CN216362641U - Crawler-type agricultural intelligent picking robot - Google Patents

Abstract

The utility model discloses a crawler-type agricultural intelligent picking robot, which comprises a carriage chassis with an opening at the upper end, wherein a rotating shaft extending out of the left side and the right side of the carriage chassis is rotatably connected to the position at the front end of the carriage chassis, two ends of the rotating shaft are rotatably connected with speed reducers, a driving shaft of each speed reducer is connected with a traveling wheel, the left side wall and the right side wall of the rear end of the carriage chassis are rotatably connected with auxiliary rollers, a driving motor, an air pump and a storage battery are arranged in the carriage chassis, a control panel is arranged at the upper end of the storage battery, a cover plate covers the opening end of the carriage chassis, a first rotary steering engine is rotatably connected to the upper end of the cover plate, a first swing arm is rotatably connected to the upper end of the first rotary steering engine, a second swing arm is rotatably connected to the upper end of the first swing arm, and a second rotary steering engine is rotatably connected to the upper end of the second swing arm. The rotary picking machine disclosed by the utility model avoids the damage to fruit trees and fruits to the greatest extent by a rotary picking mode, reduces the rotary stroke from picking to placing and improves the picking efficiency.

Description

A crawler-type agricultural intelligent picking robot

technical field

The utility model relates to the technical field of agricultural machinery, in particular to a crawler-type agricultural intelligent picking robot.

Background technique

At present, the picking of apples, peaches, pears, apricots, pomegranates and other fruit trees is mainly manual picking, which requires a lot of labor costs, and requires tools such as benches and short ladders. Picking on fruit trees will undoubtedly increase the danger of picking, and the workload is large and the efficiency is low. A little carelessness will fall from the fruit trees, which poses a great safety hazard. Therefore, a picking robot is designed. .

However, the existing picking robots are all picked by gripping jaws or by cutting at the end. This method will cause the fruit tree to be damaged by branches and leaves, and the fallen fruit is easily damaged. The rotation stroke from picking to placing the fruit If it is larger, it will affect the picking efficiency, and the contact area between the robot and the ground is not large, which sometimes makes it difficult for the robot to walk.

Utility model content

The purpose of the present utility model is to provide a crawler-type agricultural intelligent picking robot, which increases the contact area between the robot and the ground through the crawler, and ensures smooth walking. damage, while reducing the turning stroke from picking to placing, and improving picking efficiency.

The above-mentioned technical purpose of the present utility model is achieved through the following technical solutions:

A crawler-type agricultural intelligent picking robot includes a carriage chassis with an open upper end, and rotating shafts extending from the left and right sides of the carriage chassis are rotatably connected in the carriage chassis at the front end of the carriage chassis, and both ends of the rotating shaft are rotatably connected There are speed reducers, the drive shaft of each speed reducer is connected with traveling wheels, the left and right side walls of the rear end of the carriage chassis are rotatably connected with auxiliary rollers, and the traveling wheels and the auxiliary rollers are driven by tracks, so A drive motor and an air pump are installed in the chassis of the carriage, the power output shaft of the drive motor is provided with a first pulley, the outer wall of the rotating shaft is provided with a second pulley, and the first pulley is connected to the second pulley. The pulleys are driven by belts, a battery is arranged on one side of the driving motor in the chassis of the carriage, a control panel is arranged on the upper end of the battery, and a controller, a wireless network communication module, a control panel are arranged in the control panel. AI artificial intelligence analysis module;

The open end of the carriage chassis is covered with a cover plate, the upper end of the cover plate is rotatably connected with a first rotating steering gear, and the upper end of the first rotating steering gear is rotatably connected with a first swing arm that can rotate left and right. The left and right sides of the first swing arm are provided with fixed shafts, a first electric telescopic rod is rotatably connected between the upper end of the first rotary steering gear and each fixed shaft, and the upper end of the first swing arm is rotatably connected There is a second swing arm that can be rotated left and right, a second electric telescopic rod is rotatably connected between the first swing arm and the second swing arm, and the upper end of the second swing arm is rotatably connected with a second rotary steering gear , the upper end of the second rotary steering gear is provided with a picking pipe, the nozzle of the picking pipe is provided with a distance sensor, the upper end of the picking pipe is detachably connected with a flexible suction port for absorbing fruit, the second swing arm The outer wall of the front end is communicated with a ventilation port, the upper end of the second rotary steering gear is provided with an air inlet in communication with the ventilation port in the picking tube, and the ventilation port communicates with the air suction port of the air suction pump. There is an exhaust pipe;

