Picking trolley based on cloud network

Abstract

The utility model is suitable for the field of robots, and discloses a picking trolley based on a cloud network, which comprises a frame, a walking device, a picking mechanical arm, a fruit containing hopper, a controller and a power supply device, the walking mechanism comprises a first hub motor, a second hub motor and a steering device, the controller is connected with the steering assembly, the first hub motor, the second hub motor, the picking mechanical arm and the power source device, and the controller is further used for conducting information interaction with a remote control terminal to achieve remote monitoring operation. The steering device is used for driving the first hub motor and the second hub motor to steer, and the steering device is provided with a first bevel gear speed increasing mechanism connected with the first hub motor and a second bevel gear speed increasing mechanism connected with the second hub motor, so that the steering range of the picking trolley based on the cloud network can be expanded; therefore, the universal steering requirement can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially a picking trolley based on cloud network. BACKGROUND

[0002] In intelligent agriculture, intelligent fruit picking is an important research topic. Various existing research teams mainly focus on picking mobile devices, picking methods, fruit recognition and other directions. In terms of picking mobile methods, mainly considering moving on flat ground or using existing mature trolleys as mobile carriers. Such mature mobile trolleys as mobile platforms can meet the use requirements, but the mobile trolleys have no lateral movement function. In the face of the hilly and mountainous environment of Lingnan region, when facing narrow space in mountainous environment, the traditional trolley cannot adjust the position as needed. In addition, outdoor fruit picking is an open environment, and the working range of the robot is wide and it is difficult to arrange personnel to supervise the work in real time.

[0003] Therefore, the prior art still needs to be improved and developed. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a picking trolley based on cloud network, which aims to solve the technical problem that the existing picking trolley cannot adjust the position as needed when facing narrow space in mountainous environment.

[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme:

[0006] A picking trolley based on a cloud network, comprising a frame, a walking device, a picking mechanical arm, a fruit holding bucket, a controller and a power supply device, the picking mechanical arm, the fruit holding bucket, the controller and the power supply device are respectively arranged on the frame, the walking device comprises two walking mechanisms respectively arranged on the front and rear sides of the frame, the walking mechanism comprises a first hub motor, a second hub motor and a steering device, the steering device comprises a first suspension assembly, a second suspension assembly, a steering assembly, a first bevel gear speed increasing mechanism, a second bevel gear speed increasing mechanism and a synchronization rod, the first suspension assembly and the second suspension assembly are respectively mounted on the two sides of the frame, the first hub motor and the second hub motor are respectively rotatably arranged on the first suspension assembly and the second suspension assembly, the steering assembly is mounted on the frame, the steering assembly is connected with the first bevel gear speed increasing mechanism, the first bevel gear speed increasing mechanism is connected with the first hub motor, the second bevel gear speed increasing mechanism is connected with the second hub motor, the synchronization rod is connected with the first bevel gear speed increasing mechanism and the second bevel gear speed increasing mechanism at both ends, the controller is connected with the steering assembly, the first hub motor, the second hub motor, the picking mechanical arm and the power supply device respectively, and the controller is also used for information interaction with a remote control terminal to realize remote monitoring operation.

[0007] Preferably, the steering assembly comprises a first rotating shaft, the first rotating shaft is rotatably arranged on the first suspension assembly, the first bevel gear speed increasing mechanism comprises a first speed increasing bevel gear, a first synchronization bevel gear, a first driving bevel gear and a first stabilizing bevel gear, the first speed increasing bevel gear and the first synchronization bevel gear are arranged side by side, the first driving bevel gear is respectively meshed and driven with the first speed increasing bevel gear and the first synchronization bevel gear, the first stabilizing bevel gear is respectively meshed and driven with the first speed increasing bevel gear and the first synchronization bevel gear, the first driving bevel gear and the first stabilizing bevel gear are respectively sleeved on the first rotating shaft, and the first stabilizing bevel gear is located below the first driving bevel gear, the steering assembly is connected with the first speed increasing bevel gear, the first synchronization bevel gear is connected with the first end of the synchronization rod, and the second end of the synchronization rod is connected with the second hub motor.

[0008] Preferably, the steering assembly further comprises a second rotating shaft rotatably arranged on the second suspension assembly, the second speed-increasing bevel gear mechanism comprises a second speed-increasing bevel gear, a second synchronous bevel gear, a second driving bevel gear and a second stabilizing bevel gear, the second speed-increasing bevel gear and the second synchronous bevel gear are arranged side by side, the second driving bevel gear and the second stabilizing bevel gear are respectively in meshing transmission with the second speed-increasing bevel gear and the second synchronous bevel gear, the second driving bevel gear and the second stabilizing bevel gear are respectively sleeved on the second rotating shaft, and the second stabilizing bevel gear is located below the second driving bevel gear, and the second synchronous bevel gear is connected with the second end of the synchronous rod.

[0009] Preferably, the steering assembly further comprises a steering driving member, a guide rail, a gear, a rack, a first connecting rod, a second connecting rod, a first steering support, a second steering support and a third steering support, the first steering support, the second steering support and the third steering support are all L-shaped steering supports, the steering driving member is mounted on the frame, the gear is connected with the output shaft of the steering driving member, the guide rail is in sliding connection with the frame, the rack is mounted on the guide rail and in meshing transmission with the gear, the first connecting rod is connected with the guide rail, two ends of the second connecting rod are respectively connected with the first connecting rod and the first steering support, one end of the first steering support away from the second connecting rod is connected with the first speed-increasing bevel gear, two ends of the second steering support are respectively connected with the first synchronous bevel gear and the synchronous rod, and two ends of the third steering support are respectively connected with the second synchronous bevel gear and the synchronous rod.

[0010] Preferably, the first suspension assembly comprises an upper suspension arm, a lower suspension arm, a damping elastic member, a first vertical shaft, a second vertical shaft, a first horizontal shaft and a second horizontal shaft, the upper suspension arm and the lower suspension arm are both quadrilateral fulcrum structures, are spaced apart in the vertical direction and are rotatably arranged on the frame, one end of the damping elastic member is rotatably connected with the lower suspension arm, the other end penetrates through the upper suspension arm and is rotatably connected with the frame, two ends of the first vertical shaft are respectively rotatably connected with the first end of the upper suspension arm and the first end of the lower suspension arm, two ends of the second vertical shaft are respectively rotatably connected with the second end of the upper suspension arm and the second end of the lower suspension arm, two ends of the first horizontal shaft are respectively connected with the first vertical shaft and the second vertical shaft, the second horizontal shaft is located below the first horizontal shaft, two ends of the second horizontal shaft are respectively connected with the first vertical shaft and the second vertical shaft, the first hub motor is rotatably connected with the upper suspension arm and the lower suspension arm respectively, the second suspension assembly has the same structure as the first suspension assembly, and the second hub motor is rotatably connected with the upper suspension arm and the lower suspension arm of the second suspension assembly respectively.

