A self-propelled orchard inspection robot device

Abstract

This utility model discloses a self-propelled orchard inspection robot device, including a displacement vehicle. Track assemblies are mounted on the left and right drive ends of the displacement vehicle. An adjustment assembly is provided at the front of the upper surface of the displacement vehicle. The adjustment assembly includes a support frame fixed to the upper surface of the displacement vehicle. A clamping assembly is provided at the clamping end of the adjustment assembly, and the clamping assembly includes a mounting frame fixedly connected to the front end of the adjustment assembly. This self-propelled orchard inspection robot device, through a multi-level angle adjustment mechanism, ensures that the robot adapts to the fruit picking needs at different locations, improving operational flexibility.

Description

Technical Field

[0001] This utility model relates to the field of orchard inspection robots, specifically a self-propelled orchard inspection robot device. Background Technology

[0002] With the development of intelligent agriculture, the demand for automated and information-based equipment in orchard management is increasing. Traditional orchard inspections mainly rely on manual labor, which suffers from low efficiency, high labor intensity, incomplete inspection coverage, and inaccurate data recording. Especially in large-scale orchards, manual inspections struggle to monitor the growth status of fruit trees, pest and disease conditions, and changes in environmental parameters in real time, leading to delayed management decisions and impacting fruit yield and quality. In recent years, although some orchard inspection robots have been developed and applied, many technical bottlenecks and shortcomings still exist, specifically in the following aspects:

[0003] Existing fruit harvesting methods mostly rely on manual operation or traditional mechanical equipment, which have problems such as low efficiency, high fruit damage rate, and poor adaptability.

[0004] Traditional mechanical harvesting equipment is often difficult to adjust the clamping angle and force flexibly, which makes it impossible to accurately pick fruits of different sizes or positions. In addition, the transmission system is complex and the maintenance cost is high.

[0005] To address the aforementioned problems, this invention proposes a novel automated fruit-picking robot that achieves efficient and low-damage fruit-picking operations by optimizing the transmission structure and clamping mechanism. Utility Model Content

[0006] The purpose of this invention is to provide a self-propelled orchard inspection robot device to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A self-propelled orchard inspection robot device includes a displacement vehicle. Track assemblies are installed on the left and right drive ends of the displacement vehicle. An adjustment assembly is provided at the front of the upper surface of the displacement vehicle. The adjustment assembly includes a support frame fixed to the upper surface of the displacement vehicle. A clamping assembly is provided at the clamping end of the adjustment assembly. The clamping assembly includes a mounting frame fixedly connected to the front end of the adjustment assembly.

[0009] As a further embodiment of this utility model: the track assembly includes a drive shaft connected to the drive end of the displacement vehicle, a support frame is installed on the support part of the drive shaft, and a hinge rod is installed at the rear of the support frame. A mounting wheel is installed at the end of the hinge rod away from the support frame. The track assembly also includes a track that contacts the drive shaft. A roller is disposed in contact with the lower part of the inner frame of the track. A triangular piece is installed at the axle of the roller. A docking shaft is installed on the upper part of the outer wall of the triangular piece, and one end of the docking shaft is fixedly connected to the bottom of the support frame.

[0010] As a further embodiment of this utility model: a vertical plate is fixedly connected to the support end of the support frame one, and a motor one is installed on the inner right side of the vertical plate. A connecting piece is installed on the drive shaft of the motor one, and a storage battery is installed on the left side of the vertical plate.

[0011] As a further embodiment of this utility model: the end of the connecting piece away from the support frame is fixedly connected to a fixing frame one, the outer wall of the fixing frame one is rotatably connected to a fixing frame two, a motor two is installed on the right side of the inner wall of the fixing frame one, and the drive shaft of the motor two passes through the outer wall of the fixing frame one and is fixedly connected to the fixing frame two.

[0012] As a further embodiment of this utility model: a fixed frame three is installed at the front end of the fixed frame two, a fixed frame four is rotatably provided on the front part of the outer wall of the fixed frame three, a motor three is fixedly connected to the right wall of the inner frame of the fixed frame three, a shaft plate is installed at the drive end of the motor three, and the end of the shaft plate away from the motor three is fixedly connected to the inner side of the fixed frame four.

