Raspberry reaping and picking vehicle based on flexible claw

Abstract

The utility model relates to a picking device especially a raspberry reharvesting picking vehicle based on flexible claw, including chassis, still include: advancing system, including track, and the driving wheel and the driven wheel that set up in the track inside, driving motor is connected with the driving wheel, driving motor fixed setting in the chassis, execution system, including setting up in the harvester of chassis front part, set up in the rotary filter screen behind the harvester, set up in the conveyer belt behind the rotary filter screen, set up in the cleaning tank behind the conveyer belt, set up in the vibration plate behind the cleaning tank, and set up in the mechanical arm on the chassis, the end of mechanical arm is connected with flexible claw, is provided with visual camera on the flexible claw. It will not collect the crops of the first harvester through the picking of mechanical arm, and it will be picked without damage, reduce the loss of too many crops caused by technical reasons after the first picking.

Description

Technical Field

[0001] This utility model relates to a harvesting device, and more particularly to a raspberry re-harvesting vehicle based on flexible claws. Background Technology

[0002] Small-scale harvesting vehicles represent an important development direction in agricultural automation, offering advantages such as reduced labor costs, high efficiency, and automation. Their working principle involves feeding the crops to be harvested into the vehicle using harvesting equipment, followed by a series of transportation, cleaning, and sorting processes to complete the harvest.

[0003] Currently, there are two types of harvesting vehicles on the market: one type harvests all crops at once using a large harvesting device, and the other type uses a robotic claw combined with a vision system for precise harvesting. The former suffers from more damage and leftover crops, while the latter, although highly precise, suffers from low efficiency. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a raspberry harvesting vehicle based on flexible claws.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a raspberry harvesting vehicle based on flexible claws, including a chassis; and further comprising:

[0006] The travel system includes tracks, and drive wheels and driven wheels disposed inside the tracks. The drive wheels are connected to a drive motor, and the drive motor is fixedly mounted on the chassis.

[0007] The execution system includes a harvester located at the front of the chassis, a rotating filter located behind the harvester, a conveyor belt located behind the rotating filter, a washing tank located behind the conveyor belt, a vibrating plate located behind the washing tank, and a robotic arm located on the chassis. The end of the robotic arm is connected to a flexible claw, and a vision camera is installed on the flexible claw.

[0008] Furthermore, the picking vehicle also includes:

[0009] A stabilization support system includes at least one stabilization support frame disposed on the underside of the chassis, the stabilization support frame including an electric push rod and a support base connected to the end of the electric push rod;

[0010] The drive system includes a harvester motor that powers the harvester, a rotary filter motor that powers the rotary filter, a conveyor belt and cleaning box motor that powers the conveyor belt and cleaning box, and a vibrating filter motor that powers the vibrating plate. Each motor is mounted on the chassis.

[0011] The transmission system includes a first transmission wheel set connecting the harvester motor and the harvester, a second transmission wheel set connecting the rotary filter motor and the rotary filter, a third transmission wheel set connecting the conveyor belt and the washing box motor and the conveyor belt and the washing box, and a fourth transmission wheel set connecting the vibrating filter motor and the vibrating plate.

[0012] And an energy storage system, including a battery box and photovoltaic panels mounted on the chassis.

[0013] Furthermore, the harvester and the rotating filter are mounted on the chassis via a fixing frame, with the harvester positioned higher than the rotating filter.

[0014] Furthermore, the first transmission wheel set includes a large transmission wheel and a small transmission wheel connected by a transmission wheel belt. The large transmission wheel is connected to the harvester motor through a gearbox and a coupling, and the small transmission wheel is connected to the harvester.

[0015] Furthermore, the conveyor belt is mounted on the chassis via a front conveyor belt frame and a rear conveyor belt frame, with the height of the front conveyor belt frame being lower than the height of the rear conveyor belt frame.

[0016] Furthermore, the cleaning box is installed in a reserved slot provided on the battery box.

