A clamping plate is fixed to one end of each clamping rack that is far away from each other. The clamping plate is slidably connected to the fixed shell. The inner side of one of the clamping plates is fixed to the clamping camera.

[0046] A fixed frame is fixed on the top of the fixed shell on the side away from the middle connecting rod. A clamping control motor is fixed on the top of the fixed frame. The output end of the clamping control motor is connected to a clamping control shaft. A clamping control spur gear is fixed on the outer side of the bottom of the clamping control shaft.

[0047] A fixing bracket is fixed inside the fixing shell, and the fixing bracket does not contact the fixing frame. A horizontally moving spur gear is rotatably connected to the inner side of the fixing bracket. A transmission gear is fixed to the bottom of the horizontally moving spur gear, and the transmission gear meshes with the clamping rack.

[0048] It is clear without a doubt that the technical problems to be solved by the present invention can be solved by the above-described technical solutions of the present invention.

[0049] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects:

[0050] 1. The fruit basket transfer machine provided by the present invention achieves autonomous tracking, precise positioning and automatic grabbing of fruit baskets in the field through the deep coupling of multi-dimensional mechanical mechanism and visual recognition technology, effectively overcoming the defects of low automation, poor terrain adaptability and limited positioning accuracy in the existing technology.

[0051] 2. This invention introduces a binocular / multi-level vision system, using a forward-facing camera for environmental perception and rough tracking to guide the vehicle closer; then, using a clamping camera combined with a three-point vision alignment method, it extracts features from the target handle and performs precise spatial positioning. By deeply integrating machine vision with the control box, horizontal control screw, and vertical control screw, a closed-loop system of "environmental perception - decision calculation - precise execution" is constructed, truly realizing the unmanned operation of the entire process of fruit basket loading and unloading, and significantly reducing labor costs and labor intensity in the agricultural harvesting process.

[0052] 3. This invention incorporates a lateral fine-tuning module at the robotic arm base. A horizontal movement drive motor drives an adjusting gear to roll on an adjusting rack, allowing the lower connected fixed housing and the entire gripping actuator to move independently laterally along the central connecting rod. This design kinematically decouples the lateral alignment of the actuator from the displacement of the vehicle chassis, enabling precise gripping even with some parking deviation through localized fine-tuning. This significantly reduces the precision requirements for chassis navigation control and substantially shortens the loading cycle time.

[0053] 4. The lifting system of this invention uses a vertical control screw as the power source. The screw drive naturally possesses self-locking characteristics and provides linear and stable thrust. Simultaneously, the double rocker assembly, composed of a rocker arm, connecting rod, and central connecting rod, geometrically forms a strictly parallelogram linkage system. This structural constraint ensures that the gripper maintains a vertical or predetermined parallel posture throughout the entire lifting and retraction dynamic trajectory, eliminating the risk of the fruit basket tipping over during transport and effectively guaranteeing the integrity of agricultural products.

[0054] 5. The clamp of the present invention adopts a pure mechanical rigid transmission, and the clamping control spur gear and the adjusting rack are driven by the clamping control motor to mesh and extend and retract. The displacement of this structure has a strict linear proportional relationship with the motor rotation angle, and the stroke and output clamping force are highly controllable. It not only responds quickly and has strong anti-interference ability, but also ensures a flexible and firm locking of the fruit basket handle, thus extending the service life of agricultural fruit baskets. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the working state of the present invention;

[0057] Figure 2 This is an overall schematic diagram of the present invention;

[0058] Figure 3 This is a schematic diagram of the vertical control lead screw of the present invention;

[0059] Figure 4 This is a schematic diagram of the structure of the clamp of the present invention;

[0060] Figure 5This is a schematic diagram of the structure of the clamping and control spur gear of the present invention;

[0061] Figure 6 This is a schematic diagram of the adjusting rack of the present invention;

[0062] Figure 7 This is a schematic diagram of the structure of the clamping plate of the present invention.

