CN106182022A - A kind of vegetable rotary-cut is gathered robot - Google Patents

Abstract

The present invention relates to a kind of vegetable rotary-cut gather robot, including from steady travelling platform, from steady travelling platform, there is good damping performance and stability, the present invention can be made to work with being applicable to rough planting vegetable in greenhouse, described on the right side of the upper surface of steady travelling platform, rotary cutting apparatus of gathering is installed, rotary cutting apparatus of gathering can realize gathering the vibration of vegetable function, and speed of gathering is fast, and harvest efficiency is high；Described include mounting platform from steady travelling platform, the left and right sides, lower surface of described mounting platform is symmetrically installed with two transmission branch chain, and both sides are all symmetrically welded with two walking side chains before and after each transmission branch chain, drive walking side chain in planting vegetable in greenhouse walking the most automatically by transmission branch chain, cultivating process is without manual operation, and work efficiency is high.The present invention can realize the vibration of booth vegetable and gather function, it is not necessary to manual operation, automaticity is high.

Description

A kind of vegetable rotary-cut is gathered robot

Technical field

The present invention relates to agricultural machinery technological field, specifically a kind of vegetable rotary-cut is gathered robot.

Background technology

In we live, booth vegetable is seen everywhere, by booth can the Time To Market of manual control vegetable, booth vegetables Dish can meet the fast supply demand of Various Seasonal vegetable, and therefore the yield of booth vegetable is the hugest.Existing booth vegetable kind It is main for planting substantially artificial culture, and the concrete technology that booth is cultivated has plantation, loosens the soil, applies fertilizer, waters, gathers, existing this Plant booth vegetable artificial culture's mode and there is following defect: 1, the artificial long-term auxiliary operation of needs, labor intensity is big, work efficiency Lowly；2, the most uneven due to planting vegetable in greenhouse ground surface, operator passes through machinery cultivation instrument on planting site The stability operated of walking up and down is poor, and astasia is easy to the situation occurring falling down, and causes the work that booth vegetable is cultivated Efficiency is greatly lowered；3, after vegetable ripeness, need manually to gather vegetable, it is common that first manually captures vegetable, then shakes off Earth on vegetable root, then excises root with cutting knife, whole during be all manually-operated, speed of gathering is slow, gathers Inefficiency.

Summary of the invention

In order to solve the problems referred to above, the invention provides a kind of vegetable rotary-cut and gather robot, existing booth can be solved The needs that vegetable artificial culture's mode exists manually long-term auxiliary operation, labor intensity is big, plantation stability is poor, work efficiency Lowly, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, it is possible to achieve the vibration of booth vegetable is gathered function, it is not necessary to manually grasp Making, automaticity is high, and stability is good, work efficiency is high, speed of gathering fast and harvest efficiency advantages of higher to have plantation.

To achieve these goals, the present invention realizes by the following technical solutions: a kind of vegetable rotary-cut is gathered robot, Including from steady travelling platform, from steady travelling platform, there is good damping performance and stability, the present invention can be made to be applicable to The work of rough planting vegetable in greenhouse ground, described is provided with, on the right side of the upper surface of steady travelling platform, rotary cutting apparatus of gathering, Rotary cutting apparatus of gathering can realize gathering the vibration of vegetable function, and speed of gathering is fast, and harvest efficiency is high.