[0011] Preferably, the picking mechanical arm is arranged in front of the fruit container, the controller is arranged below the picking mechanical arm, and the power supply device is arranged below the fruit container.

[0012] Preferably, the picking mechanical arm is arranged in front of the fruit container, the controller is arranged below the picking mechanical arm, and the power supply device is arranged below the fruit container.

[0013] Preferably, the picking mechanical arm comprises a base, a first joint, a second joint, a third joint, a fourth joint, a first driving assembly, a second driving assembly, a third driving assembly, a fourth driving assembly, an end effector, and a gripper assembly, the first driving assembly is arranged on the base, the first joint is connected with the output end of the first driving assembly, the first driving assembly is used to drive the first joint to rotate, the second driving assembly is arranged on the first joint, the second joint is a V-shaped joint, the bending part of the second joint is connected with the output end of the second driving assembly, and the second driving assembly is used to drive the second joint to rotate, the third driving assembly comprises a third driving member and a first transmission part, the third driving member is arranged on the first end of the second joint, the third joint is arranged on the second end of the second joint, and the third driving member is in transmission connection with the third joint through the first transmission part, the third driving member is used to drive the third joint to rotate through the first transmission part, the fourth driving assembly comprises a fourth driving member and a second transmission part, the fourth driving member is arranged on the first end of the third joint, the fourth joint is arranged on the second end of the third joint, and the fourth driving member is in transmission connection with the fourth joint through the second transmission part, the fourth driving member is used to drive the fourth joint to rotate through the second transmission part, the end effector is arranged on the fourth joint, the gripper assembly is connected with the output end of the end effector, the gripper assembly is used to hold the target picking object, and the first driving assembly, the second driving assembly, the third driving assembly, the fourth driving assembly, and the end effector are respectively connected with the controller.

[0014] Preferably, the gripper assembly comprises a gripper connecting member and a flexible gripper arranged on the gripper connecting member, the outer side wall of the flexible gripper is arranged in a sawtooth shape, the flexible gripper is provided with an inflation pipe, and the flexible gripper is provided with at least two, and the two or more flexible grippers form a holding space.

[0015] Preferably, the picking mechanical arm further comprises an image acquisition device, the image acquisition device is installed on the fourth joint and located at the side of the gripper assembly, and the image acquisition device is connected with the controller

[0016] The picking trolley steering assembly based on the cloud network provided by the utility model realizes the synchronous steering of two hub motors through the design of the first bevel gear speed increasing mechanism and the second bevel gear speed increasing mechanism and the synchronous rod, the design not only improves the accuracy and stability of steering, but also can expand the steering range of the trolley, so that the trolley can flexibly complete position conversion in narrow space and realize the demand of universal movement, greatly improves the picking efficiency; moreover, the controller as the core of the whole system is responsible for coordinating the operation of each component and interacts with the remote control terminal, realizes the functions of remote monitoring and control, so that the operator can monitor the running state of the trolley in real time at a distance, and adjusts the picking strategy according to the need, improves the intelligent level of picking operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0018] Figure 1 It is the structure schematic of the picking trolley based on the cloud network provided by the utility model embodiment Figure 1 ;

[0019] Figure 2 It is the structure schematic of the picking trolley based on the cloud network provided by the utility model embodiment Figure 2 ;

[0020] Figure 3 It is the structure schematic of the walking mechanism provided by the utility model embodiment Figure 1 ;

[0021] Figure 4 It is the structure schematic of the walking mechanism provided by the utility model embodiment Figure 2 ;

[0022] Figure 5 It is the structure schematic of the picking mechanical arm provided by the utility model embodiment Figure 1 ;

[0023] Figure 6 It is the structure schematic of the picking mechanical arm provided by the utility model embodiment Figure 2 .

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 10, frame; 20, walking mechanism; 21, first wheel hub motor; 22, second wheel hub motor; 23, steering device; 231, first suspension assembly; 2311, upper suspension arm; 2312, lower suspension arm; 2313, damping elastic element; 2314, first vertical shaft; 2315, second vertical shaft; 2316, first horizontal shaft; 2317, second horizontal shaft; 232, second suspension assembly; 233, steering assembly; 234, first bevel gear speed increasing mechanism; 2341, first speed increasing bevel gear; 2342, first synchronous bevel gear; 2343, first driving bevel gear; 2344, first stabilizing bevel gear; 235, second bevel gear speed increasing mechanism; 2351, second speed increasing bevel gear; 2352, second synchronous bevel gear; 2353, second driving bevel gear; 2354, second stabilizing bevel gear; 236, synchronous rod; 237, first rotating shaft; 238, second rotating shaft; 239, steering driving element; 240, guide rail; 241, gear; 242, rack; 243, first connecting rod; 244, second connecting rod; 245, first steering support; 246, second steering support; 247, third steering support; 30, picking mechanical arm; 31, base; 32, first joint; 321, first mounting groove; 322, second mounting groove; 323, first horizontal plate; 324, first vertical plate; 325, L-shaped support rib; 33, second joint; 34, third joint; 341, first limiting block; 342, second limiting block; 35, fourth joint; 351, second horizontal plate; 352, second vertical plate; 36, first driving assembly; 361, first driving element; 362, first coupling; 363, first encoder; 37, second driving assembly; 371, second driving element; 372, second encoder; 38, third driving assembly; 381, third driving element; 382, first synchronous wheel; 383, second synchronous wheel; 384, first transmission element; 385, first connecting shaft element; 386, first idler wheel; 387, second idler wheel; 388, third encoder; 389, bearing; 39, fourth driving assembly; 391, fourth driving element; 392, third synchronous wheel; 393, fourth synchronous wheel; 394, second transmission element; 395, second connecting shaft element; 396, fourth encoder; 397, tensioning wheel; 40, end effector; 41, fifth driving element; 42, second coupling; 43, fifth encoder; 44, gripper assembly; 441, gripper connecting element; 442, flexible gripper; 443, inflatable tube; 444, anti-slip stripes; 45, image acquisition device; 451, camera support; 452, camera; 50, fruit holding hopper; 60, controller; 70, power supply device; 80, mechanical arm mounting stand; 90, mechanical arm base plate. DETAILED DESCRIPTION

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0029] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0030] like Figures 1 to 6 As shown, this is a cloud-based harvesting cart, which is one embodiment of the present invention.