[0063] In the diagram: 1. First bearing with mounting seat; 2. Connecting shaft; 3. Rocker arm; 4. Guide rail support slider; 5. Connecting rod; 6. Fixed guide rail; 7. Middle connecting rod; 8. Clamp; 9. Clamping control motor; 10. Clamping control spur gear; 11. Horizontal movement spur gear; 12. Horizontal movement drive motor; 13. Clamping rack; 14. Connecting seat; 15. Chassis; 16. Power module; 17. Control box; 18. Horizontal control lead screw; 19. Vertical control lead screw; 2 0. Second bearing with mounting bracket; 21. Rotation control ring; 22. Third bearing with mounting bracket; 23. Vertical adjustment block; 24. Supporting aluminum profile; 25. Forward-facing camera; 26. Fixed frame; 27. Clamping control shaft; 28. Adjusting rack; 29. ​​Clamping camera; 30. Adjusting gear; 31. Fixed frame; 32. Transmission gear; 33. Clamping plate; 34. Fixed shell; 35. Connecting column; 36. Support frame; 37. Horizontal drive motor; 38. Vertical drive motor. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0065] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0066] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0068] Reference Figures 1-7 A fruit basket transfer machine, comprising:

[0069] Chassis 15 is used to support the structure, thereby providing strong off-road and terrain adaptability;

[0070] In this embodiment, the bottom of the chassis 15 is provided with a tracked moving structure, which is driven by the operation of a drive motor to achieve tracked movement. This is a prior art device used to drive the chassis 15 to move and turn. In other embodiments, the bottom of the chassis 15 can also be provided with a wheeled moving structure, which is driven by the operation of a drive motor to achieve wheeled movement and drive the chassis 15 to move or turn.

[0071] Preferably, a supporting aluminum profile 24 is fixed to the top of the chassis 15 as the load-bearing frame of the entire gripping mechanism. A forward-looking camera 25 is fixed to the front of the chassis 15 to judge the road conditions ahead and initially identify the position of the fruit basket. The vehicle is guided to approach the target fruit basket macroscopically using a three-point vision alignment method. A power module 16 is fixed to the rear end of the chassis 15 to provide power and monitor the power status. A control box 17 is fixed to one side of the rear end of the chassis 15 to control the equipment in the transfer machine.

[0072] The dual rocker arm lifting and translation module is used to adjust the height and translation state of the horizontal fine adjustment module and the visual clamping module, thereby enabling the fruit basket held by the visual clamping module to be positioned at the top of the supporting aluminum profile 24 on the chassis 15.

[0073] The dual-joystick lifting and translation module includes:

[0074] The first bearing 1 is located on both sides of the top of the chassis 15. The connecting shaft 2 is rotatably connected inside the first bearing 1, so that the connecting shaft 2 can only rotate inside the first bearing 1.

[0075] A dual rocker assembly is used to drive the vision clamping module to contact the fruit basket;

[0076] The dual-joystick assembly includes:

[0077] Linkage 5 is located at both ends of the top of chassis 15. Each link 5 is rotatably connected to two sides of a rocker arm 3. The height of the link 5 can be adjusted by rotating the rocker arm 3 and the link 5. A second bearing 20 is fixed on one side of the rocker arm 3 at a position corresponding to the connecting shaft 2. The inner side of the second bearing 20 is rotatably connected to the connecting shaft 2. The rocker arm 3 can be adjusted by rotating around the connecting shaft 2 through the cooperation of the connecting shaft 2, the second bearing 20 and the first bearing 1. The height can be adjusted when the link 5 rotates. A connecting post 35 is fixed at the bottom of the rocker arm 3, so that the rocker arm 3 can be adjusted synchronously through the connecting post 35.

[0078] The middle connecting rod 7 is fixed to the bottom of the two connecting rods 5, and is used to allow the adjustment of the two connecting rods 5 to drive the middle connecting rod 7 to adjust synchronously.

[0079] An adjustment mechanism, installed at both ends of the top of the supporting aluminum profile 24, is used to adjust the dual rocker assembly;

[0080] The regulating mechanism includes:

[0081] The horizontal adjustment component is used to drive the rocker arm 3 to make longitudinal movement adjustment, so as to adjust the rocker arm 3 without moving the transfer machine;

[0082] The leveling adjustment components include:

[0083] The support frame 36 is fixed to the top of the supporting aluminum profile 24. The inner side of the support frame 36 is provided with a guide rail support slider 4, so that the bottom of the guide rail support slider 4 contacts the support frame 36, thereby allowing the guide rail support slider 4 to move and adjust inside the support frame 36. The top of the guide rail support slider 4 is fixed to the corresponding first bearing 1, thereby allowing the movement of the guide rail support slider 4 to drive the connecting shaft 2 to move synchronously.

