A fruit picking robot

Abstract

The utility model discloses a fruit picking robot, include: track chassis is equipped with storage box, mechanical arm is through the rotation mechanism and is located on track chassis, and mechanical arm includes a plurality of telescopic arms of hinge connection in proper order, and adjacent telescopic arms drive the pitching movement through the rudder, end execution subassembly is located at the end of mechanical arm, and includes power mechanism, jaw subassembly, jaw subassembly includes mounting bracket, transmission frame and a plurality of claw body, and a plurality of claw body are arranged around the center of mounting bracket, and are hinged to the mounting seat of mounting bracket, claw body includes transmission rod, a plurality of connecting rod mechanisms of hinge connection in proper order, and the both ends of transmission rod are hinged with transmission frame, end connecting rod mechanism, power mechanism is used to drive transmission frame linear shift to drive a plurality of connecting rod mechanisms adaptive overturn to make a plurality of claw body adaptive grip tight fruit, and connecting rod mechanism is self -deformation to just hold the fruit, the utility model has the advantages that can consider the fruit of picking high altitude and low place, and avoid extruding fruit.

Description

Technical Field

[0001] This application relates to the field of fruit picking technology, specifically to a fruit picking robot. Background Technology

[0002] With global population growth and the acceleration of agricultural modernization, agricultural production faces numerous challenges, among which labor shortages and rising labor costs are key factors restricting the development of the fruit industry. Traditional fruit harvesting relies mainly on manual labor, which is not only inefficient but also highly susceptible to seasonal and weather factors. Furthermore, the aging of the agricultural workforce is becoming increasingly serious, with young workers migrating to cities, leading to a labor shortage in orchards.

[0003] Nowadays, agriculture is highly mechanized, and fruit harvesting is done using mechanized equipment. Different fruit trees have different heights, so existing fruit harvesting equipment is divided into ground harvesting equipment and aerial harvesting equipment. Ground harvesting equipment moves on the ground using wheels, but it can only be used to harvest fruit from dwarf trees. Aerial harvesting equipment uses drones to ascend to high altitudes, but when harvesting fruit hidden among branches and leaves, the wings are prone to getting entangled in branches and leaves. In addition, when harvesting ripe fruit, the grippers of existing harvesting equipment use rigid transmission to clamp the fruit, which is very easy to damage ripe fruit. Therefore, in many cases, a large amount of manual labor is still required. Utility Model Content

[0004] Therefore, there is a need to provide a fruit picking robot to solve the problems that existing fruit picking equipment cannot pick both high-altitude and low-altitude fruits, and that rigid transmission grippers are prone to damaging ripe fruits, still requiring manual picking.

[0005] To achieve the above objectives, the inventors have provided a fruit-picking robot, comprising:

[0006] Tracked chassis, the tracked chassis being equipped with a storage box for storing harvested fruit;

[0007] The robotic arm is mounted on the tracked chassis via a rotary mechanism. The robotic arm includes several telescopic arms that are hinged in sequence, and adjacent telescopic arms are driven to pitch by a servo motor.

[0008] An end effector assembly is located at the end of a robotic arm. The end effector assembly includes a power mechanism and a gripper assembly. The gripper assembly includes a mounting frame, a transmission frame, and several gripper bodies. The gripper bodies are arranged around the center of the mounting frame and hinged to the mounting base of the mounting frame. Each gripper body includes a transmission rod and several linkage mechanisms that are hinged sequentially. The two ends of the transmission rod are respectively hinged to the transmission frame and the linkage mechanism at the end effector. The power mechanism is used to drive the transmission frame to move linearly, thereby driving the transmission rod to cause the linkage mechanisms to adaptively rotate, so that the gripper bodies adaptively grip the fruit.

[0009] In some embodiments, the linkage mechanisms include a three-bar linkage and a four-bar linkage; the three-bar linkage includes a first link, a second link, and a third link that are hinged sequentially, with the second link hinged to the mounting base; the end of the transmission rod away from the transmission frame is hinged to the second link; the four-bar linkage includes four sets of fourth links that are hinged sequentially to form a closed loop; the ends of the first link and the third link away from the second link are respectively hinged to two adjacent fourth links of the four-bar linkage.

