Picking robot moving platform

Abstract

The utility model relates to the technical field of robot moving platforms, and discloses a picking robot moving platform which comprises a chassis, a first driving unit and a second driving unit, the first driving unit and the second driving unit are symmetrically arranged on the two sides of the chassis, and the first driving unit and the second driving unit are the same in structure. Experiments show that the maximum speed of the robot is 0.94 m / s, the robot can climb an abrupt slope of 14.9 degrees in an actual field scene, the maximum climbing angle of the robot is 32 degrees, and the robot has good climbing performance and can meet design requirements.

Description

Technical Field

[0001] This utility model relates to the field of robot mobile platform technology, and in particular to a harvesting robot mobile platform. Background Technology

[0002] Apple harvesting methods have evolved from natural harvesting to manual harvesting, and from auxiliary tools, harvesting platforms, and vibrating pickers to intelligent robotic harvesting, along with corresponding mechanized operation modes. Manual harvesting reduces apple damage, but it suffers from high labor intensity, high costs, and the risk of accidents. Therefore, different harvesting methods have gradually emerged, leading to the development of corresponding machinery and equipment. The traditional method of manual harvesting combined with auxiliary trolleys significantly reduces the time spent moving ladders and climbing up and down, improving harvesting efficiency, but it still requires substantial human intervention and has not yet achieved complete automation.

[0003] Vibration-based harvesting methods mainly include two types: two-stage vibration and pickup, and integrated vibration and collection. These methods can significantly improve harvesting efficiency. However, apples can be damaged by falling during the harvesting process, so they are often used for apples in the secondary processing market and cannot meet the requirements of the fresh apple market. This has led to the development of selective harvesting apple-picking robot technology. Due to the unstructured environment of orchards, the practicality of apple-picking robots is limited. Therefore, the current main approach is to combine robot harvesting with tree shaping to improve the robot's harvesting efficiency.

[0004] In terms of the structural design of apple picking robots, current research mainly focuses on the apple picking robotic arm and gripping end effector, with few complete theoretical references that take into account the robot's climbing performance in the design of the mobile platform size. Utility Model Content

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0006] In view of the problem that the existing technology does not take into account the robot's climbing performance in the complete theoretical reference of the mobile platform size design, this utility model is proposed.

[0007] Therefore, the purpose of this utility model is to provide a mobile platform for a harvesting robot, which aims to improve the stability of the robot when climbing slopes.

[0008] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a mobile platform for harvesting robots, comprising...

[0009] As a preferred embodiment of the harvesting robot mobile platform of this utility model, it includes a chassis, a first drive unit and a second drive unit symmetrically arranged on both sides of the chassis, wherein the first drive unit and the second drive unit have the same structure.

[0010] In a preferred embodiment of the harvesting robot mobile platform of this utility model, the first driving unit includes a driving wheel and a guide wheel coplanar with the driving wheel. The driving wheel and the guide wheel form a first driving plane. A first drag chain wheel and a second drag chain wheel are disposed between the driving wheel and the guide wheel. The first drag chain wheel and the second drag chain wheel are located on the first driving plane.

[0011] As a preferred embodiment of the harvesting robot mobile platform of this utility model, the first drive unit further includes a group of load-bearing wheels of the same shape and arranged collinearly, the number of load-bearing wheels is not less than 3, and the multiple load-bearing wheels are arranged on the first drive plane.

[0012] In a preferred embodiment of the harvesting robot mobile platform described in this utility model, the load-bearing wheel, the drive wheel, the guide wheel, the first drag chain wheel, and the second drag chain wheel together form an equilateral trapezoidal plane. The load-bearing wheels are located on the shorter parallel sides of the equilateral trapezoidal plane, and the drive wheel and the guide wheel are located on the longer parallel sides of the equilateral trapezoidal plane.

[0013] In a preferred embodiment of the harvesting robot mobile platform described in this utility model, a track is provided on the outer side of the drive wheel and the guide wheel, and the track cooperates with the load-bearing wheel.