[0084] In this embodiment, an aluminum profile can also be fixed on the top of the guide rail support slider 4, so that the movement of the two guide rail support sliders 4 can drive the two connected shafts 2 to be adjusted synchronously through the middle aluminum profile.

[0085] The horizontal control screw 18 is rotatably connected to the inner side of the top of the support frame 36, so that the two sides of the horizontal control screw 18 rotate inside the support frame 36 through the cooperation of the optical shaft and the bearing. The outer side of the horizontal control screw 18 is threadedly connected to the guide rail support slider 4, so that the rotation of the horizontal control screw 18 drives the guide rail support slider 4 to move and adjust inside the support frame 36.

[0086] A horizontal drive motor 37 is fixed on one side of the support frame 36. The output end of the horizontal drive motor 37 is connected to the horizontal control screw 18. The horizontal drive motor 37 drives the horizontal control screw 18 to rotate through its operation, and the horizontal drive motor 37 is controlled by the control box 17.

[0087] A vertical adjustment component is used to adjust the height of the rocker arm 3 by moving the connecting post 35;

[0088] The vertical adjustment components include:

[0089] Connecting seats 14 are fixed on both sides of one end of the front-view camera 25, specifically by bolts or other means. A vertical control screw 19 is rotatably connected between the two connecting seats 14, so that the vertical control screw 19 rotates inside the support frame 36 through the cooperation of the optical axis and the bearing. A vertical adjustment block 23 is threadedly connected to the outer side of the vertical control screw 19, and the vertical adjustment block 23 contacts the front-view camera 25, so that the rotation of the vertical control screw 19 drives the threaded front-view camera 25 to perform translational adjustment, and realizes that the vertical adjustment block 23 moves longitudinally towards or away from the fruit basket.

[0090] The third bearing 22 is fixed to one end of the vertical adjustment block 23. The inner side of the third bearing 22 is rotatably connected to the rotation control ring 21, so that the rotation control ring 21 can be adaptively rotated and adjusted inside the third bearing 22 through the bearing. The inner side of the rotation control ring 21 is slidably connected to the connecting column 35, so that the connecting column 35 can slide and adjust its height inside the rotation control ring 21.

[0091] A vertical drive motor 38 is fixed on one side of one of the connecting seats 14. The output end of the vertical drive motor 38 is connected to the vertical control screw 19 and is used to drive the vertical control screw 19 to rotate. At the same time, the vertical drive motor 38 can be controlled by the control box 17.

[0092] The horizontal fine-tuning module is used to adjust the horizontal state of the visual clamping module, thereby enabling the clamping of fruit baskets in different positions.

[0093] The lateral fine-tuning module includes:

[0094] A horizontal movement drive motor 12 is located on one side of the central connecting rod 7, and an adjusting gear 30 is connected to the output end of the horizontal movement drive motor 12.

[0095] The adjusting rack 28 is fixed at the bottom of the middle connecting rod 7. The top of the adjusting gear 30 is meshed with the adjusting rack 28. Through the fixing of the middle connecting rod 7 and the adjusting rack 28, the rotation of the adjusting gear 30 drives the horizontal moving drive motor 12 and the fixed housing 34 to move laterally at the bottom of the middle connecting rod 7.

[0096] The fixed housing 34 is slidably connected to the bottom of the middle connecting rod 7 on the side away from the adjusting rack 28, so that the fixed housing 34 can move laterally at the bottom of the middle connecting rod 7, thereby driving the visual clamping module to move laterally according to the position of the fruit basket; and the horizontal movement drive motor 12 is fixed to the fixed housing 34, thereby supporting the position of the horizontal movement drive motor 12 through the fixed housing 34.

[0097] The vision clamping module is used to clamp the fruit basket, enabling the movement of the basket containing fruit after clamping, and then transferring it to the top of the supporting aluminum profile 24 on the chassis 15. See details for further information. Figure 1 In the middle, the two clamping plates 33 on the visual clamping module clamp the two handles of the fruit basket;

[0098] The vision clamping module includes:

[0099] The clamp 8 is installed inside the fixed shell 34 and is used to clamp the fruit basket, thereby moving the fruit basket to the top of the supporting aluminum profile 24 for transfer.

