CN217509437U - Self-propelled mango harvesting vehicle - Google Patents

Abstract

The utility model provides a pair of self-propelled mango harvesting vehicle belongs to agricultural machine's technical field, including running gear, elevating gear, arm, flexible end effector and control system. The walking device can realize the autonomous walking of the harvesting vehicle and the conversion of a harvesting operation area, the lifting device can realize the harvesting of mangos with different heights, the mechanical arm and the flexible end effector can realize the harvesting operation in different directions and distances from the mangos, and the control system can realize the coordinated control of the harvesting process of the mangos. The utility model provides a pair of self-propelled mango harvesting vehicle is to the design of heavy artifical mango work of gathering, has the characteristics that mechanized degree of automation is high, when improving the mango efficiency of gathering by a wide margin, can also reduce the in-process mango damage rate of gathering.

Description

Self-propelled mango harvesting vehicle

Technical Field

The utility model relates to a collection machinery is picked to tropical fruit, concretely relates to self-propelled mango harvesting vehicle belongs to the technical field that agricultural machine equipped.

Background

Along with the continuous improvement of the requirements of people on the overall living quality and nutrition, the production and consumption total of the mangoes in China are speeded up rapidly. Mango production is a typical labor-intensive industry, wherein the labor for picking mango fruits accounts for 33% -50% of the whole production labor, and mango picking is mostly finished manually. The mode is time-consuming, labor-consuming and easy to damage mangos, and meanwhile, certain potential safety hazards exist. Therefore, the mango picking equipment with the characteristics of mechanization and automation needs to be designed.

Disclosure of Invention

For using mango picking equipment to replace artifical heavy mango work of gathering of accomplishing, realize picking efficiency's promotion by a wide margin, reduce the fruit damage rate when picking when saving artifical gain that improves, the utility model designs a self-propelled mango picking vehicle aims at replacing artifical the gathering through automatic mango harvesting machine, and the labour of liberation mango picking in-process promotes mango orchard and mango industry to modernization, mechanization, scale and standardized direction development.

The utility model provides a car is adopted to self-propelled mango, includes running gear, and running gear includes driving motor, chassis and mecanum wheelset, its characterized in that still includes:

the lifting device is arranged above the walking device;

the mechanical arm is arranged above the lifting device;

the control system is arranged above the lifting device;

the lifting device comprises a lifting device motor, a flat steel group, a screw rod nut group, a slide block guide rail group, a connecting rod rotating shaft group and a bearing flat plate; the lifting device motor comprises a stepping motor, a motor support and a double-diaphragm coupling; the flat steel group comprises flat steel A and flat steel B; the screw rod nut group comprises a screw rod fixing plate, a supporting side support, a screw rod nut seat, a screw rod nut connecting seat and a screw rod platform connecting seat; the sliding block guide rail group comprises a support guide rail A, a support guide rail B, a support guide rail C, a support guide rail D, a sliding block A, a sliding block B, a sliding block C, a sliding block D, a sliding block connecting seat A, a sliding block connecting seat B, a sliding block connecting seat C and a sliding block connecting seat D; the connecting rod group comprises a connecting rod A, a connecting rod B, a connecting rod C, a connecting rod D, a bearing seat A, a bearing seat B, a bearing seat C and a bearing seat D; the connecting rod rotating shaft group comprises a connecting rod rotating shaft A, a connecting rod rotating shaft B, a connecting rod rotating shaft C, a connecting rod rotating shaft D and a middle connecting rod rotating shaft;

the mechanical arm comprises a rotating base, a waist joint, a swinging big arm, a steering group, a sliding group, a binocular camera and a wrist joint; the rotary base comprises a base support frame, a base sleeve, a worm wheel support rod, a worm wheel, a deep groove ball bearing, a bearing sleeve, a shaft sleeve and a rotary motor; the waist joint comprises a waist base, a waist connecting shaft seat, a waist bearing seat and a waist motor; the large swinging arm comprises a large arm and a swinging motor; the steering group comprises a four-bar waist bar, a connecting bar shaft sleeve, a connecting bar bearing, a connecting bar shaft cover, a steering table bearing, a steering table shaft sleeve, a steering connecting bar and a steering motor; the sliding group comprises a boss, a bracket A, a bracket B, a sliding auxiliary bracket, a sliding rack, a rack sleeve, a gear shaft, a sliding sleeve, a sliding joint bearing and a sliding motor; the wrist joint comprises a wrist connecting base, a wrist transverse shaft, a wrist connecting table, a wrist bearing cover and a wrist motor;

the flexible end effector comprises a mechanical claw and a shearing module, wherein the mechanical claw comprises a push rod seat, an electric push rod, a claw base, a claw mounting seat, a pull rod, a moving rod, a mechanical finger, a force sensor and a slip sensor; the shearing module comprises a base plate, a small push rod seat, a small electric push rod, a shearing connecting block, a shearing connecting rod, a fixed shearing sheet and a movable shearing sheet.

The driving motors contained in the walking device are connected with the Mecanum wheel sets and are uniformly arranged at four corners below the chassis.