[0010] In some embodiments, the inward-facing side of the linkage mechanism is provided with an elastic pad, which abuts against the fruit when the fruit is gripped.

[0011] In some embodiments, the mounting frame has a central cutout, and the transmission rod passes through the cutout and is hinged to the drive frame.

[0012] In some embodiments, the power mechanism includes a lead screw motor and a plurality of guide rods, the transmission frame is threadedly connected to the lead screw output shaft of the lead screw motor, and the plurality of guide rods can movably pass through the transmission frame.

[0013] In some embodiments, the claw body further includes a pressure detection mechanism and a control unit. The pressure detection mechanism is located on the inward side of the linkage mechanism to detect the pressure value when the claw body grips the fruit. The control unit is connected to the pressure detection mechanism and the power mechanism to receive the pressure value from the pressure detection mechanism and control the start and stop of the power mechanism.

[0014] In some embodiments, the robotic arm further includes a folding and rotating mechanism, which is located at the end telescopic arm and connected to the end effector assembly to drive the end effector assembly to flip the folding support rod.

[0015] In some embodiments, it also includes:

[0016] The detection unit is located at the end of the robotic arm. The detection unit includes a visual recognition mechanism, an infrared gas sensor, and a depth detection sensor. The visual recognition mechanism includes an RGB-D camera, a multispectral camera, or an infrared camera.

[0017] In some embodiments, the storage box is installed at the installation station of the track base via a detachable structure. Several storage boxes are provided, and a weight detection mechanism is provided at the installation station.

[0018] In some embodiments, the inner wall of the storage box is provided with a buffer layer, and the interior of the storage box is provided with vertical partitions.

[0019] Unlike existing technologies, the fruit-picking robot described in the above technical solution moves a storage box, robotic arm, and end effector assembly via a tracked chassis. The picked fruit is temporarily stored in the storage box. The robotic arm is mounted on the tracked chassis via a rotating mechanism and comprises several telescopic arms that are articulated sequentially. Adjacent telescopic arms are driven by servo motors to perform pitch movements. The robotic arm has multiple degrees of freedom, high flexibility and adaptability, and can reach various positions and perform a variety of actions. The articulated telescopic arms can reach fruit from higher trees when extended and fruit from lower trees when shortened, simultaneously accommodating both high-altitude and low-altitude fruit picking. Furthermore, the slender robotic arm can reach into dense foliage without tangling, making it widely applicable and minimizing obstacles to fruit picking. The end effector assembly at the end of the robotic arm includes a gripper assembly with several grippers surrounding the center of the mounting frame. The fruit-picking robot is set up and hinged to the mounting base of the mounting frame, allowing it to grip the fruit together. The claw includes a transmission rod and several sequentially hinged linkages. The two ends of the transmission rod are respectively hinged to the transmission frame and the linkage at the end. When the power mechanism drives the transmission frame to move linearly, the transmission rod, receiving power, drives the linkages to adaptively rotate. During this process, the sequentially hinged linkages deform gradually, and the claw changes from an extended state to a retracted state. When in the retracted state, the linkages autonomously deform to just grasp the fruit. The claws stop deforming under the constraint of the fruit's contour, preventing further pressure on the fruit. Even if the power mechanism continues to drive in the same direction, the kinetic energy is not further transferred to the linkages for deformation; instead, it drives the claw and mounting frame to move linearly with the transmission frame. Therefore, the fruit is not damaged when gripping. Driving in the opposite direction causes the linkages to deform and release the fruit. Therefore, this fruit-picking robot has the advantage of being able to pick fruits from both high and low locations while avoiding crushing them.

[0020] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0021] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0022] In the accompanying drawings of the instruction manual:

[0023] Figure 1 This is a structural diagram of the fruit-picking robot described in a specific implementation.

