A climbing picking coconut robot

Abstract

The utility model discloses a kind of climbing picking coconut robot, it is related to agricultural picking machinery technical field;Including mobile support module, the side of mobile support module is provided with rotating track module, rotating track module is provided with posture adjustment module, and the end of posture adjustment module away from rotating track module is provided with the mechanical arm execution module for picking;Posture adjustment module is used to drive mechanical arm execution module to rotate;Mobile support module includes bearing frame, and the one end of bearing frame is fixedly connected with first receiving plate, and first receiving plate is connected with rotating track module, and the side of bearing frame is provided with the climbing part for climbing trunk. The utility model cooperates with mobile support module, rotating track module, posture adjustment module, mechanical arm execution module, so that mechanical arm execution module can effectively pick.

Description

Technical Field

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

[0002] As an important tropical economic crop, coconut has long faced efficiency and safety issues in its fruit harvesting process.

[0003] Currently, coconut harvesting primarily relies on manual labor. Coconut trees, monocotyledonous perennial evergreen trees of the palm family, can reach heights of 15-30 meters. Their nearly cylindrical shape, lacking branches, makes them difficult to climb. Traditional harvesting methods include direct manual climbing and using long bamboo poles to hook the fruit. Manual climbing is labor-intensive, inefficient, and exposes workers to the risk of falls. Using long bamboo poles to hook the fruit can easily damage the coconut and is also complex. While some coconut harvesting robots have emerged with technological advancements, their cutting devices lack flexibility and cannot adapt to complex environments. With rising agricultural labor costs and urgent market demand, the development of a multifunctional and adaptable coconut harvesting robot is urgently needed.

[0004] Specifically, traditional coconut harvesting methods have the following significant limitations: manual harvesting is labor-intensive and inefficient, the number of workers in the industry has decreased sharply, and workers are at risk of falling from heights; some harvesting robots have poor flexibility, and existing harvesting robots are too large to move flexibly and accurately in complex canopy environments; and they are poorly adaptable to the coconut growing environment, as different coconut trees have different trunk thicknesses and inclinations, and existing equipment is difficult to adapt to various actual conditions.

[0005] Based on the technical problems existing in the above-mentioned technologies, there is an urgent need for a climbing coconut harvesting robot to solve the shortcomings of traditional harvesting and some robotic harvesting methods, and to effectively achieve efficient and flexible coconut harvesting, while also enabling safe and rapid harvesting. Utility Model Content

[0006] The purpose of this invention is to provide a climbing and coconut-picking robot to solve the problems existing in the prior art.

[0007] To achieve the above objectives, this utility model provides the following solution: This utility model provides a climbing and coconut-picking robot, including a mobile support module. A rotating track module is provided on one side of the mobile support module, and an attitude adjustment module is provided on the rotating track module. A robotic arm execution module for picking is provided at the end of the attitude adjustment module away from the rotating track module. The attitude adjustment module is used to drive the robotic arm execution module to rotate. The mobile support module includes a support frame, and a first receiving plate is fixedly connected to one end of the support frame. The first receiving plate is connected to the rotating track module, and a climbing part for climbing tree trunks is provided on one side of the support frame.

[0008] Preferably, the climbing part includes a first crawling wheel, a second crawling wheel, and a third crawling wheel. The first crawling wheel is driven by a first self-locking motor, the second crawling wheel is driven by a second self-locking motor, and the third crawling wheel is driven by a third self-locking motor.

[0009] Preferably, the first self-locking motor is fixedly connected to a first connecting rod, and the end of the first connecting rod away from the first self-locking motor is fixedly connected to the support frame.

[0010] Preferably, the second self-locking motor is fixedly connected to a connecting plate, the connecting plate being disposed below the first receiving plate and fixedly connected to the bearing frame, and a generator is mounted on the connecting plate.

[0011] Preferably, the third self-locking motor is fixedly connected to a second connecting rod, one end of the second connecting rod away from the third self-locking motor is hinged to the support frame, one end of the hydraulic telescopic rod is hinged to the middle of the second connecting rod, and the other end of the hydraulic telescopic rod is hinged to the support frame.

[0012] Preferably, the rotating track module includes an annular track with a groove on it. The groove is connected to a plurality of slots, which are equally spaced on the annular track.

[0013] Preferably, the annular track is arranged in an arc shape, and one end of the annular track is fixedly connected to the first receiving plate.

[0014] Preferably, the attitude adjustment module includes a top plate and a bottom plate, which are connected by multiple vertical connecting brackets. A first rotary motor is fixedly connected to one end of the top plate facing the bottom plate, and the output shaft of the first rotary motor passes through one end of the top plate and is connected to a second receiving plate via a flange connecting shaft.