[0017] Furthermore, the vibrating plate is disposed in a fixed groove, which is a sheet metal part with upright sides and mounting holes on the bottom surface; the fourth transmission wheel set is connected to a transmission shaft, and a vibrating wheel is sleeved on the transmission shaft. The vibrating wheel has a cam structure and is used to drive the vibrating plate to vibrate up and down.

[0018] Furthermore, the washing box is equipped with a spiral propulsion structure inside, and a chute is provided at the rear outlet of the washing box. The chute is fixed to the chassis and guides the washed crops to the vibrating plate.

[0019] Furthermore, the mesh gap of the rotating filter screen is 15mm wide and 100mm long.

[0020] Furthermore, the electric push rod is fixed to the chassis; the photovoltaic panel and battery box are installed in the reserved holes on the chassis.

[0021] Compared with the prior art, this utility model has the following advantages.

[0022] This invention utilizes a robotic arm equipped with a visual camera and flexible claws to harvest crops that were not collected by the first harvester without damage. This reduces losses caused by missing too many crops due to technical reasons after the first harvest, achieving the goal of efficient and low-loss harvesting. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. The scope of protection of the present invention is not limited to the following description.

[0024] Figure 1 This is a front view of a raspberry harvesting vehicle based on a flexible claw, according to a specific embodiment.

[0025] Figure 2 This is a top view of a raspberry harvesting vehicle based on a flexible claw, according to a specific embodiment.

[0026] Figure 3 This is a side view of a raspberry harvesting vehicle based on a flexible claw, according to a specific embodiment.

[0027] Figure 4 This is a schematic diagram of a rotating filter screen in a specific embodiment.

[0028] In the diagram, 1. Track; 2. Drive wheel; 3. Driven wheel; 4. Stabilizing support frame; 4a. Electric push rod; 4b. Support base; 5. Drive motor; 6. Harvester; 7. First transmission wheel set; 7a. Transmission wheel belt; 7b. Large transmission wheel; 7c. Small transmission wheel; 8. Gearbox; 9. Harvester motor; 10. Coupling; 11. Rotary filter screen; 12. Second transmission wheel set; 13. Rotary filter screen motor; 14. Fixing frame; 15. Conveyor belt; 16. 17. Front conveyor belt frame; 18. Rear conveyor belt frame; 19. Robotic arm; 20. Flexible claw; 21. Vision camera; 22. Cleaning tank; 23. Conveyor belt and cleaning tank motor; 24. Third transmission wheel set; 25. Transmission rod; 26. Slide chute; 27. Vibrating plate; 28. Fixing groove; 29. ​​Drive motor; 30. Vibrating filter motor; 31. Fourth transmission wheel set; 32. Transmission shaft; 33. Vibrating wheel; 34. Chassis; 35. Battery box; 36. Photovoltaic panel. Detailed Implementation

[0029] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0031] Depending on the context, words such as “if” or “suppose” used here can be interpreted as “when”, “when”, “in response to determination”, or “in response to detection”.

[0032] For ease of understanding, the embodiments of this disclosure will be described in detail first.

[0033] like Figure 1-4 As shown, the raspberry harvesting vehicle based on flexible claws includes a chassis 33; it also includes a travel system, including a track 1, and a drive wheel 2 and a driven wheel 3 disposed inside the track 1. The drive wheel 2 is connected to a drive motor 5, and the drive motor 5 is fixedly mounted on the chassis 33.

[0034] The execution system includes a harvester 6 located at the front of the chassis 33, a rotating filter 11 located below the harvester 6, a conveyor belt 15 located behind the rotating filter 11, a washing tank 21 located behind the conveyor belt 15, a vibrating plate 26 located behind the washing tank 21, and a robotic arm 18 mounted on the chassis 33. A flexible claw 19 is connected to the end of the robotic arm 18, and a vision camera 20 is mounted on the flexible claw 19. The robotic arm and the flexible claw constitute a secondary harvesting execution unit, used for non-destructive secondary harvesting of crops not yet harvested by the harvester.