[0013] As a further embodiment of this utility model: a docking plate is fixedly connected to the front end of the fixed frame four, and an installation frame is provided at the front end of the docking plate. A chassis is installed at the front of the installation frame, and an electric push rod is built into the installation frame.

[0014] As a further embodiment of this utility model: slotted blocks are fixedly connected to all four sides of the outer wall of the chassis, and a hinged gripper is hinged to the slot opening of the slotted block. A hinge joint is hinged to the end of the hinged gripper away from the slotted block, and a telescopic rod is hinged to the center of the inner side of the hinged gripper.

[0015] As a further embodiment of this utility model: a hinge ball is fixedly connected to the end of the telescopic rod away from the hinge clamp, and a displacement column is hinged to the end of the hinge ball away from the telescopic rod. A cavity is installed at the bottom of the displacement column, and the axial part of the cavity is slidably connected to the lower part of the outer wall of the hinge ball.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This practical, multi-level angle adjustment mechanism ensures that the robot can adapt to the fruit picking needs in different positions, improving operational flexibility.

[0018] This utility model uses an electric push rod and a linkage clamping mechanism to precisely control the clamping force, reducing the fruit damage rate.

[0019] This practical modular transmission design simplifies maintenance and reduces operating costs.

[0020] This practical, automated operation significantly improves harvesting efficiency and reduces reliance on manual labor. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a self-propelled orchard inspection robot device.

[0022] Figure 2 This is a structural diagram of the adjustment assembly in a self-propelled orchard inspection robot device.

[0023] Figure 3 This is a structural diagram of the track assembly in a self-propelled orchard inspection robot device.

[0024] Figure 4 This is a structural diagram of the clamping assembly in a self-propelled orchard inspection robot device.

[0025] In the diagram: 1. Displacement vehicle; 2. Track assembly; 3. Adjustment assembly; 4. Clamping assembly; 5. Battery; 6. Connecting piece; 7. Support frame 1; 8. Motor 1; 9. Fixing frame 1; 10. Motor 2; 11. Fixing frame 2; 12. Fixing frame 3; 13. Motor 3; 14. Fixing frame 4; 15. Shaft piece; 16. Triangular piece; 17. Roller; 18. Track; 19. Drive shaft; 20. Articulated rod; 21. Mounting wheel; 22. Connecting shaft; 23. Chassis; 24. Mounting frame; 25. Articulated gripper; 26. Slotted block; 27. Articulated joint; 28. Telescopic rod; 29. ​​Articulated ball; 30. Displacement column; 31. Cavity. Detailed Implementation

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

[0027] Please see Figure 1 and 3In this embodiment of the present invention, a self-propelled orchard inspection robot device includes a displacement vehicle 1. Track assemblies 2 are installed on the left and right drive ends of the displacement vehicle 1. An adjustment assembly 3 is provided at the front of the upper surface of the displacement vehicle 1. The adjustment assembly 3 includes a support frame 7 fixed to the upper surface of the displacement vehicle 1. A clamping assembly 4 is provided at the clamping end of the adjustment assembly 3. The clamping assembly 4 includes a mounting frame 24 fixedly connected to the front end of the adjustment assembly 3. The track assembly 2 includes an active shaft 19 connected to the drive end of the displacement vehicle 1. A support frame is installed at the support part of the active shaft 19, and a hinge rod 20 is installed at the rear part of the support frame. An installation wheel 21 is installed at the end of the hinge rod 20 away from the support frame. The track assembly 2 also includes a track 18 in contact with the active shaft 19. A roller 17 is provided in contact with the lower part of the inner frame of the track 18, and a triangular piece 16 is installed at the axle of the roller 17.

[0028] The displacement vehicle 1 has a built-in motor that drives the drive shaft 19 to rotate. The central part of the outer wall of the drive shaft 19 is a rotating structure that contacts the inner wall of the track 18. It is driven by the support frame and the hinge rod 20. The mounting wheel 21, the triangular piece 16, and the roller 17 form a linkage assembly to ensure stable transmission of the track.