The lifting device is characterized in that a flat steel A and a flat steel B are fixedly arranged on two sides of the upper plane of a chassis, a lead screw fixing plate is fixedly arranged in the middle of the upper plane of the chassis, and a motor support, a lead screw nut connecting seat and a support side support are fixedly arranged on the lead screw fixing plate; the stepping motor is fixedly arranged above the motor support and is arranged with one end of the screw rod through the double-diaphragm coupling, and the other end of the screw rod is fixedly arranged above the screw rod fixing plate through the support side support; the screw rod nut seat is coaxially arranged with the screw rod through the screw rod nut connecting seat; the support guide rail A is fixedly arranged on one side above the flat steel A, the support guide rail B is fixedly arranged on one side above the flat steel B, the support guide rail C is fixedly arranged at one end of the flat steel A, and the support guide rail D is fixedly arranged at one end of the flat steel B; the bearing seat A is fixedly arranged at the other end above the flat steel A, the bearing seat B is fixedly arranged at the other end above the flat steel B, the bearing seat C is fixedly arranged at the other side of the flat steel A, and the bearing seat D is fixedly arranged at the other side of the flat steel B; the sliding block A is arranged on the support guide rail A to form a moving pair, the sliding block B is arranged on the support guide rail B to form a moving pair, the sliding block C is arranged on the support guide rail C to form a moving pair, and the sliding block D is arranged on the support guide rail D to form a moving pair; the sliding block connecting seat A is installed on the sliding block A, the sliding block connecting seat B is installed on the sliding block B, the sliding block connecting seat A is installed above the sliding block A, the sliding block connecting seat B is installed on the sliding block B, the sliding block connecting seat C is installed on the sliding block C, and the sliding block connecting seat D is installed on the sliding block D; the screw rod platform connecting seat is arranged above the screw rod nut connecting seat; the connecting rod rotating shaft A and the screw rod platform connecting seat are coaxially installed, two ends of the connecting rod rotating shaft A are fixedly connected with the slider connecting seat C and the slider connecting seat D respectively, two ends of the connecting rod rotating shaft B are fixedly connected with the slider connecting seat A and the slider connecting seat B respectively, two ends of the connecting rod rotating shaft C are fixedly connected with the bearing seat A and the bearing seat B respectively, and two ends of the connecting rod rotating shaft D are fixedly connected with the bearing seat C and the bearing seat D respectively; bearing frame C and bearing frame D symmetry fixed mounting are in bearing the dull and stereotyped below, and connecting rod A and connecting rod B are connected with middle connecting rod rotation axis one end through the revolute pair and are installed, and connecting rod C and connecting rod D are connected with the installation of middle connecting rod rotation axis other end through the revolute pair.

A base support frame in the mechanical arm is fixedly arranged above the bearing flat plate, a worm wheel support rod is fixedly arranged with the base support frame, the worm wheel support rod is coaxially arranged with a worm wheel through a lower pair, and deep groove ball bearings and bearing sleeves are arranged on the upper side and the lower side of the worm wheel; the worm and the worm wheel are installed in a matched mode, and the deep groove ball bearing, the bearing sleeve and the shaft sleeve are sequentially installed on the two sides of the worm; the rotating motor is fixedly arranged on one side of the worm; the waist joint is arranged above the rotating base, and two ends of the waist joint are connected with the large swinging arm and the four-connecting-rod waist rod through a waist connecting shaft and a waist bearing through revolute pairs; the swing motor is arranged below the swing big arm, and the waist motor is arranged below the steering group; the four-connecting-rod waist rod and the connecting rod of the steering group are sequentially connected with the steering table through revolute pairs and are arranged on the outer side of the swing large arm; the through hole at the lower part of the steering table is connected with the upper part of the swing big arm through a steering connecting rod and a steering table bearing; the boss of the sliding group is fixedly arranged above the steering table, the binocular camera is arranged above the boss, a support and a sliding auxiliary support are arranged on one side of the boss, and a rack is arranged in the rack sleeve; the gear is arranged on a gear shaft, the gear and the rack are installed in a matched mode, two ends of the gear shaft are respectively installed with the support A and the support B through sliding joint bearings, and one end of the gear shaft is provided with a sliding motor; the wrist joint is arranged at one end of the sliding group bracket A and one end of the bracket B, the wrist cross shaft is connected with the wrist connecting platform through a revolute pair, and the wrist motor is arranged at one side of the wrist cross shaft.

A push rod seat in the mechanical claw is fixedly connected with a wrist connecting table of a wrist joint, the push rod seat is installed with a paw base through a revolute pair, and an electric push rod is installed inside the push rod seat; the electric push rod is fixedly connected with the paw mounting base, the pull rod is connected with the paw base through a revolute pair, one end of the moving rod is connected with the pull rod through the revolute pair, the other end of the moving rod is connected with the mechanical finger through the revolute pair, and the force sensor and the slip sensor are mounted on the inner side of the mechanical finger; the middle base plate of the shearing module is fixedly arranged above a paw mounting seat in the mechanical paw, the small push rod seat is arranged above the base plate, the small electric push rod is arranged inside the small push rod seat, the small electric push rod is fixedly arranged with the shearing connecting block, the shearing connecting block is connected with the shearing connecting rod through a revolute pair, one end of the fixed shearing piece is fixedly arranged above the base plate, and the movable shearing piece is connected with the fixed shearing piece through a revolute pair.

