A body walking mechanism of an apple picking machine

Abstract

The utility model relates to picking machine component technical field, and specifically is an apple picking machine fuselage walking mechanism, including base, the lower surface fixed connection of base has removal subassembly, removal subassembly includes second electric telescopic link, one end fixed connection of second electric telescopic link has second spring, one end fixed connection of second spring has first support frame, the side surface rotationally connected with driven wheel of first support frame, the side surface bushing of driven wheel has the track. This apple picking machine fuselage walking mechanism, aiming at the complex and changeable topographic condition of orchard, by sensor real -time perception topographic data and trigger the intelligent response mechanism of second electric telescopic link, synchronous promotion first support frame carries out vertical displacement, and then drives whole track to complete height self -adaptation adjustment. Whether is across the ridge, or through the low-lying water area, the track can keep the best contact angle with the ground all the time, ensures the adhesion and passability of walking mechanism.

Description

Technical Field

[0001] This utility model relates to a walking mechanism, specifically a walking mechanism for an apple harvester, belonging to the technical field of harvester components. Background Technology

[0002] With the widespread adoption of modern agricultural facilities and the gradual improvement of agricultural technology, there is a greater demand for the automation of agricultural machinery. Designing machines that can replace manual labor in agricultural production is imperative. Therefore, researching agricultural machinery with high versatility and low manufacturing costs is an urgent problem to be solved in this field, enabling the faster promotion of agricultural mechanization. my country is the world's largest producer and consumer of fruits and vegetables, with its fruit and vegetable output ranking first globally. Currently, most fruits and vegetables in China are harvested manually, with harvesting costs accounting for approximately 50%-70% of the total cost. Therefore, achieving mechanized harvesting of fruits and vegetables is of great significance for solving problems such as labor shortages, high production costs, and low production efficiency in the fruit industry, as well as improving the market competitiveness of fruits and vegetables.

[0003] However, in mechanized harvesting operations in orchards, the walking mechanism located beneath the apple harvester, while responsible for the core function of moving the equipment, is prone to instability due to its structural characteristics and the complex environment of the orchard. This severely restricts harvesting efficiency and fruit quality. When the wheels roll over protruding tree roots or the tracks get stuck in the furrows, the machine shakes violently, causing a significant decrease in the positioning accuracy of the mounted robotic arm. This can lead to fruit-grabbing failures or, in severe cases, collisions between the robotic arm and tree branches, resulting in fruit damage or branch breakage, thus affecting the following year's yield.

[0004] In view of this, this utility model is proposed. Utility Model Content

[0005] The purpose of this utility model is to provide a walking mechanism for an apple harvester to solve the above problems, which can maintain the stability of the machine body, improve the accuracy of fruit harvesting, and protect the fruit trees.

[0006] This utility model achieves the above-mentioned objectives through the following technical solution: an apple harvester walking mechanism includes a base, a movable component fixedly connected to the lower surface of the base, the movable component including a second electric telescopic rod, a second spring fixedly connected to one end of the second electric telescopic rod, a first support frame fixedly connected to one end of the second spring, a driven wheel rotatably connected to the side of the first support frame, and a track sleeved on the side of the driven wheel. Addressing the complex and varied terrain conditions of orchards, this apple harvester walking mechanism innovatively adopts an intelligent dynamic adjustment system: when encountering furrows, mounds, or changes in slope, sensors perceive terrain data in real time and trigger the intelligent response mechanism of the second electric telescopic rod, driving the first support frame to make a vertical displacement, thereby causing the entire track to complete a height adaptive adjustment. Whether crossing field ridges or passing through low-lying waterlogged areas, the track always maintains the optimal contact angle with the ground, ensuring the walking mechanism's grip and passability. When the track rolls over gravel or tree roots, the second spring quickly compresses to absorb the impact force, significantly improving the stability and reliability of the equipment operation.