[0031] Please see Figures 1 to 6The utility model embodiment's picking trolley based on cloud network includes frame 10, walking device, picking mechanical arm 30, fruit holding hopper 50, controller 60 and power device 70, picking mechanical arm 30, fruit holding hopper 50, controller 60 and power device 70 are arranged on frame 10 respectively, and walking device includes two walking mechanisms 20 of setting in the front and back sides of frame 10 respectively, and walking mechanism 20 includes first hub motor 21, second hub motor 22 and steering device 23, and steering device 23 includes first suspension assembly 231, second suspension assembly 232, steering assembly 233, first bevel gear speed increasing mechanism 234, second bevel gear speed increasing mechanism 235 and synchronous lever 236, first suspension assembly 231 and second suspension assembly 232 are installed on the both sides of frame 10 respectively, first hub motor 21 and second hub motor 22 are rotatably arranged on first suspension assembly 231 and second suspension assembly 232 respectively, steering assembly 233 is installed on frame 10, steering assembly 233 is connected with first bevel gear speed increasing mechanism 234, first bevel gear speed increasing mechanism 234 is connected with first hub motor 21, second bevel gear speed increasing mechanism 235 is connected with second hub motor 22, and synchronous lever 236 both ends are connected with first bevel gear speed increasing mechanism 234 and second bevel gear speed increasing mechanism 235 respectively, and controller 60 is connected with steering assembly 233, first hub motor 21, second hub motor 22, picking mechanical arm 30 and power device 70 respectively, and controller 60 is further used to carry out information interaction with remote control terminal to realize remote monitoring operation.

[0032] In the embodiment, the fruit holding hopper 50 is arranged at the rear side of the frame 10, the picking mechanical arm 30 is arranged at the front side of the fruit holding hopper 50, the controller 60 is arranged below the picking mechanical arm 30, and the power device 70 is arranged below the fruit holding hopper 50. In this way, the compactness of the overall structure of the picking trolley based on the cloud network can be improved.

[0033] In other embodiments, the picking mechanical arm 30 can also be arranged at the left side or the right side or the rear side of the fruit holding hopper 50, as long as the picked fruits can be put into the fruit holding hopper 50.

[0034] In the embodiment, the controller 60 is provided with a network unit for connecting with a cloud server, that is, an administrator can connect the cloud server by using a local terminal, utilize the data interaction and management capability of the remote server, realize remote data interaction and control of the picking robot by the user, and the like, at the same time, the picking trolley based on the cloud network uploads the working state information in real time through the network unit, the state information includes position information, working progress, working parameters and real-time monitoring information, the information is uploaded to the cloud server to form a working log, which is convenient for the administrator to perform real-time monitoring and historical inquiry. The administrator can also send relevant working instructions through the user terminal, and the cloud server transfers the working instructions to the picking trolley based on the cloud network to update the working task instructions.

[0035] Specifically, the network unit is loaded with a 5G network.

[0036] The working principle of the picking trolley based on the cloud network in the embodiment is as follows:

[0037] When picking work is needed, the hub motor is started to move to the destination, when turning is needed, the turning assembly 233 is started, the first hub motor 21 is driven to turn through the first bevel gear speed increasing mechanism 234, and the second hub motor 22 is driven to turn through the synchronous rod 236 and the second bevel gear speed increasing mechanism 235, until the picking trolley based on the cloud network reaches the picking location, the fruit is picked by the picking mechanical arm 30, and the picked fruit is put into the fruit container 50, the first bevel gear speed increasing mechanism 234 and the second bevel gear speed increasing mechanism 235 can expand the turning range of the picking trolley based on the cloud network, so as to complete the position conversion requirement in a narrow range.

[0038] The turning assembly 233 of the picking trolley based on the cloud network in the embodiment realizes the synchronous turning of the two hub motors through the design of the first bevel gear speed increasing mechanism 234 and the second bevel gear speed increasing mechanism 235 and the synchronous rod 236, which not only improves the accuracy and stability of turning, but also expands the turning range of the trolley, so that it can also flexibly complete the position conversion in a narrow space to realize the demand of omnidirectional movement, greatly improving the picking efficiency; moreover, the controller 60 as the core of the whole system not only coordinates the operation of each component, but also interacts with the remote control terminal to realize the function of remote monitoring and control, so that the operator can remotely monitor the running state of the trolley in real time, and adjust the picking strategy as needed, improving the intelligent level of picking work.

[0039] Please refer to Figure 3 and Figure 4As shown, in the embodiment, the steering assembly 233 includes a first rotating shaft 237 rotatably arranged on the first suspension assembly 231, and a first bevel gear speed-increasing mechanism 234 including a first speed-increasing bevel gear 2341, a first synchronous bevel gear 2342, a first driving bevel gear 2343 and a first stabilizing bevel gear 2344. The first speed-increasing bevel gear 2341 and the first synchronous bevel gear 2342 are arranged side by side. The first driving bevel gear 2343 is in meshing transmission with the first speed-increasing bevel gear 2341 and the first synchronous bevel gear 2342 respectively. The first stabilizing bevel gear 2344 is in meshing transmission with the first speed-increasing bevel gear 2341 and the first synchronous bevel gear 2342 respectively. The first driving bevel gear 2343 and the first stabilizing bevel gear 2344 are sleeved on the first rotating shaft 237 respectively, and the first stabilizing bevel gear 2344 is below the first driving bevel gear 2343. The steering assembly 233 is connected with the first speed-increasing bevel gear 2341. The first synchronous bevel gear 2342 is connected with a first end of a synchronous rod 236. A second end of the synchronous rod 236 is connected with the second hub motor 22.

[0040] Further, the steering assembly 233 further includes a second rotating shaft 238 rotatably arranged on the second suspension assembly 232, and a second bevel gear speed-increasing mechanism 235 including a second speed-increasing bevel gear 2351, a second synchronous bevel gear 2352, a second driving bevel gear 2353 and a second stabilizing bevel gear 2354. The second speed-increasing bevel gear 2351 and the second synchronous bevel gear 2352 are arranged side by side. The second driving bevel gear 2353 is in meshing transmission with the second speed-increasing bevel gear 2351 and the second synchronous bevel gear 2352 respectively. The second stabilizing bevel gear 2354 is in meshing transmission with the second speed-increasing bevel gear 2351 and the second synchronous bevel gear 2352 respectively. The second driving bevel gear 2353 and the second stabilizing bevel gear 2354 are sleeved on the second rotating shaft 238 respectively, and the second stabilizing bevel gear 2354 is below the second driving bevel gear 2353. The second synchronous bevel gear 2352 is connected with a second end of the synchronous rod 236.