[0014] In a preferred embodiment of the harvesting robot mobile platform of this utility model, the first drive unit further includes a mounting plate disposed on the first drive plane, and the mounting plate is fixedly provided with a load-bearing wheel connector connected to the load-bearing wheel.

[0015] In a preferred embodiment of the harvesting robot mobile platform of this utility model, a first right-angle fixing frame is fixedly provided on the side of the mounting plate near the drive wheel, and a first stabilizing shaft cooperating with the drive wheel is fixedly provided at the corner corresponding to the shortest side of the first right-angle fixing frame; a first support rod is fixedly provided between the first right-angle fixing frame and the mounting plate.

[0016] In a preferred embodiment of the harvesting robot mobile platform of this utility model, a second right-angle fixing frame is fixedly provided on the side of the mounting plate near the guide wheel, and a second stabilizing shaft cooperating with the guide wheel is fixedly provided at the corner corresponding to the shortest side of the second right-angle fixing frame; a second support rod is fixedly provided between the second right-angle fixing frame and the mounting plate.

[0017] In a preferred embodiment of the mobile platform for the harvesting robot described in this utility model, the pitch of the track ranges from 16.3mm to 21.5mm.

[0018] In a preferred embodiment of the mobile platform for the harvesting robot described in this utility model, the width of the track ranges from 43mm to 52.6mm.

[0019] The beneficial effects of this utility model are as follows: the maximum speed of the robot tested in the experiment was 0.94 m / s, and it was able to climb a steep slope of 14.9° in a real-world field scenario. The maximum climbing angle of the robot was 32 degrees, which shows that it has good climbing performance and can meet the design requirements. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0021] Figure 1 This is a schematic diagram of the two-drive, two-self-position drive method in Embodiment 1 of this utility model.

[0022] Figure 2 This is a schematic diagram of the dual-tracked robot drive method in Embodiment 1 of this utility model.

[0023] Figure 3 This is a schematic diagram of the shape-variable track mechanism in Embodiment 1 of this utility model.

[0024] Figure 4 This is a front view of the tracked mobile platform in Embodiment 2 of this utility model.

[0025] Figure 5 This is a top view of the tracked mobile platform in Embodiment 2 of this utility model.

[0026] Figure 6 This is a front view of the track plate in Embodiment 2 of this utility model.

[0027] Figure 7 This is a left view of the track plate in Embodiment 2 of this utility model.

[0028] Figure 8 This is a schematic diagram of the double-sided load-bearing wheels in Embodiment 3 of this utility model.

[0029] Figure 9 This is a schematic diagram of the mobile platform being placed longitudinally in Embodiment 4 of this utility model.

[0030] Figure 10 This is a schematic diagram of the mobile platform being placed horizontally in Embodiment 4 of this utility model.

[0031] Figure 11 This is a schematic diagram of the track geometry in Embodiment 4 of this utility model.

[0032] Figure 12 This is a schematic diagram of the overall structure of a harvesting robot mobile platform in Embodiment 5 of this utility model.

[0033] Figure 13 This is one of the schematic diagrams of the first drive unit structure of a harvesting robot mobile platform in Embodiment 5 of this utility model.

[0034] Figure 14 This is the second schematic diagram of the first drive unit structure of a harvesting robot mobile platform in Embodiment 5 of this utility model. Detailed Implementation

[0035] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0038] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0039] Example 1

[0040] Reference Figures 1-3 This is the first embodiment of the present invention. The mobile platform, serving as the support platform for the harvesting robotic arm, needs to possess good load-bearing capacity. Considering the robot's working environment, it should have good off-road and passability. Common mobile platforms can be divided into wheeled mobile platforms, tracked mobile platforms, and articulated mobile platforms. Wheeled mobile platforms have good mobility and high speed, but poor obstacle-crossing performance; theoretically, they cannot pass obstacles larger than the wheel radius. Tracked mobile platforms have good obstacle-crossing performance, with mobility between wheeled and articulated platforms, making them suitable for relatively harsh environments, such as the wilderness. Articulated mobile platforms operate relatively slowly, are difficult to control, and have poor reliability, but have excellent obstacle-crossing performance; therefore, they are less commonly used and require continuous improvement.

