Intelligent eggplant picking machine

Abstract

The utility model provides an intelligent eggplant picking machine which is characterized by comprising a crawler-type advancing device, a carriage, two picking devices, two mechanical arms and a collecting device. The crawler-type traveling device comprises a chassis and bearing wheels, the chassis is supported by the bearing wheels, and front driving wheels and rear driving wheels are connected through crawler sheets; the two mechanical arms comprise the left mechanical arm and the right mechanical arm, and the left mechanical arm and the right mechanical arm are the same in structure. The problems that existing eggplant picking is high in labor cost, limited in picking speed, high in picking damage rate and low in automation degree are solved, and agricultural production is improved.

Description

Technical Field

[0001] This utility model relates to the field of harvesting machine technology, and in particular to an intelligent eggplant harvesting machine. Background Technology

[0002] With the accelerated pace of global agricultural modernization, agricultural production efficiency and quality have significantly improved. However, manual harvesting currently suffers from problems such as high labor intensity, low production efficiency, and high harvesting costs. Therefore, developing an intelligent eggplant harvesting machine is an urgent need in today's agricultural machinery industry.

[0003] Currently, eggplant harvesting faces several challenges and difficulties, such as the fruit's susceptibility to damage and uneven growth distribution. Therefore, we urgently need an intelligent eggplant harvesting machine that is highly efficient, intelligent, and adaptable to solve these problems. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the aforementioned problems, this invention provides an intelligent eggplant harvesting machine to alleviate technical issues such as the inability to accurately harvest eggplants in existing technologies.

[0006] (II) Technical Solution

[0007] This utility model provides an intelligent eggplant harvesting machine, characterized in that it includes: a tracked traveling device, a carriage, two harvesting devices, two robotic arms, and a collection device;

[0008] The tracked traveling device includes: a chassis and load-bearing wheels, wherein the chassis is supported by the load-bearing wheels, and the front drive wheel and the rear drive wheel are connected by track plates;

[0009] The two robotic arms include a left robotic arm and a right robotic arm, and the left robotic arm and the right robotic arm have the same structure.

[0010] The left robotic arm includes a left arm rotating base and a left arm rotating disk. The left arm rotating disk is fixed with a first stepper motor that drives the first synchronous wheel, a second stepper motor that drives the second synchronous wheel, and a third stepper motor that drives the first arm to rotate.

[0011] The first synchronous pulley is connected to the third synchronous pulley via the first synchronous belt to drive the second arm; the fourth synchronous pulley and the second synchronous pulley are connected by the second synchronous belt; the fifth synchronous pulley and the fourth synchronous pulley are synchronously connected to the rod via a keyway; the sixth synchronous pulley and the fifth synchronous pulley are connected via the third synchronous belt; the sixth synchronous pulley drives the third arm; and the fourth arm is connected to the third arm.

[0012] The two harvesting devices include a left harvesting device and a right harvesting device, wherein the left harvesting device and the right harvesting device have the same structure.

[0013] The left harvesting device includes: a harvesting bracket and a binocular recognition camera. The harvesting bracket is fixed with a harvesting device shell, LED beads, and a lead screw. The harvesting device shell contains a sponge, a lower blade, and an upper blade. The harvesting device shell also has a sliding groove and a sliding rod. The harvesting device shell moves in the sliding groove along with the sliding rod. A ball bearing sleeve is installed on the lead screw, and a DC motor is installed at the right end. The DC motor is equipped with a first drive reduction gear and a second drive reduction gear.

[0014] The collection device includes: a collection bracket and a collection basket. The collection bracket is equipped with a selection frame, a first central rotary reduction gear and a second central rotary reduction gear that mesh with each other. The selection frame is equipped with a rotary motor for the collection basket that meshes with each other, a first collection basket reduction gear and a second collection basket reduction gear.

[0015] The carriage includes: a front ultrasonic module, a cooling fan, and a rear ultrasonic module.

[0016] In this embodiment of the utility model, the tracked traveling device includes: track plates and load-bearing wheels. The track plates are driven by front drive wheels and rear drive wheels, and the load-bearing wheels support the chassis and the weight of the entire vehicle.

