Crawler-type agricultural picking robot

Abstract

The utility model discloses a caterpillar type agricultural picking robot relates to picking robot technical field, including support frame, the outside fixed mounting of support frame has two side support, every side support's bottom all fixed mounting has two connecting rods, and every connecting rod's inner end all with the outside fixed connection of support frame, this caterpillar type agricultural picking robot can drive driving wheel to rotate through the operation of servo motor no.

Description

Technical Field

[0001] This utility model relates to the field of harvesting robot technology, specifically a tracked agricultural harvesting robot. Background Technology

[0002] With the rapid development of modern technology, robotics has begun to integrate into people's work and daily life. Moreover, the aging population and the gradual loss of rural labor force are promoting the continuous development of agriculture towards mechanization, modernization, and intelligence. This will help agricultural robots to quickly intervene in the field of agricultural production. In the process of agricultural production, harvesting agricultural products is a time-consuming link. The harvesting period is short, the harvesting volume is large, the work intensity is high, and a large amount of labor is required to complete the work. Therefore, harvesting robots have become a research hotspot in agricultural automation and intelligence.

[0003] Agricultural harvesting robots use image recognition technology to automatically identify fruits and vegetables and then use robotic arms to harvest them automatically. However, in the field, the ground conditions are complex, and wheeled robots are prone to getting stuck in complex ground conditions, which is not conducive to fruit harvesting. In addition, the purchase and maintenance costs of robotic arm harvesting robots are high, which is not conducive to the purchase and use of small growers. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a tracked agricultural harvesting robot, which has the advantages of good off-road mobility and solves the problems of wheeled robots being prone to getting stuck and high purchase and maintenance costs.

[0006] (II) Technical Solution

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a tracked agricultural harvesting robot, including a support frame, with two side brackets fixedly installed on the outer side of the support frame; two connecting rods are fixedly installed at the bottom end of each side bracket, and the inner end of each connecting rod is fixedly connected to the outer side of the support frame.

[0008] The top of the support frame has two fixing slots, and a servo motor is fixedly installed inside each fixing slot. A drive wheel is fixedly installed at the output end of each servo motor. A bearing is embedded at the top of each side bracket. The outer end of the drive wheel is fixedly connected to the inner ring of the bearing. A driven wheel is sleeved on the outer surface of each connecting rod. A bearing is embedded inside each driven wheel. The outer surface of the connecting rod is fixedly connected to the inner ring of the bearing. The outer surface of the drive wheel is connected to the driven wheel via a track.

[0009] Two support seats are fixedly installed at the top of the support frame. Each support seat has a bearing three embedded inside. An adjustment frame is placed above each support seat. A support column is fixedly installed at the bottom of each adjustment frame. The bottom end of the support column passes through the bearing three and extends to the bottom of the support seat. The outer surface of the support column is fixedly connected to the inner ring of the bearing three. A servo motor two is fixedly installed on the bottom surface of each support seat. The output ends of the two servo motors two are fixedly connected to the bottom ends of the two support columns respectively.

[0010] Each of the adjustment frames is equipped with a servo motor three, and each servo motor three has a lead screw one fixedly installed at its output end. Each of the adjustment frames is also equipped with two guide posts, and each of the adjustment frames contains an adjustment block. Each adjustment block has a wire tube one embedded in its middle, and the top ends of the two lead screws one pass through the two wire tubes one and extend to the top of the adjustment block. The lead screws one and the wire tubes one are threaded together. Each adjustment block has guide holes at both ends, and the top ends of the guide posts pass through the guide holes and are fixedly connected to the top wall of the adjustment frame.

[0011] A crossbeam is fixedly installed on the outer side of each adjustment block. A groove is opened at the bottom of each crossbeam. A wire tube 2 is placed inside each groove. A servo motor 4 is fixedly installed inside each crossbeam. A lead screw 2 is fixedly installed at the output end of each servo motor 4. The outer end of the lead screw 2 passes through the wire tube 2 and extends to the outside of the wire tube 2. A connecting block is fixedly installed on the upper surface of each wire tube 2. A through groove is opened on the upper surface of each crossbeam. The top of the connecting block passes through the through groove and extends to the top of the crossbeam.