[0041] When considering the platform's mode of operation, there are mainly two options:

[0042] (1) Wheeled walking mechanism

[0043] Wheeled walking mechanisms are widely used due to their advantages such as smooth movement, low energy consumption, and ease of control, but these advantages are only apparent on flat ground. Figure 1 The image shows a four-wheeled walking mechanism with a two-drive, two-self-positioning structure.

[0044] (2) Tracked mobile platform

[0045] Tracked mobile platforms have excellent obstacle-crossing capabilities, allowing robots equipped with them to move smoothly on uneven terrain. These platforms achieve differential steering by utilizing the speed difference between their two tracks, as shown in Figure 2. Figure 2 It is a robot equipped with tracked walking mechanisms at both the front and rear, which allows it to go up and down stairs. Figure 3 The robot shown can improve its obstacle-crossing performance by changing the track tilt angle.

[0046] The terrain in the apple orchard is quite complex, so the obstacle-crossing performance of the robot is required to be high. Therefore, this invention selects a tracked mobile platform.

[0047] Example 2

[0048] refer to Figures 4-7 This is the second embodiment of the present invention. The tracked mobile platform mainly consists of guide wheels, drag chain wheels, tracks, load-bearing wheels, drive wheels, and a frame. Figure 4 As shown, the meanings of each number are as follows: 1. Guide wheel, 2. Track wheel, 3. Track, 4. Load-bearing wheel, 5. Drive wheel, 6. Right track, 7. Frame, 8. Left track.

[0049] Figure 4 In this context, L0 represents the track ground contact length, α1 represents the front angle of the tracked mobile platform, and α2 represents the rear angle of the tracked mobile platform. Figure 5 In this context, B represents the center distance of the tracks, and b represents the width of the track pads. The track contact length L0 and the center distance B of the track pads are closely related to the driving performance, especially the steering performance, of tracked vehicles. The front angle α1 of a tracked mobile platform is related to the platform's obstacle-crossing performance; the larger the front angle, the worse the obstacle-crossing performance. 35° to 45° is the optimal range for the front angle.

[0050] 1. Tracks

[0051] The track serves as both the drive chain and the track. It transfers the weight of the machine to the ground, ensuring sufficient driving force. Referring to GB / T 20786—2015, the design parameters for track shoes include pitch and track shoe width, etc. Figure 6 As shown, when the track plates are connected and installed on the mobile platform, the grounding length needs to be designed.

[0052] Figure 6 , Figure 7 In the diagram, L represents the maximum distance between two adjacent core plates on the straight section of the track, b′ represents the width of the core plate on the straight section of the rubber track, and b represents the width of the track. In actual measurement, the pitch P = Lb′.

[0053] (1) Pitch

[0054] The track pitch is positively correlated with the total mass of the tracked chassis, and its value is calculated using empirical formulas for tracked engineering vehicles.

[0055]

[0056] Where P represents the track pitch (mm) and M represents the total mass of the vehicle (kg). According to the design specifications, the overall weight should not exceed 12kg; therefore, the track pitch P should range from 16.3mm to 21.5mm. Thus, a track pitch length of 20mm is initially selected. Since the designed robot is relatively small, and reducing the pitch effectively reduces the impact on the drive wheels and guide wheels, the smoother operation of the tracks and drive wheels further improves the track's lifespan. An excessively long pitch would reduce the number of teeth on the drive wheels, increase the chassis height and weight; therefore, a pitch of 10mm is chosen.

[0057] (2) Width

[0058] Reference Figure 7 The width of the track pads depends on the average ground pressure required by the working conditions. The larger the width, the smaller the ground pressure. Generally, the formula is as follows:

[0059]

[0060] In the formula, b is the track width (mm) and M is the weight of the machine (kg). According to the design specifications, substituting M = 12kg, the range of b can be calculated to be between 43mm and 52.6mm. Therefore, the track width of this utility model is designed to be 43mm.