[0017] In this embodiment of the utility model, the left robotic arm includes: a left arm rotating base and a left arm rotating disk. The first stepper motor and the third stepper motor on the left arm rotating disk drive the first synchronous belt and the second synchronous belt respectively to rotate the first arm and the second arm. The fifth synchronous wheel and the fourth synchronous wheel are synchronously connected to the rod through a keyway. The fifth synchronous wheel and the sixth synchronous wheel transmit power through connection with the third synchronous belt to drive the third arm to move up and down to complete multi-directional harvesting work.

[0018] In this embodiment of the utility model, the left picking device includes: a binocular recognition camera and a picking bracket; the binocular recognition camera is installed on the right side of the picking bracket, and a first drive reduction gear and a second drive reduction gear are installed thereon; a DC motor is installed on the picking bracket and drives the lead screw to rotate, which in turn drives the ball sleeve and the slide rod to roll in the slide groove to adjust the distance between the upper and lower blades in the left picking device; at the same time, a sponge is installed in the outer shell of the picking device.

[0019] In this embodiment of the utility model, the collection device includes: a collection bracket and a collection basket. The collection bracket is equipped with a first central rotary reduction gear and a second central rotary reduction gear for driving the selection frame to rotate. The selection frame is equipped with a collection basket rotation motor, a first collection basket reduction gear, and a second collection basket reduction gear. The electronic gyroscope is used to adjust the attitude of the selection frame.

[0020] In this embodiment of the invention, the ultrasonic module includes an ultrasonic module at the front of the carriage and an ultrasonic module at the rear of the carriage. During operation, ultrasonic ranging is used to ensure a safe distance.

[0021] In this embodiment of the utility model, the heat dissipation module includes a cooling fan. When the machine is running, the temperature inside the carriage rises, and the cooling fan starts to run to ensure the normal operation of the machine components.

[0022] (III) Beneficial Effects

[0023] As can be seen from the above technical solution, the intelligent eggplant harvester of this utility model has at least one or a part of the following beneficial effects:

[0024] It can achieve high harvesting efficiency, high level of intelligence, and strong adaptability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the intelligent eggplant harvester according to an embodiment of the present invention.

[0026] Figure 2 This is a side view of the overall structure of the intelligent eggplant harvester according to an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the collection device of the intelligent eggplant harvester according to an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the harvesting device of the intelligent eggplant harvester according to an embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the left robotic arm of the intelligent eggplant harvester according to an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the right robotic arm of the intelligent eggplant harvester according to an embodiment of the present invention.

[0031] Figure 7 This is a top view schematic diagram of the harvesting device of the intelligent eggplant harvester according to an embodiment of the present utility model.

[0032] Figure 8 This is a front view schematic diagram of the harvesting device of the intelligent eggplant harvester according to an embodiment of the present utility model.

[0033] Figure 9 This is a schematic diagram of the intelligent eggplant harvesting machine according to an embodiment of the present invention.

[0034] Figure 10 This is a schematic diagram of the self-stabilizing slope of the collection basket of the intelligent eggplant harvester according to an embodiment of the present invention.

[0035] [Explanation of key component symbols in the attached drawings of this utility model embodiment]

[0036] 1. Right robotic arm; 2. Right picking claw; 3. Left robotic arm; 4. Left picking device; 5. Collection device; 6. Carriage; 7. Tracked traveling device; 101. Rotating base; 102. Rotating disc; 103. Fourth stepper motor; 104. Seventh synchronous pulley; 105. Fourth synchronous belt; 106. Eighth synchronous pulley; 107. Fifth arm; 108. Sixth arm; 109. Seventh arm; 110. Ninth synchronous pulley; 111. 112. Synchronous belt; 113. Tenth synchronous pulley; 114. Eleventh synchronous pulley; 115. Eighth arm; 116. Sixth synchronous belt; 117. Fifth stepper motor; 118. Sixth stepper motor; 119. Twelfth synchronous pulley; 201. Harvesting device housing; 202. Sponge; 203. Lower blade; 204. First drive reduction gear; 205. Second drive reduction gear; 206. DC motor; 207. LED bead; 208.

