Fruit conveying robot for mountainous region

Abstract

The utility model relates to the technical field of agricultural tools, and discloses a fruit conveying robot for mountain parks, which comprises a conveying vehicle body, a conveying box mechanism is arranged on one side of the top of the conveying vehicle body, brake mechanisms are arranged on two sides of the bottom of the conveying vehicle body, and a solar cell panel is arranged on the other side of the top of the conveying vehicle body. A ratchet mechanism is arranged on one side of the bottom of the transport vehicle body, a lifting mechanism is arranged on the front side in the transport vehicle body, and a monitoring mechanism is arranged at the bottom of the lifting mechanism; a second winch is arranged on the rear side of the bottom of the sliding way branch rail, and a battery box is arranged on the middle side of the bottom of the sliding way branch rail. In the utility model, the transport vehicle body is dragged by the second winch to carry out back-and-forth transport operation, so that fruit farmers do not need to consume a lot of manpower and time to transport agricultural materials such as fruits and chemical fertilizers on rugged mountain roads, high-efficiency accurate transport operation is realized, and meanwhile, the damage of vibration of the internal combustion engine to the slideway branch rail is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural tools, in particular to a fruit conveying robot for mountainous orchards. Background Art

[0002] In recent years, the domestic demand for fruit consumption has been continuously expanding, and the fruit production capacity has also been continuously expanding. Orchard transportation and detection operations rely on manual labor, among which the shortcoming of transportation mechanization is particularly serious. Therefore, it is urgent to improve the level of orchard transportation mechanization.

[0003] At present, the current situation of orchard transportation mainly faces the challenges of complex terrain and insufficient mechanization. Due to the steep and rugged terrain, manual labor or simple mechanical equipment is mainly used, combined with vehicles for transportation via winding mountain roads. Its operation efficiency is low and it is difficult to meet the needs of large-scale orchards. In addition, it is difficult to manage large-scale mountain orchards in a timely and accurate manner. Therefore, it is urgent to develop a fruit detection and transportation robot for orchard transportation and detection operations.

[0004] The common mountain orchard transportation machinery on the market at present is divided into three types: one is wheeled transportation machinery, which is a transportation machinery between an automobile and a tractor, mainly applicable to transportation operations on gentle hills with short transportation distances, good transportation road conditions and small loads; another is a multi-functional rail-type transport vehicle, which is divided into single-track and double-track. It is applicable to hilly areas with relatively steep slopes. Most of these transport vehicles are driven by internal combustion engines, but the internal combustion engines have large vibrations and are restricted by heat dissipation and lubrication conditions, and cannot maintain the maximum power for a long time, affecting the transportation efficiency. In addition, although the single-track is easy to lay, the single-track bearing capacity and running stability are weaker than those of the double-track; the third is small multi-functional transportation machinery, these machines have strong adaptability, but rely on manual labor and have low transportation efficiency. Summary of the Utility Model

[0005] In order to make up for the above deficiencies, the utility model provides a fruit conveying robot for mountainous orchards, aiming to improve the problem of low transportation efficiency when the existing transportation robots transport fruits in mountainous areas.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme: a fruit conveying robot for mountainous orchards, comprising:

[0007] A transportation vehicle body, on one side of the top of the transportation vehicle body is provided with a transportation box mechanism, on both sides of the bottom of the transportation vehicle body are provided with braking mechanisms, on the other side of the top of the transportation vehicle body is provided with a solar panel, on one side of the bottom of the transportation vehicle body is provided with a ratchet mechanism, inside the front side of the transportation vehicle body is provided with a lifting mechanism, and at the bottom of the lifting mechanism is provided with a monitoring mechanism;

[0008] Slideway supporting rail, a second winch is arranged at the rear side of the bottom of the slideway supporting rail, a battery box is arranged at the middle side of the bottom of the slideway supporting rail, a battery pack is arranged inside the battery box, the solar panel is electrically connected between the solar controller and the battery pack, slide rails are evenly arranged on both sides of the top of the slideway supporting rail, a four-hole right-angle code is installed at the rear side of the top of the slideway supporting rail, a first pulley is rotatably connected inside the four-hole right-angle code, a second aluminum profile is fixedly connected to the top edge of the transport vehicle body, and a rack is fixedly connected to the top of the second aluminum profile.

