A picking robot

Abstract

The utility model relates to picking equipment technical field especially, more particularly to a picking robot. The utility model discloses a robot main body and the mechanical arm of installation in the robot main body top, and the output of mechanical arm is fixed with mounting panel, and the bottom of mounting panel is assembled with picking mechanism, and picking mechanism is used to picking melon and fruit, and picking mechanism includes drive assembly and transmission assembly, and the bottom of mounting panel is assembled with the connecting barrel. The utility model discloses the structural design of picking mechanism, makes this device convenient for picking melon and fruit, speeds up work efficiency, improves the flexibility of this device, and through the structural design of dismounting mechanism, makes this device when encountering the steep planting ground or encountering the planting ground of pit and muddy, convenient for picking mechanism to be taken off for people to use, can switch different picking mode, to cope with more tricky picking situation, expands the application range of device.

Description

Technical Field

[0001] This utility model relates to the field of harvesting equipment technology, and in particular to a harvesting robot. Background Technology

[0002] Currently, my country's fruit and vegetable cultivation is extensive, with substantial yields. However, the harvesting stage requires a large investment of manpower, diverse materials, and significant financial resources, making it the most time-consuming and labor-intensive part of the entire agricultural production process. Therefore, it is necessary to utilize agricultural automation machinery to save labor and reduce production costs.

[0003] A harvesting robot, as disclosed in publication number CN211240885U, is characterized by comprising a walking chassis and a harvesting arm, a collection device, and a controller mounted on the walking chassis. A camera is mounted at the end of the harvesting arm near the mechanical claw. The walking chassis includes a chassis body with a route recognition sensor located at the center of the bottom of the chassis body. Mecanum wheels are mounted at the four corners of the chassis body, and the Mecanum wheels are connected to the chassis body via corresponding DC motors and motor damping connectors. A damping spring is also provided between the motor damping connectors and the chassis body. The collection device includes a collection box, at least one pair of swing arms, and a tilting servo. The upper end of the swing arms is connected to the collection box, and the lower end of the swing arms is connected to the output shaft of the tilting servo. The tilting servo is fixed to the chassis body. The harvesting arm, sensor, DC motor, and tilting servo are connected to the controller.

[0004] In summary, the existing technology has the following technical problems: Although the existing technology can harvest fruits and vegetables, it requires manual labor when encountering steep or muddy planting areas. However, since the grippers are fixed to the robot, it is inconvenient to remove the grippers for human use when encountering difficult harvesting situations, such as some thorny fruits or fruits that require squatting to pick. Therefore, we propose a harvesting robot. Utility Model Content

[0005] The purpose of this invention is to provide a harvesting robot to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A harvesting robot includes a robot body and a robotic arm mounted on top of the robot body. The output end of the robotic arm is fixed with a mounting plate, and a harvesting mechanism is assembled at the bottom of the mounting plate. The harvesting mechanism is used to harvest fruits and vegetables. The harvesting mechanism includes a drive component and a transmission component. A connecting cylinder is assembled at the bottom of the mounting plate, and a drive component is assembled between the connecting cylinder and the mounting plate. A transmission component is assembled inside the drive component.

[0008] Preferably, the drive assembly includes a strip-shaped shell, an arc-shaped plate, a hydraulic rod, an L-shaped force-applying plate, and a movable rod. The bottom of the connecting cylinder is integrally fixed with the strip-shaped shell, which communicates with the connecting cylinder. The bottom of the inner side of the strip-shaped shell is rotatably connected with the arc-shaped plate. The bottom of the mounting plate is fixed with the hydraulic rod, and the output end of the hydraulic rod is fixed with the L-shaped force-applying plate. One end of the L-shaped force-applying plate is in close contact with the bottom of one side of the arc-shaped plate, and the top of the arc-shaped plate is assembled and connected to one end of the movable rod.

[0009] Preferably, a cylinder is fixed to the top of the bow-shaped plate, and a strip-shaped notch corresponding to the position of the cylinder is opened at the bottom of one end of the movable rod, and the strip-shaped notch is slidably connected to the cylinder.

[0010] Preferably, the transmission assembly includes a sleeve, a tube, a connecting frame, arc-shaped grippers, and a force-applying tooth sleeve. The sleeve is slidably connected to the outer side of the movable rod. One end of the sleeve is fixed to the connecting tube, and the other end of the sleeve is fixed to the tube. The connecting frame is fixed to one end of the tube. Multiple arc-shaped grippers are evenly and rotatably connected to the inner side of the connecting frame via pins. One end of each arc-shaped gripper is engaged with a force-applying tooth sleeve. One end of the force-applying tooth sleeve is fixed to the movable rod. The force-applying tooth sleeve is slidably connected to the inner side of the tube. A spring is sleeved on the outer side of the movable rod and located inside the tube. One end of the spring is fixed to the sleeve, and the other end of the spring is fixed to the force-applying tooth sleeve.