[0041] In the embodiment, the first speed-increasing bevel gear 2341, the first synchronous bevel gear 2342, the second speed-increasing bevel gear 2351 and the second synchronous bevel gear 2352 are large-sized bevel gears 241. The first driving bevel gear 2343, the first stabilizing bevel gear 2344, the second driving bevel gear 2353 and the second stabilizing bevel gear 2354 are small-sized bevel gears 241.

[0042] It can be understood that when the transmission ratio is greater than 1, the torque of the output shaft will be greater than the torque of the input shaft, so that the torque output by the steering drive 239 can be amplified when transmitted to the first wheel hub motor 21, so that the steering of the wheel is more easily realized, and the amplification of the torque helps to overcome the resistance when steering, so that the small car can realize a larger steering angle in a smaller space, therefore, by setting the first bevel gear speed increasing mechanism 234, the picking small car based on the cloud network can be expanded from a small angle steering range to 180°.

[0043] In the embodiment, through the cooperation of the steering assembly 233, the speed-increasing bevel gear 241, the synchronous bevel gear 241, the driving bevel gear 241, the stabilizing bevel gear 241 and the synchronous rod 236, the transmission ratio of the bevel gear 241 and the connection mode of the synchronous rod 236 can expand the steering range of the small car to 180°, so that the picking small car based on the cloud network can complete the steering action of any angle in a narrow space, without worrying about the influence of limited steering range on picking efficiency or causing safety hazards.

[0044] Please refer to Figure 3 and Figure 4 In the embodiment, the steering assembly 233 also includes a steering drive 239, a guide rail 240, a gear 241, a rack 242, a first connecting rod 243, a second connecting rod 244, a first steering bracket 245, a second steering bracket 246 and a third steering bracket 247, the first steering bracket 245, the second steering bracket 246 and the third steering bracket 247 are L-shaped steering brackets, the steering drive 239 is installed on the vehicle frame 10, the gear 241 is connected with the output shaft of the steering drive 239, the guide rail 240 is slidingly connected with the vehicle frame 10, the rack 242 is installed on the guide rail 240 and is in meshing transmission with the gear 241, the first connecting rod 243 is connected with the guide rail 240, the two ends of the second connecting rod 244 are respectively connected with the first connecting rod 243 and the first steering bracket 245, the end of the first steering bracket 245 away from the second connecting rod 244 is connected with the first speed-increasing bevel gear 2341, the two ends of the second steering bracket 246 are respectively connected with the first synchronous bevel gear 2342 and the synchronous rod 236, the two ends of the third steering bracket 247 are respectively connected with the second synchronous bevel gear 2352 and the synchronous rod 236, through the meshing transmission of the guide rail 240 and the rack 242, and the ingenious connection of the connecting rods and the steering brackets, the flexibility and accuracy of the steering of the picking small car based on the cloud network can be improved.

[0045] Please refer to Figure 3 and Figure 4As shown, in the embodiment, the first suspension assembly 231 includes an upper suspension arm 2311, a lower suspension arm 2312, a damping elastic member 2313, a first vertical shaft 2314, a second vertical shaft 2315, a first horizontal shaft 2316, and a second horizontal shaft 2317. The upper suspension arm 2311 and the lower suspension arm 2312 are both quadrilateral fulcrum structures, are spaced apart in the vertical direction, and are rotatably arranged on the vehicle frame 10. The damping elastic member 2313 is rotatably connected to the lower suspension arm 2312 at one end and rotatably connected to the vehicle frame 10 at the other end through the upper suspension arm 2311. The two ends of the first vertical shaft 2314 are rotatably connected to the first end of the upper suspension arm 2311 and the first end of the lower suspension arm 2312, respectively. The two ends of the second vertical shaft 2315 are rotatably connected to the second end of the upper suspension arm 2311 and the second end of the lower suspension arm 2312, respectively. The two ends of the first horizontal shaft 2316 are connected to the first vertical shaft 2314 and the second vertical shaft 2315, respectively. The second horizontal shaft 2317 is located below the first horizontal shaft 2316, and the two ends of the second horizontal shaft 2317 are connected to the first vertical shaft 2314 and the second vertical shaft 2315, respectively. The first hub motor 21 is rotatably connected to the upper suspension arm 2311 and the lower suspension arm 2312. The second suspension assembly 232 has the same structure as the first suspension assembly 231. The second hub motor 22 is rotatably connected to the upper suspension arm 2311 and the lower suspension arm 2312 of the second suspension assembly 232.

[0046] In the embodiment, the damping elastic member 2313 is a damping spring.

[0047] In the embodiment, the first rotation shaft 237 is rotatably connected to the first horizontal shaft 2316 and the second horizontal shaft 2317, respectively. The first steering support 245 is rotatably connected to the first vertical shaft 2314. The second steering support 246 is rotatably connected to the second vertical shaft 2315. That is, the first steering support 245 radially penetrates the first vertical shaft 2314 and is connected to the first speed-increasing bevel gear 2341. The second steering support 246 radially penetrates the second vertical shaft 2315 and is connected to the first synchronous bevel gear 2342.

[0048] Similarly, the third steering support 247 is rotatably connected to the first vertical shaft 2314 of the second suspension assembly 232. That is, the third steering support 247 radially penetrates the first vertical shaft 2314 of the second suspension assembly 232 and is connected to the second speed-increasing bevel gear 2351.

[0049] In this embodiment, both the upper suspension arm 2311 and the lower suspension arm 2312 adopt a quadrilateral pivot structure, which enhances the rigidity and stability of the first suspension assembly 231 and the second suspension assembly 232, enabling the first suspension assembly 231 and the second suspension assembly 232 to better support the weight of the vehicle body and resist various impacts from the road surface. The first vertical shaft 2314 and the second vertical shaft 2315 are respectively connected to the two ends of the upper suspension arm 2311 and the lower suspension arm 2312, forming a stable quadrilateral frame, which further enhances the overall stability of the first suspension assembly 231 and the second suspension assembly 232. One end of the shock-absorbing elastic element 2313 is rotatably connected to the lower suspension arm 2312, and the other end passes through the upper suspension arm 2311 and is rotatably connected to the frame 10, so that the shock-absorbing elastic element 2313 can more effectively absorb and disperse vibrations and impacts from the road surface.

[0050] Please see Figure 3 and Figure 4 As shown, in this embodiment, for example, the picking robotic arm 30 is positioned in front of the fruit container 50, the controller 60 is positioned below the picking robotic arm 30, and the power supply device 70 is positioned below the fruit container 50. This design can improve the overall compactness of the cloud-based picking cart.