[0024] Figure 2 A structural diagram of the robotic arm described in a specific embodiment;

[0025] Figure 3 This is a structural diagram of the claw body described in a specific embodiment;

[0026] Figure 4 A structural diagram showing the end-effector in a grabbing or releasing state according to a specific implementation method;

[0027] Figure 5 This is a structural diagram showing the end-effector in a captured state according to a specific implementation method;

[0028] The reference numerals used in the above figures are explained as follows:

[0029] 1. Tracked chassis;

[0030] 100. Drive wheel;

[0031] 101. Driven wheel;

[0032] 102. Load-bearing wheels;

[0033] 103. Tracks;

[0034] 2. Storage box;

[0035] 200. Partition;

[0036] 3. Slewing mechanism;

[0037] 4. Robotic arm;

[0038] 400. Telescopic boom;

[0039] 401. Servo motor;

[0040] 402. Branch bending and rotating mechanism;

[0041] 403. Fixed arm;

[0042] 5. End-effector components;

[0043] 500. Power mechanism;

[0044] 501. Mounting bracket;

[0045] 5010, Mounting bracket;

[0046] 502. Transmission frame;

[0047] 503. Claw body;

[0048] 5030, transmission rod;

[0049] 5031, First Link;

[0050] 5032, Second Link;

[0051] 5033, Third Link;

[0052] 5034, Fourth Link;

[0053] 504, elastic pad;

[0054] 505. Guide rod;

[0055] 6. Visual recognition agencies;

[0056] 7. Gimbal;

[0057] 8. Electrical control box. Detailed Implementation

[0058] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0059] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0060] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0061] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0062] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0063] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0064] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0065] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0066] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0067] With global population growth and the acceleration of agricultural modernization, agricultural production faces numerous challenges, among which labor shortages and rising labor costs are key factors restricting the development of the fruit industry. Traditional fruit harvesting relies mainly on manual labor, which is not only inefficient but also highly susceptible to seasonal and weather factors. Furthermore, the aging of the agricultural workforce is becoming increasingly serious, with young workers migrating to cities, leading to a labor shortage in orchards.

[0068] Nowadays, agriculture is highly mechanized, and fruit harvesting is done using mechanized equipment. Different fruit trees have different heights, so existing fruit harvesting equipment is divided into ground harvesting equipment and aerial harvesting equipment. Ground harvesting equipment moves on the ground using wheels, but it can only be used to harvest fruit from dwarf trees. Aerial harvesting equipment uses drones to ascend to high altitudes, but when harvesting fruit hidden among branches and leaves, the wings are prone to getting entangled in branches and leaves. In addition, when harvesting ripe fruit, the grippers of existing harvesting equipment use rigid transmission to clamp the fruit, which is very easy to damage ripe fruit. Therefore, in many cases, a large amount of manual labor is still required.

[0069] Therefore, this utility model provides a fruit picking robot to replace manual fruit picking. It can pick fruit from both low-lying and tall-lying fruit trees, making it more widely applicable. Moreover, its picking action is more flexible and not limited by space. It can adapt to the shape of the fruit to grasp it, achieving flexible fruit grasping and avoiding damage to ripe fruit.

[0070] Please see Figure 1 In a specific embodiment, the fruit-picking robot includes a tracked chassis 1, a robotic arm 4, and an end effector 5. The tracked chassis 1 is equipped with a storage box 2 to store the picked fruit. Please refer to [link to relevant documentation]. Figure 2The robotic arm 4 is mounted on the tracked chassis 1 via a rotary mechanism 3. The robotic arm 4 includes several telescopic arms 400 that are hinged sequentially, and adjacent telescopic arms 400 are driven to pitch by a servo motor 401. The end effector 5 is located at the end of the robotic arm 4. The end effector 5 includes a power mechanism 500 and a gripper assembly. The gripper assembly includes a mounting frame 501, a transmission frame 502, and several gripper bodies 503. The gripper bodies 503 are arranged around the center of the mounting frame 501 and are hinged to the mounting base 5010 of the mounting frame 501. Each gripper body 503 includes a transmission rod 5030 and several linkage mechanisms that are hinged sequentially. The two ends of the transmission rod 5030 are respectively hinged to the transmission frame 502 and the linkage mechanism at the end. The power mechanism 500 is used to drive the transmission frame 502 to move linearly, thereby driving the transmission rod 5030 to drive the linkage mechanism to adaptively rotate, so that the gripper bodies 503 adaptively grip the fruit.