[0009] As a further description of the above technical solution:

[0010] The transport box mechanism includes a hanging box shaft, both ends of the hanging box shaft are rotatably connected to the top of the transport vehicle body, and hanging box bearings are rotatably connected to both sides of the outer wall of the hanging box shaft. Hanging box ropes are wound around the outside of the hanging box bearings, and the bottom ends of the hanging box ropes are fixedly connected to a box body for holding the picked fruits.

[0011] As a further description of the above technical solution:

[0012] The lifting mechanism includes a first acrylic board and a second acrylic board. Both ends of the first acrylic board are fixedly connected to the front side inside the transport vehicle body. A first winch is fixedly installed on one side of the top of the first acrylic board. A motor seat is fixedly connected to the other side of the top of the first acrylic board. A motor is fixedly connected to the outside of the motor seat. The output end of the motor is fixedly connected to a coupling, and the other end of the coupling is fixedly connected to the input end of the first winch. A traction rope is wound around the output shaft of the first winch. The second acrylic board is arranged below the first acrylic board. A plurality of fixing rivets are fixedly connected to the top of the second acrylic board. The bottom end of the traction rope passes through the second acrylic board and is fixedly connected to the bottom end of the fixing rivet. A second pulley is wound around the outside of the traction rope near the fixing rivet. A connecting plate is fixedly connected to the bottom of the second pulley. The top of the monitoring mechanism is installed at the bottom of the connecting plate.

[0013] As a further description of the above technical solution:

[0014] The braking mechanism includes a first aluminum profile and a first servo seat. The outer wall of the first aluminum profile is fixedly connected to the inner bottom wall of the transport vehicle body. A third aluminum profile is fixedly connected between the top of the first aluminum profile and the inner wall of the transport vehicle body. A rim brake is installed in the middle of the third aluminum profile. The outside of the first servo seat is fixedly connected to the bottom of the transport vehicle body. A first servo is fixedly connected to the side wall of the first servo seat. The output end of the first servo is fixedly connected to a brake rope. The end of the brake rope away from the first servo is connected to the top of the rim brake. The friction surface inside the rim brake faces the side surfaces of the slide rails on both sides of the slide rail.

[0015] As a further description of the above technical solution:

[0016] The ratchet mechanism comprises a ratchet seat, a second servo seat and a rope adjusting rod, the bottom of the ratchet seat is fixedly connected to the top of the first aluminum profile, the front side of the ratchet seat is rotatably connected to the ratchet short shaft, the rear side of the ratchet seat is rotatably connected to the ratchet long shaft, the middle part of the ratchet short shaft is fixedly installed with a pawl, the middle part of the ratchet long shaft is fixedly installed with a ratchet, the pawl and the ratchet are engaged with each other, one end of the ratchet long shaft passes through the ratchet seat and is fixedly connected to a ratchet coupling, the other end of the ratchet coupling is fixedly connected to a gear, and the gear and the rack are meshed, the bottom of the rope adjusting rod is fixedly connected to the middle side of the top of the first aluminum profile, the bottom of the second servo seat is fixedly connected to the middle side of the inner wall of the transport vehicle, the side wall of the second servo seat is fixedly connected to the second servo, and the second servo output shaft is provided with a pull rope, and the other end of the pull rope is fixedly connected to the top of the pawl after passing around the rope adjusting rod.

[0017] As a further description of the above technical solution:

[0018] Wheels are installed at the four corners of the bottom of the transport vehicle body, and the wheels roll on the inner bottom side of the slide rail in the slide rail.

[0019] As a further description of the above technical solution:

[0020] A steel wire rope is wound around the output shaft of the second winch, and the other end of the steel wire rope is wound around the outside of the first pulley and fixedly connected to a hook. A three-hole right-angle code is fixedly connected to the rear side of the transport vehicle body, a bolt is installed in the middle of the three-hole right-angle code, and the inner side of the hook is hooked to the outside of the bolt.

[0021] As a further description of the above technical solution:

[0022] A wire clamping tube is fixedly connected to the middle side of the bottom of the first acrylic plate, and the outer side of the traction rope is passed through the inside of the wire clamping tube.