Described including mounting platform from steady travelling platform, the left and right sides, lower surface of described mounting platform is symmetrically installed with two Before and after individual transmission branch chain, and each transmission branch chain, both sides are all symmetrically welded with two walking side chains, are driven by transmission branch chain Walking side chain is in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, and work efficiency is high；Described transmission is propped up Chain includes being symmetrically welded at two pieces of fixed boards of both sides before and after mounting platform lower surface, logical between the upper end of two pieces of fixed boards Crossing bearing and be provided with driving shaft, the middle part of driving shaft is provided with driving gear by key, and the front end of driving shaft is pacified by shaft coupling Equipped with driving motor, driving motor is arranged on the lower surface of mounting platform by motor cabinet, between the lower end of two pieces of fixed boards Being provided with driven shaft by bearing, the middle part of driven shaft is provided with driven gear by key, and driven gear is nibbled mutually with driving gear Closing, before and after driven shaft, two ends are symmetrically welded with two walking side chains, drive driving shaft to rotate by driving motor, driving shaft band Dynamic driving gear rotates, and driving gear drives driven shaft under the auxiliary of driven gear, and driven shaft drives two walkings at two ends Side chain is in planting vegetable in greenhouse walking the most automatically；Described walking side chain includes the walking jacking block that side is welded on driven shaft, Walking jacking block is square structure, and four sides of walking jacking block are separately installed with four shock-absorbing support mechanisms, four dampings Supporting mechanism upper end is separately installed with four arc walking blocks, and all uniformly connecting between adjacent two arcs walking block has a limit Being evenly arranged with taper walking bar on position spring, and the outer wall of each arc walking block, taper walking bar is pyramidal structure, will The walking pressure on planting vegetable in greenhouse ground is concentrated on taper walking bar by the present invention, improves the present invention and cultivates at booth vegetable Time walking stability energy, a limit spring plays spacing and damping effect, and shock-absorbing support mechanism has good damping Performance and stability so that the present invention walks on block at the assosting effect arc lower of a limit spring and shock-absorbing support mechanism Taper walking bar can stablize and walk at rough planting vegetable in greenhouse, applied widely；Described driving gear with The gear ratio of driven gear is 2:1, is reduced the velocity of rotation of driven gear by low gear ratio, thus reduces walking Chain, in the speed of travel of planting vegetable in greenhouse ground, further increases walking stability energy；Described shock-absorbing support mechanism includes Being arranged on the fixed platform in walking jacking block corresponding side surface, fixed platform upper surface is the most uniformly provided with three parallel connections and props up Chain, the top of three side chains in parallel is installed on the lower surface of moving platform, and the upper surface uniform welding of moving platform has three bars Shape props up block, and it is the globoidal structure corresponding with arc walking block that the upper surface of block is propped up in bar shaped, and the upper surface weldering of block is propped up in three bar shapeds It is connected on the inwall of corresponding arc walking block so that block is propped up in three bar shapeds can be to the corresponding arc walking strong support of block Power；Described side chain in parallel includes the matrix bearing being welded on fixed platform upper surface, is provided with lower limit between the middle part of matrix bearing Position axle, the upper end inwall of matrix bearing is symmetrically arranged with two arc-shaped limit grooves；A liquid it is arranged with on described lower limit axle Cylinder pressure, the both sides, bottom of a hydraulic cylinder are provided with two gag lever posts, the end of two gag lever posts and two arc-shaped limit grooves it Between by sliding matching mode be connected, the motion between two gag lever posts and two arc-shaped limit grooves play restriction a number hydraulic cylinder The slewing area of bottom, also prevent the situation that a hydraulic cylinder bottom moves left and right, due to the present invention often uneven Planting vegetable in greenhouse walking on the ground, and a hydraulic cylinder bottom can be strengthened by two gag lever posts and two arc-shaped limit grooves Stability when lower limit axle rotates, improves service behaviour；The top of a described hydraulic cylinder is provided with ball by screw thread Shape union joint, the two ends of spherical connector are symmetrically arranged with two upper limit axles, two upper limit axles respectively with an ear mount All being connected by bearing between two ends, the lower surface inwall of an ear mount is welded with locating dowel, the end of locating dowel is and ball The matrix spherical structure that shape union joint is corresponding, by sliding matching mode phase between the end of locating dowel and spherical connector Even, the upper surface of an ear mount is welded on moving platform, is limited and support the motion of spherical connector by locating dowel, thus On spherical connector two upper limit axles can be stablized rotate in an ear mount, enhance a hydraulic cylinder top and turn Stability time dynamic, improves service behaviour, and the R formed when matrix bearing rotates by a hydraulic cylinder is secondary, a hydraulic pressure The P formed during cylinder working is secondary, hydraulic cylinder R pair of formation when an ear mount rotates constitutes the side chain in parallel of RPR type, and The present invention defines 3-RPR parallel institution, 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform Have that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR parallel institution Advantage make the present invention have good damping performance and stability when planting vegetable in greenhouse walking on the ground, eliminate people During work operation, astasia reduces the situation of operating rate, and the scope of application is big.During work, first pass through the transmission in transmission branch chain Driven by motor driving shaft rotates, and driving shaft drives driving gear to rotate, and driving gear drives driven under the auxiliary of driven gear Axle, driven shaft drives the tapers walking bars on two of two ends walking side chains to rotate, by a limit spring be evenly arranged 3-RPR parallel institution assosting effect on walking four sides of jacking block makes the taper walking bar on two walking side chains permissible At rough planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, station when eliminating manual operation Vertical shakiness reduces the situation of operating rate, applied widely.