[0029] Please see Figures 1-2 A docking shaft 22 is installed on the upper part of the outer wall of the triangular piece 16, and one end of the docking shaft 22 is fixedly connected to the bottom of the support frame. A vertical plate is fixedly connected to the support end of the support frame 1 7, and a motor 1 8 is installed on the inner right side of the vertical plate. A connecting piece 6 is installed on the drive shaft of the motor 1 8. A battery 5 is installed on the left side of the vertical plate. A fixed frame 1 9 is fixedly connected to the end of the connecting piece 6 away from the support frame 1 7. A fixed frame 2 11 is rotatably connected to the outer wall of the fixed frame 1 9. A motor 2 10 is installed on the right side of the inner wall of the fixed frame 1 9. The drive shaft of the motor 2 10 passes through the outer wall of the fixed frame 1 9 and is fixedly connected to the fixed frame 2 11. A fixed frame 3 12 is installed at the front end of the fixed frame 2 11. A fixed frame 4 14 is rotatably set at the front part of the outer wall of the fixed frame 3 12. A motor 3 13 is fixedly connected to the right side of the inner frame of the fixed frame 3 12. A shaft piece 15 is installed on the drive end of the motor 3 13.

[0030] Powered by battery 5, motor 8 drives connecting piece 6 to rotate. Fixed frame 9, fixed frame 2 11 work in conjunction with motor 2 10, and fixed frame 3 12 work in conjunction with motor 3 13 to achieve multi-directional angle adjustment. Finally, fixed frame 4 14 is driven to rotate through shaft piece 15 to form three-dimensional angle adjustment capability.

[0031] Please see Figure 1 and 4The end of the shaft piece 15 away from the motor 3 13 is fixedly connected to the inner side of the fixed frame 4 14. The front end of the fixed frame 4 14 is fixedly connected to a docking plate, and the front end of the docking plate is provided with a mounting frame 24. The front part of the mounting frame 24 is equipped with a chassis 23. The mounting frame 24 has an electric push rod inside. The outer wall of the chassis 23 is fixedly connected to slotted blocks 26 on all four sides. The slot of the slotted block 26 is hinged to a hinged gripper 25. The end of the hinged gripper 25 away from the slotted block 26 is hinged to a hinge joint 27. The inner side of the hinged gripper 25 is hinged to a telescopic rod 28. The end of the telescopic rod 28 away from the hinged gripper 25 is fixedly connected to a hinged ball 29. The end of the hinged ball 29 away from the telescopic rod 28 is hinged to a displacement column 30. The bottom of the displacement column 30 is equipped with a cavity 31. The axial part of the cavity 31 is slidably connected to the lower part of the outer wall of the hinged ball 29.

[0032] Clamping and picking mechanism: The front end of the fixed frame 14 is connected to the mounting frame 24. The built-in electric push rod drives the displacement column 30 to move. The hinge ball 29 on the outer wall of the displacement column 30 is linked to the four sets of hinged grippers 25 through the telescopic rod 28. They move inward on the base of the slotted block 26 to clamp the fruit. The hinge joint 27 is designed to buffer the clamping force and prevent the fruit from being damaged.

[0033] The working principle of this utility model is as follows:

[0034] When in use, the motor built into the displacement vehicle 1 is started. When the motor is running, it will drive the drive shaft 19 to rotate. The central part of the outer wall of the drive shaft 19 is rotating and contacts the inner wall of the track 18, which brakes the track 18 for transmission. There are support frames installed at the front and rear parts of the outer wall of the drive shaft 19 for hinged connection of the articulation rod 20. The mounting wheel 21 connected to one end of the articulation rod 20 contacts the inner frame of the track 18. At the same time, the triangular piece 16 and the roller 17 are installed together to contact the inner frame of the track 18.

[0035] The battery 5 powers the motor 8, which in turn drives the connecting piece 6 to rotate. The fixed frame 9 mounted on the top of the connecting piece 6 adjusts the angle. The fixed frame 11 connected to the outer wall of the fixed frame 19 operates through the motor 10 connected to the right side of the inner frame of the fixed frame 11, which is used to adjust the angle of the fixed frame 11. The fixed frame 12 mounted at the front end of the fixed frame 11 works in conjunction with the motor 13. When the motor 13 operates, it drives the fixed frame 14 to rotate through the shaft 15, which is used to adjust the angle of the fixed frame 14.