[0023] As a further description of the above technical solution:

[0024] A brake line buckle is fixedly connected to one side of the bottom of the transport vehicle body away from the first steering gear seat, and the outer side of the brake rope is passed through the inside of the brake line buckle.

[0025] The utility model has the following beneficial effects:

[0026] 1. In this utility model, the transportation vehicle body is towed by the second winch for round-trip transportation operations. Fruit farmers do not need to spend a lot of manpower and time transporting agricultural materials such as fruits and fertilizers on rugged mountain roads, achieving high-efficiency and precise transportation operations. Using the second winch to tow the transportation vehicle body avoids damage to the slideway supporting rails caused by the vibration of the internal combustion engine. At the same time, using an electric-driven winch also reduces pollution emissions.

[0027] 2. In this utility model, the lifting mechanism can drive the monitoring mechanism to move up and down, thereby adjusting the detection perspective distance of the monitoring mechanism, and then adjusting the detection field of view size of the monitoring mechanism, improving the orchard management efficiency.

[0028] 3. In this utility model, by setting the braking mechanism, during operation, the ring brake of the braking mechanism is driven by the first servo motor, and the two friction surfaces of the ring brake clamp the side surface of the slide rail to assist in realizing the deceleration and parking of the transportation vehicle body.

[0029] 4. In this utility model, by setting the ratchet mechanism, when the second winch lifts the transportation vehicle body, the ratchet dial engages with the ratchet. If the traction force provided by the winch is insufficient, the ratchet locks, and cooperates with the gear fixedly connected to the other side of the ratchet and the rack on the slideway supporting rail to firmly lock the transportation vehicle body, preventing the vehicle body from sliding down and ensuring the safety of the transportation process.

[0030] 5. In this utility model, by cleverly arranging the slideway supporting rails and the second winches in each foothill area, multiple second winches work independently and cooperate with each other. Coupled with building a stable double-track transportation platform, an efficient transfer transportation network is constructed to achieve transportation operations across several mountains.

[0031] 6. In this utility model, the power supply problem of most mechanisms of the transportation vehicle body is solved by the solar panels integrated on the top of the transportation vehicle body, increasing the operation duration. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a three-dimensional view of a fruit conveying robot for a mountainous park area proposed by the present utility model;

[0033] Figure 2 is a schematic structural view of the transportation vehicle body of a fruit conveying robot for a mountainous park area proposed by the present utility model;

[0034] Figure 3 is a schematic structural view of the slideway supporting rail of a fruit conveying robot for a mountainous park area proposed by the present utility model;

[0035] Figure 4 is a schematic view of the braking mechanism of a fruit conveying robot for a mountainous park area proposed by the present utility model;

[0036] Figure 5Schematic diagram of the ratchet mechanism of a fruit conveying robot for mountainous areas proposed by the present utility model;

[0037] Figure 6 Schematic diagram of the lifting mechanism of a fruit conveying robot for mountainous areas proposed by the present utility model;

[0038] Figure 7 Schematic diagram of the transport box mechanism of a fruit conveying robot for mountainous areas proposed by the present utility model;

[0039] Figure 8 Schematic diagram of the slide rail of a fruit conveying robot for mountainous areas proposed by the present utility model.

[0040] Legend:

[0041] 1. Transport vehicle body; 11. Transport box mechanism; 111. Hanging box shaft; 112. Hanging box bearing; 113. Hanging box rope; 114. Box body; 12. Brake mechanism; 121. First aluminum profile; 122. Third aluminum profile; 123. Rim brake; 124. Brake rope; 125. Brake wire buckle; 126. First servo base; 127. First servo; 13. Solar panel; 14. Ratchet mechanism; 141. Gear; 142. Ratchet coupling; 143. Ratchet; 144. Pawl; 145. Rope adjusting rod; 146. Pulling rope; 147. Second servo base; 148. Second servo; 149. Ratchet seat; 1491. Ratchet short shaft; 1492. Ratchet long shaft; 15. Lifting mechanism; 151. Motor; 1511. Motor base; 1512. Cable pipe; 1513. First acrylic board; 1514. Second acrylic board; 152. Coupling; 153. First winch; 154. Traction rope; 155. Fixed rivet; 156. Second pulley; 157. Connecting plate; 16. Wheel; 17. Monitoring mechanism; 18. Coupler; 191. Bolt; 192. Three-hole right-angle code; 2. Slideway support rail; 21. Second winch; 22. Battery box; 23. Steel wire rope; 24. Slide rail; 241. Inner bottom side of the slide rail; 242. Side of the slide rail; 25. Four-hole right-angle code; 26. First pulley; 27. Rack; 28. Second aluminum profile. Specific implementation mode

[0042] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present utility model.