[0012] Each of the connecting blocks has a fixed frame fixedly installed at its top, an electric push rod fixedly installed inside each fixed frame, a connecting cylinder fixedly installed at the telescopic end of each electric push rod, a fixed hole opened inside each connecting cylinder, a servo motor five fixedly installed inside each fixed hole, and an electric mechanical gripper body fixedly installed at the output end of each servo motor five.

[0013] Furthermore, a picking box is placed in the middle of the support frame, and a receiving pipe is placed inside the picking box.

[0014] By adopting the above technical solution, the harvested fruits can be better received and guided into the picking box for collection.

[0015] Furthermore, a fixed base is fixedly installed at the front end of the support frame, and a camera is fixedly installed at the top of the fixed base.

[0016] By adopting the above technical solutions, the fruit can be better observed during the journey.

[0017] Furthermore, a second camera is fixedly installed at the outer end of each of the fixed frames.

[0018] By adopting the above technical solutions, a better field of vision is provided during harvesting, making harvesting more precise.

[0019] Furthermore, a connecting frame is fixedly installed on the inner side of the upper surface of each of the cross frames, two guide rods are fixedly installed on the outer side of each of the connecting frames, two guide rings are fixedly installed on the inner end of each of the fixed frames, and the outer ends of the guide rods pass through the guide rings and extend to the outer side of the guide rings.

[0020] By adopting the above technical solution, a more stable guiding role can be achieved when adjusting and moving the fixed frame.

[0021] Furthermore, a laser light is fixedly installed in the middle of the electromechanical gripper body.

[0022] By adopting the above technical solution, the laser light can be adjusted more precisely to ensure that the electric mechanical gripper is directly facing the fruit to be picked.

[0023] Furthermore, a rechargeable power supply and a main control box are provided at the bottom of the support frame. The main control box contains a main control board and a controller. Servo motor 1, servo motor 2, servo motor 3, servo motor 4, servo motor 5 and the electric mechanical gripper body are electrically connected to the main control board through the controller.

[0024] By adopting the above technical solution, the device can be powered more effectively, and the main control box can control the various drive devices and provide remote control interaction.

[0025] (III) Beneficial Effects

[0026] Compared with existing technologies, this tracked agricultural harvesting robot has the following advantages:

[0027] 1. This utility model is equipped with a servo motor. During use, the operation of the servo motor drives the drive wheel to rotate, which in turn drives the driven wheel and track to rotate. The rotation of the track drives the device to move. The track can better increase the reliability when moving in the field. The track has a large contact area with the ground, which can effectively avoid the problem of wheel getting stuck when the wheeled robot moves on loose soil. It can also be more stable when moving on uneven ground, avoiding the problem of the wheeled robot shaking too much or the wheels getting stuck in the soil.

[0028] 2. This utility model incorporates a second servo motor, which adjusts the angle of the adjusting frame to change the direction of fruit grasping. A third servo motor rotates the lead screw within the wire tube, adjusting the height of the crossbeam and thus the fruit grasping height. A fourth servo motor rotates the lead screw within the wire tube, moving the fixed frame and adjusting the grasping depth. The extension and retraction of the electric push rod further adjusts the grasping depth, allowing the electromechanical gripper to better reach into the branches for harvesting. A second camera and laser light enhance precision harvesting within the branches. A fifth servo motor rotates the electromechanical gripper, effectively unscrewing the fruit from the stem. This harvesting transmission structure is simple, low-cost, and easier to maintain for wheeled robotic arm harvesting robots. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of this utility model;

[0030] Figure 2 This is an exploded view of the external structure of the side support of this utility model;

[0031] Figure 3 This is a schematic diagram of the support frame structure of this utility model;

[0032] Figure 4 This is an exploded view of the bottom structure of the adjustment frame of this utility model;

[0033] Figure 5 This is a schematic diagram of the external structure of the adjusting block of this utility model;

[0034] Figure 6 This is a schematic diagram of the external structure of the crossbeam of this utility model;

[0035] Figure 7 This is a schematic diagram of the external structure of the wire tube of this utility model;

[0036] Figure 8 This is a schematic diagram of the fixed frame structure of this utility model;

[0037] Figure 9 This is a schematic diagram of the external structure of the connecting cylinder of this utility model.