[0007] Furthermore, the mobile component also includes a first electric telescopic rod, one end of which is fixedly connected to the lower surface of the base, and the other end of which is fixedly connected to a first spring. One end of the first spring is fixedly connected to a support block, and a mobile motor is fixedly connected to the side of the support block. The output end of the mobile motor is fixedly connected to a mobile wheel. To address the challenges of complex terrain in orchards, such as undulating furrows and soft mud, the first electric telescopic rod immediately activates when the millimeter-wave radar and tilt sensor detect terrain changes in real time. This drives the support block to vertically lift and lower, allowing the device to quickly adapt to different terrains and ensuring the chassis remains level. This effectively avoids chassis scraping or robotic arm swaying caused by terrain differences. The mobile motor drives the mobile wheel for flexible forward, backward, and turning movements. When the mobile wheel rolls over gravel or tree roots, the first spring instantly compresses to absorb the impact, attenuating the energy transmitted to the machine body and effectively reducing the bumpy feeling during operation. This significantly improves operational stability and fruit harvesting success rate.

[0008] Furthermore, a storage compartment is fixedly connected to the upper surface of the base, and a height adjustment component is fixedly connected to the upper surface of the base. The height adjustment component includes a height adjustment frame, a height adjustment motor is fixedly connected to the lower surface of the height adjustment frame, a height adjustment threaded rod is fixedly connected to the output end of the height adjustment motor, a height adjustment rod is threadedly connected to the side of the height adjustment threaded rod, and a support plate is fixedly connected to the upper surface of the height adjustment rod. In order to meet the harvesting needs of fruits of different tree heights and canopies in the orchard, the height adjustment motor immediately starts and synchronously drives the height adjustment threaded rod to rotate at a uniform speed, realizing the smooth lifting and lowering of the height adjustment rod, effectively solving the harvesting problem caused by the difference in fruit distribution height in the orchard.

[0009] Furthermore, an angle adjustment component is fixedly connected to the inner side of the support plate. The angle adjustment component includes a first angle adjustment motor, an angle adjustment frame is fixedly connected to the output end of the first angle adjustment motor, a second adjustment motor is fixedly connected to the side of the angle adjustment frame, and a connecting plate is fixedly connected to the output end of the second adjustment motor. To overcome the challenge of varying fruit distribution angles in orchards, a dual-stage linkage angle adjustment system was constructed. The first angle adjustment motor drives the angle adjustment frame to perform a wide range of posture adjustments. Based on this, the second adjustment motor works in concert to drive the connecting plate for secondary fine adjustments. Whether it is lateral fruit attached to the trunk or upside-down fruit hanging from the branches, the end effector of the robotic arm can approach the target with the optimal posture, significantly improving the success rate of picking irregularly shaped fruits and reducing fruit damage and loss caused by angle deviation.

[0010] Furthermore, a support assembly is fixedly connected to the side of the connecting plate. The support assembly includes a second support frame, and a support motor is fixedly connected to the lower surface of the second support frame. A support threaded rod is fixedly connected to the output end of the support motor, and a support rod is threadedly connected to the side of the support threaded rod. When the equipment enters the working area, the support motor drives the support threaded rod to start rotating at a uniform speed, thereby driving the support rod to adjust its height, which further improves the success rate of fruit harvesting.

[0011] Furthermore, a harvesting component is fixedly connected to the upper surface of the support rod. The harvesting component includes a fixed base, and a support column is fixedly connected to the upper surface of the fixed base. A third electric telescopic rod is rotatably connected to the side of the support column. A harvesting claw is rotatably connected to one end of the third electric telescopic rod, and the harvesting claw is rotatably connected to the inner side of the fixed base. The fixed base moves smoothly towards the fruit. Once the fixed base is positioned, the third electric telescopic rod responds quickly, driving the harvesting claw to extend smoothly, so that the harvesting claw evenly wraps the fruit, effectively improving harvesting efficiency and fruit integrity rate.