The upper end of the cover plate is provided with a third electric telescopic rod vertically upward in front of the first rotary steering gear, the upper end of the third electric telescopic rod is rotatably connected with a full-color camera, and the upper end of the cover plate is located at the top of the cover plate. The rear of the first rotary steering gear is provided with a fixed frame with an open upper end and a rear end, the drive motor, the air pump, the first electric telescopic rod, the second electric telescopic rod, the first electric telescopic rod, the Three electric telescopic rods, the battery, the first rotating steering gear, the second rotating steering gear, the control panel, the wireless network communication module, the distance sensor, the AI artificial intelligence analysis module and The full-color cameras are all electrically connected to the controller, and the controller performs network communication with the computer control terminal through the wireless network communication module.

By adopting the above technical solution, when in use, the collecting frame is placed in the fixed frame, and the equipment is energized to ensure the normal operation of each component. When picking, the computer control terminal can control each component to start working through the wireless network communication module. The color camera shoots the fruit on the fruit tree. Through the AI artificial intelligence analysis module, the position and distance of the ripe fruit are analyzed. The controller controls the rotation of the first rotary steering gear, so that the picking tube turns to the direction of the fruit, and the first electric telescopic rod expands and contracts. Drive the first swing arm to stretch forward, and at the same time the second electric telescopic rod extends and retracts to make the second swing arm rotate upward to the position of the fruit, the distance sensor measures the distance between the picking tube and the fruit, the flexible suction mouth is in contact with the fruit, and the air pump starts to work , the fruit is adsorbed on the flexible suction mouth, the second rotary steering gear drives the fruit to rotate, and the fruit is picked from the tree, the first electric telescopic rod and the second electric telescopic rod shrink, and the first rotary servo turns to the direction of the fixed frame, The air pump stops working, the fruit automatically falls into the collection frame, and the picking is completed;

During the picking process, the third electric telescopic rod will automatically control the up and down movement of the full-color camera. When a tree is picked, the controller controls the drive motor to work. The drive motor drives the walking wheel to rotate, and drives the robot to walk to the next tree through the crawler. The track will increase the contact area with the ground to ensure that the robot walks smoothly. When the robot needs to turn, the speed reducer on the side that needs to turn will reduce the speed, and the speed of the other side will remain unchanged, so as to realize the turning process.

The utility model is further arranged as follows: a rotary table is rotatably connected to the lower end of the carriage chassis, and an electro-hydraulic push rod is arranged at the lower end of the rotary table, and both the rotary table and the electro-hydraulic push rod are connected with the battery and the battery and the electric hydraulic push rod. The controller is electrically connected.

By adopting the above technical solutions, when the turning radius is too small for the robot to rotate, the whole robot is lifted up by the push rod of the electro-hydraulic rod, and then the robot is rotated to a suitable angle through the rotary table.

The utility model is further provided as follows: the lower end of the electro-hydraulic push rod is provided with an annular support sheet.

By adopting the above technical solution, the contact area between the electro-hydraulic push rod and the ground is increased to prevent subsidence.

The utility model is further provided as follows: both the left and right sides of the second swing arm are provided with fixed rods extending to the mouth of the picking pipe, and the two fixed rods are rotatably connected below the picking pipe There is a take-up rack that can be rotated back and forth, and the lower end of the take-up rack is detachably connected with a retractable flexible conveying pipe that can extend into the fixed frame.

By adopting the above technical solution, the fruit can be dropped into the flexible conveying pipe by the gravity of the collecting rack itself when the second swing arm is contracted, thereby reducing the rotation stroke of the robot.

The utility model is further arranged as follows: the bottom of the fixed frame is rotatably connected with a plurality of first sliding bars distributed at equal intervals, and there are sliding grooves running through the bottom of the left and right side walls of the rear end of the fixed frame. The slots are all slidably connected with limit pieces that can slide up and down, a plurality of return springs are connected between the lower end of each limit piece and the bottom of the corresponding chute, and the upper ends of the two limit pieces are rotatably connected with Second slider.

By adopting the above technical solution, not only the collection frame can be automatically fixed, but also labor saving can be achieved when dragging the collection frame.