[0015] Preferably, a bolt is fixedly connected to the center of one end of the base plate facing the annular track, and a nut is threaded to one end of the bolt that passes through the slide groove. The bolt is slidably connected to the slide groove and detachably connected to the slot.

[0016] Preferably, the robotic arm execution module includes a robotic arm base connected to the second receiving plate. A swing motor is symmetrically mounted on one end of the robotic arm base away from the second receiving plate. The output shafts of the swing motors are each driven by a fixed connecting plate. A second rotary motor is fixedly connected to the opposite ends of the two fixed connecting plates away from the swing motors. A rotating plate is driven by the output shaft of the second rotary motor. A control motor is fixedly connected to the end of the rotating plate away from the second rotary motor. Clamping plates are driven by the two output shafts of the control motor. A gear plate is fixedly connected to the opposite ends of the two clamping plates away from the control motor. Cutting claws are symmetrically arranged on the end of the gear plate away from the clamping plates.

[0017] The present invention discloses the following technical effects: This invention adjusts the position of the posture adjustment module on the rotating track module to position the robotic arm execution module at a designated location. Then, the robotic arm execution module climbs the tree trunk via the climbing component, enabling it to effectively reach the harvesting position. Finally, through the coordinated work of the posture adjustment module and the robotic arm execution module, the robotic arm execution module can effectively perform the harvesting. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the mobile support module of this utility model; Figure 3 This is a schematic diagram of the rotating track module of this utility model; Figure 4 This is a schematic diagram of the posture adjustment module of this utility model; Figure 5 This is a schematic diagram of the robotic arm execution module of this utility model; The system comprises: 1. Mobile support module; 2. Rotary track module; 3. Posture adjustment module; 4. Robotic arm execution module; 101. Handrail; 102. First crawling wheel; 103. Self-locking motor; 104. Bearing frame; 105. Hydraulic telescopic rod; 106. Generator; 107. First connecting rod; 108. Second connecting rod; 109. Second crawling wheel; 110. Third crawling wheel; 201. Circular track; 202. First receiving plate; 203. Slot; 301. Second receiving plate; 302. Flange connecting shaft; 303. Vertical connecting fixing frame; 304. First rotary motor; 401. Cutting claw; 403. Gear plate; 404. Clamping plate; 405. Control motor; 406. Rotating plate; 407. Fixed connecting plate; 408. Robotic arm base; 409. Second rotary motor; 410. Swing motor; 411. Front claw motor. Detailed Implementation

[0020] 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.

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Reference Figures 1 to 5 This utility model discloses a climbing and coconut-picking robot, including a mobile support module 1, a rotating track module 2 on one side of the mobile support module 1, an attitude adjustment module 3 on the rotating track module 2, and a robotic arm execution module 4 for picking at the end of the attitude adjustment module 3 away from the rotating track module 2; the attitude adjustment module 3 is used to drive the robotic arm execution module 4 to rotate; the mobile support module 1 includes a support frame 104, one end of the support frame 104 is fixedly connected to a first receiving plate 202, the first receiving plate 202 is connected to the rotating track module 2, and a climbing part for climbing tree trunks is provided on one side of the support frame 104.

[0023] This invention adjusts the position of the posture adjustment module 3 on the rotating track module 2 to position the robotic arm execution module 4 at a designated location. Then, the robotic arm execution module 4 can effectively reach the picking position by climbing the tree trunk using the climbing part. Furthermore, the posture adjustment module 3 and the robotic arm execution module 4 work together to enable the robotic arm execution module 4 to effectively perform the picking.

[0024] The climbing section is further optimized by including a first crawling wheel 102, a second crawling wheel 109, and a third crawling wheel 110. The first crawling wheel 102 is driven by a first self-locking motor 103, the second crawling wheel 109 is driven by a second self-locking motor, and the third crawling wheel 110 is driven by a third self-locking motor.

[0025] The first self-locking motor 103 drives the first crawling wheel 102 to rotate, the second self-locking motor drives the second crawling wheel 109 to rotate, and the third self-locking motor drives the third crawling wheel 110 to rotate.

[0026] In a further optimized design, the first self-locking motor 103 is fixedly connected to a first connecting rod 107, and the end of the first connecting rod 107 away from the first self-locking motor 103 is fixedly connected to the support frame 104.

[0027] To facilitate carrying the robot, a handrail 101 is provided above the first self-locking motor 103, and the handrail 101 is fixedly connected to the support frame 104.

[0028] In a further optimized design, a connecting plate is fixedly connected to the second self-locking motor. The connecting plate is located below the first receiving plate 202 and is fixedly connected to the bearing frame 104. A generator 106 is installed on the connecting plate.

[0029] The generator 106 is used to supply power to the first self-locking motor 103, the second self-locking motor and the third self-locking motor.