[0100] The clamp 8 includes:

[0101] Fixed guide rail 6 is fixed on both sides of the inner side of fixed shell 34. A clamping rack 13 is slidably connected to the outer side of fixed guide rail 6, so that the clamping rack 13 can only be adjusted horizontally on the outer side of fixed guide rail 6. A clamping plate 33 is fixed at the far end of the two clamping racks 13, and the clamping plate 33 is slidably connected to fixed shell 34, so that the clamping plate 33 can be adjusted horizontally inside the bottom of fixed shell 34 by sliding. The fruit basket is clamped by the proximity of the two clamping plates 33. The inner side of one of the clamping plates 33 is fixed to clamping camera 29, so that the clamping camera 29 can identify the position of clamping plate 33 on the handle of fruit basket.

[0102] A fixed frame 26 is fixed on the top of the fixed housing 34 away from the middle connecting rod 7. The fixed frame 26 and the horizontal movement drive motor 12 are located on both sides of the middle connecting rod 7, and the movement of the fixed housing 34 drives the fixed frame 26 to move laterally in sync. A clamping control motor 9 is fixed on the top of the fixed frame 26. The output end of the clamping control motor 9 is connected to a clamping control shaft 27. A clamping control spur gear 10 is fixed on the outer side of the bottom of the clamping control shaft 27, so that the clamping control spur gear 10 rotates inside the fixed frame 26.

[0103] The fixing frame 31 is fixed inside the fixing shell 34 and does not contact the fixing frame 26. The inner side of the fixing frame 31 is rotatably connected to a horizontal moving spur gear 11, so that the horizontal moving spur gear 11 rotates on the fixing frame 31 through the central shaft, and the horizontal moving spur gear 11 does not contact the adjusting gear 30. The bottom of the horizontal moving spur gear 11 is fixed with a transmission gear 32, which meshes with the clamping rack 13, so that the rotation of the transmission gear 32 drives the two meshing clamping racks 13 to move in opposite directions.

[0104] In this embodiment, a transmission gear 32 is fixed at the bottom of the horizontally moving spur gear 11, and the transmission gear 32 is meshed with the clamping rack 13, so that the rotation of the horizontally moving spur gear 11 drives the two clamping racks 13 to move in opposite directions through the transmission gear 32. In other embodiments, the horizontally moving spur gear 11 is directly meshed with the clamping rack 13.

[0105] The clamping camera 29 is set at the bottom of the fixed shell 34 and is used to identify the position of the fruit basket handle. The position of the clamping camera 29 can be adjusted by moving the clamping plate 33, so that the clamping camera 29 is located at the top of the position where the clamping plate 33 contacts the fruit basket, so that the clamping camera 29 does not contact the fruit basket.

[0106] In this embodiment, the forward-looking camera 25 guides the chassis 15 to macroscopically approach the fruit basket in the field. The control box 17 activates the horizontal control screw 18 to extend the dual rocker arm assembly forward. The vertical control screw 19, through the vertical adjustment block 23 and the rotation control ring 21, lowers the rocker arm 3 to the working height. The clamping camera 29 performs real-time tracking based on a three-point visual alignment method. The horizontal movement drive motor 12, through the cooperation of the adjusting gear 30 and the adjusting rack 28, performs precise lateral alignment. The clamping control motor 9 drives the horizontal movement spur gear 11, causing the two clamping racks 13 to move in the opposite direction, bringing the two clamping plates 33 closer together and precisely locking the fruit basket handle. The vertical control screw 19 reverses its movement, lifting the fruit basket off the ground. The horizontal control screw 18 rotates in the opposite direction, triggering the rocker arm 3 retraction mechanism via the connecting shaft 2. Finally, the fruit basket is stably placed on the transport platform. By introducing "visual recognition tracking + multi-dimensional robotic arm collaboration," the traditional equipment's blind operation and heavy reliance on manual alignment and handling are changed, achieving high-precision integrated unmanned loading and unloading.

[0107] In this embodiment, each structure has its own service life. In actual manufacturing and application, the corresponding structure made of different materials can be replaced according to the needs of use.

[0108] In this embodiment, the motor is a self-locking motor, which can drive the connected structure to rotate normally when it is powered on and working. When the motor stops working, it can prevent the connected structure from rotating through its self-locking function.

[0109] The usage process of the fruit basket transfer machine provided by this invention is as follows:

[0110] A. After the vehicle stops near the fruit basket, the robotic arm enters the adjustment phase.