The utility model provides a self-propelled mango harvesting vehicle has characteristics such as flexible structure, intelligence are automatic, its beneficial effect as follows: the walking device can realize the conversion of the autonomous walking and the harvesting operation area of the harvesting vehicle, the lifting device can realize the harvesting of mangoes with different heights, the mechanical arm and the flexible end effector can realize the harvesting operation in different directions and distances from the mangoes, and the control system can realize the coordinated control of the harvesting process of the mangoes.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the walking device of the present invention.

Fig. 3, fig. 4 and fig. 5 are schematic views of the lifting device of the present invention.

Fig. 6 and 7 are schematic views of the robot arm of the present invention.

Fig. 8 is a schematic view of the gripper of the present invention.

Fig. 9 is a schematic view of the shearing module of the present invention.

Fig. 10 is a schematic view of the worm gear of the rotating base of the robot arm according to the present invention.

The various numbers of the figures have the meanings given below: 1 traveling device, 2 lifting devices, 3 mechanical arms, 4 flexible end effectors, 5 control systems, 11 driving motors, 12 chassis, 13 mecanum wheel sets, 21 lifting device motors, 22 flat steel sets, 23 screw-nut sets, 24 slider guide rail sets, 25 link sets, 26 link rotating shaft sets, 27 bearing flat plates, 211 stepping motors, 212 motor supports, 213 double-diaphragm couplings, 221 flat steel A, 222 flat steel B, 231 screw fixing plates, 232 support side supports, 233 screw rods, 234 screw rod nut bases, 235 screw rod nut bases, 236 screw rod platform bases, 2411 support guide rail A, 2412 support guide rail B, 2413 support guide rail C2414 support guide rail D, 2421 slider A, 2422 slider B, 2423 slider C, 2424 slider D, 2431 slider base A, 2432 slider base B, 2433 slider base C, 2434 slider base D, 2511 link A, 2512 link B, and, 2513 link C, 2514 link D, 2521 bearing block A, 2522 bearing block B, 2523 bearing block C, 2524 bearing block D, 2611 link rotation axis A, 2612 link rotation axis B, 2613 link rotation axis C, 2614 link rotation axis D, 262 intermediate link rotation axis, 31 rotation base, 32 lumbar joint, 33 swing forearm, 34 steering group, 35 sliding group, 36 binocular camera, 37 wrist joint, 311 base support bracket, 312 base sleeve, 313 worm, 314 worm gear, 315 deep groove ball bearing, 316 rotation motor, 321 lumbar base, 323 lumbar motor, 331 forearm, 332 swing motor, 341 four-link lumbar rod, 342 link, 343 link shaft, 344 link sleeve, 345 link bearing, 346 link shaft cover, 347 steering table, 348 steering table bearing, 349 steering table sleeve, 3410 steering link, 3411 steering motor, 35 sliding group, 351 boss, 3521 support A, 3522 support B, 353 sliding sub-support, 354 sliding rack, 356 rack sleeve, 357 gear, 358 gear shaft, 359 sliding motor, 37 wrist joint, 371 wrist connection base, 372 wrist horizontal shaft, 373 wrist connection table, 374 wrist bearing, 375 wrist bearing cover, 376 wrist motor, 411 push rod base, 412 electric push rod, 413 paw base, 414 paw installation base, 415 pull rod, 416 moving rod, 417 mechanical finger, 418 force sensor, 419 slip sense sensor, 421 backing plate, 422 small push rod base, 423 small electric push rod, 424 shearing connection block, 425 shearing connection rod, 426 fixed shear blade, 427 moving shear blade.

Detailed Description

In order to facilitate understanding of the construction principles, technical means, working processes and structural functions realized by the present invention, specific embodiments thereof will be further described with reference to the accompanying drawings 1 to 10.

The utility model provides a self-propelled mango harvesting vehicle, includes running gear 1, and running gear 1 includes driving motor 11, chassis 12 and mecanum wheelset 13, its characterized in that still includes:

the lifting device 2 is arranged above the walking device 1;

the mechanical arm 3 is arranged above the lifting device 2;

the control system 5 is arranged above the lifting device 2;

the lifting device 2 comprises a lifting device motor 21, a flat steel group 22, a screw nut group 23, a slider guide rail group 24, a connecting rod group 25, a connecting rod rotating shaft group 26 and a bearing flat plate 27; the lifting device motor 21 comprises a stepping motor 211, a motor support 212 and a double-diaphragm coupling 213; the flat steel group 22 comprises flat steel A221 and flat steel B222; the feed screw nut group 23 comprises a feed screw fixing plate 231, a supporting side support 232, a feed screw 233, a feed screw nut seat 234, a feed screw nut connecting seat 235 and a feed screw platform connecting seat 236; the slide block guide rail set 24 comprises a support guide rail A2411, a support guide rail B2412, a support guide rail C2413, a support guide rail D2414, a slide block A2421, a slide block B2422, a slide block C2423, a slide block D2424, a slide block connecting seat A2431, a slide block connecting seat B2432, a slide block connecting seat C2433 and a slide block connecting seat D2434; the linkage 25 comprises a connecting rod A2511, a connecting rod B2512, a connecting rod C2513, a connecting rod D2514, a bearing seat A2521, a bearing seat B2522, a bearing seat C2523 and a bearing seat D2524; the link rotation axis group 26 includes a link rotation axis a2611, a link rotation axis B2612, a link rotation axis C2613, a link rotation axis D2614, and an intermediate link rotation axis 262;

