Orchard autonomous mobile platform capable of carrying mechanical arm

Abstract

The utility model discloses an orchard autonomous moving platform capable of carrying a mechanical arm. The orchard autonomous moving platform comprises a base plate, a mounting plate, an adjusting mechanism and a moving system. The adjusting mechanism comprises a fixed block, a screw rod, a guide rod, a motor, a sliding block, a first connecting rod, a second connecting rod, a connecting block, a mounting block, a sliding rod and a movable block; the moving system comprises a fixed frame, a connecting piece, a movable frame, movable wheels, a fixed rod, a telescopic rod and a spring. The multi-shaft mechanical arm and the clamping jaw can be installed on the platform, the wide adaptability to fruit tree operation, the flexibility of the multi-shaft mechanical arm and the grabbing function of the clamping jaw are achieved, the platform can execute various operations such as pruning, picking and pesticide spraying, and therefore the requirement for diversified management of an orchard is met.

Description

TECHNICAL FIELD

[0001] The patent relates to the technical field of agricultural machinery equipment, in particular to a fruit orchard autonomous mobile platform capable of carrying a mechanical arm. BACKGROUND

[0002] Traditional orchard management mainly relies on manual work, which is not only low in efficiency and high in labor cost, but also has many procedures and high labor intensity in fruit production process, and only manual work cannot meet the needs of production, so the demand for orchard mechanization is becoming more and more urgent. The lifting operation platform is the most widely used and developed mechanical device in orchard management, and the existing product functions not only cover picking and transportation, but also integrate some operation functions such as pesticide spraying, ditching and fertilization, so the use is very wide. CONTENT OF THE UTILITY MODEL

[0003] At present, most of the fruit orchard mobile platforms not only have single function, cannot manage different types of orchards and cannot meet the requirements of different operations, but also cannot adapt to different width roads by changing the left and right wheelbase.

[0004] To solve the above technical problems, the fruit orchard autonomous mobile platform capable of carrying a mechanical arm is provided, which solves the problem that most of the current fruit orchard mobile platforms not only have single function, cannot manage different types of orchards and cannot meet the requirements of different operations, and also cannot adapt to different width roads by changing the left and right wheelbase.

[0005] To achieve the above purpose, the technical scheme adopted by the patent is as follows: a fruit orchard autonomous mobile platform capable of carrying a mechanical arm, comprising a base plate, the top end of the base plate is provided with a mounting plate, and the bottom end of the base plate is movably connected with a mobile system through an adjusting mechanism.

[0006] The adjusting mechanism comprises a fixed block, the fixed block has two groups, the two groups of fixed blocks are arranged at the bottom end of the base plate, the inner side of the two groups of fixed blocks is rotatably provided with a lead screw, and the inner side of the two groups of fixed blocks is further provided with a guide rod, the outer surface of the lead screw is threadedly connected with two groups of sliding blocks, the bottom end of the two groups of sliding blocks is movably connected with a connecting block through two groups of first connecting rods and second connecting rods, and the four groups of connecting blocks are arranged on the inner side of the four groups of mobile systems.

[0007] Preferably, the mobile system comprises a fixed frame, the left and right sides of the fixed frame are movably connected with a movable frame through two groups of connecting pieces, the bottom end of the movable frame is rotatably provided with a movable wheel, the top end of the movable frame is provided with two groups of fixed rods, the outer surfaces of the two groups of fixed rods are movably connected with the top end of the fixed frame through two groups of telescopic rods, and the outer surfaces of the two groups of telescopic rods are movably provided with springs.

[0008] Preferably, the left and right bottom ends of the base plate are provided with two groups of mounting blocks, the inner sides of the two groups of mounting blocks are provided with two groups of sliding rods, the outer surfaces of the two groups of sliding rods are provided with movable blocks corresponding to the positions of the four groups of fixing frames, and the four groups of movable blocks are slidingly installed on the outer surfaces of the sliding rods.

[0009] Preferably, the threads opened on the outer surfaces of the lead screws are opposite in rotation direction, and one end of the lead screw is fixedly installed with the output end of the motor.

[0010] Compared with the prior art, the beneficial effects of the patent are: first, by setting the adjusting mechanism, the lead screw is driven by the motor to rotate and drive the sliding block to move along the guide rod, thereby adjusting the relative position between the connecting block and the moving system. This process realizes dynamic adjustment of the left and right wheel track, enables the platform to adapt to different widths of the road surface, improves the traffic capacity and working range of the platform, and secondly, by setting the moving system, the stability of the platform is enhanced. The movable frame and the fixed frame are connected through the connecting piece and the telescopic rod, and the addition of the spring further improves the damping effect, so that the platform can run stably on uneven road surface and reduce vibration and impact during operation. Furthermore, the platform can be installed with a multi-axis mechanical arm and a gripper, realizing wide adaptability to fruit tree operation. The flexibility of the multi-axis mechanical arm and the gripping function of the gripper enable the platform to perform pruning, picking, pesticide spraying and other operations, thereby meeting the diversified management needs of the orchard. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a schematic view of the appearance structure of the patent.