[0051] Please see Figure 2 As shown in this embodiment, exemplarily, the cloud-based harvesting cart further includes a robotic arm mounting frame 80 and a robotic arm base plate 90. Two robotic arm mounting frames 80 are provided, supported parallel to each other on the frame 10. The robotic arm base plate 90 is mounted on top of the two robotic arm mounting frames 80, and the harvesting robotic arm 30 is mounted on the robotic arm base plate 90. This design balances the center of gravity of the cloud-based harvesting cart, enabling it to maintain better stability during operation, especially during high-altitude harvesting, and reducing the risk of tipping or swaying due to an unstable center of gravity.

[0052] Please see Figure 5 and Figure 6As shown, in this embodiment, the picking robot arm 30 exemplarily comprises a base 31, a first joint 32, a second joint 33, a third joint 34, a fourth joint 35, a first driving assembly 36, a second driving assembly 37, a third driving assembly 38, a fourth driving assembly 39, an end effector 40, and a gripper assembly 44. The first driving assembly 36 is installed on the base 31, the first joint 32 is connected with the output end of the first driving assembly 36, and the first driving assembly 36 is used to drive the first joint 32 to rotate. The second driving assembly 37 is arranged on the first joint 32, the second joint 33 is a V-shaped joint, the curved part of the second joint 33 is connected with the output end of the second driving assembly 37, and the second driving assembly 37 is used to drive the second joint 33 to rotate. The third driving assembly 38 comprises a third driving member 381 and a first transmission member, the third driving member 381 is installed on the first end of the second joint 33, the third joint 34 is rotatably arranged on the second end of the second joint 33, and the third driving member 381 is in transmission connection with the third joint 34 through the first transmission member. The third driving member 381 is used to drive the third joint 34 to rotate through the first transmission member. The fourth driving assembly 39 comprises a fourth driving member 391 and a second transmission member, the fourth driving member 391 is installed on the first end of the third joint 34, the fourth joint 35 is rotatably arranged on the second end of the third joint 34, and the fourth driving member 391 is in transmission connection with the fourth joint 35 through the second transmission member. The fourth driving member 391 is used to drive the fourth joint 35 to rotate through the second transmission member. The end effector 40 is installed on the fourth joint 35, and the gripper assembly 44 is connected with the output end of the end effector 40. The gripper assembly 44 is used to clamp the target picking object.

[0053] In this embodiment, specifically, the base 31 is installed on the robot arm bottom plate 90.

[0054] The working principle of the picking robot arm 30 of this embodiment is as follows:

[0055] When the first driving assembly 36 is started, the first driving assembly 36 drives the first joint 32 to rotate, thereby providing the basic direction and angle adjustment for the overall movement of the picking robot arm 30, so that the picking robot arm 30 can move towards the target picking area.

[0056] When the second driving assembly 37 is started, the second driving assembly 37 drives the second joint 33 to rotate, thereby further adjusting the posture and position of the picking robot arm 30 to adapt to picking targets of different heights.

[0057] When the third driving member 381 is started, the third driving member 381 drives the third joint 34 to rotate through the first transmission member, thereby realizing further adjustment of the picking robot arm 30 in the horizontal or vertical direction.

[0058] When the fourth driving member 391 is activated, the fourth driving member 391 drives the fourth joint 35 to rotate through the second transmission member, thereby providing the picking robot arm 30 with the final precise position and posture adjustment.

[0059] When the end effector 40 is activated, the target picking object is picked from the tree or other growth environment by rotating the control gripper assembly 44.

[0060] The picking robot arm 30 of the present embodiment can be integrated on an outdoor automated picking device to perform fruit picking actions. Through the series design of the four joints and the end effector 40, the picking robot arm 30 can realize complex three-dimensional space motion, flexibly adapt to fruit picking requirements of different heights, angles and positions, and effectively apply to robot operation in the hilly and mountainous topography of Lingnan region. Moreover, through the optimization of the structure design of the picking robot arm 30, the weight of the outdoor automated picking device is reduced under the condition of meeting the rigidity required in the picking process, the overall load of the outdoor automated picking device is reduced, which is conducive to prolonging the overall endurance time of the automated picking device, improving the operation range and operation flexibility. At the same time, through the arrangement of the gravity center of the driving motor of the picking robot arm 30 on the corresponding joint arm, the length of the force arm is reduced, which can optimize and improve the driving load ratio of the picking robot arm 30.

[0061] Please refer to Figure 5 and Figure 6 In the present embodiment, the base 31 is an aluminum alloy base, the first joint 32, the second joint 33, the third joint 34 and the fourth joint 35 are all aluminum alloy joints. Through the optimization of the structure design of the picking robot arm 30 combined with the advantages of aluminum alloy lightweight material, the weight of the fruit picking robot is reduced to the greatest extent under the condition of meeting the rigidity required in the picking process, and the overall load of the outdoor automated picking device is reduced.

[0062] It can be understood that the base 31, the first joint 32, the second joint 33, the third joint 34 and the fourth joint 35 can be made of other lightweight materials, such as magnesium alloy, titanium alloy, high-strength steel and carbon fiber composite material.

[0063] Please refer to Figure 5 and Figure 6As shown in the figure, in the embodiment, the first joint 32 is provided with a first mounting groove 321, the first driving assembly 36 comprises a first driving member 361, a first coupling 362 and a first encoder 363, the first driving member 361 is mounted on the base 31, the first coupling 362 is mounted on the output end of the first driving member 361, the first joint 32 and the first encoder 363 are respectively mounted on the first coupling 362, and the first encoder 363 is located in the first mounting groove 321. The first driving member 361, the first coupling 362 and the first encoder 363 are tightly integrated around the first joint 32, forming a compact and efficient driving system, reducing the connecting members and transmission devices between components, thereby reducing the complexity and weight of the overall structure. Moreover, the first mounting groove 321 provided on the first joint 32 provides a mounting position for the first encoder 363, ensuring that the first encoder 363 can be stably fixed on the first joint 32 without occupying additional space, which helps to reduce the volume and weight of the entire driving system, making it more compact and lightweight.

[0064] In the embodiment, the first driving member 361 is a motor, which rotates to drive the first joint 32 and the first encoder 363 to rotate through the first coupling 362.

[0065] In the embodiment, the first encoder 363 can accurately measure the rotation angle of the first joint 32, thereby achieving accurate positioning of the overall movement direction of the picking mechanical arm 30.

[0066] Please refer to Figure 5 and Figure 6 As shown in the figure, in the embodiment, the first joint 32 is provided with a second mounting groove 322, the second driving assembly 37 comprises a second driving member 371 and a second encoder 372, the second driving member 371 is mounted on the first joint 32, the second encoder 372 is mounted on the second driving member 371 and located in the second mounting groove 322, and the curved part of the second joint 33 is connected with the output shaft of the second driving member 371. The second mounting groove 322 on the first joint 32 provides a mounting position for the second encoder 372, ensuring that the second encoder 372 can be stably fixed on the second joint 33 without occupying additional space, which helps to reduce the volume and weight of the entire driving system, making it more compact and lightweight.