[0037] Harvesting support; 209, lead screw; 210, upper blade; 211, binocular recognition camera; 212, slide rail; 213, slide rod; 214, ball bearing sleeve; 301, left arm rotating base; 302, left arm rotating disc; 303, first stepper motor; 304, first synchronous pulley; 305, first synchronous belt; 306, third synchronous pulley; 307, second arm; 308, third arm; 309, fourth arm; 310, sixth synchronous pulley; 311, third synchronous belt; 312, fifth synchronous pulley; 313, fourth synchronous pulley; 314, first arm; 315, second synchronous belt; 316, third stepper motor; 317. Second stepper motor; 318, second synchronous pulley; 501, collection bracket; 502, collection basket; 503, electronic gyroscope; 504, collection basket rotary motor; 505, first collection basket reduction gear; 506, second collection basket reduction gear; 507, first central rotary reduction gear; 508, second central rotary reduction gear; 509, central rotary motor; 509, selection frame; 601, front ultrasonic module; 602, cooling fan; 603, carriage; 604, rear ultrasonic module; 701, rear drive wheel; 702, chassis; 703, track plate; 704, load-bearing wheel; 705, front drive wheel. Detailed Implementation

[0038] This utility model provides an intelligent eggplant harvesting machine, which is an integrated harvesting and collection device. Its purpose is to solve the problems of high labor costs, limited harvesting speed, high damage rate and low degree of automation in existing eggplant harvesting, and to improve agricultural production.

[0039] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0040] In this embodiment of the utility model, an intelligent eggplant harvesting machine is provided, such as... Figures 1 to 4 As shown, the preparation method includes: a tracked traveling device 7, a carriage 6, a left picking device 4, two robotic arms, and a collecting device 5. The tracked traveling device 7 includes: a chassis 702 and load-bearing wheels 704. The chassis 702 is supported by the load-bearing wheels 704, and the front drive wheel 705 and the rear drive wheel 701 are connected by track plates 703. The two robotic arms include a left robotic arm 3 and a right robotic arm 1.

[0041] In the embodiments of this utility model, such as Figure 5 As shown, the left robotic arm 3 includes: a left arm rotating base 301 and a left arm rotating disk 302. A first stepper motor 303 driving a first synchronous pulley 304, a second stepper motor 317 driving a second synchronous pulley 318, and a third stepper motor 316 driving the first arm 314 are fixed on the left arm rotating disk 302. The first synchronous pulley 304 is connected to the third synchronous pulley 306 via a first synchronous belt 305 to drive the second arm 307. The fourth synchronous pulley 313 and the second synchronous pulley 318 are connected by a second synchronous belt 315. The fifth synchronous pulley 312 is synchronously connected to the fourth synchronous pulley 313 on the rod via a keyway. The sixth synchronous pulley 310 is connected to the fifth synchronous pulley 312 via a third synchronous belt 311, and the sixth synchronous pulley 310 drives the third arm 308. The fourth arm 309 is connected to the third arm 308.

[0042] In the embodiments of this utility model, such as Figures 4 to 8 As shown, the left harvesting device 4 includes: a harvesting bracket 208 and a binocular recognition camera 211. The harvesting bracket 208 is fixed with a harvesting device housing 201, an LED bead 207, and a lead screw 209. The harvesting device housing 201 contains a sponge 202, a lower blade 203, and an upper blade 210. The harvesting device housing 201 also has a sliding groove 212 and a sliding rod 213, allowing it to move within the sliding groove 212 along with the sliding rod 213. A ball bearing sleeve 214 is mounted on the lead screw 209, and a DC motor 206 is mounted on its right end. The DC motor 206 is equipped with a first drive reduction gear 204 and a second drive reduction gear 205.

[0043] In the embodiments of this utility model, such as Figure 3As shown, the collection device 5 includes: a collection bracket 501 and a collection basket 502. The collection bracket 501 is equipped with a selection frame 510, a first central rotary reduction gear 507 and a second central rotary reduction gear 508 that mesh with each other. The selection frame 510 is equipped with a collection basket rotary motor 504, a first collection basket reduction gear 505 and a second collection basket reduction gear 506 that mesh with each other.

[0044] In the embodiments of this utility model, such as Figures 1 to 2 As shown, the carriage 6 includes: a front ultrasonic module 601, a cooling fan 602, and a rear ultrasonic module 604.