[0111] Forward and backward translation: The control box 17 issues a command to start the horizontal drive motor 37 to control the horizontal control screw 18 to rotate, driving the entire double rocker assembly to translate forward and backward above the vehicle body to accommodate fruit baskets at different distances.

[0112] Lifting and rocking: Subsequently, the vertical drive motor 38 is activated to control the rotation of the vertical control screw 19. The rotation of the vertical control screw 19 drives the vertical adjustment block 23 to produce linear displacement. The movement of the vertical adjustment block 23 then pushes the rotating control ring 21 sleeved on it. While translating, the rotating control ring 21 pushes the connecting column 35 to rotate adaptively, transmitting the thrust to the rocker arm 3 through the connecting column 35, forcing the rocker arm 3 to rotate and rock around the connecting shaft 2 as the center; the rotation of the rocker arm 3 further links the connecting rod 5 and the middle connecting rod 7. This parallel linkage mechanism converts the power at the root into the smooth back-and-forth rocking and lifting of the front vision clamping module;

[0113] B. To compensate for lateral errors when parking the vehicle, the vision clamping module is equipped with a lateral fine-tuning module, a horizontal adjustment component, and a vertical adjustment component;

[0114] During alignment, the horizontal movement drive motor 12 starts, and through the cooperation of the adjusting gear 30 and the adjusting rack 28, the fixed shell 34 is adjusted laterally, so that the movement of the fixed shell 34 causes the visual clamping module to correspond to the position of the fruit basket. Then, the operation of the horizontal drive motor 37 drives the guide rail support slider 4 to drive the corresponding first bearing 1 and connecting shaft 2 to move longitudinally towards the fruit basket. The movement of the connecting shaft 2, through the connection with the rocker arm 3, drives the visual clamping module to adjust longitudinally towards the fruit basket, achieving precise alignment without moving the vehicle body. At the same time, the operation of the vertical drive motor 38 drives the vertical control screw 19 to rotate, so that the vertical adjustment block 23 drives the rotation control ring 21 to move through the third bearing 22. The rotation control ring 21 moves the connecting column 35, so that the rocker arm 3 is tilted or vertical, which assists in the adjustment of the visual clamping module.

[0115] C. During the horizontal translation and lowering process, the clamping camera 29 installed at the front end plays a key role. It captures and aligns with three feature points on the fruit basket in real time through a three-point visual alignment method, guiding the clamping module to move precisely above the handle of the fruit basket.

[0116] After precise alignment, the clamping control motor 9, fixed on the fixed frame 26, starts. The clamping control motor 9 drives the clamping control shaft 27 to control the rotation of the clamping control spur gear 10. Through the meshing connection between the clamping control spur gear 10 and the horizontal moving spur gear 11, the horizontal moving spur gear 11 and its bottom transmission gear 32 rotate synchronously. The rotating transmission gear 32 actuates the clamping rack 13 that meshes with it, thereby causing the two clamping racks 13 to move in opposite linear directions on the outside of the fixed guide rail 6. This causes the two clamping plates 33 to move closer to each other. When the two clamping plates 33 move closer to each other through the limit of the fixed guide rail 6, the clamping plates 33 enter the handle position of the fruit basket, clamping the fruit basket. Through the operation of the double rocker lifting and translation module, the fruit basket is moved to the top of the supporting aluminum profile 24, thereby realizing the transfer.

[0117] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fruit basket transfer machine, characterized in that, include: The chassis (15) is used to support the structure; The dual-joystick lifting and translation module is used to adjust the height and translation status of the lateral fine-tuning module and the vision clamping module; The horizontal fine-tuning module is used to adjust the horizontal state of the vision clamping module; The vision clamping module is used to clamp the fruit basket.

2. The fruit basket transfer machine according to claim 1, characterized in that, The top of the chassis (15) is fixed with a supporting aluminum profile (24), the rear end of the chassis (15) is fixed with a power module (16), and a control box (17) is fixed on one side of the rear end of the chassis (15).

3. The fruit basket transfer machine according to claim 1, characterized in that, A forward-facing camera (25) is fixed to the front of the chassis (15) to judge the road conditions ahead and initially identify the position of the fruit basket.

4. A fruit basket transfer machine according to claim 1, characterized in that, The dual-joystick lifting and translation module includes: The first bearing (1) is mounted on both sides of the top of the chassis (15), and the first bearing (1) is rotatably connected to the connecting shaft (2). A dual rocker assembly is used to drive the vision clamping module to contact the fruit basket; An adjustment mechanism, installed at both ends of the top of the supporting aluminum profile (24), is used to adjust the dual rocker assembly.