the mechanical arm 3 comprises a rotating base 31, a waist joint 32, a swinging big arm 33, a steering group 34, a sliding group 35, a binocular camera 36 and a wrist joint 37; the rotating base 31 comprises a base support frame 311, a base sleeve 312, a worm wheel support rod, a worm 313, a worm wheel 314, a deep groove ball bearing 315, a bearing sleeve, a shaft sleeve and a rotating motor 316; the waist joint 32 comprises a waist base 321, a waist connecting shaft seat, a waist bearing seat and a waist motor 323; the swing big arm 33 comprises a big arm 331 and a swing motor 332; the steering group 34 comprises a four-bar waist bar 341, a link 342, a link shaft 343, a link bushing 344, a link bearing 345, a link shaft cover 346, a steering table 347, a steering table bearing 348, a steering table bushing 349, a steering link 3410 and a steering motor 3411; the sliding set 35 comprises a boss 351, a bracket A3521, a bracket B3522, a sliding sub-bracket 353, a sliding rack 354, a rack sleeve 356, a gear 357, a gear shaft 358, a sliding sleeve, a sliding knuckle bearing and a sliding motor 359; the wrist joint 37 comprises a wrist connecting base 371, a wrist transverse shaft 372, a wrist connecting table 373, a wrist bearing 374, a wrist bearing cover 375 and a wrist motor 376;

the flexible end effector 4 comprises a gripper and shear module, the gripper comprising a pusher base 411, a power pusher 412, a gripper base 413, a gripper mount 414, a pull rod 415, a travel bar 416, a robot finger 417, a force sensor 418, a slip sensor 419; the shearing module comprises a backing plate 421, a small push rod seat 422, a small electric push rod 423, a shearing connecting block 424, a shearing connecting rod 425, a fixed shearing sheet 426 and a movable shearing sheet 427.

The driving motor 11 of the walking device 1 is connected with the Mecanum wheel set 13 and uniformly arranged at four corners under the chassis 12.

In the lifting device 2, a flat steel A221 and a flat steel B222 are fixedly arranged on two sides of the upper plane of a chassis 12, a screw rod fixing plate 231 is fixedly arranged in the middle of the upper plane of the chassis 12, and a motor support 212, a screw rod nut connecting seat 235 and a support side support 232 are fixedly arranged on the screw rod fixing plate 231; the stepping motor 211 is fixedly arranged above the motor support 212 and is arranged with one end of the screw rod 233 through the double-diaphragm coupling 213, and the other end of the screw rod 233 is fixedly arranged above the screw rod fixing plate 231 through the support side support 232; the feed screw nut seat 234 is coaxially installed with the feed screw 233 through the feed screw nut connecting seat 235; a support guide rail A2411 is fixedly arranged on one side above the flat steel A221, a support guide rail B2412 is fixedly arranged on one side above the flat steel B222, a support guide rail C2413 is fixedly arranged at one end of the flat steel A221, and a support guide rail D2414 is fixedly arranged at one end of the flat steel B222; the bearing seat A2521 is fixedly arranged at the other end above the flat steel A221, the bearing seat B2522 is fixedly arranged at the other end above the flat steel B222, the bearing seat C2523 is fixedly arranged at the other side of the flat steel A221, and the bearing seat D2524 is fixedly arranged at the other side of the flat steel B222; a sliding block A2421 is arranged on a support guide rail A2411 to form a sliding pair, a sliding block B2422 is arranged on a support guide rail B2412 to form a sliding pair, a sliding block C2423 is arranged on a support guide rail C2413 to form a sliding pair, and a sliding block D2424 is arranged on a support guide rail D2414 to form a sliding pair; slider connecting seat A2431 is mounted on slider A2421, slider connecting seat B2432 is mounted on slider B2422, slider connecting seat A2431 is mounted above slider A2421, slider connecting seat B2432 is mounted on slider B2422, slider connecting seat C2433 is mounted on slider C2423, and slider connecting seat D2434 is mounted on slider D2424; the lead screw platform connection base 236 is mounted above the lead screw nut connection base 235; the connecting rod rotating shaft A2611 and the screw rod platform connecting seat 236 are coaxially installed, two ends of the connecting rod rotating shaft A2611 are fixedly connected with the slider connecting seat C2433 and the slider connecting seat D2434 respectively, two ends of the connecting rod rotating shaft B2612 are fixedly connected with the slider connecting seat A2431 and the slider connecting seat B2432 respectively, two ends of the connecting rod rotating shaft C2613 are fixedly connected with the bearing seat A2521 and the bearing seat B2522 respectively, and two ends of the connecting rod rotating shaft D2614 are fixedly connected with the bearing seat C2523 and the bearing seat D2524 respectively; the bearing block C2523 and the bearing block D2524 are symmetrically and fixedly installed below the bearing flat plate 27, the connecting rod A2511 and the connecting rod B2512 are connected and installed with one end of the middle connecting rod rotating shaft 262 through a revolute pair, and the connecting rod C2513 and the connecting rod D2514 are connected and installed with the other end of the middle connecting rod rotating shaft 262 through a revolute pair.