[0045] In the embodiments of this utility model, such as Figures 1 to 2 As shown, the tracked travel device 7 includes track plates 703 and load-bearing wheels 704. The track plates 703 are driven by the front drive wheel 705 and the rear drive wheel 701, and the load-bearing wheels 704 support the chassis 702 and the weight of the entire vehicle.

[0046] In the embodiments of this utility model, such as Figures 1 to 5 As shown, the left robotic arm 3 includes a left arm rotating base 301 and a left arm rotating disk 302. The first stepper motor 303 and the third stepper motor 316 on the left arm rotating disk 302 drive the first synchronous belt 305 and the second synchronous belt 315 respectively to rotate the first arm 314 and the second arm 307. The fifth synchronous wheel 312 and the fourth synchronous wheel 313 are synchronously connected to the rod through a keyway. The fifth synchronous wheel 312 and the sixth synchronous wheel 310 transmit power through the connection with the third synchronous belt 311 to drive the third arm 308 to move up and down to complete multi-directional harvesting work.

[0047] In the embodiments of this utility model, such as Figures 1 to 8 As shown, the left harvesting device 4 includes a binocular recognition camera 212 and a harvesting bracket 208. The binocular recognition camera 212 is mounted on the right side of the harvesting bracket 208. A first drive reduction gear 204 and a second drive reduction gear 205 are mounted on the right side of the bracket. A DC motor 206 is mounted on the harvesting bracket 208 and drives the lead screw 209 to rotate, which in turn drives the ball sleeve 214 and the slide rod 213 to roll in the slide groove 212 to adjust the distance between the upper blade 210 and the lower blade 203 in the left harvesting device 4. At the same time, a sponge 202 is installed in the outer shell 201 of the harvesting device.

[0048] In the embodiments of this utility model, such as Figures 1 to 3As shown, the collection device 5 includes: a collection bracket 501 and a collection basket 502. The collection bracket 501 is equipped with a first central rotary reduction gear 507 and a second central rotary reduction gear 508 to drive the selection frame 510 to rotate. The selection frame 510 is equipped with a collection basket rotary motor 504, a first collection basket reduction gear 505, a second collection basket reduction gear 506, and an electronic gyroscope 503 to adjust the attitude of the selection frame 510.

[0049] In the embodiments of this utility model, such as Figures 1 to 2 As shown, the ultrasonic module includes an ultrasonic module 601 at the front of the carriage and an ultrasonic module 604 at the rear of the carriage. During operation, ultrasonic ranging is used to ensure a safe distance.

[0050] In the embodiments of this utility model, such as Figures 1 to 2 As shown, the heat dissipation module includes a cooling fan 602. When the machine is running, the temperature inside the compartment 603 rises, and the cooling fan 602 starts to run to ensure the normal operation of the machine components.

[0051] In the embodiments of this utility model, such as Figures 1 to 10 As shown, the tracked traveling device 7 is located under the vehicle body and is used to drive the eggplant harvester. The carriage 6 is equipped with a control device for controlling the harvester. The right robotic arm 1 and the left robotic arm 3 are mounted on the vehicle body and can rotate relative to the vehicle body or swing at multiple angles relative to the vehicle body to expand the harvesting range. The right harvesting claw 2 and the left harvesting claw 4 are respectively mounted on the top of the right robotic arm 1 and the left robotic arm for harvesting eggplants. The collection device 5 is mounted on the main control panel 6 to collect the harvested eggplants.

[0052] As can be seen from the above structure, this integrated eggplant picking and conveying equipment can pick eggplants on the left end through the left mechanical arm 3 and the picking claw installed at the top of the mechanical arm, and pick eggplants on the right end through the right mechanical arm 1 and the picking claw installed at the top of the mechanical arm, under the control of the control system inside the carriage 6. When the tracked traveling device 7 is running, it can pick eggplants while moving.