[0043] Refer to Figures 1 - 3The utility model provides an embodiment: a fruit conveying robot for mountainous parks, comprising: a transport body 1, the frame structure of the transport body 1 is assembled from aluminum profiles, ensuring light weight and high structural strength, a transport box mechanism 11 is provided on one side of the top of the transport body 1, and the transport box mechanism 11 can load agricultural materials such as fruits or fertilizers, thereby achieving the purpose of loading and conveying. Braking mechanisms 12 are provided on both sides of the bottom of the transport body 1, and the braking mechanisms 12 are used to assist the transport body 1 in deceleration and parking, to prevent the transport body 1 from slipping due to sudden situations during movement, and further improve the safety of the transport robot. A solar panel 13 is provided on the other side of the top of the transport body 1, and a ratchet mechanism 14 is arranged on one side of the bottom of the transport body 1. When the traction of the transport body 1 is insufficient or when the transport body 1 stops to load materials, the ratchet mechanism 14 can be used to lock the transport body 1 to ensure safety in use. A lifting mechanism 15 is provided on the front side of the interior of the transport vehicle body 1, and a monitoring mechanism 17 is arranged at the bottom of the lifting mechanism 15. The lifting mechanism 15 can be used to adjust the height of the detection angle of the monitoring mechanism 17, so that the detection angle range of the monitoring mechanism 17 is larger after the adjustment, and it can be freely adapted to the detection of different quantities of fruits, further improving its practicality; a slide rail 2, and a second winch 21 is arranged on the rear side of the bottom of the slide rail 2. The transport vehicle body 1 can be towed by the second winch 21 to realize the transportation of fruits, and a battery box 22 is arranged on the middle side of the bottom of the slide rail 2. A battery pack is arranged in the battery box 22. The solar panel 13 is electrically connected to the battery pack through the solar controller. The electric energy generated by the solar panel 13 is adjusted by the solar controller and then transferred to the battery pack for storage, which is used as energy support for the operation of the conveying robot. Slide rails 24 are arranged on both sides of the top of the slideway support rail 2. A four-hole right-angle bracket 25 is installed on the rear side of the top of the slideway support rail 2. A first pulley 26 is rotatably connected to the inner side of the four-hole right-angle bracket 25. The direction of the traction force generated by the second winch 21 can be changed by the first pulley 26 to achieve the traction movement of the transport body 1. A second aluminum profile 28 is fixedly connected to the top edge of the transport body 1. A rack 27 is fixedly connected to the top of the second aluminum profile 28. The self-locking of the transport body 1 is achieved through the cooperation of the rack 27 and the ratchet mechanism 14 to prevent the transport body 1 from slipping when the traction force is insufficient.

[0044] Reference Figure 1 and Figure 7, the transport box mechanism 11 includes a hanging box shaft 111. Both ends of the hanging box shaft 111 are rotatably connected to the top of the transport vehicle body 1, and hanging box bearings 112 are rotatably connected to both sides of the outer wall of the hanging box shaft 111. A hanging box rope 113 is wound around the outside of the hanging box bearings 112. The bottom end of the hanging box rope 113 is fixedly connected to a box body 114 for holding the picked fruits. When the transport vehicle body 1 is performing transportation operations, fruits or agricultural materials are loaded into the box body 114. The box body 114 is hung on the hanging box shaft 111 through the hanging box rope 113. The provided hanging box bearings 112 facilitate the box body 114 to adjust its posture and adapt to transportation operations on different slopes, avoiding the goods or fruits loaded inside the box body 114 from tipping over.