[0067] In the embodiment, the second driving member 371 is a motor, which rotates to drive the second joint 33 and the second encoder 372 to rotate through the coupling.

[0068] In the embodiment, the second encoder 372 can accurately measure the rotation angle of the second joint 33, thereby achieving accurate positioning of the overall movement direction of the picking mechanical arm 30.

[0069] Please refer to Figure 5 and Figure 6 In the embodiment, the first transmission component includes a first synchronous wheel 382, a second synchronous wheel 383, a first transmission member 384, and a first connecting shaft member 385. The third driving member 381 is installed on the first end of the second joint 33, and the output shaft of the third driving member 381 extends out of the second joint 33. The first connecting shaft member 385 is installed on the third joint 34 and extends out of the second end of the second joint 33. The first synchronous wheel 382 is installed on the output shaft of the third driving member 381, and the second synchronous wheel 383 is installed on the end of the first connecting shaft member 385 extending out of the second joint 33. The first synchronous wheel 382 and the second synchronous wheel 383 are drivingly connected by the first transmission member 384. The first synchronous wheel 382 and the second synchronous wheel 383 are respectively located at the two ends of the second joint 33. This layout makes full use of the space inside the joint, making the overall structure more compact.

[0070] In the embodiment, the first synchronous wheel 382 and the second synchronous wheel 383 can be a belt wheel or a sprocket wheel. When the first synchronous wheel 382 and the second synchronous wheel 383 are belt wheels, the first transmission member 384 is a synchronous belt. When the first synchronous wheel 382 and the second synchronous wheel 383 are sprocket wheels, the first transmission member 384 is a transmission chain.

[0071] Optionally, the first transmission component further includes a first idler wheel 386 and a second idler wheel 387. The first idler wheel 386 and the second idler wheel 387 are rotatably arranged in the second joint 33, and the first transmission member 384 is wrapped around the first synchronous wheel 382, the second synchronous wheel 383, the first idler wheel 386, and the second idler wheel 387.

[0072] Optionally, the third joint 34 is provided with a first limiting block 341 near the position of the second joint 33. The first connecting shaft member 385 is provided with a bearing 389, and the bottom of the bearing 389 is provided with a limiting groove. Through the cooperation of the limiting groove and the first limiting block 341, the rotation angle of the third joint 34 can be limited.

[0073] Further, the third driving assembly 38 further includes a third encoder 388, which is arranged on the third driving member 381.

[0074] In the embodiment, the third driving member 381 is a motor. When the motor rotates, it drives the first synchronous wheel 382 and the third encoder 388 to rotate. At the same time, the first synchronous wheel 382 drives the second synchronous wheel 383 to rotate through the transmission member, thereby driving the third joint 34 to rotate through the first connecting shaft member 385.

[0075] In the embodiment, the third encoder 388 can accurately measure the rotation angle of the third joint 34, thereby achieving accurate positioning of the overall movement direction of the picking mechanical arm 30.

[0076] Please see Figure 5 and Figure 6 As shown, in this embodiment, exemplarily, the second transmission component includes a third synchronous pulley 392, a fourth synchronous pulley 393, a second transmission member 394, and a second connecting shaft member 395. A fourth driving member 391 is mounted on the first end of a fourth joint 35, and the output shaft of the fourth driving member 391 extends out of the third joint 34. The second connecting shaft member 395 is mounted on the fourth joint 35 and extends out of the second end of the third joint 34. The third synchronous pulley 392 is connected to the output shaft of the fourth driving member 391. The fourth synchronous pulley 393 is mounted on one end of the second connecting shaft member 395 extending out of the third joint 34. The third synchronous pulley 392 and the fourth synchronous pulley 393 are connected by the second transmission member 394. The third synchronous pulley 392 and the fourth synchronous pulley 393 are respectively mounted on both ends of the third joint 34. This arrangement makes full use of the space inside the joint, resulting in a more compact overall structure.

[0077] Optionally, the second transmission component further includes a tensioning wheel 397, which is rotatably mounted on the third joint 34, and the second transmission component 394 surrounds the third synchronous wheel 392, the fourth synchronous wheel 393 and the tensioning wheel 397.

[0078] In this embodiment, the third synchronous pulley 392 and the fourth synchronous pulley 393 can be either pulleys or sprockets. When the third synchronous pulley 392 and the fourth synchronous pulley 393 are pulleys, the second transmission member 394 is a synchronous belt. When the third synchronous pulley 392 and the fourth synchronous pulley 393 are sprockets, the second transmission member 394 is a transmission chain.

[0079] Optionally, a second limiting block 342 is provided at the position of the third joint 34 near the fourth joint 35. By setting the second limiting block 342, the rotation range of the third joint 34 can be limited to prevent the gripper assembly 44 from turning to the inside of the picking robot arm 30.

[0080] Furthermore, the fourth drive assembly 39 also includes a fourth encoder 396, which is disposed on the fourth drive member 391.

[0081] In this embodiment, the fourth driving component 391 is a motor. The rotation of the motor drives the third synchronous wheel 392 and the fourth encoder 396 to rotate. At the same time, the third synchronous wheel 392 drives the fourth synchronous wheel 393 to rotate through the transmission component, thereby driving the fourth joint 35 to rotate through the second connecting shaft 395.

[0082] In this embodiment, the fourth encoder 396 can accurately measure the rotation angle of the fourth joint 35, thereby achieving precise positioning of the overall movement direction of the picking robot arm 30.

[0083] Please refer to Figure 5 and Figure 6 In the embodiment, the end effector 40 includes a fifth driving member 41, a second coupling 42 and a fifth encoder 43. The fifth driving member 41 is installed on the fourth joint 35. The second coupling 42 is installed on the output shaft of the fifth driving member 41 and connected with the gripper assembly 44. The fifth encoder 43 is arranged on the fifth driving member 41.

[0084] In the embodiment, the fifth encoder 43 can accurately measure the rotation angle of the end effector 40, so as to realize accurate positioning of the overall movement direction of the picking robot arm 30.

[0085] In the embodiment, the fifth driving member 41 is a motor. The motor rotates to drive the gripper assembly 44 to rotate, so as to realize picking of the target picking object from the tree or other growth environment.