[0053] In the embodiments of this utility model, such as Figures 1 to 10As shown, the main body of the robotic arm is roughly composed of the fifth arm 107, the sixth arm 108, the seventh arm 109, the eighth arm 114, and a drive device. Through the arrangement of the left robotic arm 3 and the right robotic arm 1, this embodiment can harvest eggplants at different heights and orientations. These are the final actuators of the machine and the key to the entire harvesting process. Taking the left robotic arm as an example: driven by the left arm rotating base 301, the left arm rotating disk 302 mounted on the left arm rotating base 301 rotates synchronously, enabling this embodiment to harvest eggplants from multiple directions. The first arm 314 is driven by a third stepper motor 316 mounted on the rotating disk 302 of the left arm. A first stepper motor 303 mounted on the rotating disk 302 drives a first synchronous pulley 304. A first synchronous belt 305, cooperating with the first synchronous pulley, transmits the driving force of the first stepper motor 303 to a third synchronous pulley 306 mounted on the end of the first arm 314, which in turn drives the second arm 307 to rotate. A second stepper motor 317 connects to a second synchronous pulley 318. The second synchronous pulley 318, cooperating with the second synchronous belt, transmits power to a fourth synchronous pulley 313. The fourth synchronous pulleys 312 and 313 are connected by a keyway structure and rotate synchronously with the rod. The fifth synchronous pulley 312 transmits the power of the second synchronous pulley 318 to the third arm via a third synchronous belt 311, causing it to rotate. The third arm 308 and the fourth arm 309 can rotate together, driving the harvesting device to harvest eggplants from different angles. With the cooperation of multiple drive chains, this embodiment can harvest eggplants from multiple angles. Therefore, the harvesting process in this embodiment is flexible, highly mechanized, and efficient. The working principle of the right robotic arm 1 is the same as that of the left robotic arm 3, and will not be described again here.

[0054] In the embodiments of this utility model, such as Figures 1 to 10 As shown in this embodiment, Figure 4 , Figure 7 , Figure 8As shown, the right picking claw 2 and the left picking claw 4 have the same structure. The picking device 2 is installed at the top of the seventh arm 109. During operation, after being identified by the binocular recognition camera 211, the machine will actively approach the eggplant plant. The binocular recognition camera 211 on the machine will automatically collect information and judge whether the eggplant is ripe based on its color, shape and size. After feeding the information back to the control system, the control robot arm will move the picking device to the vicinity of the ripe eggplant. During the process of the picking device moving to the ripe eggplant, the upper blade 210 and the lower blade 203 are always separated. When the eggplant is exactly between the two shells of the picking device, the N20 DC motor 206 on the picking device will transmit the driving force to the lead screw 209 through the second drive reduction gear 205 and the first drive reduction gear 204, thereby realizing the function of opening and closing the shell. Additionally, the inner wall of the outer shell is fitted with 45D sponge 202, which forms a shaping cavity that matches the outer contour of the eggplant when the harvesting device is closed. This prevents the eggplant from falling off and does not damage it. Once the eggplant is stably held by the device, the upper blade 210 and the lower blade 203 will come together and quickly cut the stem. After the harvest, the upper blade 210 and the lower blade 203 will separate. Then, the robotic arm will be controlled to move the harvesting device to hover above the collection device 5. At this time, the N20 DC motor 206 on the harvesting device will transmit the reverse driving force to the lead screw 209 through the second drive reduction gear 205 and the first drive reduction gear (2) 204, separating the outer shell and causing the eggplant to fall into the collection basket 502. A complete harvesting process is then completed.

[0055] In the embodiments of this utility model, such as Figures 1 to 10 As shown, the collecting device 5 is equipped with four collecting baskets 502. Each collecting basket is an upward-opening frame structure used to store the harvested eggplants, thus realizing the machine's harvesting and storage function. The collecting device 5 is installed above the carriage 6. Its characteristic feature is that when a collecting basket 502 is full, the driving force of the central rotary motor 509 is transmitted to the rotating frame 510 through the first central rotary reduction gear 507 and the second central rotary reduction gear 508, realizing the counter-clockwise rotation of the rotating frame, so that the next collecting basket reaches the designated position for collection. The collecting baskets 502 are mounted on the rotating frame 510, and an electronic gyroscope 503 is installed inside the rotating frame 510. Other components include a motor 504, a first collecting basket reduction gear 505, and a second collecting basket reduction gear 506. When the machine is running on a slope, under the control of the electronic gyroscope 503, the rotary motor 504, the first collection basket reduction gear 505 and the second collection basket reduction gear 506 installed on the collection basket cooperate with each other to ensure that the opening of the collection basket 4 is always perpendicular to the ground, thereby achieving self-stabilization of the collection basket on the slope; preventing the eggplants in the collection basket 502 from tipping over on the slope and facilitating the picking claws to put the eggplants into the collection basket 4.