[0071] The fruit-picking robot moves via a tracked chassis 1 carrying a storage box 2, a robotic arm 4, and an end effector 5. The picked fruit is temporarily stored in the storage box 2. The robotic arm 4 is mounted on the tracked chassis 1 via a rotary mechanism 3. The robotic arm 4 includes several telescopic arms 400 that are hinged in sequence, and adjacent telescopic arms 400 are driven to pitch by a servo motor 401. The robotic arm 4 has multiple degrees of freedom, high flexibility and adaptability, and can reach various positions and perform various actions. The telescopic arms 400, which are hinged in sequence, can pick fruit from higher fruit trees when extended and pick fruit from lower fruit trees when shortened, thus taking into account both high-altitude and low-altitude fruit picking. The robotic arm 4 is slender and can reach into dense branches and leaves without getting tangled in them. It has a wide range of applications and few obstacles to fruit picking.

[0072] The end effector 5 located at the end of the robotic arm 4 is equipped with a gripper assembly. Several gripper bodies 503 of the gripper assembly are arranged around the center of the mounting frame 501 and hinged to the mounting base 5010 of the mounting frame 501, allowing them to collectively grip the fruit. Each gripper body 503 includes a transmission rod 5030 and several sequentially hinged linkages. The two ends of the transmission rod 5030 are respectively hinged to the transmission frame 502 and the end linkages. When the power mechanism 500 drives the transmission frame 502 to move linearly, the transmission rod 5030 receiving the power causes the several linkages to adaptively rotate. During this process, the linkages are sequentially hinged... The linkage mechanism deforms gradually, and the claw 503 changes from an extended state to a retracted state. When it is in the retracted state, the linkage mechanism deforms autonomously to just grasp the fruit. Several claws 503 stop deforming under the constraint of the fruit's outline and will not continue to apply pressure to the fruit. Even if the power mechanism 500 continues to drive in the same direction, the kinetic energy will not continue to be transmitted to the linkage mechanism for deformation. Instead, it will drive the claws 503 and the mounting bracket 501 to move linearly with the transmission frame 502. Therefore, the fruit will not be damaged when it is gripped. If the power mechanism 500 drives in the opposite direction, it can drive the linkage mechanism to deform in the opposite direction to release the fruit.

[0073] Therefore, the fruit-picking robot has the advantage of being able to pick fruits from both high and low locations while avoiding crushing them.

[0074] Please see Figure 3 In some embodiments, the linkage mechanisms include three-bar linkages and four-bar linkages; the three-bar linkage includes a first link 5031, a second link 5032, and a third link 5033 hinged sequentially. The second link 5032 is hinged to the mounting base 5010 so that the second link 5032 can be suspended in the air and rotated relative to the hinge point under force, thereby causing the first link 5031 and the third link 5033 to rotate with the second link 5032, and thus causing the four-bar linkage to deform; the end of the transmission rod 5030 away from the transmission frame 502 is hinged to the second link 5032, thereby transmitting the power of the power mechanism 500 through the transmission rod 5032. 30 is transmitted to the second link 5032, causing the second link 5032 to flip; the four-bar linkage includes four sets of fourth links 5034 that are sequentially hinged into a closed loop; the end of the first link 5031 away from the second link 5032 and the end of the third link 5033 away from the second link 5032 are respectively hinged to two adjacent fourth links 5034 of the four-bar linkage, so that the first link 5031 drives the fourth link 5034 hinged to it to flip, and the third link 5033 drives the fourth link 5034 hinged to it to flip, ultimately causing the entire four-bar linkage to bend inward to close or flip outward to unfold, so as to grasp the fruit or release the fruit.

[0075] In some embodiments, the lengths of the first link 5031, the second link 5032, the third link 5033, and the fourth link 5034 may be specifically set according to the size of the fruit and the degree of coverage of the fruit.

[0076] Please see Figure 3 In some embodiments, when the claw body 503 unfolds or retracts, one set of fourth links 5034 is located at the end, and the width of the fourth link 5034 is wider than the other fourth links 5034. This arrangement makes the end of the fourth link 5034 sufficiently blunt when the claw body 503 grips the fruit, so as not to puncture the fruit.