A base support frame 311 in the mechanical arm 3 is fixedly arranged above the bearing flat plate 27, a worm wheel support rod is fixedly arranged with the base support frame 311, the worm wheel support rod is coaxially arranged with a worm wheel 314 through a lower pair, and deep groove ball bearings and bearing sleeves are arranged on the upper side and the lower side of the worm wheel 314; the worm 313 is matched with the worm wheel 314, and the deep groove ball bearing 315, the bearing sleeve and the shaft sleeve are sequentially arranged on two sides of the worm 313; the rotating motor 316 is fixedly arranged on one side of the worm 313; the waist joint 32 is arranged above the rotating base 31, and two ends of the waist joint are connected with the swinging big arm 33 and the four-link waist rod 341 through a waist connecting shaft and a waist bearing in a revolute pair; the swing motor 332 is arranged below the swing large arm 33, and the waist motor 323 is arranged below the steering group 34; the four-bar waist bar 341 and the link 342 of the steering group 34 are connected with the steering table 347 in turn by a revolute pair and are arranged outside the swing large arm 33; the lower through hole of the steering table 347 is connected with the upper part of the swing big arm 33 through a steering connecting rod 3410 and a steering table bearing 348; the boss 351 of the sliding group 35 is fixedly arranged above the steering table 347, the binocular camera 36 is arranged above the boss 351, the bracket 352 and the sliding auxiliary bracket 353 are arranged on one side of the boss 351, and the rack 354 is arranged in the rack sleeve 356; the gear 357 is mounted on a gear shaft 358, the gear 357 is mounted with the rack 354 in a matching way, two ends of the gear shaft 358 are respectively mounted with a bracket A3521 and a bracket B3522 through sliding knuckle bearings, and one end of the gear shaft 358 is provided with a sliding motor 359; the wrist joint 37 is attached to one end of a sliding group bracket A3521 and a bracket B3522, a wrist cross shaft 372 is connected to a wrist connection table 373 in a revolute pair, and a wrist motor 376 is attached to the side of the wrist cross shaft 372.

The push rod seat 411 in the mechanical claw is fixedly connected with a wrist connecting table 373 of the wrist joint 37, the push rod seat 411 is installed with the claw base 413 through a revolute pair, and the electric push rod 412 is installed inside the push rod seat 411; the electric push rod 412 is fixedly connected with the paw mounting seat 414, the pull rod 415 is connected with the paw base 413 through a revolute pair, one end of the moving rod 416 is connected with the pull rod 415 through a revolute pair, the other end of the moving rod 416 is connected with the mechanical finger 417 through a revolute pair, and the force sensor 418 and the slip sensor 419 are mounted on the inner side of the mechanical finger 417; a backing plate 421 in the shearing module is fixedly arranged above a gripper mounting seat 414 in a mechanical gripper, a small push rod seat 422 is arranged above the backing plate 421, a small electric push rod 423 is arranged inside the small push rod seat 422, the small electric push rod 423 is fixedly arranged with a shearing connecting block 424, the shearing connecting block 424 is connected with a shearing connecting rod 425 through a revolute pair, one end of a fixed shearing blade 426 is fixedly arranged above the backing plate 421, and a movable shearing blade 427 is connected with the fixed shearing blade 426 through a revolute pair.

After the self-propelled mango harvesting vehicle is started, the walking device 1 performs autonomous walking and navigation according to the geographic position information acquired by the binocular camera 36. The binocular camera 36 is used for carrying out primary detection on the mango trees in the visual field, and if the fruit walking device 1 exists, the picking vehicle is driven to the position near the mango trees through the shortest path. The binocular camera 36 further detects the maturity of the mangos, if the system judges that the maturity of the mangos is lower than a threshold value, a spatial position coordinate of a fruit center point of the mangos is generated, the coordinate is stored in a detection white list, and the coordinate is ignored within a period of time; and if the system judges that the mango is mature, marking the mango as a target mango, generating the coordinate of the central point of the mango, and converting the coordinate by the upper computer. And the upper computer performs path planning and kinematic solution on the mechanical arm 3 according to the converted base coordinates, controls the actions of all joints of the mechanical arm 3 to the solution pose, and starts the grabbing and picking actions of the mangos.

The surfaces of the mechanical claws are made of flexible rubber materials, the mango skins are prevented from being damaged by bruising in the picking process, and a force sensor 418 and a slip sensor 419 are arranged on the mango skins. The force sensor 418 detects the clamping force of the mechanical claw on the mango in real time, and when the clamping force reaches a safe threshold value which can be borne by the mango skin, the mechanical claw stops continuously grasping. The slip sensor 419 detects the relative slip between the mango and the mechanical claw in real time, and if the slip signal shows that the clamping force is too small, the mechanical claw continues to grasp until the slip signal disappears and is within a safety threshold. After the mechanical claw grips the mangos, the shearing module on the mechanical claw acts to shear the fruit stalks, so that the mangos are separated from the fruit trees, finally, the mechanical arm 3 acts to convey the mangos into a collecting basket on a harvesting vehicle, and the mechanical claw is loosened to finish harvesting work.