Compared with the prior art, the utility model has the following beneficial effects:

First, the utility model avoids damage to fruit trees and fruits to the greatest extent through the method of rotating picking, and at the same time reduces the turning stroke from picking to placing, and improves picking efficiency;

Second, the flexible suction mouth of the present utility model can not only be in close contact with the fruit to prevent falling off, but also prevent damage to the fruit;

Third, the flexible conveying pipe of the present utility model can not only reduce the rotation stroke of the robot, but also prevent the fruit from being damaged due to falling from a high place;

Fourth, the second sliding bar of the present invention can not only fix the collecting frame, but also save labor when dragging the collecting frame.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Figure 2 is mainly used to show the positional connection relationship of each component;

Figure 3 is mainly used to show the drive motor and air pump;

Figure 4 is mainly used to show the electro-hydraulic push rod.

In the figure: 1. Car chassis; 11. Rotating shaft; 12. Reducer; 13. First pulley; 14. Drive motor; 15. Second pulley; 16. Belt; 17. Walking wheel; 18. Auxiliary roller; 19. Crawler track; 2. Air pump; 21. Battery; 22. Control panel; 23. Controller; 24. Wireless network communication module; 25. AI artificial intelligence analysis module; 26. Cover plate; 3. First rotary steering gear ; 31, the first swing arm; 32, the first electric telescopic rod; 33, the second swing arm; 34, the second rotary steering gear; 35, the picking pipe; 36, the air inlet; 37, the flexible suction port; 38, the first 2. Electric telescopic rod; 4. Fixed rod; 41. Receiving rack; 42. Flexible conveying pipe; 43. The third electric telescopic rod; 44. Full-color camera; 45. Distance sensor; 5. Fixed frame; 51. The first slide bar; 52, the chute; 53, the limit piece; 54, the return spring; 55, the second slide bar; 56, the rotary table; 57, the electro-hydraulic push rod; Support sheet.

Detailed ways

The present utility model will be described in further detail below in conjunction with the accompanying drawings.

1-4, a crawler-type agricultural intelligent picking robot includes a carriage chassis 1 with an open upper end, and a rotating shaft 11 extending from the left and right sides of the carriage chassis 1 is rotatably connected in the carriage chassis 1 at its front end position. , both ends of the rotating shaft 11 are rotatably connected with a reducer 12, the drive shaft of each reducer 12 is connected with a traveling wheel 17, and the left and right side walls of the rear end of the carriage chassis 1 are rotatably connected with an auxiliary roller 18. The wheel 17 and the auxiliary roller 18 are driven by the crawler 19. A drive motor 14 and an air pump 2 are installed in the chassis 1 of the carriage. The power output shaft of the drive motor 14 is provided with a first pulley 13. The outer wall of the rotating shaft 11 A second pulley 15 is provided, and the first pulley 13 and the second pulley 15 are driven by a belt 16. A battery 21 is provided on the side of the driving motor 14 in the carriage chassis 1, and the upper end of the battery 21 is provided with a battery 21. A control panel 22 is provided with a controller 23 , a wireless network communication module 24 and an AI artificial intelligence analysis module 25 in the control panel 22 .

The open end of the carriage chassis 1 is covered with a cover plate 26, the upper end of the cover plate 26 is rotatably connected with a first rotating steering gear 3, and the upper end of the first rotating steering gear 3 is rotatably connected with a first swing arm 31 that can rotate left and right The left and right sides of the first swing arm 31 are provided with a fixed shaft 47, a first electric telescopic rod 32 is rotatably connected between the upper end of the first rotary steering gear 3 and each fixed shaft 47, and the first swing arm The upper end of 31 is rotatably connected with a second swing arm 33 that can rotate left and right, a second electric telescopic rod 38 is rotatably connected between the first swing arm 31 and the second swing arm 33, and the upper end of the second swing arm 33 is rotatably connected There is a second rotary steering gear 34, the upper end of the second rotation steering gear 34 is provided with a picking pipe 35, the nozzle of the picking pipe 35 is provided with a distance sensor 45, and the upper end of the picking pipe 35 is detachably connected with a picking pipe 35 for adsorption. The flexible suction port 37 of the fruit, the outer wall of the front end of the second swing arm 33 is communicated with a ventilation port (figure omitted), and the upper end of the second rotary steering gear 34 is provided with an air inlet 36 in communication with the ventilation port in the picking pipe 35, A suction pipe 46 is communicated between the ventilation port and the suction port of the suction pump 2 .