[0077] Please see Figure 3 In some embodiments, the first connecting rod 5031 and the mounting base 5010 are both hinged to the middle of the second connecting rod 5032, the third connecting rod 5033 is hinged to one end of the second connecting rod 5032, and the transmission rod 5030 is hinged to the other end of the second connecting rod 5032. When the transmission rod 5030 receives driving force to drive the second connecting rod 5032, the second connecting rod 5032 rotates around the hinge point in the middle, thereby causing the first connecting rod 5031, the third connecting rod 5033, and the fourth connecting rod 5034 to gradually rotate.

[0078] Please see Figure 4 In its initial state, the claw 503 is extended. Driven by the robotic arm 4, the fruit can enter between several claws 503. The power mechanism 500 is activated, driving the transmission frame 502 to move towards the body closer to the power mechanism 500. The transmission rod 5030 pulls the second link 5032, causing the second link 5032 to flip, thus moving the first link 5031 towards the mounting frame 501 and the third link 5033 away from the mounting frame 501. Subsequently, the first link 5031 pulls the fourth link 5034, which is hinged to it, to flip towards the mounting frame 501. The third link 5033 pushes the fourth link 5034, which is hinged to it, to move away from the mounting frame 501. Finally, this causes the remaining two fourth links 5034 to flip towards the mounting frame 501, meaning the entire claw 503 is in a gradually retracting state. Please refer to [link to relevant documentation]. Figure 5 The closing motion continues until the outline of the fruit obstructs the view. Then, robotic arm 4 moves the end effector onto storage box 2. (See [link to documentation]). Figure 4 The power mechanism 500 drives the transmission frame 502 to move away from the body of the power mechanism 500, and the entire claw 503 moves in the opposite direction until the claw 503 unfolds and releases the fruit.

[0079] Please see Figure 3In some embodiments, the linkage mechanism is provided with an elastic pad 504 (such as the first linkage 5031 located on the inner side and the two fourth linkages 5034 located on the inner side) on the inward side. When the fruit is gripped, the elastic pad 504 abuts against the fruit, which can prevent damage to the fruit.

[0080] In some embodiments, the elastic pad 504 is a silicone pad.

[0081] In some embodiments, the surface of the elastic pad 504 is provided with anti-slip texture, which can provide sufficient friction without damaging the fruit peel.

[0082] Please see Figure 4 In some embodiments, the mounting bracket 501 has a central cutout, and the transmission rod 5030 passes through the cutout of the mounting bracket 501 and is hinged to the drive frame.

[0083] Please see Figure 4 In some embodiments, the power mechanism 500 includes a lead screw motor and several guide rods 505. The transmission frame 502 is threadedly connected to the lead screw output shaft of the lead screw motor, and the guide rods 505 can movably pass through the transmission frame 502. The transmission frame 502 is driven to move linearly in the forward or reverse direction via threaded transmission. In addition, driving the transmission frame 502 via threaded transmission can slow down the movement speed of the transmission frame 502, making the claw body 503 move more gently and ensuring the integrity of the fruit.

[0084] In some embodiments, the claw 503 further includes a pressure detection mechanism and a control unit. The pressure detection mechanism is located on the inward-facing side of the linkage mechanism to detect the pressure value when the claw 503 grips the fruit. The control unit is connected to the pressure detection mechanism and the power mechanism 500 to receive the pressure value from the pressure detection mechanism and control the start and stop of the power mechanism 500. By detecting the pressure value applied to the fruit by the claw 503 when it grips the fruit through the pressure detection mechanism, if the pressure value is too high, the control unit can control the power mechanism 500 to stop moving or reverse its drive. This is a further monitoring mechanism to prevent the fruit from being damaged by pinching.

[0085] Please see Figure 2 In some embodiments, the robotic arm 4 further includes a branch-breaking and rotating mechanism 402, which is located at the end telescopic arm 400 and connected to the end actuator 5. The end actuator 5 is driven to flip the breakage support rod, thus having a rotating picking function. After clamping the fruit stem, it will automatically rotate 180 degrees and use torque to break the fruit stem naturally. This picking method is safer and more reliable than direct pulling.

[0086] Meanwhile, the robotic arm 4 is equipped with a six-dimensional force sensor and its control unit, which will monitor the force situation during the harvesting process in real time. Once an abnormality is detected, it will immediately stop and activate protection.