The four driving motors 11 drive the Mecanum wheel sets 13 to move respectively, and the chassis 12 bears the weight of the whole machine and drives the whole machine to realize a self-walking function.

The lifting device 2 is integrally arranged above the walking device 1, and the work of the lifting device is to drive a mechanical executing device of the harvesting vehicle to complete lifting and descending actions. When the vertical coordinate of the position of the target mango exceeds a secondary threshold value, the lifting device 2 starts to work. The lifting device motor 21 acts according to the control value fed back by the control system, and the lifting device motor 21 drives the screw nut seat 234 on the screw 233 to move relatively when working. If the moving direction of the screw nut seat 234 is positive when the lifting device motor 21 rotates positively, the movement of the screw nut seat 234 is transmitted to the connecting rod rotation axis group 26 through the screw platform connecting seat 236, and the connecting rod rotation axis group 26 drives the connecting rod group 25 to perform planar movement, so that the projection length of the highest point of the connecting rod group 25 in the vertical direction is increased, that is, the position of the bearing flat plate 27 is raised. While the connecting rod rotation shaft group 26 drives the connecting rod group 25 to move, power is transmitted to the slide block A2421, the slide block B2422, the slide block C2423 and the slide block D2424 through the slide block connecting seat A2431, the slide block connecting seat B2432, the slide block connecting seat C2433 and the slide block connecting seat D2434, so that the slide block A2421, the slide block B2422, the slide block C2423 and the slide block D2424 move synchronously with the screw rod nut seat 234 on the support guide rail A2411, the support guide rail B2412, the support guide rail C2413 and the support guide rail D2414. The constraint of the set of link rotation shafts 26 provides the lifting device 2 with greater stability and accuracy while transmitting power.

The rotation of the mechanical arm 3 in the bottom plane is realized by the transmission of a worm 313 and a worm wheel 314 in the rotating base 31 of the mechanical arm 3. The rotation motor 316 rotates the worm 313, and the worm 313 transmits its power to the rotation of the worm wheel 314, and drives the rotation of the rotating base 31 by the deep groove ball bearing 315 in the rotating base 31. The swing motor 332 at the waist joint 32 acts on the large arm 331 to realize a swinging motion of the large arm 331 in a single plane. The lumbar motor 323 rotates the steering table 347 through the link 342, thereby driving the space of the boss 351 of the sliding set 35 to rotate. The sliding group 35 realizes the extension and retraction of the front end of the mechanical arm 3 by adopting the matching transmission of the sliding rack 354 and the gear 357, the sliding motor 359 transmits power to the gear 357 through the gear shaft 358, and the forward rotation of the gear 357 drives the sliding rack 354 matched with the gear to extend and retract in the sliding sleeve. The wrist motor 376 drives the wrist connecting table 373 to rotate via the wrist cross shaft 372.

The mechanical claw in the flexible end effector 4 is provided with independent power by the electric push rod 412, the electric push rod 412 is pushed outwards, the mechanical finger 417 is driven to be opened by the pull rod 415, and when the distance that the electric push rod 412 is pushed outwards reaches the maximum value, the opening angle of the mechanical finger 417 reaches the maximum value. When the electric putter 412 is retracted inward, the mechanical finger 417 is closed by driving the pull rod 415, and the closing angle of the mechanical finger 417 reaches a minimum value when the electric putter 412 is fully retracted. The force sensor 418 and the slip sensor 419 detect the magnitude of the gripping force and the relative slip between the finger 417 and the mango in real time. The action distance of the electric push rod 412 is dynamically adjusted in real time, so that the clamping force is always kept in a proper range.

The shear module in the flexible end effector 4 is independently powered by a small electric push rod 423. The little electric putter 423 provides independent power for the shearing module during operation, and the little electric putter 423 is received back through shearing connecting block 424 with shearing connecting rod 425 tensile to the relative rotation between fixed shear blade 426 and the shear blade 427 of drive. The movable shear blade 427 and the fixed shear blade 426 are mutually extruded to cut off fruit stalks, thereby realizing the separation of mangos and fruit trees.

According to the working procedures, the mechanical and automatic mango harvesting operation is realized one by one, the mango picking efficiency is improved, and the labor force in the mango picking process is liberated.