[0011] Preferably, a disassembly and assembly mechanism is also assembled between the mounting plate and the connecting cylinder. The disassembly and assembly mechanism includes a U-shaped plate, a rotating rod, a bidirectional threaded rod, and a locking plate. A U-shaped plate is fixed at the bottom of the mounting plate and at a position offset from the hydraulic rod. A rotating rod is rotatably connected to one end of the U-shaped plate. A bidirectional threaded rod is rotatably connected to both ends of the inner side of the U-shaped plate. One end of the rotating rod is fixed to the bidirectional threaded rod. The two ends of the bidirectional threaded rod have opposite thread directions. Locking plates are threadedly connected to both ends of the outer side of the bidirectional threaded rod. The locking plates are slidably connected to the inner side of the U-shaped plate. The sides of the two locking plates that are close to each other are tightly fitted to the connecting cylinder.

[0012] Preferably, one end of the robot body is provided with two hooks, and a storage box is provided inside the two hooks.

[0013] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0014] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0015] 1. Through the structural design of the harvesting mechanism, this utility model makes it easier to harvest fruits and vegetables, speeds up work efficiency, and improves the flexibility of the device.

[0016] 2. Through the structural design of the disassembly and assembly mechanism, this utility model makes it easy to remove the harvesting mechanism for use when encountering steep or muddy planting areas. It can switch between different harvesting modes to deal with more difficult harvesting situations, thus expanding the applicability of the device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the connection structure between the strip-shaped shell and the bow-shaped plate of this utility model;

[0020] Figure 3 This is a cross-sectional structural diagram of the connecting cylinder, strip shell, sleeve, tube, and connecting frame of this utility model;

[0021] Figure 4 This is a schematic diagram of the connection structure between the bow-shaped plate and the movable rod of this utility model;

[0022] Figure 5 This is a schematic diagram of the connection structure between the robot body and the hook of this utility model.

[0023] The attached diagram lists the components represented by each number as follows:

[0024] In the diagram: 1. Robot body; 2. Robotic arm; 3. Mounting plate; 4. Connecting cylinder; 5. Strip shell; 6. Bow-shaped plate; 7. Hydraulic rod; 8. L-shaped force-applying plate; 9. Movable rod; 10. Sleeve; 11. Tube; 12. Connecting frame; 13. Arc-shaped gripper; 14. Force-applying tooth sleeve; 15. U-shaped plate; 16. Rotating rod; 17. Bidirectional threaded rod; 18. Locking plate; 19. Hook; 20. Storage box. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] Example 1

[0027] Reference Figure 1-4 A harvesting robot includes a robot body 1 and a robotic arm 2 mounted on top of the robot body 1. A mounting plate 3 is fixed to the output end of the robotic arm 2. A harvesting mechanism is mounted on the bottom of the mounting plate 3. The harvesting mechanism is used to harvest fruits and vegetables. The harvesting mechanism includes a drive component and a transmission component. A connecting cylinder 4 is mounted on the bottom of the mounting plate 3. The drive component is mounted between the connecting cylinder 4 and the mounting plate 3. The transmission component is mounted inside the drive component. The robot body 1 is model XP-TRACK 2023, and its application scenario is integrated smart agriculture operations. Its features include electric track drive, low noise (≤65dB), and suitability for nighttime operation. It is equipped with an RTK high-precision positioning system (±2cm accuracy) and supports automatic obstacle avoidance. It has a modular battery pack that supports quick replacement in 30 minutes and a battery life of 6 hours. It can work collaboratively with drones, sensors, and other equipment. The robotic arm 2 is model Agrobot SW6010, and its features include a 6-axis robotic arm equipped with a visual recognition system (3D camera + AI algorithm) that can accurately identify ripe fruits. Maximum load capacity: 1.5kg, working radius: 1.2m. Compatible with tracked mobile platforms, supporting operations in complex orchard terrain.

[0028] The drive assembly includes a strip shell 5, an arc-shaped plate 6, a hydraulic rod 7, an L-shaped force-applying plate 8, and a movable rod 9. The bottom of the connecting cylinder 4 is integrally fixed with the strip shell 5, and the strip shell 5 is connected to the connecting cylinder 4. The bottom of the inner side of the strip shell 5 is rotatably connected with the arc-shaped plate 6. The bottom of the mounting plate 3 is fixed with the hydraulic rod 7, which is model FB-50N-150. The output end of the hydraulic rod 7 is fixed with the L-shaped force-applying plate 8. One end of the L-shaped force-applying plate 8 is in close contact with the bottom of one side of the arc-shaped plate 6. The top of the arc-shaped plate 6 is assembled and connected with one end of the movable rod 9. The arc-shaped plate 6 is arranged in an inclined shape, and the top of the arc-shaped plate 6 is inclined towards the end closer to the movable rod 9.