[0087] The robotic arm 4 adopts a seven-DOF humanoid robotic arm design, giving it flexibility and adaptability close to that of a human arm. The main body of the robotic arm 4 uses a lightweight aluminum alloy frame, reducing the overall weight while ensuring strength. The servo motor 401 includes a high-precision servo motor and a harmonic reducer, achieving a repeatability accuracy of ±0.1mm.

[0088] To ensure reliability during extended operation, each joint of the robotic arm 4 is equipped with temperature sensors and vibration monitoring modules. When abnormal heating or vibration is detected, the control unit adjusts operating parameters or pauses operation. Furthermore, all critical components of the robotic arm 4 meet IP65 protection standards, enabling it to withstand the humid and dusty working environment of an orchard.

[0089] In some embodiments, the robotic arm further includes a fixed arm 403, which is located at the rotary mechanism and is hinged to the telescopic arm.

[0090] In some embodiments, a detection unit is also included, which is disposed at the end of the robotic arm 4. The detection unit includes a visual recognition mechanism 6, an infrared gas sensor, and a depth detection sensor. The visual recognition mechanism 6 includes a high-definition camera, an RGB-D camera, a multispectral camera, or an infrared camera.

[0091] High-definition cameras act as the robot's "eyes," enabling it to clearly see the fruit on the tree. Infrared gas sensors help the robot determine whether the fruit is ripe. When the robot starts working, the high-definition camera first takes a picture of the entire tree. The control unit's algorithm analyzes these pictures to identify all the pluckable fruit on the tree and recognize different types of fruit, such as apples, oranges, or durians.

[0092] The camera module is linked with the robotic arm 4 through a high-precision servo gimbal 7 (±0.1° positioning accuracy). The gimbal 7 has a built-in gyroscope and accelerometer, which can compensate for vibration interference caused by the movement of the robotic arm 4 in real time.

[0093] To more accurately determine the fruit's location, the robot is also equipped with a depth sensor, which can measure the distance between the robot and the fruit with an error of no more than 3 millimeters.

[0094] High-definition cameras, RGB-D cameras, multispectral cameras, or infrared cameras capture images to determine ripeness based on characteristics such as color, shape, texture, and size. After harvesting, the fruit is transported by robotic arm 4 to a storage box 2 for filling.

[0095] In some embodiments, the storage box 2 is installed at the installation station of the track base via a detachable structure. Several storage boxes 2 are provided, and a weight detection mechanism is provided at the installation station.

[0096] In some embodiments, the inner wall of the storage box 2 is provided with a cushioning layer, and the interior of the storage box 2 is provided with a vertical partition 200. The cushioning layer is made of 5mm thick TPU cushioning material, so that the fruit will not be damaged even if it falls from a height of 30cm.

[0097] The exterior of storage box 2 is made of high-strength composite material, which is lightweight but very sturdy and can withstand 20kg of pressure without deformation.

[0098] In some embodiments, the storage box 2 is tilted at an angle of less than 15° to prevent the fruit from falling out. After the storage box 2 is filled, the weight detection mechanism detects that the weight is too heavy, and the control unit controls the alarm mechanism to issue an alarm, so that the storage box 2 can be replaced manually.

[0099] To facilitate the deployment of the robotic arm 4, the top of the storage box 2 has a circular opening with a diameter of 40cm, and the edges of the opening are wrapped with soft rubber.

[0100] The box is also equipped with a deflector to guide the fruit to fall smoothly into the designated position and avoid collisions.

[0101] The box is equipped with ventilation holes to ensure air circulation inside and prevent the fruit from spoiling.

[0102] In practical use, the robot can carry 2-3 storage boxes at the same time.

[0103] Considering the size differences of different fruits, an adjustable partition 200 is also provided. The storage box 2 has multiple sets of slots, and the partition 200 can be inserted into different slots according to the size of the fruit to divide it into compartments of different sizes. The system adopts a modular cabin design. For example, a large compartment can be used when picking durian, and a small compartment can be switched when picking strawberries. This flexible design can adapt to the picking needs of more types of fruits.

[0104] In some embodiments, the track 103 of the tracked chassis 1 is a flexible rubber track. The covered track design allows the robot to walk more freely. The covered track area is 3-5 times larger than that of the wheel type, and the pressure distribution is uniform. It can easily pass through uneven ground and can also improve the stability of the robotic arm 4 and carry heavier equipment.