[0045] Refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 , the lifting mechanism 15 includes a first acrylic plate 1513 and a second acrylic plate 1514. Both ends of the first acrylic plate 1513 are fixedly connected to the front side inside the transport vehicle body 1. The first acrylic plate 1513 is used to carry the drive structure on the lifting mechanism 15 to ensure that the lifting mechanism 15 can operate stably when running. One side of the top of the first acrylic plate 1513 is fixedly installed with a first winch 153. The other side of the top of the first acrylic plate 1513 is fixedly connected to a motor base 1511. The outside of the motor base 1511 is fixedly connected to a motor 151. The output end of the motor 151 is fixedly connected to a coupling 152. The other end of the coupling 152 is fixedly connected to the input end of the first winch 153. A traction rope 154 is wound around the output shaft of the first winch 153. By starting the motor 151 to drive the coupling 152 to rotate, the coupling 152 will drive the first winch 153 connected to it to operate, causing the reel inside the first winch 153 to rotate to wind up or release the traction rope 154 wound around the outside. When the traction rope 154 is wound up, the lifting mechanism 15 is in the rising state at this time. When the traction rope 154 is released, the lifting mechanism 15 is in the descending state at this time. The second acrylic plate 1514 is arranged below the first acrylic plate 1513. A plurality of fixing rivets 155 are fixedly connected to the top of the second acrylic plate 1514. The bottom end of the traction rope 154 passes through the second acrylic plate 1514 and is fixedly connected to the bottom end of the fixing rivet 155. A second pulley 156 is wound around the outside of the traction rope 154 near the fixing rivet 155. The bottom of the second pulley 156 is fixedly connected to a connecting plate 157. The top of the monitoring mechanism 17 is installed at the bottom of the connecting plate 157. When the traction rope 154 is wound up upward, the traction rope 154 will support the second pulley 156 to move upward. According to the principle of the movable pulley saving effort, the traction rope 154 can easily drive the second pulley 156 and the connecting plate 157 at its bottom to move upward, thereby achieving the purpose of adjusting the height of the monitoring mechanism 17. At the same time, when the traction rope 154 is released from the first winch 153, the monitoring mechanism 17 will slowly descend under the action of gravity.

[0046] Reference Figure 1 , Figure 2 and Figure 4 The brake mechanism 12 includes a first aluminum profile 121 and a first servo seat 126. The outer wall of the first aluminum profile 121 is fixedly connected to the inner bottom wall of the transport vehicle body 1. A third aluminum profile 122 is fixedly connected between the top of the first aluminum profile 121 and the inner wall of the transport vehicle body 1. A rim brake 123 is installed in the middle of the third aluminum profile 122. The outer side of the first servo seat 126 is fixedly connected to the bottom of the transport vehicle body 1. The side wall of the first servo seat 126 is fixedly connected to the first servo 127. The output end of the first servo 127 is fixedly connected to a brake rope 124. The end of the brake rope 124 away from the first servo 127 is connected to the top of the rim brake 123. The friction surface on the inner side of the rim brake 123 faces the slide rail side faces 242 on both sides of the slide rail 24. When the first steering gear 127 is in motion, the brake rope 124 is tightened, the rim brake 123 is in motion, and the two friction surfaces at the bottom of the rim brake 123 clamp the two slide rail side surfaces 242 of the slide rail 24, completing the required deceleration or parking operation of the transport vehicle body 1. In addition, when the first steering gear 127 is in reverse motion, the two friction surfaces of the rim brake 123 release the slide rail side surfaces 242, releasing the parking or deceleration operation.