[0056] In the embodiments of this utility model, such as Figures 1 to 10 As shown, the tracked travel device 7 is installed below the carriage 6. It employs a lightweight tracked travel mechanism, suitable for various complex terrains. In this embodiment, the vehicle travels smoothly during harvesting, and the eggplants that fall into the collection device 5 after harvesting are less likely to spill due to road bumps. Optionally, multiple load-bearing wheels 704 are provided between the rear drive wheel 701 and the front drive wheel 705 on one side of the track. The load-bearing wheels 704 provide support to the track and increase the track's transmission.

[0057] In the embodiments of this utility model, such as Figures 1 to 10 As shown, the front ultrasonic module 601 is installed at the front of the carriage 6. With the help of the rear ultrasonic module 604, it will detect the road conditions. If there is an obstacle on the road ahead, the mechanism will not react if the obstacle does not affect the machine's passage. If the obstacle will prevent the machine from passing, the mechanism will send a signal to make the machine detour. In addition, the ultrasonic module can enable the machine to move normally in dim light or even at night.

[0058] In the embodiments of this utility model, such as Figures 1 to 10 As shown, the interior of the carriage 6 is equipped with a temperature sensor. Since the machine's power supply generates heat, when the temperature exceeds a certain value, the two cooling fans 602 on both sides of the carriage 6 will be activated. By controlling the speed and direction of the fans 602, the heat inside the carriage 6 can be carried away by the airflow, thereby reducing the temperature inside the carriage. When the machine finishes collecting and harvesting the eggplants and then dumps them, the rotary motor 504, the first collection basket reduction gear 505, and the second collection basket reduction gear 506 installed on the collection basket work together to rotate the collection device. After one rotation, the collection basket will be controlled to reverse one rotation to prevent the wiring from becoming too tangled and damaging the machine.

[0059] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings. It should be noted that implementations not illustrated or described in the drawings or the main text of the specification are forms known to those skilled in the art and are not described in detail. Furthermore, the definitions of the elements and methods described above are not limited to the various specific structures, shapes, or methods mentioned in the embodiments, and those skilled in the art can easily modify or substitute them.

[0060] Based on the above description, those skilled in the art should have a clear understanding of the present invention's intelligent eggplant harvesting machine.

[0061] In summary, this utility model provides an intelligent eggplant harvesting machine that solves the problems of high labor costs, limited harvesting speed, high damage rate, and low automation in existing eggplant harvesting methods, thereby improving agricultural production.

[0062] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this utility model.

[0063] Furthermore, the shapes and dimensions of the components in the figures do not reflect actual size and proportion, but are merely illustrative of embodiments of the present invention. Additionally, any reference numerals placed between parentheses in the claims should not be construed as limiting the scope of the claims.

[0064] Unless otherwise stated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be varied according to the desired characteristics derived from the content of this invention. Specifically, all figures used in the specification and claims to indicate the content of components, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. Generally, this means that there may be variations of ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments.

[0065] Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0066] The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify the corresponding elements does not imply that the element has any ordinal number, nor does it represent the order of one element with another element, or the order of manufacturing methods. The use of these ordinal numbers is only to enable a named element to be clearly distinguished from another element with the same name.

[0067] Furthermore, unless specifically described or required to occur in a specific order, the order of the above steps is not limited to those listed above and can be varied or rearranged according to the desired design. Moreover, the above embodiments can be used in combination with each other or with other embodiments based on design and reliability considerations; that is, technical features from different embodiments can be freely combined to form more embodiments.

[0068] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose. Furthermore, in the unit claims enumerating several means, several of these means may be embodied by the same hardware item.

[0069] Similarly, it should be understood that, in order to simplify the present invention and aid in understanding one or more of the various disclosed aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the disclosed aspects consist of fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the present invention.