[0012] Figure 2 It is another perspective view of the structure of the patent.

[0013] Figure 3 It is a schematic view of the adjusting mechanism of the patent.

[0014] Figure 4 It is a schematic view of the movable wheel mechanism of the patent.

[0015] The reference numerals in the figure are: 1, base plate; 2, mounting plate; 3, adjusting mechanism; 301, fixed block; 302, lead screw; 303, guide rod; 304, motor; 305, sliding block; 306, first connecting rod; 307, second connecting rod; 308, connecting block; 309, mounting block; 310, sliding rod; 311, movable block; 4, moving system; 401, fixed frame; 402, connecting piece; 403, movable frame; 404, movable wheel; 405, fixed rod; 406, telescopic rod; 407, spring; 5, multi-axis mechanical arm; 6, control device body. DETAILED DESCRIPTION

[0016] The following description is used to disclose the patent to enable a person skilled in the art to implement the patent. The preferred embodiments in the following description are only as examples, and other obvious modifications can be made by those skilled in the art.

[0017] Referring to Figures 1-4 As shown in the figure, a mechanical arm-mounted orchard autonomous mobile platform, comprising a base plate 1, the top end of the base plate 1 is provided with a mounting plate 2, the bottom end of the base plate 1 is movably connected with a moving system 4 through an adjusting mechanism 3, the adjusting mechanism 3 comprises a fixed block 301, the fixed block 301 has two groups, both groups of the fixed block 301 are arranged at the bottom end of the base plate 1, the inner side of both groups of the fixed block 301 is rotatably installed with a lead screw 302, the threads opened on the outer surface of the lead screw 302 are opposite in rotation direction, and the output end of a motor 304 is fixedly installed at one end of the lead screw 302, and the inner side of both groups of the fixed block 301 is further provided with a guide rod 303, the outer surface of the lead screw 302 is threadedly connected with two groups of sliding blocks 305, the bottom end of both groups of the sliding blocks 305 is movably connected with a connecting block 308 through two groups of first connecting rods 306 and second connecting rods 307, and four groups of the connecting blocks 308 are arranged at the inner side of four groups of the moving system 4.

[0018] In this scheme, the lead screw 302 is driven to rotate by the motor 304, and because the threads opened on the outer surface of the lead screw 302 are opposite in rotation direction, both groups of the sliding blocks 305 can move synchronously but in opposite directions, through the transmission of the first connecting rod 306 and the second connecting rod 307, the spacing adjustment of the connecting block 308 and the moving system 4 connected therewith is driven, the optimization of the stability of the platform under different terrain conditions is realized, and the adaptability and passability of the platform are enhanced.

[0019] Referring to Figures 1-4 As shown in the figure, the moving system 4 comprises a fixed frame 401, both sides of the fixed frame 401 are movably connected with a movable frame 403 through two groups of connecting members 402, the bottom end of the movable frame 403 is rotatably installed with a movable wheel 404, the top end of the movable frame 403 is provided with two groups of fixed rods 405, the outer surface of both groups of the fixed rods 405 is movably connected with the top front side of the fixed frame 401 through telescopic rods 406, and the outer surface of both groups of the telescopic rods 406 is sleevedly installed with springs 407.

[0020] In this scheme, the combination of the spring 407 and the telescopic rod 406 is arranged inside the moving system 4, through the elastic buffering action of the spring 407 and the telescopic adjustment function of the telescopic rod 406, the automatic damping and adaptation of the movable frame 403 and the movable wheel 404 when encountering uneven ground are realized, this design greatly enhances the obstacle crossing ability and driving stability of the platform, so that the platform can smoothly move in the complex orchard environment, and the working range and efficiency are improved.

[0021] Referring to Figures 1-3As shown, the left and right bottom ends of the substrate 1 are provided with two groups of mounting blocks 309, the inner sides of the two groups of mounting blocks 309 are provided with two groups of sliding rods 310, the outer surfaces of the two groups of sliding rods 310 are provided with movable blocks 311 corresponding to the positions of the four groups of fixing frames 401, and the four groups of movable blocks 311 are slidingly installed on the outer surfaces of the sliding rods 310.

[0022] In this scheme, the combination of the mounting blocks 309, the sliding rods 310 and the movable blocks 311 provided at the left and right bottom ends of the substrate 1 provides an additional stability guarantee for the moving system 4. The sliding installation of the movable blocks 311 on the sliding rods 310 allows the moving system 4 to maintain a certain stability when adjusting the height, preventing shaking caused by height changes and further improving the overall stability and operation safety of the platform.

[0023] Referring to Figures 1-2 As shown, the front and rear top ends of the substrate 1 can be installed with multi-axis mechanical arms 5, the movable ends of the two groups of multi-axis mechanical arms 5 are provided with clamping jaws, and the top end of the substrate 1 is further provided with a control device body 6.