[0061] (3) Track gauge

[0062] The track gauge B is the distance between the two tracks of a tracked mobile platform. Its length can be expressed as:

[0063] B = (3.5 ~ 4.5)b (3)

[0064] In the formula, b is the track width (mm). Substituting the data, the track gauge is calculated to be between 150.5mm and 193.5mm. Considering the large size of the tracked vehicle's load-bearing electronic control system and onboard computer, the track gauge is increased, and the designed track gauge is 203mm.

[0065] (4) Grounding length

[0066] The ratio of track contact length L0 to track gauge B has a significant impact on the driving performance of the mobile platform. A larger L0 / B ratio makes steering more difficult, while a smaller L0 / B ratio results in poorer driving stability. The empirical formula for designing track contact length L0 is:

[0067] L0 = (1.15 ~ 1.39)B (4)

[0068] Substituting the track gauge B = 203mm, the track ground contact length L0 is between 233.45mm and 282.17mm. The designed ground contact length L0 is 270mm, which is greater than 139.5mm, so the design is reasonable.

[0069] (5) Front angle / back angle

[0070] The front angle α1 of a tracked mobile platform is related to the platform's obstacle crossing performance. The larger the front angle, the worse the obstacle crossing performance. 35° to 45° is the optimal range for the front angle. Therefore, the front and rear angles of the tracks are designed to be 45°.

[0071] The remaining structure is the same as that in Example 1.

[0072] Example 3

[0073] Reference Figure 8This is the third embodiment of the present invention. This embodiment differs from the second embodiment in that the load-bearing rollers are crucial structures on the tracked chassis that bear the load weight and restrict the axial movement of the tracks to prevent them from slipping off. To ensure a uniform distribution of ground pressure on the track, multiple load-bearing rollers with smaller diameters are installed on the tracked walking mechanism. The empirical formula relating the size of the load-bearing rollers to the track pitch is:

[0074] D c =(1~1.25)P (5)

[0075] To ensure the strength of the load-bearing wheels meets the requirements, the initial track pitch of 20mm is used, and the calculated diameter range of the load-bearing wheels is between 20mm and 25mm. To ensure even distribution of ground pressure on the track, six load-bearing wheels with a diameter of 22mm are installed on the tracked walking mechanism, resulting in a total of 12 load-bearing wheels on the entire tracked mobile platform. In straight-line travel, the bearings of the tracked mobile platform bear radial force; in turning, the bearings mainly bear radial force and a small amount of axial force. Therefore, this invention uses 636Z deep groove bearings as the load-bearing wheel bearings for the tracked walking mechanism. Bearing data is shown in Table 1.

[0076] Table 1: Parameter Table for 636Z Bearing

[0077]

[0078] The specific structure of load-bearing rollers can be divided into two types: single-sided load-bearing rollers and double-sided load-bearing rollers. Since the number of single-sided load-bearing rollers should be greater than that of double-sided load-bearing rollers to distribute the mechanical weight and reduce rolling resistance, the connection method of double-sided load-bearing rollers is designed as follows: Figure 8 As shown, the meanings of each number are: 1. Reamed hole screw, 2. Deep groove ball bearing, 3. Sleeve, 4. Rocker arm, 5. Sleeve, 6. Deep groove ball bearing, 7. Round nut.

[0079] The remaining structure is the same as that in Example 2.

[0080] Example 4

[0081] Reference Figures 9-12 This is the fourth embodiment of the present invention, which differs from the third embodiment in that:

[0082] (1) Robot center of mass height design

[0083] Consider placing the robot in both longitudinal and lateral positions on a slope with an angle of θ. Figure 9 , Figure 10 As shown.

[0084] Where S is the robot's center of mass, h is the height of the center of mass above the ground, d is the longitudinal distance between the robot's contact point with the ground and the center of mass, d′ is the lateral distance between the robot's contact point with the ground and the center of mass, α and α′ are the static stability angles of the robot in two different states, and θ is the slope angle. Figure 8 and Figure 9 The stability angles under the two operating conditions shown can be expressed as:

[0085]

[0086] Table 2 shows the common road slope grades encountered in daily life.