The upper end of the cover plate 26 is vertically provided with a third electric telescopic rod 43 in front of the first rotary steering gear 3, and a full-color camera 44 is rotatably connected to the upper end of the third electric telescopic rod 43. The rear of the first rotary steering gear 3 is provided with a fixed frame 5 with an open upper end and a rear end. The drive motor 14 , the air pump 2 , the first electric telescopic rod 32 , the second electric telescopic rod 38 and the third electric telescopic rod 43 , the battery 21, the first rotary steering gear 3, the second rotary steering gear 34, the control panel 22, the wireless network communication module 24, the distance sensor 45, the AI artificial intelligence analysis module 25 and the full-color camera 44 are all electrically connected to the controller 23 , the controller 23 performs network communication with the computer control terminal through the wireless network communication module 24 .

The lower end of the carriage chassis 1 is rotatably connected with a rotary table 56, and the lower end of the rotary table 56 is provided with an electro-hydraulic push rod 57. The lower end of the rod 57 is provided with an annular support piece 58, and the left and right sides of the second swing arm 33 are provided with a fixed rod 4 extending to the mouth of the picking pipe 35, and the two fixed rods 4 are located below the picking pipe 35. There is a receiving rack 41 that can be rotated back and forth, and the lower end of the receiving rack 41 is detachably connected with a retractable flexible conveying pipe 42 that can extend into the fixed frame 5. The bottom of the fixed frame 5 is rotated and connected with a number of equal intervals. The distributed first sliding rods 51 run through the bottom of the left and right side walls of the rear end of the fixed frame 5 and are provided with a chute 52. Each chute 52 is slidably connected with a limit piece 53 that can slide up and down. Two return springs 54 are connected between the lower end of the position piece 53 and the bottom of the corresponding sliding slot 52 , and a second sliding rod 55 is rotatably connected between the upper ends of the two limit pieces 53 .

How to use: When in use, press the second sliding rod 55 to place the collection frame in the fixed frame 5, the second sliding rod 55 pushes the second sliding rod 55 back to the initial position under the action of the return spring 54 to achieve fixing, and the The equipment is powered on to ensure the normal operation of each component. When picking, the computer control terminal can control each component to start working through the wireless network communication module 24. The full-color camera 44 shoots the fruit on the fruit tree, and analyzes it through the AI artificial intelligence analysis module 25. The position and distance of the ripe fruit are controlled by the controller 23 to control the rotation of the first rotary steering gear 3, so that the picking tube 35 turns to the direction of the fruit, the first electric telescopic rod 32 expands and contracts, drives the first swing arm 31 to stretch forward, and at the same time the first electric telescopic rod 32 stretches forward. The second electric telescopic rod 38 is stretched and retracted to make the second swing arm 33 rotate upward to the position of the fruit, the distance sensor 45 measures the distance between the picking pipe 35 and the fruit, the flexible suction port 37 is in contact with the fruit, the air pump 2 starts to work, and the fruit is adsorbed on the On the flexible suction port 37, the second rotary steering gear 34 drives the fruit to rotate, and the fruit is picked from the tree, the first electric telescopic rod 32 and the second electric telescopic rod 38 shrink, the receiving rack 41 rotates forward by its own gravity, and the air pump 2. Stop working, the fruit will automatically fall into the collecting frame 41 and fall into the collecting frame along the flexible conveying pipe 42, and the picking is completed.

During the picking process, the third electric telescopic rod 43 will automatically control the up and down movement of the full-color camera 44. After a tree is picked, the controller 23 controls the drive motor 14 to work. When walking to the next tree, the crawler 19 will increase the contact area with the ground to ensure that the robot walks smoothly. When the robot needs to turn, the speed reducer 12 on the side that needs to turn will reduce the speed, and the speed of the other side will remain unchanged. In this process of turning, if the turning radius is too small, the electro-hydraulic push rod 57 expands and contracts, the annular support piece 58 contacts the ground, the robot is supported by the annular support piece 58, and the rotary table 56 drives the robot to rotate at a certain angle to achieve the effect of turning.

This specific embodiment is only an explanation of the present utility model, and it is not a limitation of the present utility model. Those skilled in the art can make modifications to the present embodiment without creative contribution as needed after reading this specification, but as long as the utility model is used in the present invention All new types of claims are protected by the patent law.