[0038] In the diagram: 1-Support frame, 2-Adjusting frame, 3-Receiving pipe, 4-Picking box, 5-Side bracket, 6-Crawler track, 7-Fixed seat, 8-Camera 1, 9-Driven wheel, 10-Connecting rod, 11-Bearing 2, 12-Bearing 1, 13-Drive wheel, 14-Servo motor 1, 15-Fixed slot 1, 16-Guide column, 17-Horizontal frame, 18-Adjusting block, 19-Bearing 3, 20-Servo motor 2, 21-Support seat, 22-Through groove, 23- Servo motor 3, 24-guide hole, 25-lead screw 1, 26-groove, 27-lead tube 1, 28-lead screw 2, 29-connecting block, 30-lead tube 2, 31-servo motor 4, 32-connecting frame, 33-guide ring, 34-guide rod, 35-electric push rod, 36-camera 2, 37-fixed frame, 38-connecting cylinder, 39-fixed hole, 40-servo motor 5, 41-support column, 42-laser light, 43-electric mechanical gripper body. Detailed Implementation

[0039] 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.

[0040] Please see Figure 1-9 This utility model provides a technical solution: a tracked agricultural harvesting robot, including a support frame 1, a harvesting box 4 placed in the middle of the support frame 1, a receiving pipe 3 placed inside the harvesting box 4 to better receive and guide the harvested fruit into the harvesting box 4 for collection, a fixed seat 7 fixedly installed at the front end of the support frame 1, and a camera 8 fixedly installed at the top of the fixed seat 7 to better observe the fruit during the movement.

[0041] Two side brackets 5 are fixedly installed on the outer side of the support frame 1; two connecting rods 10 are fixedly installed at the bottom of each side bracket 5, and the inner end of each connecting rod 10 is fixedly connected to the outer side of the support frame 1. Two fixing slots 15 are opened at the top of the support frame 1. A servo motor 14 is fixedly installed inside each fixing slot 15. A drive wheel 13 is fixedly installed at the output end of each servo motor 14. A bearing 12 is embedded at the top of each side bracket 5. The outer end of the drive wheel 13 is fixedly connected to the inner ring of the bearing 12. A driven wheel 9 is sleeved on the outer surface of each connecting rod 10. A bearing 11 is embedded inside each driven wheel 9, and the outer surface of the connecting rod 10 is fixedly connected to the inner ring of the bearing 11. The outer surface of the drive wheel 13 is connected to the driven wheel 9 through the track 6.

[0042] Two support seats 21 are fixedly installed at the top of the support frame 1. Each support seat 21 is inlaid with a bearing 19. An adjustment frame 2 is placed above each support seat 21. A support column 41 is fixedly installed at the bottom of each adjustment frame 2. The bottom end of the support column 41 passes through the bearing 19 and extends to the bottom of the support seat 21. The outer surface of the support column 41 is fixedly connected to the inner ring of the bearing 19. A servo motor 20 is fixedly installed on the bottom surface of each support seat 21. The output ends of the two servo motors 20 are fixedly connected to the bottom ends of the two support columns 41 respectively.

[0043] Each adjustment frame 2 has a servo motor 3 23 fixedly installed inside, and a lead screw 1 25 fixedly installed at the output end of each servo motor 3 23. Each adjustment frame 2 has two guide posts 16 fixedly installed inside, and each adjustment frame 2 has an adjustment block 18 placed inside. Each adjustment block 18 has a wire tube 1 27 embedded in its middle, and the top ends of the two lead screws 1 25 pass through the two wire tubes 1 27 respectively and extend to the top of the adjustment block 18. The lead screws 1 25 and wire tubes 1 27 are threadedly connected. Each adjustment block 18 has guide holes 24 at both ends, and the top ends of the guide posts 16 pass through the guide holes 24 and are fixedly connected to the top wall of the adjustment frame 2.

[0044] Each adjusting block 18 has a crossbeam 17 fixedly installed on its outer side. Each crossbeam 17 has a groove 26 at its bottom. Each groove 26 contains a wire tube 30. Each crossbeam 17 has a servo motor 31 fixedly installed inside its interior. Each servo motor 31 has a lead screw 28 fixedly installed at its output end. The outer end of the lead screw 28 passes through the wire tube 30 and extends to the outside of the lead screw 30. Each wire tube 30 has a connecting block 29 fixedly installed on its upper surface. Each crossbeam 17 has a through groove 22 on its upper surface. The top of the connecting block 29 passes through the through groove 22 and extends to the top of the crossbeam 17.