Claims (5)

1. The utility model provides a self-propelled mango harvesting vehicle, includes running gear (1), and running gear (1) includes driving motor (11), chassis (12) and mecanum wheelset (13), its characterized in that still includes: the lifting device (2) is arranged above the walking device (1); the mechanical arm (3) is arranged above the lifting device (2); the control system (5) is arranged above the lifting device (2); the lifting device (2) comprises a lifting device motor (21), a flat steel group (22), a lead screw nut group (23), a slider guide rail group (24), a connecting rod group (25), a connecting rod rotating shaft group (26) and a bearing flat plate (27); the lifting device motor (21) comprises a stepping motor (211), a motor support (212) and a double-diaphragm coupling (213); the flat steel group (22) comprises a flat steel A (221) and a flat steel B (222); the feed screw nut group (23) comprises a feed screw fixing plate (231), a supporting side support (232), a feed screw (233), a feed screw nut seat (234), a feed screw nut connecting seat (235) and a feed screw platform connecting seat (236); the sliding block guide rail group (24) comprises a support guide rail A (2411), a support guide rail B (2412), a support guide rail C (2413), a support guide rail D (2414), a sliding block A (2421), a sliding block B (2422), a sliding block C (2423), a sliding block D (2424), a sliding block connecting seat A (2431), a sliding block connecting seat B (2432), a sliding block connecting seat C (2433) and a sliding block connecting seat D (2434); the connecting rod group (25) comprises a connecting rod A (2511), a connecting rod B (2512), a connecting rod C (2513), a connecting rod D (2514), a bearing seat A (2521), a bearing seat B (2522), a bearing seat C (2523) and a bearing seat D (2524); the connecting rod rotating shaft group (26) comprises a connecting rod rotating shaft A (2611), a connecting rod rotating shaft B (2612), a connecting rod rotating shaft C (2613), a connecting rod rotating shaft D (2614) and an intermediate connecting rod rotating shaft (262); the mechanical arm (3) comprises a rotating base (31), a waist joint (32), a large swinging arm (33), a steering group (34), a sliding group (35), a binocular camera (36) and a wrist joint (37); the rotary base (31) comprises a base support frame (311), a base sleeve (312), a worm wheel support rod, a worm (313), a worm wheel (314), a deep groove ball bearing (315), a bearing sleeve, a shaft sleeve and a rotary motor (316); the waist joint (32) comprises a waist base (321), a waist connecting shaft seat, a waist bearing seat and a waist motor (323); the swing big arm (33) comprises a big arm (331) and a swing motor (332); the steering group (34) comprises a four-bar waist bar (341), a connecting bar (342), a connecting bar shaft (343), a connecting bar shaft sleeve (344), a connecting bar bearing (345), a connecting bar shaft cover (346), a steering table (347), a steering table bearing (348), a steering table shaft sleeve (349), a steering connecting bar (3410) and a steering motor (3411); the sliding group (35) comprises a boss (351), a bracket A (3521), a bracket B (3522), a sliding auxiliary bracket (353), a sliding rack (354), a rack sleeve (356), a gear (357), a gear shaft (358), a sliding sleeve, a sliding joint bearing and a sliding motor (359); the wrist joint (37) comprises a wrist connecting base (371), a wrist transverse shaft (372), a wrist connecting table (373), a wrist bearing (374), a wrist bearing cover (375) and a wrist motor (376); the flexible end effector (4) comprises a mechanical claw and a shearing module, wherein the mechanical claw comprises a push rod seat (411), an electric push rod (412), a paw base (413), a paw mounting seat (414), a pull rod (415), a moving rod (416), a mechanical finger (417), a force sensor (418) and a sliding sense sensor (419); the shearing module comprises a base plate (421), a small push rod seat (422), a small electric push rod (423), a shearing connecting block (424), a shearing connecting rod (425), a fixed shearing sheet (426) and a movable shearing sheet (427).

2. The self-propelled mango harvesting vehicle according to claim 1, characterized in that: the driving motors (11) contained in the walking device (1) are connected with the Mecanum wheel sets (13) and are uniformly arranged at four corners below the chassis (12).