[0029] A cylinder is fixed to the top of the bow-shaped plate 6. A strip-shaped notch corresponding to the position of the cylinder is opened at the bottom of one end of the movable rod 9. The strip-shaped notch is slidably connected to the cylinder. One end of the bottom of the strip-shaped notch is longer, and the other end is flush with the movable rod 9. This can prevent the cylinder from detaching when it moves in the strip-shaped notch.

[0030] The transmission assembly includes a sleeve 10, a tube 11, a connecting frame 12, arc-shaped grippers 13, and a force-applying tooth sleeve 14. The sleeve 10 is slidably connected to the outer side of the movable rod 9. One end of the sleeve 10 is fixed to the connecting cylinder 4, and the other end of the sleeve 10 is fixed to the tube 11. One end of the tube 11 is fixed to the connecting frame 12. Multiple arc-shaped grippers 13 are evenly distributed and rotatably connected to the inner side of the connecting frame 12 via pins. One end of each arc-shaped gripper 13 is engaged with a force-applying tooth sleeve 14. One end of 14 is fixed to the movable rod 9. The force-applying tooth sleeve 14 is slidably connected to the inside of the sleeve 11. A spring is sleeved on the outside of the movable rod 9 and inside the sleeve 11. One end of the spring is fixed to the sleeve 10, and the other end of the spring is fixed to the force-applying tooth sleeve 14. The outside of the force-applying tooth sleeve 14 has multiple ring teeth, all of which are engaged with the arc-shaped gripper 13. Rubber protrusions are evenly distributed on the inside of the arc-shaped gripper 13 to facilitate the protection of the melons and fruits during the harvesting process.

[0031] A disassembly and assembly mechanism is also assembled between the mounting plate 3 and the connecting cylinder 4. The disassembly and assembly mechanism includes a U-shaped plate 15, a rotating rod 16, a double-threaded rod 17, and a locking plate 18. A U-shaped plate 15 is fixed at the bottom of the mounting plate 3, offset from the hydraulic rod 7. A rotating rod 16 is rotatably connected to one end of the U-shaped plate 15. A double-threaded rod 17 is rotatably connected to both ends of the inner side of the U-shaped plate 15. One end of the rotating rod 16 is fixed to the double-threaded rod 17. The threads of the two ends of the double-threaded rod 17 are opposite in direction. Locking plates 18 are threadedly connected to both ends of the outer side of the double-threaded rod 17. The locking plates 18 are slidably connected to the inner side of the U-shaped plate 15. The sides of the two locking plates 18 that are close to each other are tightly fitted to the connecting cylinder 4. When encountering steep or muddy planting areas, manual harvesting is required. In challenging situations, such as harvesting thorny or difficult-to-reach fruits, rotating the rotating rod 16 causes the bidirectional threaded rod 17 to rotate. Because the threads at both ends of the bidirectional threaded rod 17 rotate in opposite directions, and the locking plates 18 are slidably connected to the inside of the U-shaped plate 15, the two locking plates 18 can move away from each other until they separate from the connecting cylinder 4. At this point, the connecting cylinder 4 can be removed for human use. The user holds the strip-shaped shell 5 and presses the bow-shaped plate 6 to perform the harvesting operation.

[0032] Example 2

[0033] Further optimizations to Example 1, specifically, such as... Figure 5 As shown, one end of the robot body 1 is provided with two hooks 19, and a storage box 20 is provided inside the two hooks 19. The storage box 20 is designed to facilitate the storage of harvested fruits and vegetables. When the storage box 20 is full, it can be removed from the hooks 19.

[0034] In summary:

[0035] This utility model addresses the technical problem of existing technologies, which, while capable of harvesting fruits and vegetables, require manual labor when encountering steep or muddy planting areas. However, the grippers are fixed to the robot, making it inconvenient to detach them for human use in challenging situations, such as harvesting thorny or difficult-to-reach fruits and vegetables. The present invention employs the technical solutions described in the above embodiments. Furthermore, the implementation process of the above technical solutions is as follows:

[0036] During use, the hydraulic rod 7 is activated, and its output end pulls the L-shaped force plate 8 upward. Because the L-shaped force plate 8 is in close contact with the bow-shaped plate 6, and the bow-shaped plate 6 is inclined, the L-shaped force plate 8 can push the bow-shaped plate 6 to rotate, causing the bow-shaped plate 6 to pull the strip notch through the cylinder, thereby causing the movable rod 9 to move along the inner side of the sleeve 10. At the same time, the movable rod 9 pulls the force-applying tooth sleeve 14 to compress the spring. Because the force-applying tooth sleeve 14 is engaged with the arc-shaped gripper 13, and the arc-shaped gripper 13 is rotatably connected to the inner side of the connecting frame 12, one end of the multiple arc-shaped grippers 13 can move towards each other until the fruit is wrapped. Then, the robotic arm 2 is driven to apply force to pick the fruit.