5. A fruit basket transfer machine according to claim 4, characterized in that, The dual-joystick assembly includes: Linkage (5) is set at both ends of the top of the chassis (15). Each link (5) is rotatably connected to a rocker arm (3) on both sides. A second bearing (20) is fixed on one side of the rocker arm (3) at a position corresponding to the connecting shaft (2). The inner side of the second bearing (20) is rotatably connected to the connecting shaft (2). A connecting column (35) is fixed at the bottom of the rocker arm (3). The middle connecting rod (7) is fixed to the bottom of the two connecting rods (5).

6. A fruit basket transfer machine according to claim 5, characterized in that, The adjustment mechanism includes: A horizontal adjustment component is used to drive the rocker arm (3) to make longitudinal movement adjustment; A vertical adjustment component is used to adjust the height of the rocker arm (3) by moving the connecting post (35).

7. A fruit basket transfer machine according to claim 6, characterized in that, The horizontal adjustment component includes: A support frame (36) is fixed on the top of the supporting aluminum profile (24). A guide rail support slider (4) is provided on the inner side of the support frame (36). The top of the guide rail support slider (4) is fixed to the corresponding first bearing (1). A horizontal control screw (18) is rotatably connected to the inner side of the top of the support frame (36), and the outer side of the horizontal control screw (18) is threadedly connected to the guide rail support slider (4). A horizontal drive motor (37) is fixed on one side of the support frame (36), and the output end of the horizontal drive motor (37) is connected to the horizontal control screw (18). The vertical adjustment component includes: Connecting seat (14) is fixed on both sides of one end of the front view camera (25). A vertical control screw (19) is rotatably connected between the two connecting seats (14). A vertical adjustment block (23) is threaded on the outer side of the vertical control screw (19). The third bearing (22) is fixed at one end of the vertical adjustment block (23). The inner side of the third bearing (22) is rotatably connected to a rotation control ring (21), and the inner side of the rotation control ring (21) is slidably connected to the connecting column (35). A vertical drive motor (38) is fixed to one side of one of the connecting seats (14), and the output end of the vertical drive motor (38) is connected to the vertical control screw (19).

8. A fruit basket transfer machine according to claim 5, characterized in that, The lateral fine-tuning module includes: A horizontal movement drive motor (12) is located on one side of the central connecting rod (7), and an adjusting gear (30) is connected to the output end of the horizontal movement drive motor (12). Adjusting rack (28) is fixed to the bottom of the middle connecting rod (7), and the top of the adjusting gear (30) is engaged with the adjusting rack (28); The fixed housing (34) is slidably connected to the bottom of the middle connecting rod (7) on the side away from the adjusting rack (28), and the horizontal movement drive motor (12) is fixed to the fixed housing (34).

9. A fruit basket transfer machine according to claim 5, characterized in that, The visual clamping module includes: The clamp (8) is installed on the inside of the fixed shell (34) for clamping the fruit basket; A clamping camera (29) is set at the bottom of the fixed shell (34) for identifying the position of the fruit basket handle.

10. A fruit basket transfer machine according to claim 9, characterized in that, The clamp (8) includes: A fixed guide rail (6) is fixed on both sides of the inner side of the fixed shell (34). A clamping rack (13) is slidably connected to the outer side of the fixed guide rail (6). A clamping plate (33) is fixed to one end of each of the two clamping racks (13) that are far apart from each other. The clamping plate (33) is slidably connected to the fixed shell (34). The inner side of one of the clamping plates (33) is fixed to the clamping camera (29). A fixed frame (26) is fixed on the top of the fixed shell (34) away from the middle connecting rod (7). A clamping control motor (9) is fixed on the top of the fixed frame (26). A clamping control shaft (27) is connected to the output end of the clamping control motor (9). A clamping control spur gear (10) is fixed on the outer side of the bottom of the clamping control shaft (27). The fixing frame (31) is fixed inside the fixing shell (34), and the fixing frame (31) does not contact the fixing frame (26). The inner side of the fixing frame (31) is rotatably connected to a horizontal moving spur gear (11), and a transmission gear (32) is fixed at the bottom of the horizontal moving spur gear (11). The transmission gear (32) meshes with the clamping rack (13).

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