[0087] Table 2: Road Slope Grade Table

[0088] Slope grade slope slope angle flat slope 0％ 0° gentle slope 0.5％～3％ 0.29°～1.72° Zhongpo 3％～6％ 1.72°～3.43° steep slope 6％～12％ 3.43°～6.84° steep slope 12% or more 6.84° or above

[0089] The daily working environment of the apple-picking robot is in outdoor orchards and other locations with bumpy roads and unpredictable slopes. Therefore, the initial design of the robot's stabilization angle is 30 degrees. Calculations using data show that the robot's center of gravity height is 233mm and 175.8mm under two different placement conditions. Taking the minimum center of gravity height calculated under both conditions as the design center of gravity height, the design center of gravity height is 175.8mm.

[0090] (2) Chassis height

[0091] For an apple-picking robot, most of its mass is concentrated on the tracked mobile platform; therefore, the chassis height should be less than the designed center of gravity height. Considering factors such as the size of the robot's electrical control equipment, spatial layout, and robot stability, the designed chassis height H is 125mm. Taking into account the case where the track height is lower than the chassis height, the designed track height H′ is 100mm.

[0092] (3) Frame length

[0093] When the frame length and track length are equal, the frame length can be designed based on the track's ground contact length, front angle, rear angle, drive wheel diameter, and guide wheel diameter, with geometric relationships as follows: Figure 11 As shown.

[0094] According to such Figure 11 Given the geometric relationships, the robot's frame length can be expressed as:

[0095]

[0096] In the formula, L is the robot frame length, H′ is the track height, r1 is the guide wheel radius, r is the drive wheel pitch circle radius, L0 is the track ground contact length, α1 is the track front angle, and α2 is the track rear angle. Substituting the data, the calculated frame length should be designed to be 410mm.

[0097] (4) Frame width

[0098] The chassis width is designed based on the track gauge. During actual manufacturing, a certain width should be left between the chassis and the tracks. The chassis width can be expressed as:

[0099] B′=Bb-2t (9)

[0100] In the formula, B′ is the frame width (mm), B is the track gauge (mm), b is the track width (mm), and t is the distance between the track and the frame (mm). Taking t = 7.5mm, substituting the data, the frame width can be calculated to be 145mm.

[0101] The remaining structure is the same as that in Example 3.

[0102] Example 5

[0103] Reference Figures 12-14 This is the fifth embodiment of the present invention, which differs from the fourth embodiment in that:

[0104] It includes a chassis 100, a first drive unit 200 and a second drive unit 300 symmetrically arranged on both sides of the chassis 100, and the first drive unit 200 and the second drive unit 300 have the same structure.

[0105] The first drive unit 200 includes a drive wheel 201 and a guide wheel 202 coplanar with the drive wheel 201. The drive wheel 201 and the guide wheel 202 form a first drive plane h1. A first drag chain wheel 203 and a second drag chain wheel 204 are disposed between the drive wheel 201 and the guide wheel 202. The first drag chain wheel 203 and the second drag chain wheel 204 are located on the first drive plane h1.

[0106] The first drive unit 200 also includes a set of load-bearing wheels 205 with the same shape and arranged collinearly. The number of load-bearing wheels 205 is not less than 3, and the multiple load-bearing wheels 205 are arranged on the first drive plane h1.

[0107] The load-bearing rollers 205, together with the drive rollers 201, guide rollers 202, the first drag chain roller 203, and the second drag chain roller 204, form an equilateral trapezoidal plane h2. Multiple load-bearing rollers 205 are located on the shorter parallel sides of the equilateral trapezoidal plane h2, while the drive rollers 201 and guide rollers 202 are located on the longer parallel sides of the equilateral trapezoidal plane h2. Tracks 206 are fitted to the outer sides of the drive rollers 201 and guide rollers 202, and these tracks 206 cooperate with the load-bearing rollers 205.