[0035] Preferably, the picking vehicle also includes a stabilizing support system, including at least one stabilizing support frame 4 disposed under the chassis 33. The stabilizing support frame 4 includes an electric push rod 4a and a support base 4b connected to the end of the electric push rod 4a. Specifically, when the stabilizing support frame 4 is in operation, its electric push rod 4a extends downward under the control of an electronic signal, pushing the support base 4b at its end to contact the ground and apply pressure, thereby firmly supporting the entire chassis 33 of the picking vehicle on the working ground, effectively suppressing the vibration generated by the robotic arm 18 and the flexible claw 19 during picking operations, and ensuring picking accuracy and vehicle stability.

[0036] The harvesting vehicle also includes a drive system, comprising a harvester motor 9 powering the harvester 6, a rotary filter motor 13 powering the rotary filter 11, a conveyor belt and cleaning box motor 22 powering the conveyor belt 15 and cleaning box 21, and a vibrating filter motor 29 powering the vibrating plate 26, all motors mounted on the chassis 33. The harvesting vehicle also includes a transmission system, comprising a first transmission wheel set 7 connecting the harvester motor 9 and the harvester 6, a second transmission wheel set 12 connecting the rotary filter motor 13 and the rotary filter 11, a third transmission wheel set 23 connecting the conveyor belt and cleaning box motor 22 and the conveyor belt 15 and cleaning box 21, and a fourth transmission wheel set 30 connecting the vibrating filter motor 29 and the vibrating plate 26. The harvesting vehicle also includes an energy storage system, comprising a battery box 34 and a photovoltaic panel 36 mounted on the chassis 33. Specifically, an electric push rod 4a is fixed to the chassis 33; the photovoltaic panel 36 and the battery box 34 are installed in pre-drilled holes in the chassis 33.

[0037] Preferably, the harvester 6 and the rotating filter screen 11 are mounted on the chassis 33 via a fixing frame 14, with the harvester 6 positioned higher than the rotating filter screen 11. The mesh spacing of the rotating filter screen 11 is 15mm wide and 100mm long.

[0038] Preferably, the first transmission wheel set 7 includes a large transmission wheel 7b and a small transmission wheel 7c connected by a transmission wheel belt 7a. The large transmission wheel 7b is connected to the harvester motor 9 through a gearbox 8 and a coupling 10, and the small transmission wheel 7c is connected to the harvester 6.

[0039] Preferably, the conveyor belt 15 is mounted on the chassis 33 via a front conveyor belt frame 16 and a rear conveyor belt frame 17, with the height of the front conveyor belt frame 16 being lower than the height of the rear conveyor belt frame 17. The cleaning box 21 is installed in a reserved slot provided on the battery box 34.

[0040] Preferably, the vibrating plate 26 is disposed in a fixed groove 27, which is a sheet metal part with upright sides and mounting holes on the bottom surface; the fourth transmission wheel group 30 is connected to a transmission shaft 31, and a vibrating wheel 32 is sleeved on the transmission shaft 31. The vibrating wheel 32 is a cam structure used to drive the vibrating plate 26 to vibrate up and down.

[0041] Preferably, the washing box 21 is equipped with a spiral propulsion structure inside, and a chute 25 is provided at the rear outlet of the washing box 21. The chute 25 is fixed on the chassis 33 and guides the washed crops to the vibrating plate 26.

[0042] Example 1: The first transmission wheel set 7 connects the harvester motor 9 and the harvester 6. Specifically, the output shaft of the harvester motor 9 is connected to the input shaft of the gearbox 8 via a coupling 10. A large transmission wheel 7b of the first transmission wheel set 7 is fixedly mounted on the output shaft of the gearbox 8. The large transmission wheel 7b is connected to a small transmission wheel 7c via a transmission belt 7a. The shaft of the small transmission wheel 7c directly drives the internal cutting or actuating mechanism of the harvester 6, thereby achieving speed reduction and torque increase to meet the high torque requirements of the harvesting operation.