[0024] In this scheme, the multi-axis mechanical arms 5 provided at the front and rear top ends of the substrate 1 realize precise picking and carrying of fruits in the orchard through the flexible movable ends and clamping jaw design. The high degree of freedom and precise control of the multi-axis mechanical arms 5 enable the platform to efficiently complete complex tasks such as picking fruits at different heights and locations, greatly improving operation efficiency and fruit quality. At the same time, the control device body 6 at the top end of the substrate 1 serves as the command center of the entire platform, responsible for receiving instructions, processing data and controlling the coordinated work of various components, ensuring the intelligent and automated level of the platform.

[0025] The working principle of the patent is as follows: first, the platform moves through the mobile system 4, the fixed frame 401 is movably connected with the movable frame 403 through the connecting piece 402, the movable frame 403 is rotatably installed with the movable wheel 404 at the inner side of the bottom end, so that the platform can smoothly move in the orchard environment, when encountering uneven ground, the pressure received by the movable frame 403 and the movable wheel 404 will be transmitted to the telescopic rod 406 through the fixed rod 405, the telescopic rod 406 adjusts the extension and retraction, and the spring 407 plays its elastic buffering role, which realizes automatic shock absorption and terrain adaptation together, ensures that the platform can smoothly pass through the complex terrain, in the moving process, the platform needs to adjust its stability according to the terrain conditions, at this time, the adjusting mechanism 3 plays a role, the motor 304 drives the screw rod 302 to rotate, because the threads opened on the outer surface of the screw rod 302 are opposite in rotation direction, so that the two groups of sliding blocks 305 can move synchronously but in opposite directions, the sliding block 305 drives the connecting block 308 and the mobile system 4 connected thereto to adjust the distance through the transmission of the first connecting rod 306 and the second connecting rod 307, this distance adjustment can optimize the stability of the platform under different terrain conditions, and enhance the adaptability and passability of the platform, in addition, the combination of the mounting block 309, the slide rod 310 and the movable block 311 arranged at the left and right bottom ends of the base plate 1 provides an additional stability guarantee for the mobile system 4, the sliding installation of the movable block 311 on the slide rod 310 allows the mobile system 4 to maintain a certain stability when adjusting the height, prevents shaking caused by height change, and further improves the overall stability and operation safety of the platform, finally, when the platform reaches the specified position, the multi-axis mechanical arm 5 starts to work, the multi-axis mechanical arm 5 realizes accurate picking and carrying of fruits in the orchard through the flexible movable end and the design of the clamping jaw, the high degree of freedom and accurate control of the multi-axis mechanical arm 5 enable the platform to efficiently complete complex work tasks, such as picking fruits at different heights and different positions, at the same time, the control device body 6 at the top end of the base plate 1 is responsible for receiving instructions, processing data and controlling the coordinated work of each part, which ensures the intelligence and automation level of the platform.

[0026] The basic principle, main features and advantages of the patent are shown and described above. It should be understood by those skilled in the art that the patent is not limited by the above examples, the above examples and descriptions in the specification are only the principles of the patent, various changes and improvements can be made without departing from the spirit and scope of the patent, and these changes and improvements all fall within the scope of the claimed patent. The scope of protection claimed by the patent is defined by the appended claims and their equivalents.

Claims

1. An orchard autonomous mobile platform capable of carrying a mechanical arm, comprising a base plate (1), characterized in that, The top end of the substrate (1) is provided with a mounting plate (2), the bottom end of the substrate (1) is movably connected with a moving system (4) through an adjusting mechanism (3); the adjusting mechanism (3) comprises a fixed block (301), a lead screw (302), a guide rod (303), a motor (304), a sliding block (305), a first connecting rod (306), a second connecting rod (307), a connecting block (308), a mounting block (309), a sliding rod (310), a movable block (311); the fixed block (301) is arranged at the bottom end of the substrate (1), the inner side of the fixed block (301) is rotatably provided with the lead screw (302), and the inner side of the fixed block (301) is further provided with the guide rod (303), the outer surface of the lead screw (302) is threadedly connected with the sliding block (305), the bottom end of the sliding block (305) is movably connected with the connecting block (308) through the first connecting rod (306) and the second connecting rod (307), and the connecting block (308) is arranged at the inner side of the moving system (4). 2.The orchard autonomous mobile platform capable of carrying a mechanical arm of claim 1, wherein: The moving system (4) comprises a fixed frame (401), a connecting piece (402), a movable frame (403), a movable wheel (404), a fixed rod (405), an extension rod (406) and a spring (407); the left and right sides of the fixed frame (401) are movably connected with the movable frame (403) through the connecting piece (402), the bottom end of the movable frame (403) is rotatably provided with the movable wheel (404), the top end of the movable frame (403) is provided with the fixed rod (405), the outer surface of the fixed rod (405) is movably connected with the top end of the fixed frame (401) through the extension rod (406), and the outer surface of the extension rod (406) is sleeved with the spring (407). 3.The orchard autonomous mobile platform mountable with a robot arm of claim 1, wherein: The left and right bottom ends of the substrate (1) are provided with the mounting block (309), the inner side of the mounting block (309) is provided with the sliding rod (310), and the outer surface of the sliding rod (310) is provided with the movable block (311) corresponding to the position of the fixed frame (401), and the movable block (311) is slidably installed on the outer surface of the sliding rod (310).

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