[0070] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above are only specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An intelligent eggplant harvesting machine, characterized in that, include: Tracked vehicle, cargo box, two harvesting devices, two robotic arms, and collection device; The tracked traveling device includes: a chassis and load-bearing wheels, wherein the chassis is supported by the load-bearing wheels, and the front drive wheel and the rear drive wheel are connected by track plates; The two robotic arms include a left robotic arm and a right robotic arm, and the left robotic arm and the right robotic arm have the same structure. The left robotic arm includes a left arm rotating base and a left arm rotating disk. The left arm rotating disk is fixed with a first stepper motor that drives the first synchronous wheel, a second stepper motor that drives the second synchronous wheel, and a third stepper motor that drives the first arm to rotate. The first synchronous pulley is connected to the third synchronous pulley via the first synchronous belt to drive the second arm; the fourth synchronous pulley and the second synchronous pulley are connected by the second synchronous belt; the fifth synchronous pulley and the fourth synchronous pulley are synchronously connected to the rod via a keyway; the sixth synchronous pulley and the fifth synchronous pulley are connected via the third synchronous belt; the sixth synchronous pulley drives the third arm; and the fourth arm is connected to the third arm. The two harvesting devices include a left harvesting device and a right harvesting device, wherein the left harvesting device and the right harvesting device have the same structure. The left harvesting device includes: a harvesting bracket and a binocular recognition camera. The harvesting bracket is fixed with a harvesting device shell, LED beads, and a lead screw. The harvesting device shell contains a sponge, a lower blade, and an upper blade. The harvesting device shell also has a sliding groove and a sliding rod. The harvesting device shell moves in the sliding groove along with the sliding rod. A ball bearing sleeve is installed on the lead screw, and a DC motor is installed at the right end. The DC motor is equipped with a first drive reduction gear and a second drive reduction gear. The collection device includes: a collection bracket and a collection basket. The collection bracket is equipped with a selection frame, a first central rotary reduction gear and a second central rotary reduction gear that mesh with each other. The selection frame is equipped with a rotary motor for the collection basket that meshes with each other, a first collection basket reduction gear and a second collection basket reduction gear. The carriage includes: a front ultrasonic module, a cooling fan, and a rear ultrasonic module.

2. The intelligent eggplant harvester according to claim 1, characterized in that, The tracked traveling device includes: track plates and load-bearing wheels. The track plates are driven by front drive wheels and rear drive wheels, and the load-bearing wheels support the chassis and the weight of the entire vehicle.

3. The intelligent eggplant harvester according to claim 1, characterized in that, The left robotic arm includes a left arm rotating base and a left arm rotating disk. The first stepper motor and the third stepper motor on the left arm rotating disk drive the first synchronous belt and the second synchronous belt respectively to rotate the first arm and the second arm. The fifth synchronous wheel and the fourth synchronous wheel are synchronously connected to the rod through a keyway. The fifth synchronous wheel and the sixth synchronous wheel transmit power through connection with the third synchronous belt to drive the third arm to move up and down to complete multi-directional harvesting work.

4. The intelligent eggplant harvester according to claim 1, characterized in that, The left picking device includes: a binocular recognition camera and a picking bracket; the binocular recognition camera is installed on the right side of the picking bracket, and a first drive reduction gear and a second drive reduction gear are installed thereon. A DC motor is installed on the picking bracket and drives the lead screw to rotate, which in turn drives the ball sleeve and the slide rod to roll in the slide groove to adjust the distance between the upper and lower blades in the left picking device. At the same time, a sponge is installed in the outer shell of the picking device.

5. The intelligent eggplant harvester according to claim 1, characterized in that, The collection device includes: a collection bracket and a collection basket. The collection bracket is equipped with a first central rotary reduction gear and a second central rotary reduction gear for driving the selection frame to rotate. The selection frame is equipped with a collection basket rotation motor, a first collection basket reduction gear, a second collection basket reduction gear, and an electronic gyroscope, wherein the electronic gyroscope is used to adjust the attitude of the selection frame.

6. The intelligent eggplant harvester according to claim 1, characterized in that, The ultrasonic module includes an ultrasonic module at the front of the carriage and an ultrasonic module at the rear of the carriage. During operation, ultrasonic ranging is used to ensure a safe distance.

7. The intelligent eggplant harvester according to claim 1, characterized in that, It also includes a heat dissipation module, which includes a cooling fan. When the machine is running, the temperature inside the compartment rises, and the cooling fan starts to run to ensure the normal operation of the components.

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