[0043] Example 2: The second transmission wheel assembly 12 connects the rotary filter motor 13 and the rotary filter 11. Preferably, the second transmission wheel assembly 12 can be a belt pulley or sprocket mechanism. A drive wheel is mounted on the output shaft of the rotary filter motor 13, and a driven wheel is mounted on the rotating shaft of the rotary filter 11. The drive wheel and the driven wheel are connected by a belt or chain, thereby directly converting the rotational motion of the motor into the coaxial rotation of the filter, realizing the screening function.

[0044] In Example 3, the third transmission wheel set 23 connects the conveyor belt and the washing box. The motor 22 is connected to the conveyor belt 15 and the washing box 21. The motor drives two mechanisms simultaneously through the third transmission wheel set 23. On one hand, the motor output shaft drives the drive roller of the conveyor belt 15 through a set of belts or gears, causing the conveyor belt 15 to circulate. On the other hand, the motor output shaft also transmits power to the inside of the washing box 21 through another mechanism (such as bevel gear reversal or using transmission rod 24), driving the internal screw propeller or agitator to rotate, thereby realizing the propulsion and washing of crops.

[0045] Example 4: The fourth transmission wheel set 30 connects the vibrating filter motor 29 and the vibrating plate 26. Specifically, the output shaft of the vibrating filter motor 29 drives a transmission shaft 31 to rotate via a belt or gear set (i.e., the fourth transmission wheel set 30). At least one eccentrically mounted vibrating wheel 32 is fixedly installed on the transmission shaft 31, and the vibrating wheel 32 constitutes a cam mechanism. When the transmission shaft 31 rotates, the protruding part of the vibrating wheel 32 periodically pushes up the connecting piece hinged to the bottom of the vibrating plate 26, thereby converting the rotational motion of the motor into continuous, high-frequency up-and-down reciprocating vibration of the vibrating plate 26, achieving dewatering and screening effects.

[0046] Example 5: Two robotic arms are provided, arranged symmetrically.

[0047] Example 6: Description of a possible assembly and connection relationship between components:

[0048] The drive system consists of a track 1, six pairs of driven wheels 3, and one pair of driving wheels 2. The driven wheels 3 and driving wheels 2 are placed inside the track 1 and are enclosed by the track 1, thus completing the construction of the drive system. The driving wheel 2 is connected to the first drive motor 5. The drive shaft on the drive motor passes through the driving wheel 2 and connects to a reserved hole in the chassis at the other end. The drive motor 5 is connected to the chassis 33 through a reserved hole in the chassis 33.

[0049] The stabilizing support frame 4 is placed under the chassis and consists of an electric push rod 4a and a support base 4b. The electric push rod 4a is directly fixed to the reserved hole on the chassis, and the support base 4b is connected to the end of the electric push rod 4a.

[0050] The harvester 6 and the rotating filter 11 are connected to the chassis 33 via a fixing frame 14. The harvester 6 is positioned further forward than the rotating filter 11 and is higher in height than the rotating filter 11. The rotating filter 11 is positioned further back than the harvester 6 and is lower in height than the harvester 6.

[0051] The harvester drive system consists of a harvester motor 9, a gearbox 8, and a first transmission wheel set 7. The harvester motor 9 and the gearbox 8 are fixed on the chassis 33. The first transmission wheel set 7 is fixed on the chassis 33 by a fixing bracket 14. The harvester motor 9 and the gearbox 8 are connected by a coupling 10. The gearbox 8 and the first transmission wheel set 7 are connected by a pre-drilled hole. The first transmission wheel sets 7 are connected to each other by a transmission wheel belt 7a. The large transmission wheel 7b is connected to the gearbox 8, and the small transmission wheel 7c is connected to the harvester 6.