[0086] Please refer to Figure 5 and Figure 6 In the embodiment, the first joint 32 is arranged in an L shape. The first joint 32 includes a first horizontal plate 323 and a first vertical plate 324 connected with the first horizontal plate 323. The first horizontal plate 323 is connected with the first driving assembly 36. The second driving assembly 37 is arranged on the first vertical plate 324. The L-shaped arrangement of the first joint 32 effectively utilizes the first joint 32 in horizontal and vertical directions, so as to save space. Meanwhile, the movement range of the first joint 32 is expanded. Moreover, the first joint 32 forms a stable support frame through the connection of the horizontal plate and the vertical plate. This structure can effectively disperse stress and reduce structural deformation when bearing load, so as to improve the stability of the overall structure.

[0087] Optionally, the first joint 32 further includes an L-shaped support rib 325. The two ends of the L-shaped support rib 325 are respectively connected with the first horizontal plate 323 and the first vertical plate 324. The existence of the L-shaped support rib 325 can enhance the overall rigidity of the first joint 32 and prevent deformation or damage due to excessive stress. Moreover, the L-shaped support rib 325 forms an additional support structure, which improves the connection strength between the first horizontal plate 323 and the first vertical plate 324 and makes the entire first joint 32 more stable.

[0088] Specifically, two L-shaped support ribs 325 are arranged on the two sides of the first horizontal plate 323, which can further improve the rigidity and stability of the first joint 32.

[0089] Please refer to Figure 5 and Figure 6As shown in the embodiment, the fourth joint 35 is L-shaped, including a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351, the second vertical plate 352 is rotatably arranged at the second end of the third joint 34, and the end effector 40 is installed on the second horizontal plate 351. The fourth joint 35 is L-shaped, and the end effector 40 is installed on the second horizontal plate 351, so that the picking robot arm 30 can more easily adapt to various working environments and task requirements, such as moving in different directions, rotating, etc.

[0090] As shown in the embodiment, the fourth joint 35 is L-shaped, including a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351, the second vertical plate 352 is rotatably arranged at the second end of the third joint 34, and the end effector 40 is installed on the second horizontal plate 351. The fourth joint 35 is L-shaped, and the end effector 40 is installed on the second horizontal plate 351, so that the picking robot arm 30 can more easily adapt to various working environments and task requirements, such as moving in different directions, rotating, etc. Figure 5 Figure 6 As shown in the embodiment, the fourth joint 35 is L-shaped, including a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351, the second vertical plate 352 is rotatably arranged at the second end of the third joint 34, and the end effector 40 is installed on the second horizontal plate 351. The fourth joint 35 is L-shaped, and the end effector 40 is installed on the second horizontal plate 351, so that the picking robot arm 30 can more easily adapt to various working environments and task requirements, such as moving in different directions, rotating, etc.

[0091] In the embodiment, the inner side of the flexible gripper 442 is provided with anti-skid stripes 444, which can increase the friction between the flexible gripper 442 and the target picking object. When the flexible gripper 442 is inflated and bent to hold the target picking object, the anti-skid stripes 444 can ensure that the gripper holds the target picking object more firmly, preventing the target picking object from slipping or falling off during picking.

[0092] As shown in the embodiment, the fourth joint 35 is L-shaped, including a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351, the second vertical plate 352 is rotatably arranged at the second end of the third joint 34, and the end effector 40 is installed on the second horizontal plate 351. The fourth joint 35 is L-shaped, and the end effector 40 is installed on the second horizontal plate 351, so that the picking robot arm 30 can more easily adapt to various working environments and task requirements, such as moving in different directions, rotating, etc. Figure 5 Figure 6 Figure 5 Figure 6 As shown in the embodiment, the fourth joint 35 is L-shaped, including a second horizontal plate 351 and a second vertical plate 352 connected to the second horizontal plate 351, the second vertical plate 352 is rotatably arranged at the second end of the third joint 34, and the end effector 40 is installed on the second horizontal plate 351. The fourth joint 35 is L-shaped, and the end effector 40 is installed on the second horizontal plate 351, so that the picking robot arm 30 can more easily adapt to various working environments and task requirements, such as moving in different directions, rotating, etc.

[0093] As can be understood, when the picking robot arm 30 is installed on the mobile trolley for use, the image acquisition device 45 can also be installed on the mobile trolley.

[0094] ​​Optionally, the image acquisition device 45 comprises a camera support 451 and a camera 452, the camera support 451 is arranged in an I-shaped manner, and one end of the camera support 451 close to the fourth joint 35 is provided with a bayonet (not shown) which is matched with the fourth joint 35, the camera support 451 is clamped on the fourth joint 35 and connected with the fourth joint 35.

[0095] Specifically, the camera support 451 is screw-connected with the second vertical plate 352, and the connection mode is simple and reliable.

[0096] It can be understood that the picking mechanical arm 30 can also adopt the one on the market, as long as it can achieve the purpose of picking fruits and putting the picked fruits into the fruit container 50, for example, a joint type picking mechanical arm 30.

[0097] The above only describes the preferred embodiments of the present application, and does not limit the patent range of the present application, and any equivalent structural transformation, direct / indirect application in other related technical fields within the patent protection range of the present application under the inventive concept of the present application and the contents of the present application specification and drawings.

Claims

1. A cloud network-based picking trolley, characterized in that, The application relates to a fruit picking vehicle, which comprises a vehicle frame, a walking device, a picking mechanical arm, a fruit container, a controller and a power supply device, wherein the picking mechanical arm, the fruit container, the controller and the power supply device are arranged on the vehicle frame respectively, the walking device comprises two walking mechanisms arranged on the front and rear sides of the vehicle frame respectively, the walking mechanism comprises a first hub motor, a second hub motor and a steering device, the steering device comprises a first suspension assembly, a second suspension assembly, a steering assembly, a first bevel gear speed increasing mechanism, a second bevel gear speed increasing mechanism and a synchronous rod, the first suspension assembly and the second suspension assembly are arranged on the two sides of the vehicle frame respectively, the first hub motor and the second hub motor are rotatably arranged on the first suspension assembly and the second suspension assembly respectively, the steering assembly is arranged on the vehicle frame, the steering assembly is connected with the first bevel gear speed increasing mechanism, the first bevel gear speed increasing mechanism is connected with the first hub motor, the second bevel gear speed increasing mechanism is connected with the second hub motor, the synchronous rod is connected with the first bevel gear speed increasing mechanism and the second bevel gear speed increasing mechanism at two ends respectively, the picking mechanical arm further comprises an image acquisition device, the controller is connected with the steering assembly, the first hub motor, the second hub motor, the picking mechanical arm and the power supply device respectively, and the controller is further used for information interaction with a remote control terminal to realize remote monitoring operation, when steering is needed, the steering assembly is started, the steering assembly drives the first hub motor to steer through the first bevel gear speed increasing mechanism, and the second hub motor is driven to steer through the synchronous rod and the second bevel gear speed increasing mechanism.