Claims (5)

1. A crawler-type agricultural intelligent picking robot, comprising a carriage chassis (1) with an open upper end, characterized in that: the carriage chassis (1) is rotatably connected with a carriage extending out of the carriage chassis (1) at the position of its front end. The rotating shafts (11) on the left and right sides, both ends of the rotating shaft (11) are rotatably connected with a reducer (12), and the drive shaft of each reducer (12) is connected with a traveling wheel (17). The left and right side walls of the rear end of the chassis (1) are rotatably connected with auxiliary rollers (18). ) is installed with a drive motor (14) and an air pump (2), the power output shaft of the drive motor (14) is provided with a first pulley (13), and the outer wall of the rotating shaft (11) is provided with a second belt A pulley (15) is driven by a belt (16) between the first pulley (13) and the second pulley (15). A battery (21) is provided on one side, a control panel (22) is provided on the upper end of the battery (21), and a controller (23), a wireless network communication module (24), an AI artificial intelligence analysis module (25); The open end of the carriage chassis (1) is covered with a cover plate (26), and the upper end of the cover plate (26) is rotatably connected with a first rotary steering gear (3). The upper end is rotatably connected with a left-right rotatable first swing arm (31), the left and right sides of the first swing arm (31) are provided with fixed shafts (47), and the upper end of the first rotary steering gear (3) A first electric telescopic rod (32) is rotatably connected with each fixed shaft (47), and the upper end of the first swing arm (31) is rotatably connected with a second swing arm (33) that can rotate left and right, so A second electric telescopic rod (38) is rotatably connected between the first swing arm (31) and the second swing arm (33), and a second rotary rudder is rotatably connected to the upper end of the second swing arm (33). machine (34), the upper end of the second rotary steering gear (34) is provided with a picking pipe (35), the nozzle of the picking pipe (35) is provided with a distance sensor (45), and the picking pipe (35) A flexible suction port (37) for absorbing fruits is detachably connected to the upper end of the second swing arm (33), a vent is communicated with the outer wall of the front end of the second swing arm (33), and the upper end of the second rotary steering gear (34) is connected to the picking pipe. (35) is provided with an air inlet (36) communicating with the air outlet, and an air suction pipe (46) is communicated between the air outlet and the air suction port of the air suction pump (2); A third electric telescopic rod (43) is vertically and upwardly disposed on the upper end of the cover plate (26) in front of the first rotary steering gear (3), and the upper end of the third electric telescopic rod (43) is rotatably connected There is a full-color camera (44), the upper end of the cover plate (26) is provided with a fixed frame (5) whose upper end and the rear end are open at the rear of the first rotary steering gear (3), and the drive motor ( 14) The air pump (2), the first electric telescopic rod (32), the second electric telescopic rod (38), the third electric telescopic rod (43), the battery (21) , the first rotary steering gear (3), the second rotary steering gear (34), the control panel (22), the wireless network communication module (24), the distance sensor (45), the The AI artificial intelligence analysis module (25) and the full-color camera (44) are both electrically connected to the controller (23), and the controller (23) is controlled by a computer through the wireless network communication module (24) terminal for network communication. 2. A crawler-type agricultural intelligent picking robot according to claim 1, characterized in that: the lower end of the carriage chassis (1) is rotatably connected with a rotary table (56), and the lower end of the rotary table (56) is provided with There is an electro-hydraulic push rod (57), and both the rotary table (56) and the electro-hydraulic push rod (57) are electrically connected to the battery (21) and the controller (23). 3 . The crawler-type agricultural intelligent picking robot according to claim 2 , characterized in that: the lower end of the electro-hydraulic push rod ( 57 ) is provided with an annular support piece ( 58 ). 4 . 4. A crawler-type agricultural intelligent picking robot according to claim 1, characterized in that: the left and right sides of the second swing arm (33) are provided with a nozzle extending to the nozzle of the picking pipe (35) A fixing rod (4), a collection frame (41) that can be rotated forward and backward is rotatably connected between the two fixing rods (4) below the picking pipe (35), and the lower end of the collection frame (41) is detachable A retractable and flexible conveying pipe (42) which can extend into the fixed frame (5) is connected. 5 . The crawler-type agricultural intelligent picking robot according to claim 1 , wherein the bottom of the fixed frame ( 5 ) is rotatably connected with a plurality of first sliding bars ( 51 ) distributed at equal intervals, and runs through the bottom of the fixed frame ( 5 ). 6 . The bottom of the left and right side walls of the rear end of the fixed frame (5) are provided with sliding grooves (52), and each sliding groove (52) is slidably connected with a limit piece (53) that can slide up and down. A plurality of return springs (54) are connected between the lower end of (53) and the bottom of the corresponding chute (52), and a second sliding rod (55) is rotatably connected between the upper ends of the two limiting pieces (53). ).

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