An agricultural robot

Abstract

The utility model relates to the technical field of agricultural picking, and disclose an agricultural robot, including mobile seat, the outer surface of mobile seat lower extreme both sides all installs the track, and the outer surface of mobile seat upper extreme one end installs the mechanical arm, and the outer surface of mechanical arm one end is provided with camera and replacement structure, the outer surface of mobile seat upper extreme other end is provided with collection structure. The utility model discloses through camera observation the position of fruit, and make the mechanical arm move so that the first support ring moves to the just below fruit, and make cutting nippers synchronous movement to the petiole of fruit, then can start cutting nippers, and the petiole of fruit is pruned, and make fruit under the influence of self gravity drop to the inside of fruit bag, and through the collection bag to the fruit's falling speed buffer, and make the fruit fall in the inside of collection box, and through the collection box bottom inclined surface.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting technology; more specifically, it relates to an agricultural robot. Background Technology

[0002] Agriculture is an industry that utilizes the growth patterns of plants and animals to produce products, and it forms the foundation of the national economy. It encompasses crop farming, forestry, animal husbandry, and other sectors, and can be categorized as extensive or intensive, and subsistence or commercial. It has distinct characteristics, exhibiting regional variations, with significant differences between southern rice and northern wheat; it also possesses seasonality and cyclicality, with spring planting and autumn harvest following natural laws. Agriculture provides humanity with basic necessities such as food and fiber, and is crucial for ensuring social stability and promoting economic development.

[0003] Agricultural robots are intelligent mechanical devices used in agriculture to replace human labor in various agricultural tasks. They can perform precise sowing, efficient weeding, intelligent harvesting, crop monitoring, and plant protection spraying. Utilizing sensors, artificial intelligence, and machine vision technology, agricultural robots can adapt to complex farmland environments, achieving precise and automated operations, significantly improving agricultural production efficiency and quality, reducing labor costs and intensity, and are key equipment for the development of smart agriculture.

[0004] Currently, existing agricultural robots often require cutting pliers to cut the petioles of fruit trees for harvesting. When different types of fruit need to be harvested, the cutting pliers may need to be changed depending on the petiole. Since the cutting pliers in existing devices are mostly fixed, this makes replacement inconvenient and reduces the applicability of the equipment. Furthermore, after harvesting, the robotic arm usually needs to be retracted and the fruit placed in a collection box before it needs to be extended again to harvest more fruit. This makes harvesting fruit cumbersome and reduces the practicality of most existing devices. Therefore, there is an urgent need for an agricultural robot to solve these problems. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an agricultural robot to solve the problems existing in the background art.

[0006] This utility model provides the following technical solution: an agricultural robot, comprising: a mobile base, with tracks installed on the outer surfaces of both sides of the lower end of the mobile base, and a robotic arm installed on the outer surface of one end of the upper end of the mobile base, wherein a camera and a replacement structure are provided on the outer surface of one end of the robotic arm, and a collection structure is provided on the outer surface of the other end of the upper end of the mobile base; the replacement structure includes an insertion slot, a positioning hole, a connecting rod, a movable slot, a movable plate, a spring, and a cutting clamp; the collection structure includes a support rod, a first support ring, a fallen fruit bag, a collection box, a second support ring, and a collection bag.

[0007] Preferably, the insertion slot is formed inside the outer surface of one end of the robotic arm, and a camera is mounted on the upper outer surface of one end of the robotic arm. A positioning hole is formed inside the inner wall surface of the upper end of the insertion slot. A connecting rod is inserted into the insertion slot, and a movable slot is formed inside the outer surface of one end of the connecting rod. A movable plate is engaged inside the movable slot. A spring is provided inside the movable slot. A cutting clamp is mounted on the outer surface of the other end of the connecting rod. This design allows the movable plate to move inside the movable slot.

[0008] Preferably, an insertion block is fixedly connected to the outer surface of one end of the connecting rod, and the external dimensions of the insertion block are adapted to the internal dimensions of the insertion slot. This design makes the insertion block more stable when inserted into the insertion slot, thereby enabling the installation between the robotic arm and the replacement structure.

[0009] Preferably, the two ends of the spring abut against the surface of one side of the movable plate and the inner wall surface of the movable groove, respectively. A positioning rod is fixedly connected to the outer surface of the other side of the movable plate, and the external dimensions of the positioning rod are adapted to the internal dimensions of the positioning hole. This design allows the movable plate to automatically reset after moving inside the movable groove.

[0010] Preferably, the outer surface of one end of the support rod is fixedly connected to the bottom surface of one end of the robotic arm, and the outer surface of the other end of the support rod is fixedly connected to a first support ring, and the outer surface of the first support ring is fitted with a fruit drop bag. The outer surface of the other end of the upper part of the moving seat is fixedly connected to a collection box, and the inner wall surface of one side of the upper part of the collection box is fixedly connected to a second support ring, and the outer surface of the second support ring is fitted with a gathering bag. This design allows the fruit after the cutting pliers cut the petiole to be collected inside the collection box through the fruit drop bag and the inside of the second support ring.