3. The self-propelled mango harvesting vehicle according to claim 1, characterized in that: in the lifting device (2), flat steel A (221) and flat steel B (222) are fixedly arranged on two sides of the upper plane of a chassis (12), a lead screw fixing plate (231) is fixedly arranged in the middle of the upper plane of the chassis (12), and a motor support (212), a lead screw nut connecting seat (235) and a support side support (232) are fixedly arranged on the lead screw fixing plate (231); the stepping motor (211) is fixedly arranged above the motor support (212), is arranged with one end of the screw rod (233) through the double-diaphragm coupling (213), and the other end of the screw rod (233) is fixedly arranged above the screw rod fixing plate (231) through the support side support (232); the feed screw nut seat (234) is coaxially arranged with the feed screw (233) through the feed screw nut connecting seat (235); a support guide rail A (2411) is fixedly arranged on one side above the flat steel A (221), a support guide rail B (2412) is fixedly arranged on one side above the flat steel B (222), a support guide rail C (2413) is fixedly arranged at one end of the flat steel A (221), and a support guide rail D (2414) is fixedly arranged at one end of the flat steel B (222); a bearing seat A (2521) is fixedly arranged at the other end above the flat steel A (221), a bearing seat B (2522) is fixedly arranged at the other end above the flat steel B (222), a bearing seat C (2523) is fixedly arranged at the other side of the flat steel A (221), and a bearing seat D (2524) is fixedly arranged at the other side of the flat steel B (222); the sliding block A (2421) is arranged on the support guide rail A (2411) to form a sliding pair, the sliding block B (2422) is arranged on the support guide rail B (2412) to form a sliding pair, the sliding block C (2423) is arranged on the support guide rail C (2413) to form a sliding pair, and the sliding block D (2424) is arranged on the support guide rail D (2414) to form a sliding pair; the slider connecting seat A (2431) is installed on the slider A (2421), the slider connecting seat B (2432) is installed on the slider B (2422), the slider connecting seat A (2431) is installed above the slider A (2421), the slider connecting seat B (2432) is installed on the slider B (2422), the slider connecting seat C (2433) is installed on the slider C (2423), and the slider connecting seat D (2434) is installed on the slider D (2424); the screw rod platform connecting seat (236) is arranged above the screw rod nut connecting seat (235); the connecting rod rotating shaft A (2611) and the screw rod platform connecting seat (236) are coaxially installed, two ends of the connecting rod rotating shaft A (2611) are fixedly connected with the slider connecting seat C (2433) and the slider connecting seat D (2434) respectively, two ends of the connecting rod rotating shaft B (2612) are fixedly connected with the slider connecting seat A (2431) and the slider connecting seat B (2432) respectively, two ends of the connecting rod rotating shaft C (2613) are fixedly connected with the bearing seat A (2521) and the bearing seat B (2522) respectively, and two ends of the connecting rod rotating shaft D (2614) are fixedly connected with the bearing seat C (2523) and the bearing seat D (2524) respectively; the bearing seat C (2523) and the bearing seat D (2524) are symmetrically and fixedly arranged below the bearing flat plate (27), the connecting rod A (2511) and the connecting rod B (2512) are connected and arranged with one end of the middle connecting rod rotating shaft (262) through a revolute pair, and the connecting rod C (2513) and the connecting rod D (2514) are connected and arranged with the other end of the middle connecting rod rotating shaft (262) through a revolute pair.

4. The self-propelled mango harvesting vehicle according to claim 1, characterized in that: a base support frame (311) in the mechanical arm (3) is fixedly arranged above the bearing flat plate (27), a worm wheel support rod is fixedly arranged with the base support frame (311), the worm wheel support rod is coaxially arranged with a worm wheel (314) through a lower pair, and deep groove ball bearings and bearing sleeves are arranged on the upper side and the lower side of the worm wheel (314); the worm (313) is matched with the worm wheel (314) to be installed, and the deep groove ball bearing (315), the bearing sleeve and the shaft sleeve are sequentially installed on two sides of the worm (313); the rotating motor (316) is fixedly arranged on one side of the worm (313); the waist joint (32) is arranged above the rotating base (31), and two ends of the waist joint are connected with the swinging big arm (33) and the four-bar waist rod (341) through a waist connecting shaft and a waist bearing by a revolute pair; the swing motor (332) is arranged below the swing large arm (33), and the waist motor (323) is arranged below the steering group (34); the four-bar waist bar (341) and the connecting bar (342) of the steering group (34) are sequentially connected with the steering table (347) through revolute pairs and are arranged on the outer side of the large swinging arm (33); the lower through hole of the steering table (347) is connected with the upper part of the swinging large arm (33) through a steering connecting rod (3410) and a steering table bearing (348); a boss (351) of the sliding group (35) is fixedly arranged above the steering table (347), a binocular camera (36) is arranged above the boss (351), a support (352) and a sliding auxiliary support (353) are arranged on one side of the boss (351), and a rack (354) is arranged in a rack sleeve (356); the gear (357) is installed on a gear shaft (358), the gear (357) is installed with the rack (354) in a matched mode, two ends of the gear shaft (358) are respectively installed with the support A (3521) and the support B (3522) through sliding joint bearings, and one end of the gear shaft (358) is provided with a sliding motor (359); the wrist joint (37) is arranged at one end of a sliding group bracket A (3521) and a bracket B (3522), a wrist transverse shaft (372) is connected with a wrist connecting table (373) through a revolute pair, and a wrist motor (376) is arranged at one side of the wrist transverse shaft (372).

5. The self-propelled mango harvesting vehicle according to claim 1, characterized in that: the middle push rod seat (411) of the mechanical claw is fixedly connected with a wrist connecting table (373) of a wrist joint (37), the push rod seat (411) is installed with a paw base (413) through a revolute pair, and an electric push rod (412) is installed inside the push rod seat (411); the electric push rod (412) is fixedly connected with the paw mounting seat (414), the pull rod (415) is connected with the paw base (413) through a revolute pair, one end of the moving rod (416) is connected with the pull rod (415) through a revolute pair, the other end of the moving rod (416) is connected with the mechanical finger (417) through a revolute pair, and the force sensor (418) and the slip sensor (419) are mounted on the inner side of the mechanical finger (417); backing plate (421) fixed mounting is in the gripper in the shearing module above hand claw mount pad (414), little push rod seat (422) are installed in backing plate (421) top, little electric putter (423) are installed inside little push rod seat (422), little electric putter (423) and shearing connecting block (424) fixed mounting, shearing connecting block (424) are connected with shearing connecting rod (425) with the revolute pair, decide shear blade (426) one end fixed mounting in backing plate (421) top, move shear blade (427) and decide shear blade (426) with the revolute pair and be connected.

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