[0108] In this embodiment, the first drive unit 200 further includes a mounting plate 207 disposed on the first drive plane h1, and the mounting plate 207 is fixedly provided with a load-bearing wheel connector 208 connected to the load-bearing wheel 205.

[0109] A first right-angle bracket 209 is fixedly installed on the mounting plate 207 near the drive wheel 201. A first stabilizing shaft 209a that cooperates with the drive wheel 201 is fixedly installed at the corner corresponding to the shortest side of the first right-angle bracket 209. A first support rod 209b is fixedly installed between the first right-angle bracket 209 and the mounting plate 207.

[0110] A second right-angle bracket 210 is fixedly installed on the mounting plate 207 near the guide wheel 202. A second stabilizing shaft 210a that cooperates with the guide wheel 202 is fixedly installed at the corner corresponding to the shortest side of the second right-angle bracket 210. A second support rod 210b is fixedly installed between the second right-angle bracket 210 and the mounting plate 207.

[0111] The remaining structure is the same as that in Example 4.

[0112] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A mobile platform for a harvesting robot, characterized in that: Includes a chassis (100), a first drive unit (200) and a second drive unit (300) symmetrically arranged on both sides of the chassis (100), wherein the first drive unit (200) and the second drive unit (300) have the same structure; The first drive unit (200) includes a drive wheel (201) and a guide wheel (202) coplanar with the drive wheel (201). The drive wheel (201) and the guide wheel (202) form a first drive plane (h1). A first drag chain wheel (203) and a second drag chain wheel (204) are disposed between the drive wheel (201) and the guide wheel (202). The first drag chain wheel (203) and the second drag chain wheel (204) are located on the first drive plane (h1). The first drive unit (200) also includes a set of load-bearing wheels (205) of the same shape and arranged in a collinear manner. There are 6 load-bearing wheels (205) and they are evenly arranged along the track grounding path. Multiple load-bearing wheels (205) are arranged on the first drive plane (h1).

2. The harvesting robot mobile platform according to claim 1, characterized in that: The load-bearing wheel (205), together with the drive wheel (201), guide wheel (202), first drag chain wheel (203) and second drag chain wheel (204), form an equilateral trapezoidal plane (h2). The load-bearing wheels (205) are located on the shorter parallel side of the equilateral trapezoidal plane (h2), and the drive wheel (201) and guide wheel (202) are located on the longer parallel side of the equilateral trapezoidal plane (h2).

3. The harvesting robot mobile platform according to claim 2, characterized in that: The drive wheel (201) and the guide wheel (202) are fitted with a track (206), which is in cooperation with the load-bearing wheel (205).

4. The harvesting robot mobile platform according to claim 3, characterized in that: The first drive unit (200) further includes a mounting plate (207) disposed on the first drive plane (h1), and the mounting plate (207) is fixedly provided with a load-bearing wheel connector (208) connected to the load-bearing wheel (205).

5. The harvesting robot mobile platform according to claim 4, characterized in that: The mounting plate (207) is fixedly provided with a first right-angle bracket (209) on the side near the drive wheel (201), and a first stabilizing shaft (209a) that cooperates with the drive wheel (201) is fixedly provided at the corner corresponding to the shortest side of the first right-angle bracket (209). A first support rod (209b) is fixedly provided between the first right-angle fixing bracket (209) and the mounting plate (207).

6. The harvesting robot mobile platform according to claim 5, characterized in that: A second right-angle bracket (210) is fixedly installed on the side of the mounting plate (207) near the guide wheel (202), and a second stabilizing shaft (210a) that cooperates with the guide wheel (202) is fixedly installed at the corner corresponding to the shortest side of the second right-angle bracket (210). A second support rod (210b) is fixedly provided between the second right-angle fixing bracket (210) and the mounting plate (207).

7. The harvesting robot mobile platform according to claim 6, characterized in that: The pitch of the track (206) ranges from 16.3 mm to 21.5 mm.

8. The harvesting robot mobile platform according to claim 7, characterized in that: The width of the track (206) ranges from 43mm to 52.6mm.

Images