[0011] Preferably, the fruit drop bag and the second support ring are made of canvas, and the bottom surface of the collection box is inclined. This design can improve the service life of the fruit drop bag and the second support ring by utilizing the good softness and wear resistance of the materials themselves.

[0012] The technical effects and advantages of this utility model are as follows: By pushing the movable plate, the positioning rod is housed inside the movable slot. At this time, the connecting rod can be moved outward inside the insertion slot, so that the insertion block is disengaged from the insertion slot. Then, the insertion block at one end of the corresponding connecting rod can be inserted into the insertion slot. After that, the movable plate can be released, so that the movable plate resets itself under the elasticity of the spring, thereby allowing the positioning rod to be inserted into the positioning hole. This allows the position between the connecting rod and the robotic arm to be positioned, which facilitates the replacement of the cutting pliers and improves the applicability of the equipment to a certain extent.

[0013] The camera observes the fruit's position, causing the robotic arm to move so that the first support ring is directly beneath the fruit. Simultaneously, the cutting pliers move to the fruit's petiole, then the cutting pliers are activated to cut off the petiole. The fruit then falls into the fruit drop bag under its own weight. The collection bag cushions the fruit's descent, ensuring it lands inside the collection box. The inclined surface at the bottom of the collection box allows the fruit to move outwards, preventing accumulation. This simplifies fruit harvesting and improves the equipment's practicality. Furthermore, its simple and reasonable overall design makes it highly practical and easy to promote and apply. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0015] Figure 2 This is a three-dimensional exploded view of the replacement structure of this utility model.

[0016] Figure 3 This utility model Figure 2 Enlarged diagram of point A in the middle.

[0017] Figure 4 This is a three-dimensional exploded view of the collecting structure of this utility model.

[0018] The attached diagram is labeled as follows: 1. Moving seat; 2. Track; 3. Robotic arm; 4. Camera; 5. Replacement structure; 51. Insertion slot; 52. Positioning hole; 53. Connecting rod; 54. Movable slot; 55. Movable plate; 56. Spring; 57. Cutting pliers; 6. Collection structure; 61. Support rod; 62. First support ring; 63. Dropped fruit bag; 64. Collection box; 65. Second support ring; 66. Gathering bag. Detailed Implementation

[0019] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The agricultural harvesting involved in this utility model is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] Example 1, as Figures 1-4 As shown, this embodiment proposes an agricultural robot, including: a mobile base 1, with tracks 2 installed on the outer surfaces of both sides of the lower end of the mobile base 1, and a robotic arm 3 installed on the outer surface of one upper end of the mobile base 1. A camera 4 and a replacement structure 5 are provided on the outer surface of one end of the robotic arm 3, and a collection structure 6 is provided on the outer surface of the other upper end of the mobile base 1. The replacement structure 5 includes an insertion slot 51, a positioning hole 52, a connecting rod 53, a movable slot 54, a movable plate 55, a spring 56, and a cutting clamp 57. The insertion slot 51 is formed inside the outer surface of one end of the robotic arm 3, and a camera 4 and a replacement structure 5 are installed on the outer surface of the upper end of one end of the robotic arm 3. Camera 4 has a positioning hole 52 on the inner wall surface of the upper end of the insertion slot 51. A connecting rod 53 is inserted into the insertion slot 51. A movable slot 54 is opened on the inner surface of the outer end of one end of the connecting rod 53. A movable plate 55 is engaged with the inner surface of the movable slot 54. A spring 56 is installed inside the movable slot 54. A cutting pliers 57 is installed on the outer surface of the other end of the connecting rod 53. An insertion block is fixedly connected to the outer surface of one end of the connecting rod 53. The external dimensions of the insertion block are adapted to the internal dimensions of the insertion slot 51. This design makes the connection rod 53 more stable when one end is inserted into the insertion slot 51.

[0021] The two ends of the spring 56 abut against the surface of one side of the movable plate 55 and the inner wall surface of the movable groove 54, respectively. A positioning rod is fixedly connected to the outer surface of the other side of the movable plate 55, and the external dimensions of the positioning rod are adapted to the internal dimensions of the positioning hole 52. This design allows the movable plate 55 to return to its original position by the elasticity of the spring 56 after it moves inside the movable groove 54, and allows the positioning rod to be inserted into the positioning hole 52, thereby positioning the position between the connecting rod 53 and the insertion groove 51.

[0022] Robotic arm 3 and camera 4 are products that can be purchased directly from the market. Their principles, connection methods and control methods are existing technologies that are well known to those skilled in the art, so they will not be described in detail here.

[0023] The robotic arm 3 in this application, as well as all movable parts, require regular cleaning and maintenance, including but not limited to dust removal and lubrication.