[0052] The rotating filter screen 11 is driven by a separate rotating filter screen drive system, which consists of a rotating filter screen motor 13 and a second transmission wheel 12. The rotating filter screen motor 13 is directly fixed to the chassis 33 and drives the rotating filter screen 11 to rotate.

[0053] The conveyor belt 15 is fixed to the chassis by the conveyor belt frame. The front conveyor belt frame 16 is lower and the rear conveyor belt frame 17 is higher. The front conveyor belt frame 16 and the rear conveyor belt frame 17 are directly fixed to the chassis 33. The conveyor belt 15 is inserted into the front conveyor belt frame 16 and the rear conveyor belt frame 17 through the reserved holes.

[0054] The cleaning box 21 is installed after the conveyor belt 15 and is fixed to the chassis 33 by the reserved slot on the lower battery box 34.

[0055] The drive system for the conveyor belt 15 and the cleaning box consists of a motor 22 for the conveyor belt and the cleaning box, a transmission rod 24, and a third transmission wheel set. The conveyor belt 15 is driven by the transmission wheel set 23, and the cleaning box 21 is driven by the transmission rod 24.

[0056] The chute 25 is located behind the cleaning tank 21 and is fixed to the chassis 33.

[0057] The fixing groove 27 is a sheet metal part that stands upright on all four sides, and the bottom surface is provided with an assembly hole into which the vibration plate 26 is embedded.

[0058] The vibration filter drive system consists of a vibration filter motor 29, a fourth transmission wheel set 30, a transmission shaft 31, and a vibration wheel 32. The vibration filter motor 29 is directly fixed on the chassis 33. The fourth transmission wheel set 30 transmits power to the transmission shaft 31. The vibration wheel 32 is mounted on the transmission shaft 31. The vibration wheel 32 completes the vibration requirement through a cam design.

[0059] The robotic arm 18 is directly fixed to the chassis 33. A flexible claw 19 is added to the end of the robotic arm 18, and a vision camera 20 is placed on the flexible claw 19.

[0060] The electrical control center, battery box 34, and photovoltaic panel 36 are directly installed on the reserved holes in the chassis.

[0061] This technical solution combines a vision-based robotic arm with a harvesting device, achieving efficient and precise harvesting of crops, reducing omissions, and lowering operating costs. The specific implementation process is as follows:

[0062] After the first drive motor 5 drives the track 1 to the designated position, the stabilizing support frame 3 located under the chassis 33 starts to work. The stabilizing support frame 4 consists of an electric push rod 4a and a support bracket 4b connected to the electric push rod 4a. The electric push rod 4a pushes out the support bracket 4b below through the operation of the motor, so that the harvesting vehicle stops stably at the place where it needs to work, reducing the impact of the vibration generated during work on the vehicle's robotic arm 18 and flexible claw 19 in harvesting crops. After the electric control center is started, the harvester 6 starts to operate. The harvested crops pass through the rotating filter screen 11. The gap of the rotating filter screen is set to be 15mm wide and 100mm long. Larger impurities will be filtered first when they pass through. The harvested crops are then transported to the conveyor belt 15, which transports the crops into the washing tank 21. The washing tank 21 washes away smaller impurities by adding external water. The crops continue to move backward along the spiral structure inside the washing machine and enter the vibrating plate 26 through the chute 25. The vibrating plate 26 is embedded in the fixed groove 27. The vibrating wheel 32 is a cam structure, sleeved on the drive shaft 31. When it rotates with the shaft, it pushes one end of the vibrating plate 26 to move up and down, realizing the vibration filtering function. After the operation is completed, it is placed in the storage vehicle at the rear. After the harvester 6 finishes harvesting, the robotic arm 18 and the flexible claw 19 start working. The flexible claw 19 is equipped with a vision camera 20 to identify the fruits to be harvested, complete the harvesting of the remaining crops, and place the harvested crops on the conveyor belt 15. Like the crops harvested from the harvester 6, they are screened and washed to complete the work.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "preferred embodiment," "detailed description," or "preferred embodiment," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Therefore, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of this utility model.