[0036] The mounting frame 24, which is fixed to the front end of the fixed frame 14, has a docking plate and an electric push rod inside. The operation of the rod will pull the displacement column 30, which is slidably connected to the inner cavity of the mounting wheel 21, to move. The hinge ball 29, which is hinged to the outer wall of the displacement column 30, will move towards the bottom of the inner cavity of the mounting wheel 21 during the movement. The hinge gripper 25, which is hinged to the telescopic rod 28, will move inward on the base of the slotted block 26, thereby clamping and picking the fruit between the four sets of hinge grippers 25.

[0037] The hinge joint 27 installed on the top of the hinged gripper 25 is used to protect the fruit from excessive clamping force during picking, which could cause damage to the fruit.

[0038] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-propelled orchard inspection robot device, comprising a displacement vehicle (1), characterized in that: The left and right drive ends of the displacement vehicle (1) are equipped with track assemblies (2), and the front part of the upper surface of the displacement vehicle (1) is provided with an adjustment assembly (3). The adjustment assembly (3) includes a support frame (7) fixed to the upper surface of the displacement vehicle (1). The clamping end of the adjustment assembly (3) is provided with a clamping assembly (4). The clamping assembly (4) includes a mounting frame (24) fixedly connected to the front end of the adjustment assembly (3).

2. The self-propelled orchard inspection robot device according to claim 1, characterized in that: The track assembly (2) includes a drive shaft (19) connected to the drive end of the displacement vehicle (1). A support frame is installed on the support part of the drive shaft (19), and a hinge rod (20) is installed on the rear part of the support frame. A mounting wheel (21) is installed on the end of the hinge rod (20) away from the support frame. The track assembly (2) also includes a track (18) in contact with the drive shaft (19). A roller (17) is provided in contact with the lower part of the inner frame of the track (18). A triangular piece (16) is installed on the axle of the roller (17). A docking shaft (22) is installed on the upper part of the outer wall of the triangular piece (16), and one end of the docking shaft (22) is fixedly connected to the bottom of the support frame.

3. The self-propelled orchard inspection robot device according to claim 1, characterized in that: The support end of the support frame (7) is fixedly connected to a vertical plate, and a motor (8) is installed on the inner right side of the vertical plate. A connecting piece (6) is installed on the drive shaft of the motor (8), and a storage battery (5) is installed on the left side of the vertical plate.

4. The self-propelled orchard inspection robot device according to claim 3, characterized in that: The end of the connecting piece (6) away from the support frame (7) is fixedly connected to the first fixed frame (9). The outer wall of the first fixed frame (9) is rotatably connected to the second fixed frame (11). The right side of the inner wall of the first fixed frame (9) is equipped with the second motor (10). The drive shaft of the second motor (10) passes through the outer wall of the first fixed frame (9) and is fixedly connected to the second fixed frame (11).

5. The self-propelled orchard inspection robot device according to claim 4, characterized in that: Fixed frame three (12) is installed at the front end of fixed frame two (11). Fixed frame four (14) is rotatably installed on the front part of the outer wall of fixed frame three (12). Motor three (13) is fixedly connected to the right wall of the inner frame of fixed frame three (12). Shaft plate (15) is installed at the driving end of motor three (13). The end of shaft plate (15) away from motor three (13) is fixedly connected to the inner side of fixed frame four (14).

6. The self-propelled orchard inspection robot device according to claim 5, characterized in that: The front end of the fixed frame four (14) is fixedly connected to a docking plate, and the front end of the docking plate is provided with an installation frame (24). The front part of the installation frame (24) is equipped with a chassis (23), and the installation frame (24) has an electric push rod inside.

7. The self-propelled orchard inspection robot device according to claim 6, characterized in that: The outer wall of the chassis (23) is fixedly connected with slotted blocks (26) around the perimeter. A hinged gripper (25) is hinged to the slot opening of the slotted block (26). A hinge joint (27) is hinged to the end of the hinged gripper (25) away from the slotted block (26). A telescopic rod (28) is hinged to the center of the inner side of the hinged gripper (25).

8. The self-propelled orchard inspection robot device according to claim 7, characterized in that: The telescopic rod (28) is fixedly connected to a hinge ball (29) at one end away from the hinged gripper (25). The hinge ball (29) is hinged to a displacement column (30) at one end away from the telescopic rod (28). A cavity (31) is installed at the bottom of the displacement column (30). The axial part of the cavity (31) is slidably connected to the lower part of the outer wall of the hinge ball (29).

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