[0012] The technical effects and advantages of this utility model are as follows: The walking mechanism of this apple harvester innovatively adopts an intelligent dynamic adjustment system to address the complex and varied terrain conditions of orchards. When encountering furrows, mounds, or changes in slope, sensors detect terrain data in real time and trigger the intelligent response mechanism of the second electric telescopic rod, which synchronously drives the first support frame to make vertical displacement, thereby causing the entire track to complete height adaptive adjustment. Whether crossing field ridges or passing through low-lying waterlogged areas, the track always maintains the optimal contact angle with the ground, ensuring the traction and passability of the walking mechanism. When the track rolls over gravel or tree roots, the second spring quickly compresses to absorb the impact force, significantly improving the stability and reliability of the equipment operation. Attached Figure Description

[0013] Figure 1 This is a complete structural schematic diagram of the present invention;

[0014] Figure 2 This is a complete anatomical diagram of the structure of this utility model;

[0015] Figure 3 This is a partial structural diagram of the first moving component of this utility model;

[0016] Figure 4 This is a partial structural diagram of the second moving component of this utility model;

[0017] Figure 5 This is a cross-sectional structural diagram of the height adjustment component of this utility model;

[0018] Figure 6 This is a cross-sectional structural diagram of the support component of this utility model;

[0019] Figure 7 This is a three-dimensional structural diagram of the harvesting component of this utility model.

[0020] In the diagram: 1. Base; 101. Storage compartment; 2. Moving assembly; 201. First electric telescopic rod; 202. First spring; 203. Support block; 204. Moving motor; 205. Moving wheel; 206. Second electric telescopic rod; 207. Second spring; 208. First support frame; 209. Driven wheel; 210. Track; 3. Height adjustment assembly; 301. Height adjustment frame; 302. Height adjustment motor; 303. Height adjustment threaded rod 304. Height adjustment rod; 305. Support plate; 4. Angle adjustment assembly; 401. First angle adjustment motor; 402. Angle adjustment frame; 403. Second adjustment motor; 404. Connecting plate; 5. Support assembly; 501. Second support frame; 502. Support motor; 503. Support threaded rod; 504. Support rod; 6. Harvesting assembly; 601. Fixed base; 602. Support column; 603. Third electric telescopic rod; 604. Harvesting claw. Detailed Implementation

[0021] 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.

[0022] Please see Figures 1-4As shown, an apple picking machine walking mechanism includes a base 1. A moving component 2 is fixedly connected to the lower surface of the base 1. The moving component 2 includes a second electric telescopic rod 206. A second spring 207 is fixedly connected to one end of the second electric telescopic rod 206. A first support frame 208 is fixedly connected to one end of the second spring 207. A driven wheel 209 is rotatably connected to the side of the first support frame 208. A track 210 is sleeved on the side of the driven wheel 209.

[0023] The moving component 2 also includes a first electric telescopic rod 201, one end of which is fixedly connected to the lower surface of the base 1, and the other end of which is fixedly connected to a first spring 202. One end of the first spring 202 is fixedly connected to a support block 203, and a moving motor 204 is fixedly connected to the side of the support block 203. The output end of the moving motor 204 is fixedly connected to a moving wheel 205. To adapt to the complex and ever-changing terrain of the orchard, the apple harvester is designed with the moving component 2. When the sensor detects changes in terrain in real time, the first electric telescopic rod 201 is activated first. The adaptive adjustment program drives the support block 203 to rise and fall smoothly, directly adjusting the height of the moving wheel 205. Simultaneously, the second electric telescopic rod 206 responds synchronously, driving the first support frame 208 to fine-tune its height, adapting the track 210 to the terrain. Throughout the movement, the composite shock absorption structure formed by the first spring 202 and the second spring 207 plays a crucial role. When the moving wheel 205 rolls over protruding tree roots or the track 210 encounters severe bumps, the springs quickly compress to absorb the vibration energy, while the damper intervenes simultaneously, significantly improving the equipment's stability and operational accuracy. Furthermore, the moving motor 204 drives the moving wheel 205 to rotate, providing power to the equipment, enabling the harvester to operate efficiently in complex orchard environments such as hills and mountains, effectively ensuring the stability and success rate of the robotic arm's fruit harvesting.