Claims

1. A raspberry re-harvesting vehicle based on flexible claws, comprising a chassis (33); characterized in that, Also includes: The travel system includes tracks (1), and drive wheels (2) and driven wheels (3) disposed inside the tracks (1). The drive wheels (2) are connected to a drive motor (5), and the drive motor (5) is fixedly mounted on the chassis (33). The execution system includes a harvester (6) located at the front of the chassis (33), a rotating filter (11) located behind the harvester (6), a conveyor belt (15) located behind the rotating filter (11), a cleaning tank (21) located behind the conveyor belt (15), a chute (25) located behind the cleaning tank (21), a vibrating plate (26) located behind the chute (25), and a robotic arm (18) located on the chassis (33). The end of the robotic arm (18) is connected to a flexible claw (19), and a vision camera (20) is provided on the flexible claw (19).

2. The raspberry reharvesting and picking vehicle according to claim 1, characterized in that, The picking vehicle also includes: The stabilization support system includes at least one stabilization support frame (4) disposed on the lower part of the chassis (33), the stabilization support frame (4) including an electric push rod (4a) and a support base (4b) connected to the end of the electric push rod (4a). The drive system includes a harvester motor (9) that powers the harvester (6), a rotary filter motor (13) that powers the rotary filter (11), a conveyor belt and cleaning box motor (22) that powers the conveyor belt (15) and the cleaning box (21), and a vibrating filter motor (29) that powers the vibrating plate (26), all of which are mounted on the chassis (33). The transmission system includes a first transmission wheel set (7) connecting the harvester motor (9) and the harvester (6), a second transmission wheel set (12) connecting the rotating filter motor (13) and the rotating filter (11), a third transmission wheel set (23) connecting the conveyor belt and cleaning box motor (22) and the conveyor belt (15) and the cleaning box (21), and a fourth transmission wheel set (30) connecting the vibrating filter motor (29) and the vibrating plate (26). And an energy storage system, including a battery box (34) and a photovoltaic panel (36) mounted on the chassis (33).

3. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The harvester (6) and the rotating filter (11) are mounted on the chassis (33) by a fixing frame (14), with the harvester (6) positioned higher than the rotating filter (11).

4. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The first transmission wheel set (7) includes a large transmission wheel (7b) and a small transmission wheel (7c) connected by a transmission wheel belt (7a). The large transmission wheel (7b) is connected to the harvester motor (9) through a gearbox (8) and a coupling (10), and the small transmission wheel (7c) is connected to the harvester (6).

5. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The conveyor belt (15) is mounted on the chassis (33) via a front conveyor belt frame (16) and a rear conveyor belt frame (17), with the height of the front conveyor belt frame (16) being lower than the height of the rear conveyor belt frame (17).

6. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The cleaning box (21) is installed in the reserved slot provided on the battery box (34).

7. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The vibrating plate (26) is set in a fixed groove (27), which is a sheet metal part with upright sides and mounting holes on the bottom surface; the fourth transmission wheel group (30) is connected to a transmission shaft (31), and a vibrating wheel (32) is sleeved on the transmission shaft (31). The vibrating wheel (32) is a cam structure used to drive the vibrating plate (26) to vibrate up and down.

8. The raspberry reharvesting and picking vehicle according to claim 1 or 2, characterized in that, The cleaning box (21) is equipped with a spiral propulsion structure inside. A chute (25) is provided at the rear outlet of the cleaning box (21). The chute (25) is fixed on the chassis (33) and guides the cleaned crops to the vibrating plate (26).

9. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The mesh gap of the rotating filter screen (11) is 15mm wide and 100mm long.

10. The raspberry reharvesting and picking vehicle according to claim 2, characterized in that, The electric push rod (4a) is fixed on the chassis (33); the photovoltaic panel (36) and the battery box (34) are installed on the reserved holes of the chassis (33).

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