[0030] In a further optimized design, the third self-locking motor is fixedly connected to the second connecting rod 108. The end of the second connecting rod 108 away from the third self-locking motor is hinged to the support frame 104. One end of the hydraulic telescopic rod 105 is hinged to the middle of the second connecting rod 108, and the other end of the hydraulic telescopic rod 105 is hinged to the support frame 104.

[0031] The first crawling wheel 102, the second crawling wheel 109, and the third crawling wheel 110 are positioned on the same side of the support frame 104.

[0032] The hydraulic telescopic rod 105 facilitates the adjustment of the distance between the third crawler wheel 110 and the first crawler wheel 102 and the second crawler wheel 109.

[0033] Further optimization of the scheme: the rotating track module 2 includes a ring track 201, on which a sliding groove is provided, and the sliding groove is connected to multiple slots 203, which are equally spaced on the ring track 201.

[0034] The scheme is further optimized so that the circular track 201 is set in an arc shape, and one end of the circular track 201 is fixedly connected to the bottom of the first receiving plate 202.

[0035] The posture adjustment module 3 is further optimized to include a top plate and a bottom plate. The top plate and the bottom plate are connected by multiple vertical connecting and fixing brackets 303. A first rotary motor 304 is fixedly connected to one end of the top plate facing the bottom plate. The output shaft of the first rotary motor 304 passes through one end of the top plate and is connected to a second receiving plate 301 through a flange connecting shaft 302.

[0036] The first rotary motor 304 drives the second receiving plate 301 to rotate via the flange connecting shaft 302.

[0037] In a further optimized design, a bolt is fixedly connected to the center of one end of the base plate facing the circular track 201. A nut is threaded onto one end of the bolt, which passes through the slide groove. The bolt is slidably connected to the slide groove and detachably connected to the slot 203. The slot 203 is F-shaped.

[0038] The base plate can move along the annular track 201 by moving the bolt along the slide groove. When the bolt moves to the designated slot 203, the nut is tightened after the bolt is moved into the F-shape of the slot 203, so that the base plate can be stably positioned on the annular track 201.

[0039] Further optimizing the scheme, the robotic arm execution module 4 includes a robotic arm base 408 connected to the second receiving plate 301. A swing motor 410 is symmetrically mounted on one end of the robotic arm base 408 away from the second receiving plate 301. The output shafts of the swing motors 410 are driven to be connected to fixed connecting plates 407. A second rotary motor 409 is fixedly connected to the opposite end of the two fixed connecting plates 407 away from the swing motors 410. A rotary plate 406 is driven to be connected to the output shaft of the second rotary motor 409. A control motor 405 is fixedly connected to the end of the rotary plate 406 away from the second rotary motor 409. The two output shafts of the control motor 405 are respectively driven to be connected to clamping plates 404. A gear plate 403 is fixedly connected to the opposite end of the two clamping plates 404 away from the control motor 405. Cutting claws 401 are symmetrically arranged on the end of the gear plate 403 away from the clamping plate 404.

[0040] A drive gear is fixedly connected to one cutting claw 401, and a driven gear is fixedly connected to the other cutting claw 401. The driven gear is rotatably connected to a gear plate 403. The drive gear meshes with the driven gear. A front claw motor 411 is connected to the drive gear, and the front claw motor 411 is fixedly connected to the end of the gear plate 403 opposite to the drive gear. The front claw motor 411 drives the drive gear to rotate, and the drive gear drives the driven gear to rotate, allowing the two cutting claws 401 to move closer to or further apart.

[0041] The second receiving plate 301 drives the robotic arm base 408 to rotate.

[0042] Working process: The operator adjusts the distance (30 cm to 80 cm in unfolded diameter) between the third crawling wheel 110 and the first crawling wheel 102 and the second crawling wheel 109 via the hydraulic telescopic rod 105 of the movable support module 1 to accommodate different tree trunk widths. Simultaneously, the generator 106 supplies power to the first self-locking motor 103, the second self-locking motor, and the third self-locking motor, enabling them to provide power to the first crawling wheel 102, the second crawling wheel 109, and the third crawling wheel 110 respectively, thus realizing the robot's climbing function; the rotating track module 2... The F-shaped slot 203 of the circular track 201 is connected to the attitude adjustment module 3, enabling the robotic arm execution module 4 to move along the circular track 201. The attitude adjustment module 3 drives the second receiving plate 301 to rotate through the flange connecting shaft 302 and the first rotary motor 304, which can drive the robotic arm execution module 4 to rotate, making it easy to adjust the orientation of the cutting claw 401. The robotic arm execution module 4, through the coordinated control of the control motor 405, the second rotary motor 409 and the swing motor 410, enables the cutting claw 401 to be in the picking position, and then drives the cutting claw 401 to complete the picking action through the front claw motor 411.