[0037] With the above-mentioned settings, this application will certainly solve the above-mentioned technical problems, and at the same time achieve the following technical effects:

[0038] 1. Through the structural design of the harvesting mechanism, this utility model makes it easier to harvest fruits and vegetables, speeds up work efficiency, and improves the flexibility of the device.

[0039] 2. Through the structural design of the disassembly and assembly mechanism, this utility model makes it easy to remove the harvesting mechanism for use when encountering steep or muddy planting areas. It can switch between different harvesting modes to deal with more difficult harvesting situations, thus expanding the applicability of the device.

[0040] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A harvesting robot, characterized in that, The system includes a robot body (1) and a robotic arm (2) mounted on top of the robot body (1). The output end of the robotic arm (2) is fixed with a mounting plate (3). A picking mechanism is mounted on the bottom of the mounting plate (3). The picking mechanism is used to pick fruits and vegetables. The picking mechanism includes a drive component and a transmission component. A connecting cylinder (4) is mounted on the bottom of the mounting plate (3). A drive component is mounted between the connecting cylinder (4) and the mounting plate (3). A transmission component is mounted on the inner side of the drive component.

2. A harvesting robot according to claim 1, characterized in that, The drive assembly includes a strip shell (5), an arc plate (6), a hydraulic rod (7), an L-shaped force plate (8), and a movable rod (9). The bottom of the connecting cylinder (4) is integrally fixed with the strip shell (5). The strip shell (5) is connected to the connecting cylinder (4). The bottom of the inner side of the strip shell (5) is rotatably connected with the arc plate (6). The bottom of the mounting plate (3) is fixed with the hydraulic rod (7). The output end of the hydraulic rod (7) is fixed with the L-shaped force plate (8). One end of the L-shaped force plate (8) is in contact with the bottom of one side of the arc plate (6). The top of the arc plate (6) is assembled and connected to one end of the movable rod (9).

3. A harvesting robot according to claim 2, characterized in that, A cylinder is fixed to the top of the bow-shaped plate (6), and a strip-shaped notch corresponding to the position of the cylinder is opened at the bottom of one end of the movable rod (9), and the strip-shaped notch is slidably connected to the cylinder.

4. A harvesting robot according to claim 3, characterized in that, The transmission assembly includes a sleeve (10), a tube (11), a connecting frame (12), an arc-shaped gripper (13), and a force-applying tooth sleeve (14). The sleeve (10) is slidably connected to the outer side of the movable rod (9). One end of the sleeve (10) is fixed to the connecting cylinder (4), and the other end of the sleeve (10) is fixed to the tube (11). One end of the tube (11) is fixed to the connecting frame (12), and the inner side of the connecting frame (12) is evenly and rotatably connected by pins. Multiple arc-shaped grippers (13) are connected at one end to a force-applying tooth sleeve (14). One end of the force-applying tooth sleeve (14) is fixed to a movable rod (9). The force-applying tooth sleeve (14) is slidably connected to the inside of a sleeve (11). A spring is sleeved on the outside of the movable rod (9) and inside the sleeve (11). One end of the spring is fixed to a sleeve (10), and the other end of the spring is fixed to the force-applying tooth sleeve (14).

5. A harvesting robot according to claim 2, characterized in that, A disassembly and assembly mechanism is also assembled between the mounting plate (3) and the connecting cylinder (4). The disassembly and assembly mechanism includes a U-shaped plate (15), a rotating rod (16), a two-way threaded rod (17), and a locking plate (18). A U-shaped plate (15) is fixed at the bottom of the mounting plate (3) and at a position away from the hydraulic rod (7). A rotating rod (16) is rotatably connected to one end of the U-shaped plate (15). A two-way threaded rod (17) is rotatably connected to both ends of the inner side of the U-shaped plate (15). One end of the rotating rod (16) is fixed to the two-way threaded rod (17). The two ends of the two-way threaded rod (17) have opposite thread directions. Locking plates (18) are threadedly connected to both ends of the outer side of the two-way threaded rod (17). The locking plates (18) are slidably connected to the inner side of the U-shaped plate (15). The sides of the two locking plates (18) that are close to each other are tightly fitted to the connecting cylinder (4).

6. A harvesting robot according to claim 1, characterized in that, Two hooks (19) are provided at one end of the robot body (1), and a storage box (20) is provided inside the two hooks (19).

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