[0024] Please see Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, as a technical optimization of this utility model, a storage compartment 101 is fixedly connected to the upper surface of the base 1, and a height adjustment component 3 is fixedly connected to the upper surface of the base 1. The height adjustment component 3 includes a height adjustment frame 301, a height adjustment motor 302 is fixedly connected to the lower surface of the height adjustment frame 301, a height adjustment threaded rod 303 is fixedly connected to the output end of the height adjustment motor 302, a height adjustment rod 304 is threadedly connected to the side of the height adjustment threaded rod 303, and a support plate 305 is fixedly connected to the upper surface of the height adjustment rod 304.

[0025] An angle adjustment assembly 4 is fixedly connected to the inner side of the support plate 305. The angle adjustment assembly 4 includes a first angle adjustment motor 401. An angle adjustment frame 402 is fixedly connected to the output end of the first angle adjustment motor 401. A second adjustment motor 403 is fixedly connected to the side of the angle adjustment frame 402. A connecting plate 404 is fixedly connected to the output end of the second adjustment motor 403.

[0026] A support component 5 is fixedly connected to the side of the connecting plate 404. The support component 5 includes a second support frame 501. A support motor 502 is fixedly connected to the lower surface of the second support frame 501. A support threaded rod 503 is fixedly connected to the output end of the support motor 502. A support rod 504 is threadedly connected to the side of the support threaded rod 503.

[0027] A harvesting component 6 is fixedly connected to the upper surface of the support rod 504. The harvesting component 6 includes a fixed base 601, and a support column 602 is fixedly connected to the upper surface of the fixed base 601. A third electric telescopic rod 603 is rotatably connected to the side of the support column 602. One end of the third electric telescopic rod 603 is rotatably connected to a harvesting claw 604, which is rotatably connected to the inner side of the fixed base 601. To achieve precise harvesting throughout the orchard, firstly, the height adjustment motor 302 drives the height adjustment threaded rod 303 to rotate at a constant speed, converting the rotational motion into the vertical displacement of the height adjustment rod 304. This allows the support plate 305 to quickly position the harvesting component 6 to the height range where the fruit is located. After the basic height positioning is completed, the first angle adjustment motor 401 and the second adjustment motor 403 form a two-stage linkage adjustment mechanism. The former drives the harvesting component 6 to make a wide range of posture adjustments, while the latter achieves fine angle correction through a universal joint structure, ensuring that the harvesting component 6 is aligned with the fruit at the optimal angle. At this point, the support motor 502 intervenes to make the final fine adjustment, driving the support threaded rod 503 to rotate at a low speed, pushing the support rod 504 to lift slightly, so that the fixed seat 601 is precisely close to the fruit. Immediately, the third electric telescopic rod 603 responds and drives the picking claw 604 to extend smoothly to ensure that the fruit is wrapped, and then placed in the storage compartment 101, effectively improving the success rate and integrity rate of picking fruits in irregular positions.

[0028] In order to adapt to the complex and ever-changing terrain of the orchard, the apple harvester of this utility model is designed with a moving component 2. When the sensor captures the terrain changes in real time, the first electric telescopic rod 201 first starts the adaptive adjustment program, drives the support block 203 to rise and fall smoothly, and directly drives the moving wheel 205 to adjust the height. At the same time, the second electric telescopic rod 206 responds synchronously, drives the first support frame 208 to make fine adjustments to the height, and adjusts the track 210 to suit the terrain. During the entire movement process, the composite shock absorption structure composed of the first spring 202 and the second spring 207 plays a key role. When the moving wheel 205 rolls over the protruding tree roots or the track 210 encounters severe bumps, the spring quickly compresses to absorb the vibration energy, and the damper intervenes simultaneously, which significantly improves the stability of the equipment and the accuracy of operation. In addition, the mobile motor 204 drives the mobile wheel 205 to rotate, providing power to the equipment and enabling the harvester to operate efficiently in complex orchard environments such as hills and mountains. This effectively ensures the stability and success rate of the robotic arm in harvesting fruit. To achieve precise harvesting in all orchard scenarios, firstly, the height adjustment motor 302 drives the height adjustment threaded rod 303 to rotate at a constant speed, converting the rotational motion into the vertical displacement of the height adjustment rod 304. This allows the support plate 305 to quickly position the harvesting component 6 to the height range where the fruit is located. After completing the basic height positioning, the first angle adjustment motor 401 and the second adjustment motor 403 form a two-stage linkage adjustment mechanism. The former drives the harvesting component 6 to make a wide range of posture adjustments, while the latter achieves fine angle correction through a universal joint structure, ensuring that the harvesting component 6 is aligned with the fruit at the optimal angle. At this point, the support motor 502 intervenes to make the final fine adjustment, driving the support threaded rod 503 to rotate at a low speed, pushing the support rod 504 to lift slightly, so that the fixed seat 601 is precisely close to the fruit. Immediately, the third electric telescopic rod 603 responds and drives the picking claw 604 to extend smoothly to ensure that the fruit is wrapped, and then placed in the storage compartment 101, effectively improving the success rate and integrity rate of picking fruits in irregular positions.