[0043] This invention achieves integrated tree climbing and harvesting operations through the coordinated work of four modules: a mobile support module 1, a rotating track module 2, a posture adjustment module 3, and a robotic arm execution module 4. Employing a design primarily based on a mechanical structure with hydraulic system assistance, it possesses strong environmental adaptability, can be adapted to different tree trunk heights and coconut locations, improves work efficiency, reduces the risk of falls from heights, and solves the problems of traditional manual harvesting. Furthermore, the overall robot structure of this invention is scientifically sound and safe and convenient to use.

[0044] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0045] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A climbing and coconut-picking robot, characterized in that: The system includes a mobile support module (1), a rotating track module (2) is provided on one side of the mobile support module (1), an attitude adjustment module (3) is provided on the rotating track module (2), and a robotic arm execution module (4) for picking is provided at the end of the attitude adjustment module (3) away from the rotating track module (2); the attitude adjustment module (3) is used to drive the robotic arm execution module (4) to rotate. The mobile support module (1) includes a support frame (104), one end of which is fixedly connected to a first receiving plate (202). The first receiving plate (202) is connected to the rotating track module (2). A climbing part for climbing tree trunks is provided on one side of the support frame (104).

2. The climbing and coconut-harvesting robot according to claim 1, characterized in that: The climbing part includes a first crawling wheel (102), a second crawling wheel (109) and a third crawling wheel (110). The first crawling wheel (102) is driven by a first self-locking motor (103), the second crawling wheel (109) is driven by a second self-locking motor, and the third crawling wheel (110) is driven by a third self-locking motor.

3. The climbing and coconut-harvesting robot according to claim 2, characterized in that: The first self-locking motor (103) is fixedly connected to a first connecting rod (107), and the end of the first connecting rod (107) away from the first self-locking motor (103) is fixedly connected to the support frame (104).

4. The climbing and coconut-harvesting robot according to claim 2, characterized in that: The second self-locking motor is fixedly connected to a connecting plate, which is located below the first receiving plate (202) and fixedly connected to the bearing frame (104). A generator (106) is installed on the connecting plate.

5. The climbing and coconut-harvesting robot according to claim 2, characterized in that: The third self-locking motor is fixedly connected to a second connecting rod (108). The end of the second connecting rod (108) away from the third self-locking motor is hinged to the support frame (104). The middle part of the second connecting rod (108) is hinged to one end of a hydraulic telescopic rod (105), and the other end of the hydraulic telescopic rod (105) is hinged to the support frame (104).

6. The climbing and coconut-harvesting robot according to claim 1, characterized in that: The rotating track module (2) includes a ring track (201), on which a sliding groove is provided. The sliding groove is connected to a plurality of slots (203), which are equally spaced on the ring track (201).

7. The climbing and coconut-harvesting robot according to claim 6, characterized in that: The annular track (201) is arranged in an arc shape, and one end of the annular track (201) is fixedly connected to the first receiving plate (202).

8. The climbing and coconut-harvesting robot according to claim 6, characterized in that: The attitude adjustment module (3) includes a top plate and a bottom plate. The top plate and the bottom plate are connected by multiple vertical connecting brackets (303). A first rotary motor (304) is fixedly connected to one end of the top plate facing the bottom plate. The output shaft of the first rotary motor (304) passes through one end of the top plate and is connected to a second receiving plate (301) via a flange connecting shaft (302).

9. The climbing and coconut-harvesting robot according to claim 8, characterized in that: A bolt is fixedly connected to the center of one end of the base plate facing the annular track (201). A nut is threaded through one end of the bolt through the slide groove. The bolt is slidably connected to the slide groove and detachably connected to the slot (203).

10. The climbing and coconut-harvesting robot according to claim 8, characterized in that: The robotic arm execution module (4) includes a robotic arm base (408) connected to the second receiving plate (301). A swing motor (410) is symmetrically mounted on one end of the robotic arm base (408) away from the second receiving plate (301). The output shafts of the swing motors (410) are all connected to fixed connecting plates (407). A second rotary motor (409) is fixedly connected to the opposite end of each of the two fixed connecting plates (407) away from the swing motors (410). The output shaft of the rotary motor (406) is connected to a rotating plate (406). The end of the rotating plate (406) away from the second rotary motor (409) is fixedly connected to a control motor (405). The two output shafts of the control motor (405) are respectively connected to clamping plates (404). Gear plates (403) are fixedly connected to the opposite ends of the two clamping plates (404) away from the control motor (405). Cutting claws (401) are symmetrically arranged on the end of the gear plate (403) away from the clamping plate (404).

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