[0047] Reference Figure 1 , Figure 2 and Figure 5, the ratchet mechanism 14 includes a ratchet seat 149, a second servo seat 147 and a rope adjusting rod 145. The bottom of the ratchet seat 149 is fixedly connected to the top of the first aluminum profile 121. A ratchet short shaft 1491 is rotatably connected to the front side inside the ratchet seat 149, and a ratchet long shaft 1492 is rotatably connected to the rear side inside the ratchet seat 149. A pawl 144 is fixedly installed in the middle of the ratchet short shaft 1491, and a ratchet 143 is fixedly installed in the middle of the ratchet long shaft 1492. The pawl 144 and the ratchet 143 are engaged with each other. One end of the ratchet long shaft 1492 penetrates through the ratchet seat 149 and is fixedly connected to a ratchet coupling 142. The other end of the ratchet coupling 142 is fixedly connected to a gear 141, and the gear 141 meshes with the rack 27. The bottom of the rope adjusting rod 145 is fixedly connected to the middle side of the top of the first aluminum profile 121. The bottom of the second servo seat 147 is fixedly connected to the middle side of the inner wall of the transport vehicle body 1. A second servo 148 is fixedly connected to the side wall of the second servo seat 147. A pulling rope 146 is wound around the output shaft of the second servo 148. The other end of the pulling rope 146 bypasses the rope adjusting rod 145 and is fixedly connected to the top of the pawl 144. The transport vehicle body 1 can realize the transport operation to a high place and a low place under the traction of the second hoist 21. When the transport vehicle body 1 is performing the transport operation to a high place, the pawl 144 of the ratchet mechanism 14 is engaged with the ratchet 143. As the gear 141 rolls and rotates on the rack 27, the ratchet 143 will also rotate accordingly and continuously push the pawl 144. At this time, the transport vehicle body 1 can be normally towed towards the high place. If the traction force is insufficient, the transport vehicle body 1 will slide towards the low place under the action of gravity. At the same time, the cooperation between the gear 141 and the rack 27 drives the ratchet 143 to have a reverse rotation trend. At this time, the pawl 144 will be clamped and abutted against the tooth pattern of the ratchet 143 to realize the locking of the ratchet 143 and the gear 141. At this time, the transport vehicle body 1 will be locked on the slideway support rail 2, ensuring the safety of the transport process. When the transport vehicle body 1 performs the transport operation to a low place, the second servo 148 acts to drive the pulling rope 146 to pull open the pawl 144, unlocking the ratchet 143 and the gear 141. At this time, the transport vehicle body 1 can be transported to a low place.

[0048] Refer to Figure 1 , Figure 2 , Figure 3 and Figure 8 , wheels 16 are installed at the four corners of the bottom of the transport vehicle body 1, and the wheels 16 roll on the inner bottom side 241 of the slide rail inside the slide rail 24. Through the chamber structure of the slide rail 24 that is narrow at the top and wide at the bottom, when the wheels 16 are installed inside the slide rail 24, the wheels 16 can roll on the inner bottom side 241 of the slide rail, ensuring that the transport vehicle body 1 can move on the slideway support rail 2. At the same time, the chamber of the slide rail 24 can also prevent the wheels 16 from disengaging from the inside of the slide rail 24, thereby preventing the transport vehicle body 1 from disengaging and falling from the slideway support rail 2.

[0049] Refer to Figures 1 - 3, a steel wire rope 23 is wound around the output shaft of the second hoist 21. The other end of the steel wire rope 23 passes around the outside of the first pulley 26 and is fixedly connected to a coupler 18. A three-hole right-angle code 192 is fixedly connected to the rear side of the transport vehicle body 1. A bolt 191 is installed in the middle of the three-hole right-angle code 192. The inner side of the coupler 18 is hooked outside the bolt 191. When the second hoist 21 is started, the steel wire rope 23 wound thereon will be wound up. Under the action of the first pulley 26, the steel wire rope 23 will change the direction of the traction force and pull the coupler 18 to move. At the same time, since the coupler 18 and the bolt 191 are connected, the coupler 18 will pull the three-hole right-angle code 192 and the transport vehicle body 1 to move through the bolt 191, realizing the drive of the transport vehicle body 1 and completing the purpose of transporting materials or fruits.

[0050] Refer to Figure 6 , a wire clamping tube 1512 is fixedly connected to the middle side of the bottom of the first acrylic plate 1513. The outside of the traction rope 154 passes through the inside of the wire clamping tube 1512. Through the wire clamping tube 1512, multiple strands of traction ropes 154 can be bound and sorted out to prevent the traction ropes 154 from being randomly distributed and winding around each other.

[0051] Refer to Figure 4 , a brake wire buckle 125 is fixedly connected to the side of the bottom of the transport vehicle body 1 away from the first steering gear seat 126. The outside of the brake rope 124 passes through the inside of the brake wire buckle 125. The longer brake rope 124 can be limited and supported by the brake wire buckle 125 to ensure that the rim brake 123 can be driven to operate when the first steering gear 127 is started.

