CN-119014222-B - Can realize continuous large batch cross-ridge formula strawberry harvest robot who picks

CN119014222BCN 119014222 BCN119014222 BCN 119014222BCN-119014222-B

Abstract

The invention relates to a ridging type strawberry harvesting robot capable of realizing continuous large-batch picking in the technical field of agricultural harvesting machinery, which comprises a travelling mechanism, a picking mechanism, a collecting mechanism and a control module, compared with the prior art, the four-wheel drive four-steering travelling mechanism is adopted, so that flexible travelling and turning can be realized among ridges, continuous mass picking is realized, and the picking efficiency is improved. The widening module can adjust the distance between the left driving module and the right driving module, is suitable for different ridge distances, and avoids damage to strawberry plants and fruits. The picking mechanism comprises a mechanical arm and a special synchronous belt, and can accurately position and pick strawberry fruits, so that damage to the fruits is reduced. The picking hand is ingenious in design, and the picking is completed by cutting off the fruit stalks and clamping the fruits, so that the fruits are prevented from being directly contacted. The cross-ridge type strawberry harvesting robot has the advantages that the cross-ridge type strawberry harvesting robot has great advantages in practical application, and the efficiency and quality of strawberry picking can be remarkably improved.

Inventors

ZHANG JIANZHENG
DONG YI
WEI KUN
WU FEIFAN

Assignees

上海飒智智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20240926

Claims (8)