[0105] Please see Figure 1The tracked chassis 1 comprises a drive motor, a reduction mechanism, a drive wheel 100, a driven wheel 101, a set of load-bearing wheels 102, and a rubber track. The drive motor uses two sets of high-torque brushless motors, and the reduction mechanism uses a harmonic reducer (reduction ratio 1:50) connected to the drive wheel 100. The drive wheel 100 and the driven wheel 101 mesh with the high-toughness rubber track for transmission. A set of load-bearing wheels 102 is set on the inner side of the track to form a stable support plane.

[0106] In some embodiments, the system further includes an electrical control box 8, which is located at the tracked chassis and contains a control unit and a power supply unit, which are used to control the robot and supply power to the robot, respectively.

[0107] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A fruit-picking robot, characterized in that, include: Tracked chassis, the tracked chassis being equipped with a storage box for storing harvested fruit; The robotic arm is mounted on the tracked chassis via a rotary mechanism. The robotic arm includes several telescopic arms that are hinged in sequence, and adjacent telescopic arms are driven to pitch by a servo motor. An end effector assembly is located at the end of a robotic arm. The end effector assembly includes a power mechanism and a gripper assembly. The gripper assembly includes a mounting frame, a transmission frame, and several gripper bodies. The gripper bodies are arranged around the center of the mounting frame and hinged to the mounting base of the mounting frame. Each gripper body includes a transmission rod and several linkage mechanisms that are hinged sequentially. The two ends of the transmission rod are respectively hinged to the transmission frame and the linkage mechanism at the end effector. The power mechanism is used to drive the transmission frame to move linearly, thereby driving the transmission rod to cause the linkage mechanisms to adaptively rotate, so that the gripper bodies adaptively grip the fruit.

2. The fruit-picking robot according to claim 1, characterized in that, Several linkage mechanisms include three-bar linkages and four-bar linkages; the three-bar linkage includes a first link, a second link, and a third link that are hinged sequentially, with the second link hinged at the mounting base; the end of the transmission rod away from the transmission frame is hinged to the second link; the four-bar linkage includes four sets of fourth links that are hinged sequentially to form a closed loop; the ends of the first link and the third link away from the second link are respectively hinged to two adjacent fourth links of the four-bar linkage.

3. The fruit-picking robot according to claim 1, characterized in that, The linkage mechanism has an elastic pad on its inward-facing side, which abuts against the fruit when the fruit is gripped.

4. The fruit-picking robot according to claim 1, characterized in that, The mounting frame has a central cutout, and the transmission rod passes through the cutout and is hinged to the drive frame.

5. The fruit-picking robot according to claim 1, characterized in that, The power mechanism includes a lead screw motor and several guide rods. The transmission frame is threadedly connected to the lead screw output shaft of the lead screw motor, and the several guide rods can movably pass through the transmission frame.

6. The fruit-picking robot according to claim 1, characterized in that, The claw also includes a pressure detection mechanism and a control unit. The pressure detection mechanism is located on the inward side of the linkage mechanism to detect the pressure value when the claw grips the fruit. The control unit is connected to the pressure detection mechanism and the power mechanism to receive the pressure value from the pressure detection mechanism and control the start and stop of the power mechanism.

7. The fruit-picking robot according to claim 1, characterized in that, The robotic arm also includes a branch-folding and rotating mechanism, which is located at the end telescopic arm and connected to the end effector assembly to drive the end effector assembly to flip the branch-folding support.

8. The fruit-picking robot according to claim 1, characterized in that, Also includes: The detection unit is located at the end of the robotic arm. The detection unit includes a visual recognition mechanism, an infrared gas sensor, and a depth detection sensor. The visual recognition mechanism includes an RGB-D camera, a multispectral camera, or an infrared camera.

9. The fruit-picking robot according to claim 1, characterized in that, The storage box is installed at the installation station of the track base via a detachable structure. Several storage boxes are provided, and a weight detection mechanism is provided at the installation station.

10. The fruit-picking robot according to claim 1, characterized in that, The storage box has a buffer layer on its inner wall and vertical partitions inside.

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