[0052] Working principle: When using the fruit detection and transport robot for transport operations, the fruits or agricultural materials to be transported are loaded in the transport box 114, and the transport vehicle body 1 is driven by the second hoist 21 for transport operations. The braking mechanism 12 is arranged on both sides of the bottom of the transport vehicle body 1. The braking mechanism 12 includes a rim brake 123. The two friction surfaces of the rim brake 123 face the side surface 242 of the slide rail. When the transport vehicle body 1 needs to decelerate or stop, the first steering gear 127 is controlled to act, tightening the brake rope 124, and the two friction surfaces of the rim brake 123 clamp the side surface 242 of the slide rail, and deceleration or stopping is completed by relying on friction. When the transport vehicle body 1 transports materials from bottom to top, the ratchet pawl 144 of the ratchet mechanism 14 cooperates with the ratchet 143. If the traction force is insufficient, the ratchet 144 is locked with the gear shaft 141, and the teeth of the gear shaft 141 cooperate with the tooth grooves of the rack 27 to lock the transport vehicle body 1 to prevent it from slipping and ensure transport safety. In addition, in large orchards, multiple slide rail branch tracks 2 can be flexibly arranged as transfer stations to transport fruits and agricultural materials over a large area.

[0053] When using the fruit detection and transportation robot to assist in orchard management, by controlling the operation of the motor 151, the first winch 153 is driven to wind and unwind the towing rope 154. The towing rope 154 will lift the second pulley 156 upward. By leveraging the principle that a movable pulley can save half of the force, the stability of the entire lifting mechanism 15 can be maximally ensured, the forces on the motor 151 and the first winch 153 can be reduced, and the monitoring mechanism 17 can be lifted and lowered. In cooperation with the high-definition camera equipped in the monitoring mechanism 17, it can monitor the growth conditions of the fruits collected in real time over a large range, accurately identify the types of pests and diseases, and facilitate the orchard farmers to manage the orchard and subsequent sorting and sales.

[0054] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fruit conveying robot for mountainous areas, characterized in that: include: A transport vehicle body (1), wherein a transport box mechanism (11) is provided on one side of the top of the transport vehicle body (1), brake mechanisms (12) are provided on both sides of the bottom of the transport vehicle body (1), a solar panel (13) is provided on the other side of the top of the transport vehicle body (1), a ratchet mechanism (14) is provided on one side of the bottom of the transport vehicle body (1), a lifting mechanism (15) is provided on the front side of the interior of the transport vehicle body (1), and a monitoring mechanism (17) is provided at the bottom of the lifting mechanism (15); A slide rail (2), a second winch (21) is arranged on the rear side of the bottom of the slide rail (2), a battery box (22) is arranged on the middle side of the bottom of the slide rail (2), a battery pack is arranged in the battery box (22), the solar panel (13) is electrically connected to the battery pack through a solar controller, slide rails (24) are arranged on both sides of the top of the slide rail (2), a four-hole right-angle bracket (25) is installed on the rear side of the top of the slide rail (2), a first pulley (26) is rotatably connected inside the four-hole right-angle bracket (25), a second aluminum profile (28) is fixedly connected to the top edge of the transport vehicle body (1), and a rack (27) is fixedly connected to the top of the second aluminum profile (28).

2. The fruit conveying robot for mountainous areas according to claim 1, characterized in that: The transport box mechanism (11) comprises a box hanging shaft (111), both ends of which are rotatably connected to the top of the transport vehicle body (1), and both sides of the outer wall of the box hanging shaft (111) are rotatably connected to box hanging bearings (112), a box hanging rope (113) is wound around the outer side of the box hanging bearing (112), and the bottom end of the box hanging rope (113) is fixedly connected to a box body (114) for containing picked fruits.

3. The fruit conveying robot for mountainous areas according to claim 1, characterized in that: The lifting mechanism (15) comprises a first acrylic plate (1513) and a second acrylic plate (1514); both ends of the first acrylic plate (1513) are fixedly connected to the front side of the interior of the transport vehicle body (1); a first winch (153) is fixedly installed on one side of the top of the first acrylic plate (1513); a motor seat (1511) is fixedly connected to the other side of the top of the first acrylic plate (1513); a motor (151) is fixedly connected to the outside of the motor seat (1511); a coupling (152) is fixedly connected to the output end of the motor (151); the other end of the coupling (152) is fixedly connected to the input end of the first winch (153); A traction rope (154) is wound around the output shaft of the winch (153); the second acrylic plate (1514) is arranged below the first acrylic plate (1513); a plurality of fixing rivets (155) are fixedly connected to the top of the second acrylic plate (1514); the bottom end of the traction rope (154) passes through the second acrylic plate (1514) and is fixedly connected to the bottom end of the fixing rivet (155); a second pulley (156) is wound around the outer side of the traction rope (154) near the fixing rivet (155); a connecting plate (157) is fixedly connected to the bottom of the second pulley (156); and the top of the monitoring mechanism (17) is installed at the bottom of the connecting plate (157).