2. The cloud network based picking cart of claim 1, wherein, The steering assembly comprises a first rotating shaft, the first rotating shaft is rotatably arranged on the first suspension assembly, the first bevel gear speed increasing mechanism comprises a first speed increasing bevel gear, a first synchronous bevel gear, a first driving bevel gear and a first stabilizing bevel gear, the first speed increasing bevel gear and the first synchronous bevel gear are arranged side by side, the first driving bevel gear is meshed and driven with the first speed increasing bevel gear and the first synchronous bevel gear respectively, the first stabilizing bevel gear is meshed and driven with the first speed increasing bevel gear and the first synchronous bevel gear respectively, the first driving bevel gear and the first stabilizing bevel gear are sleeved on the first rotating shaft respectively, and the first stabilizing bevel gear is located below the first driving bevel gear, the steering assembly is connected with the first speed increasing bevel gear, the first synchronous bevel gear is connected with the first end of the synchronous rod, and the second end of the synchronous rod is connected with the second hub motor.

3. The cloud network based picking cart of claim 2, wherein, The turning assembly further comprises a second rotating shaft rotatably arranged on the second suspension assembly, the second cone gear speed increasing mechanism comprises a second speed increasing cone gear, a second synchronous cone gear, a second driving cone gear and a second stabilizing cone gear, the second speed increasing cone gear and the second synchronous cone gear are arranged side by side, the second driving cone gear is in meshing transmission with the second speed increasing cone gear and the second synchronous cone gear respectively, the second stabilizing cone gear is in meshing transmission with the second speed increasing cone gear and the second synchronous cone gear respectively, the second driving cone gear and the second stabilizing cone gear are sleeved on the second rotating shaft respectively, and the second stabilizing cone gear is below the second driving cone gear, and the second synchronous cone gear is connected with the second end of the synchronous rod.

4. The cloud network based picking cart of claim 3, wherein, The turning assembly further comprises a turning driving member, a guide rail, a gear, a rack, a first connecting rod, a second connecting rod, a first turning support, a second turning support and a third turning support, the first turning support, the second turning support and the third turning support are all L-shaped turning supports, the turning driving member is installed on the vehicle frame, the gear is connected with an output shaft of the turning driving member, the guide rail is in sliding connection with the vehicle frame, the rack is installed on the guide rail and in meshing transmission with the gear, the first connecting rod is connected with the guide rail, two ends of the second connecting rod are connected with the first connecting rod and the first turning support respectively, one end of the first turning support away from the second connecting rod is connected with the first speed increasing cone gear, two ends of the second turning support are connected with the first synchronous cone gear and the synchronous rod respectively, and two ends of the third turning support are connected with the second synchronous cone gear and the synchronous rod respectively.

5. The cloud network based picking cart of claim 1, wherein, The first suspension assembly comprises an upper suspension arm, a lower suspension arm, a damping elastic member, a first vertical shaft, a second vertical shaft, a first horizontal shaft and a second horizontal shaft, the upper suspension arm and the lower suspension arm are both quadrilateral fulcrum structures, are spaced apart in the vertical direction and are rotatably arranged on the vehicle frame, one end of the damping elastic member is rotatably connected with the lower suspension arm, the other end is rotatably connected with the vehicle frame through the upper suspension arm, two ends of the first vertical shaft are rotatably connected with a first end of the upper suspension arm and a first end of the lower suspension arm respectively, two ends of the second vertical shaft are rotatably connected with a second end of the upper suspension arm and a second end of the lower suspension arm respectively, two ends of the first horizontal shaft are connected with the first vertical shaft and the second vertical shaft respectively, the second horizontal shaft is below the first horizontal shaft, two ends of the second horizontal shaft are connected with the first vertical shaft and the second vertical shaft respectively, the first hub motor is rotatably connected with the upper suspension arm and the lower suspension arm respectively, the second suspension assembly has the same structure as the first suspension assembly, and the second hub motor is rotatably connected with the upper suspension arm and the lower suspension arm of the second suspension assembly respectively.

6. The cloud network based picking cart of claim 1, wherein, The picking mechanical arm is arranged in front of the fruit containing hopper, the controller is arranged below the picking mechanical arm, and the power supply device is arranged below the fruit containing hopper.

7. The cloud network based picking cart of claim 1, wherein, It also includes a robotic arm mounting frame and a robotic arm base plate. There are two robotic arm mounting frames, which are supported in parallel on the vehicle frame. The robotic arm base plate is installed on top of the two robotic arm mounting frames, and the harvesting robotic arm is installed on the robotic arm base plate.

8. The cloud network based picking cart of claim 1, wherein, The harvesting robotic arm includes a base, a first joint, a second joint, a third joint, a fourth joint, a first drive assembly, a second drive assembly, a third drive assembly, a fourth drive assembly, an end effector, and a gripper assembly. The first drive assembly is mounted on the base. The first joint is connected to the output end of the first drive assembly, and the first drive assembly drives the first joint to rotate. The second drive assembly is disposed on the first joint. The second joint is a V-shaped joint, and the bent portion of the second joint is connected to the output end of the second drive assembly. The second drive assembly drives the second joint to rotate. The third drive assembly includes a third drive member and a first transmission component. The third drive member is mounted on the first end of the second joint, and the third joint is rotatably disposed at the second end of the second joint. The third drive member is connected to the first drive member via... The first transmission component is connected to the third joint via transmission. The third drive component is used to drive the third joint to rotate via the first transmission component. The fourth drive assembly includes a fourth drive component and a second transmission component. The fourth drive component is installed at the first end of the third joint. The fourth joint is rotatably disposed at the second end of the third joint. The fourth drive component is connected to the fourth joint via the second transmission component. The fourth drive component is used to drive the fourth joint to rotate via the second transmission component. The end effector is installed on the fourth joint. The gripper assembly is connected to the output end of the end effector. The gripper assembly is used to grip the target picking item. The first drive assembly, the second drive assembly, the third drive assembly, the fourth drive assembly, and the end effector are respectively connected to the controller.

9. The cloud network based picking cart of claim 8, wherein, The gripper assembly includes a gripper connector and flexible grippers disposed on the gripper connector. The outer side wall of the flexible gripper is serrated, and an inflation tube is disposed on the flexible gripper. At least two flexible grippers are disposed, and the two or more flexible grippers enclose a clamping space.

10. The cloud network based picking cart of claim 8, wherein, The image acquisition device is mounted on the fourth joint and located beside the gripper assembly. The image acquisition device is connected to the controller.

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