1. The ridge-crossing type strawberry harvesting robot capable of realizing continuous large-batch picking is characterized by comprising a travelling mechanism, a picking mechanism, a collecting mechanism and a control module; The control module is arranged above the collecting mechanism, and the travelling mechanism and the picking mechanism are arranged below the collecting mechanism; the travelling mechanism comprises a driving module, a steering module and a widening module; The steering module is connected with the widening module, and one end of the driving module is connected with the steering module; The picking mechanism comprises a mechanical arm, a picking synchronous belt, a picking hand, a picking side energy release module, a collecting side energy storage module and a synchronous belt guide module; The tail end of the mechanical arm is connected with the picking side energy release module, the picking side energy release module is connected with the collecting side energy storage module through the picking synchronous belt, and the picking synchronous belt is connected with the picking hand through a connecting pin; The collecting mechanism comprises a collecting synchronous belt, a collecting driving wheel, a collecting driven wheel, a collecting driving wheel frame, a collecting driven wheel frame, a collecting trolley, a collecting basket and a collecting stepping motor; The collecting driving wheel frame is connected with the collecting driven wheel frame through the collecting synchronous belt, the collecting synchronous belt is connected with the collecting trolley through a locating pin, the collecting basket is arranged in the collecting trolley, the collecting stepping motor is fixedly connected with the collecting driving wheel frame, and an output shaft of the collecting stepping motor is fixedly connected with the driving wheel; The control module comprises a mechanical arm controller, a mechanical arm controller fixing frame, an electric control supporting plate, an electric control supporting column and an electric control assembly; The mechanical arm controller fixing frame is arranged below the picking mechanism, the mechanical arm controller is arranged inside the mechanical arm controller, the electric control supporting plate is fixedly arranged above the picking mechanism through the electric control supporting column, and the electric control assembly is fixedly arranged above the electric control supporting plate; the picking hand comprises a base, a left claw, a right claw and a stop component; The base is of a hollow structure, and the left claw, the right claw and the stop component are arranged in the base; The bottom of the base is connected with the picking synchronous belt through a connecting pin; The base is provided with a positioning hole which is funnel-shaped; the right claw comprises a right claw tip, a right claw seat, a cutter, a spring shaft, a rotating shaft, a spring and a torsion spring; the top end of the rotating shaft is a butterfly groove, and the rotating shaft rotates on the base; The torsion spring is wound in the middle of the rotating shaft, one end of the torsion spring is connected with the left claw, and the other end of the torsion spring is connected with the right claw; The right claw seat is connected with the right claw tip through the spring shaft; The cutter is arranged above the right claw seat, and the cutting edge of the cutter exceeds the left side edge of the right claw seat.
2. The ridged strawberry harvesting robot of claim 1, wherein the drive module comprises a wheel frame, off-road wheels, axles, bearings, motors and belt drive system, the steering module comprises an outer column, an inner column, a steering engine, a gear set, a thrust bearing and a radial bearing, and the widening module comprises a bottom plate, an electric push rod, a widening frame, a sliding base and a sliding guide rail; The motor is parallel to the wheel axle and is arranged above the wheel axle; The upper end of the outer upright post is fixedly connected with the sliding base, and the lower end of the outer upright post is rotationally connected with the wheel frame through a thrust bearing; The upper end of the inner upright post is fixedly connected with the driven wheel of the gear set, and the lower end of the inner upright post is fixedly connected with the wheel carrier; The outer upright post is rotationally connected with the inner upright post through the radial bearing; The upper end of the steering engine is fixedly connected with the sliding base, and an output shaft of the steering engine is fixedly connected with a driving wheel in the gear set; the electric push rod is transversely arranged, and is perpendicular to and fixedly connected with the cross rod of the widening frame; The two sides of the cross rod of the widening frame are perpendicular to the longitudinal rod and fixedly connected with the longitudinal rod, and the longitudinal rod of the widening frame is fixedly connected with the sliding base.
3. The ridged strawberry harvesting robot of claim 2, wherein the stop assembly comprises a hook, a stop guide rail, a stop pin, and a stop spring; The clamping hook is fixedly connected with the right claw, and the stop block guide rail is fixedly connected with the base; The stop block guide rail is provided with a longitudinal guide groove, and the stop block moves in the guide groove; the stop block is perpendicular to the stop pin and fixedly connected with the stop pin, and the stop spring is arranged outside the stop pin; the stop pin is a cylinder, and the stop pin material is a ferromagnetic material.
4. The ridge-crossing strawberry harvesting robot capable of achieving continuous and large-batch picking according to claim 1, wherein the picking side energy release module comprises a picking driving wheel frame, a picking driving wheel, a picking stepping motor, a picking upper positioning block, a picking lower positioning block and a picking tensioning device; the picking driving wheel frame is fixedly connected with the tail end joint of the mechanical arm; The picking driving wheel is arranged in the picking driving wheel frame; the picking upper positioning block is fixedly arranged above the picking driving wheel frame; the picking stepper motor and the picking lower positioning block are fixedly arranged below the picking driving wheel frame; An electromagnet is arranged in the upper positioning block, and a camera is arranged above the upper positioning block.
5. The ridge-crossing type strawberry harvesting robot capable of achieving continuous and large-batch picking according to claim 1, wherein the collecting side energy storage module comprises an energy storage driving wheel frame, an energy storage driving wheel, an energy storage stepping motor, an energy storage upper positioning block, an energy storage lower positioning block, an energy storage device, an energy storage supporting column and an energy storage tensioning device, and the energy storage device comprises an upper positioning block cover plate, an energy storage gear set, a positioning component and a screwdriver component; The energy storage driving wheel frame is connected with an energy storage supporting column, and the energy storage upper positioning block is connected with the control module through a connecting fixing piece; The upper positioning block cover plate is fixed above the energy storage upper positioning block, and the energy storage stepping motor and the energy storage gear set are arranged above the upper positioning block cover plate; one end of the energy storage stepping motor is fixedly connected with the driving wheel of the energy storage gear set; the positioning assembly and the screwdriver assembly are arranged in the energy storage upper positioning block; The positioning component is fixedly connected with the screwdriver component and the driven wheel of the energy storage gear set.
6. The ridging strawberry harvesting robot of claim 5, wherein said screwdriver component comprises a screwdriver bit, a screwdriver roller, a screwdriver space cam, a screwdriver extension spring, a screwdriver blade holder, a screwdriver wheel axle, said positioning component comprising a positioning post, a positioning roller, a positioning space cam, a positioning extension spring, a positioning base, and a positioning wheel axle; The head of the screwdriver bit is in a straight shape, the interior of the screwdriver bit is in a hollow structure, and the screwdriver roller penetrates through the screwdriver bit; The screw driver space cam and the positioning space cam are arranged below the upper positioning block cover plate; one end of the screwdriver wheel shaft is fixedly connected with the driven wheel of the energy storage gear set, and the other end of the screwdriver wheel shaft is fixedly connected with the screwdriver tool apron; The screw driver extension spring penetrates through the screw driver tool holder, one end of the screw driver extension spring is connected with the screw driver roller, and the other end of the screw driver extension spring is connected with the screw driver wheel shaft; the positioning column is arranged above the positioning space cam.
7. The ridging type strawberry harvesting robot capable of achieving continuous mass picking according to claim 1, wherein the synchronous belt guiding module comprises a guiding plate, a guiding wheel frame, a guiding wheel shaft and a guiding bracket; the guide plates and the guide brackets are fixed on two sides of the picking mechanism; The guide wheels are arranged between the guide plates and the guide brackets; The guide wheel frame is arranged inside the guide wheel.
8. The ridging type strawberry harvesting robot capable of achieving continuous mass picking according to claim 2, wherein the electric push rod is provided with a power line and a control signal line, and the power line and the control signal line are connected with the electric control assembly through the electric control support plate.