[0024] Example 2, as Figure 4As shown, based on the same concept as the above embodiments, this embodiment also proposes: the collection structure 6 includes a support rod 61, a first support ring 62, a fruit drop bag 63, a collection box 64, a second support ring 65, and a gathering bag 66. The outer surface of one end of the support rod 61 is fixedly connected to the bottom surface of one end of the robotic arm 3, and the outer surface of the other end of the support rod 61 is fixedly connected to the first support ring 62. The outer surface of the first support ring 62 is fitted with a fruit drop bag 63. The outer surface of the other end of the upper part of the moving seat 1 is fixedly connected to the collection box 64, and the inner wall surface of one side of the upper part of the collection box 64 is fixedly connected to the second support ring 66. 5. Furthermore, a gathering bag 66 is fitted onto the outer surface of the second support ring 65. The fruit drop bag 63 and the second support ring 65 are made of canvas. The bottom surface of the collection box 64 is inclined. This design improves the service life of the fruit drop bag 63 and the second support ring 65 through the good softness and wear resistance of the materials themselves, and avoids damage to the fruit during the fall. At the same time, the inclined bottom surface of the collection box 64 allows the fruit to move outward after falling into the collection box 64, thereby preventing the fruit from piling up at the drop outlet of the gathering bag 66 and causing obstruction.

[0025] Working principle: When the device is in use, the camera 4 observes the position of the fruit, and the robotic arm 3 is activated to move the first support ring 62 directly below the fruit. Simultaneously, the cutting pliers 57 move to the petiole of the fruit. The cutting pliers 57 then cuts off the petiole, causing the fruit to fall into the fruit drop bag 63 under its own weight. The gathering bag 66 cushions the descent of the fruit, allowing it to fall into the collection box 64. Just before the fruit reaches the collection box 64, the narrow channel of the gathering bag 66 slows its descent, allowing it to enter the collection box 64. Then, the inclined surface at the bottom of the collection box 64 moves the fruit outwards, thus preventing it from falling into the ground. When the fruit piles up, the fruit can be harvested. When it is necessary to send equipment to pick different fruits, the movable plate 55 can be pushed to retract the positioning rod into the movable slot 54. At this time, the connecting rod 53 can be moved outward in the insertion slot 51 to disengage the insertion block from the insertion slot 51. Then, the insertion block at one end of the corresponding model connecting rod 53 can be inserted into the insertion slot 51. Then the movable plate 55 can be released to allow it to return to its original position under the elasticity of the spring 56, thereby allowing the positioning rod to be inserted into the positioning hole 52. This completes the connection between the connecting rod 53 and the robotic arm 3, thus completing the replacement of the cutting pliers 57. The above operation can be repeated to replace the cutting pliers 57 again. This is the entire working principle of this utility model.

[0026] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0027] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0028] In conclusion, the above are merely preferred embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An agricultural robot, characterized in that, include: The mobile seat (1) is equipped with tracks (2) on both sides of the lower end of the mobile seat (1), and a robotic arm (3) is installed on the outer surface of one end of the upper end of the mobile seat (1). A camera (4) and a replacement structure (5) are provided on the outer surface of one end of the robotic arm (3), and a collection structure (6) is provided on the outer surface of the other end of the upper end of the mobile seat (1). The replacement structure (5) includes an insertion slot (51), a positioning hole (52), a connecting rod (53), a movable slot (54), a movable plate (55), a spring (56), and a cutting pliers (57). The collection structure (6) includes a support rod (61), a first support ring (62), a fallen fruit bag (63), a collection box (64), a second support ring (65), and a collection bag (66).

2. An agricultural robot according to claim 1, characterized in that: The insertion slot (51) is located inside the outer surface of one end of the robotic arm (3), and a camera (4) is installed on the upper outer surface of one end of the robotic arm (3). A positioning hole (52) is provided inside the inner wall surface of the upper end of the insertion slot (51). A connecting rod (53) is inserted inside the insertion slot (51), and a movable slot (54) is provided inside the outer surface of one end of the connecting rod (53). A movable plate (55) is engaged inside the movable slot (54). A spring (56) is provided inside the movable slot (54), and a cutting pliers (57) is installed on the outer surface of the other end of the connecting rod (53).

3. An agricultural robot according to claim 1, characterized in that: An insertion block is fixedly connected to the outer surface of one end of the connecting rod (53), and the external dimensions of the insertion block are compatible with the internal dimensions of the insertion slot (51).

4. An agricultural robot according to claim 1, characterized in that: The two ends of the spring (56) abut against the surface of one side of the movable plate (55) and the inner wall surface of the movable groove (54), respectively. A positioning rod is fixedly connected to the outer surface of the other side of the movable plate (55), and the external dimensions of the positioning rod are compatible with the internal dimensions of the positioning hole (52).

5. An agricultural robot according to claim 1, characterized in that: The outer surface of one end of the support rod (61) is fixedly connected to the bottom surface of one end of the robotic arm (3), and the outer surface of the other end of the support rod (61) is fixedly connected to a first support ring (62), and the outer surface of the first support ring (62) is fitted with a fruit drop bag (63). The outer surface of the other end of the upper end of the moving seat (1) is fixedly connected to a collection box (64), and the inner wall surface of one side of the upper end of the collection box (64) is fixedly connected to a second support ring (65), and the outer surface of the second support ring (65) is fitted with a gathering bag (66).

6. An agricultural robot according to claim 1, characterized in that: The fruit drop bag (63) and the second support ring (65) are made of canvas, and the bottom surface of the collection box (64) is inclined.

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