[0029] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0030] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A walking mechanism for an apple harvester, comprising a base (1), characterized in that: A moving component (2) is fixedly connected to the lower surface of the base (1). The moving component (2) includes a second electric telescopic rod (206). A second spring (207) is fixedly connected to one end of the second electric telescopic rod (206). A first support frame (208) is fixedly connected to one end of the second spring (207). A driven wheel (209) is rotatably connected to the side of the first support frame (208). A track (210) is sleeved on the side of the driven wheel (209).

2. The walking mechanism of an apple harvester according to claim 1, characterized in that: The moving component (2) further includes a first electric telescopic rod (201), one end of which is fixedly connected to the lower surface of the base (1), and the other end of which is fixedly connected to a first spring (202). One end of the first spring (202) is fixedly connected to a support block (203), and the side of the support block (203) is fixedly connected to a moving motor (204). The output end of the moving motor (204) is fixedly connected to a moving wheel (205).

3. The walking mechanism of an apple harvester according to claim 2, characterized in that: A storage compartment (101) is fixedly connected to the upper surface of the base (1). A height adjustment component (3) is fixedly connected to the upper surface of the base (1). The height adjustment component (3) includes a height adjustment frame (301). A height adjustment motor (302) is fixedly connected to the lower surface of the height adjustment frame (301). A height adjustment threaded rod (303) is fixedly connected to the output end of the height adjustment motor (302). A height adjustment rod (304) is threadedly connected to the side of the height adjustment threaded rod (303). A support plate (305) is fixedly connected to the upper surface of the height adjustment rod (304).

4. The walking mechanism of an apple harvester according to claim 3, characterized in that: An angle adjustment assembly (4) is fixedly connected to the inner side of the support plate (305). The angle adjustment assembly (4) includes a first angle adjustment motor (401). An angle adjustment frame (402) is fixedly connected to the output end of the first angle adjustment motor (401). A second adjustment motor (403) is fixedly connected to the side of the angle adjustment frame (402). A connecting plate (404) is fixedly connected to the output end of the second adjustment motor (403).

5. The walking mechanism of an apple harvester according to claim 4, characterized in that: The side of the connecting plate (404) is fixedly connected to a support assembly (5), the support assembly (5) includes a second support frame (501), the lower surface of the second support frame (501) is fixedly connected to a support motor (502), the output end of the support motor (502) is fixedly connected to a support threaded rod (503), and the side of the support threaded rod (503) is threadedly connected to a support rod (504).

6. The walking mechanism of an apple harvester according to claim 5, characterized in that: The upper surface of the support rod (504) is fixedly connected to a picking component (6). The picking component (6) includes a fixed base (601). The upper surface of the fixed base (601) is fixedly connected to a support column (602). The side of the support column (602) is rotatably connected to a third electric telescopic rod (603). One end of the third electric telescopic rod (603) is rotatably connected to a picking claw (604), and the picking claw (604) is rotatably connected to the inside of the fixed base (601).

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