[0045] A connecting frame 32 is fixedly installed on the inner side of the upper surface of each cross frame 17. Two guide rods 34 are fixedly installed on the outer side of each connecting frame 32. Two guide rings 33 are fixedly installed on the inner end of each fixed frame 37. The outer end of the guide rod 34 passes through the guide ring 33 and extends to the outer side of the guide ring 33, so as to better play a stable guiding role when the fixed frame 37 is adjusted and moved.

[0046] Each connecting block 29 has a fixed frame 37 fixedly installed at its top, and a camera 36 fixedly installed at the outer end of each fixed frame 37 to provide a better field of vision during harvesting and make harvesting more precise. Each fixed frame 37 has an electric push rod 35 fixedly installed inside, and a connecting cylinder 38 fixedly installed at the telescopic end of each electric push rod 35. Each connecting cylinder 38 has a fixed hole 39 inside, and a servo motor 40 fixedly installed inside each fixed hole 39. An electric mechanical gripper body 43 is fixedly installed at the output end of each servo motor 40. A laser light 42 is fixedly installed in the middle of the electric mechanical gripper body 43. The laser light 42 can be adjusted more precisely to make the electric mechanical gripper body 43 face the fruit to be harvested.

[0047] The bottom of the support frame 1 is equipped with a rechargeable power supply and a main control box. The main control box houses the main control board and a controller. Servo motors 14, 20, 33, 41, 50, and the electromechanical gripper body 43 are electrically connected to the main control board via the controller, allowing for better power supply to the device. The main control box enables control of each drive device and provides remote control interaction. The controller allows for control of servo motors 14, 20, 23, 31, 40, and the electromechanical gripper body 43. The servo motor 40 is controlled in terms of start / stop, rotation direction, rotation speed, and rotation angle, and is locked when not in motion. The controller can control the extension, retraction length, and extension speed of the electric push rod 35. The controller can also control the gripping, release, gripping strength, and gripping speed of the electric mechanical gripper body 43. The electric mechanical gripper body 43 is a common gripping device in the prior art. Rubber protective pads are provided on the gripper to prevent damage to the fruit. This device is suitable for use on crops within the height adjustment range of the gripper.

[0048] Working Principle: During use, the operator connects the device to the control equipment in the control room and transports the device to the picking area. The device moves forward and backward via the synchronous operation of two servo motors 14. Turning is achieved by reducing the speed of the servo motor 14 on the turning side. During the device's movement, the camera 8 observes the fruits on both sides. During picking, the angle of the adjusting frame 2 is adjusted by the operation of servo motor 20, and the lead screw 25 rotates within the wire tube 27 by the operation of servo motor 23, adjusting the height of the crossbeam 17 until the laser beam 42 illuminates the fruit. At this point, the lead screw 25 is driven by the operation of servo motor 31. The second 28 rotates inside the second 30 wire tube, driving the fixed frame 37 to extend outward. If the extension length is insufficient, the depth of gripping can be adjusted secondary by extending and retracting the telescopic end of the electric push rod 35 until the electric mechanical gripper body 43 grips the fruit. After gripping the fruit, the rotation of the servo motor 5 40 drives the electric mechanical gripper body 43 to rotate, unscrewing the fruit from the fruit stem, thus completing the fruit picking. Afterward, through the reset of each drive unit, the rotation of the servo motor 20 drives the electric mechanical gripper body 43 to rotate directly above the receiving tube 3. The controller drives the electric mechanical gripper body 43 to release, allowing the fruit to fall into the receiving tube 3 and enter the picking box 4 to complete the picking and collection.