Description

Can realize continuous large batch cross-ridge formula strawberry harvest robot who picks Technical Field The invention relates to the technical field of agricultural harvesting machinery, in particular to an agricultural fruit picking robot design. Background In recent years, china is the biggest strawberry production country worldwide, the strawberry planting area and the yield are both in an ascending trend, and the market demands for automatic strawberry picking robots are increasing. However, existing strawberry picking robot technologies face a number of challenges. Firstly, most of strawberry planting in China adopts a ridge culture mode, which limits the overall structural design of the robot. Secondly, strawberry fruits are fragile, and mechanical picking is easy to cause damage. In addition, the strawberry has a short ripening period, and needs to be harvested in large quantities rapidly after ripening, which puts higher demands on picking efficiency. Existing technologies and products have difficulty effectively addressing these challenges. Early strawberry picking robots mainly adopt a mechanical arm and a picking mechanical arm to pick, but the mode needs to be stored in a storage frame immediately after single strawberry picking is completed, so that the efficiency is low, and the requirement of large-scale rapid picking cannot be met. In order to improve the picking efficiency, a continuous picking actuator is developed later, but after the continuous picking of a plurality of strawberries is finished, fruits still need to be stored, and then the next picking is performed, so that the efficiency still has room for improvement. Therefore, there is a need in the market for a strawberry harvesting robot that can walk between ridges and perform a large-scale picking task with high efficiency, so as to meet the requirement of rapid picking. Disclosure of Invention In order to solve the technical problems, the invention provides a ridge-crossing type strawberry harvesting robot capable of realizing continuous and large-batch picking, which can move on a field ridge where strawberries are planted and perform high-efficiency picking and harvesting operation. The technical scheme of the invention is as follows: The invention provides a ridge-crossing type strawberry harvesting robot capable of realizing continuous large-batch picking, which comprises a travelling mechanism, a picking mechanism, a collecting mechanism and a control module. Specifically, the control module is arranged above the collecting mechanism, the travelling mechanism and the picking mechanism are arranged below the collecting mechanism, the steering module is connected with the widening module, and one end of the driving module is connected with the steering module. Specifically, the running mechanism comprises a driving module, a steering module and a widening module. Specifically, the driving module comprises a wheel carrier, cross-country wheels, a wheel shaft, bearings, a motor and a belt transmission system, the steering module comprises an outer upright post, an inner upright post, a steering engine, a gear set, a thrust bearing and a radial bearing, and the widening module comprises a bottom plate, an electric push rod, a widening frame, a sliding base and a sliding guide rail. Specifically, the motor is parallel to the wheel axle and is arranged above the wheel axle, the upper end of the outer upright is fixedly connected with the sliding base, the lower end of the outer upright is rotatably connected with the wheel frame through a thrust bearing, the upper end of the inner upright is fixedly connected with the driven wheel of the gear set, the lower end of the inner upright is fixedly connected with the wheel frame, the outer upright is rotatably connected with the inner upright through a radial bearing, the upper end of the steering engine is fixedly connected with the sliding base, the output shaft of the steering engine is fixedly connected with the driving wheel of the gear set, the electric push rod is transversely arranged, the electric push rod is vertically and fixedly connected with the cross rod of the widening frame, the two sides of the cross rod of the widening frame are vertically and fixedly connected with the longitudinal rod, and the longitudinal rod of the widening frame is fixedly connected with the sliding base. Specifically, the picking mechanism comprises a mechanical arm, a picking synchronous belt, a picking hand, a picking side energy release module, a collecting side energy storage module and a synchronous belt guiding module. Specifically, the end of the mechanical arm is connected with the picking side energy release module, the picking side energy release module is connected with the collecting side energy storage module through the picking synchronous belt, and the picking synchronous belt is connected with the picking hand through the connecting pin. The picking hand comprises a base, a lef