4. The fruit conveying robot for mountainous areas according to claim 1, characterized in that: The brake mechanism (12) comprises a first aluminum profile (121) and a first servo engine seat (126); the outer wall of the first aluminum profile (121) is fixedly connected to the inner bottom wall of the transport vehicle body (1); a third aluminum profile (122) is fixedly connected between the top of the first aluminum profile (121) and the inner wall of the transport vehicle body (1); a rim brake (123) is installed in the middle of the third aluminum profile (122); the outer side of the first servo engine seat (126) is fixedly connected to the bottom of the transport vehicle body (1); the side wall of the first servo engine seat (126) is fixedly connected to the first servo engine (127); the output end of the first servo engine (127) is fixedly connected to a brake rope (124); the end of the brake rope (124) away from the first servo engine (127) is connected to the top of the rim brake (123); the friction surface on the inner side of the rim brake (123) faces the slide rail side surfaces (242) on both sides of the slide rail (24).

5. The fruit conveying robot for mountainous areas according to claim 4, characterized in that: The ratchet mechanism (14) comprises a ratchet seat (149), a second servo seat (147) and a rope adjusting rod (145); the bottom of the ratchet seat (149) is fixedly connected to the top of the first aluminum profile (121); the front side of the ratchet seat (149) is rotatably connected to a ratchet short shaft (1491); the rear side of the ratchet seat (149) is rotatably connected to a ratchet long shaft (1492); a ratchet pawl (144) is fixedly installed in the middle of the ratchet short shaft (1491); a ratchet (143) is fixedly installed in the middle of the ratchet long shaft (1492); the ratchet pawl (144) and the ratchet (143) are engaged with each other; one end of the ratchet long shaft (1492) passes through the ratchet seat (149) and is fixedly connected to a ratchet coupling (142), the other end of the ratchet coupling (142) is fixedly connected to a gear (141), and the gear (141) and the rack (27) are meshed, the bottom of the rope adjusting rod (145) is fixedly connected to the middle side of the top of the first aluminum profile (121), the bottom of the second servo seat (147) is fixedly connected to the middle side of the inner wall of the transport vehicle body (1), the side wall of the second servo seat (147) is fixedly connected to a second servo (148), the output shaft of the second servo (148) is wound with a pull rope (146), the other end of the pull rope (146) is wound around the rope adjusting rod (145) and then fixedly connected to the top of the ratchet (144).

6. The fruit conveying robot for mountainous areas according to claim 1, characterized in that: Wheels (16) are installed at the four corners of the bottom of the transport vehicle body (1), and the wheels (16) roll on the inner bottom side (241) of the slide rail inside the slide rail (24).

7. The fruit conveying robot for mountainous areas according to claim 1, characterized in that: A steel wire rope (23) is wound around the output shaft of the second hoist (21), the other end of the steel wire rope (23) is wound around the outside of the first pulley (26) and fixedly connected to a hook (18), a three-hole right-angle bracket (192) is fixedly connected to the rear side of the transport vehicle body (1), a bolt (191) is installed in the middle of the three-hole right-angle bracket (192), and the inner side of the hook (18) is hooked to the outer side of the bolt (191).

8. The fruit conveying robot for mountainous areas according to claim 3, characterized in that: A wire clamping tube (1512) is fixedly connected to the middle side of the bottom of the first acrylic plate (1513), and the outer side of the traction rope (154) is passed through the inside of the wire clamping tube (1512).

9. The fruit conveying robot for mountainous areas according to claim 4, characterized in that: A brake line buckle (125) is fixedly connected to a side of the bottom of the transport vehicle body (1) away from the first steering gear seat (126), and the outer side of the brake rope (124) is passed through the inside of the brake line buckle (125).

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