[0049] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tracked agricultural harvesting robot, comprising a support frame (1), characterized in that: Two side brackets (5) are fixedly installed on the outer side of the support frame (1); two connecting rods (10) are fixedly installed at the bottom end of each side bracket (5), and the inner end of each connecting rod (10) is fixedly connected to the outer side of the support frame (1); The top of the support frame (1) has two fixed slots (15), each fixed slot (15) is fixedly installed with a servo motor (14), each servo motor (14) is fixedly installed with a drive wheel (13) at its output end, each side bracket (5) is inlaid with a bearing (12) at its top end, the outer end of the drive wheel (13) is fixedly connected to the inner ring of the bearing (12), each connecting rod (10) is fitted with a driven wheel (9) on its outer surface, each driven wheel (9) is inlaid with a bearing (11) inside its interior, and the outer surface of the connecting rod (10) is fixedly connected to the inner ring of the bearing (11), the outer surface of the drive wheel (13) is connected to the driven wheel (9) via a track (6); Two support seats (21) are fixedly installed at the top of the support frame (1). Each support seat (21) is inlaid with a bearing three (19). An adjustment frame (2) is placed above each support seat (21). A support column (41) is fixedly installed at the bottom of each adjustment frame (2). The bottom end of the support column (41) passes through the bearing three (19) and extends to the bottom of the support seat (21). The outer surface of the support column (41) is fixedly connected to the inner ring of the bearing three (19). A servo motor two (20) is fixedly installed on the bottom surface of each support seat (21). The output ends of the two servo motor two (20) are fixedly connected to the bottom ends of the two support columns (41) respectively. Each of the adjustment frames (2) is fixedly installed with a servo motor three (23), and each of the output ends of the servo motor three (23) is fixedly installed with a lead screw one (25). Each of the adjustment frames (2) is fixedly installed with two guide columns (16). Each of the adjustment frames (2) is placed with an adjustment block (18). Each of the adjustment blocks (18) is inlaid with a wire tube one (27) in the middle. The top ends of the two lead screws one (25) pass through the two wire tubes one (27) and extend to the top of the adjustment block (18). The lead screw one (25) is threadedly connected to the wire tube one (27). Each of the adjustment blocks (18) has guide holes (24) at both ends. The top ends of the guide columns (16) pass through the guide holes (24) and are fixedly connected to the top wall of the adjustment frame (2). Each of the adjustment blocks (18) has a crossbar (17) fixedly installed on its outer side. Each of the crossbars (17) has a groove (26) at its bottom. Each of the grooves (26) has a wire tube (30) placed inside. Each of the crossbars (17) has a servo motor (31) fixedly installed inside. Each of the servo motors (31) has a lead screw (28) fixedly installed at its output end. The outer end of the lead screw (28) passes through the wire tube (30) and extends to the outside of the wire tube (30). Each of the wire tubes (30) has a connecting block (29) fixedly installed on its upper surface. Each of the crossbars (17) has a through groove (22) on its upper surface. The top of the connecting block (29) passes through the through groove (22) and extends to the top of the crossbar (17). Each of the connecting blocks (29) has a fixed frame (37) fixedly installed at its top end. Each of the fixed frames (37) has an electric push rod (35) fixedly installed inside. Each of the electric push rods (35) has a connecting cylinder (38) fixedly installed at its telescopic end. Each of the connecting cylinders (38) has a fixed hole (39) inside. Each of the fixed holes (39) has a servo motor (40) fixedly installed inside. Each of the servo motors (40) has an electric mechanical gripper body (43) fixedly installed at its output end.

2. The tracked agricultural harvesting robot according to claim 1, characterized in that: A picking box (4) is placed in the middle of the support frame (1), and a receiving pipe (3) is placed inside the picking box (4).

3. The tracked agricultural harvesting robot according to claim 1, characterized in that: A fixed base (7) is fixedly installed at the front end of the support frame (1), and a camera (8) is fixedly installed at the top of the fixed base (7).

4. The tracked agricultural harvesting robot according to claim 1, characterized in that: Each of the fixed frames (37) has a camera (36) fixedly installed at its outer end.

5. A tracked agricultural harvesting robot according to claim 1, characterized in that: A connecting frame (32) is fixedly installed on the inner side of the upper surface of each of the cross frames (17), and two guide rods (34) are fixedly installed on the outer side of each of the connecting frames (32). Two guide rings (33) are fixedly installed on the inner end of each of the fixed frames (37), and the outer end of the guide rod (34) passes through the guide ring (33) and extends to the outer side of the guide ring (33).

6. The tracked agricultural picking robot of claim 1, wherein: A laser light (42) is fixedly installed in the middle of the electromechanical gripper body (43).

7. The tracked agricultural picking robot of claim 1, wherein: The bottom of the support frame (1) is provided with a rechargeable power supply and a main control box. The main control box contains a main control board and a controller. Servo motor one (14), servo motor two (20), servo motor three (23), servo motor four (31), servo motor five (40) and the electric mechanical gripper body (43) are electrically connected to the main control board through the controller.

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