Described rotary cutting apparatus of gathering includes the base plate of gathering being welded on mounting platform upper surface, in the middle part of base plate upper surface of gathering Being welded with pole of gathering, the end of pole of gathering is welded with a platform of gathering, and the lower surface of a platform of gathering is symmetrically installed with four four Number hydraulic cylinder, the top of four No. four hydraulic cylinders is provided with crawl platform, is driven by four No. four hydraulic cylinders and captures platforms and stablize Oscilaltion campaign, capture and on the left of the upper surface of platform vegetable rotary-cut side chain be installed, the lower surface capturing platform is symmetrically welded with Four capture vibration side chain, capture the vegetable gathered needed for vibration side chain captures automatically and by attached on vegetable root by four The earth is vibrated on planting site, by vegetable rotary-cut side chain automatic rotary cutting vegetable root after earth vibration is complete, and rotary-cut Vegetable after complete just can be collected；The described vibration side chain that captures includes being welded on the upper vertical plate capturing platform lower surface, on The lower end of riser is provided with lower riser by hinge, the lower end of lower riser be provided with two capture hangers, two capture hanger it Between by bearing, rotating shaft of gathering is installed, the middle part of rotating shaft of gathering is installed with two engaging lugs, the end of two engaging lugs Being arranged on arc and capture the back of plate, arc is captured plate and can be rotated in rotating shaft gathering by two engaging lugs, and arc captures plate Being provided with No. two limit spring between upper end and lower riser upper end, No. two limit spring capture plate upper end to arc and carry out spacing, Arc captures the lower end of plate and is welded with connection support plate, connects and is provided with No. three spacing bullets between support plate upper end and lower riser lower end Spring, No. three limit spring capture plate lower end to arc and carry out spacing, when arc captures and captures vegetable surface needed for plate is close to, Arc captures plate and arbitrarily can rotate relative to the angle of inclination of planting site according to required crawl vegetable, and arc captures plate by two Number limit spring, the position-limiting action up and down of No. three limit spring can be close to required capture vegetable surface, add vegetable Capturing effect, the lower end of described lower riser is provided with two motor journal stirrups, two motor journal stirrups is provided with vibrating motor, passes through The earth of attachment on vegetable root is vibrated on planting site by vibrating motor, pacifies between described lower riser upper end and upper vertical plate inwall Equipped with capturing governor motion, crawl governor motion regulates the arc on lower riser and captures plate to capture required vegetable；Described grab Take No. two ear mount that governor motion includes being welded on upper vertical plate inwall, between No. two ear mount, by bearing pin, electronic pushing away is installed Bar, the top of electric pushrod is arranged between No. three ear mount by bearing pin, and No. three ear mount are welded on the upper surface of lower riser, logical Cross electric pushrod and capture plate to capture required vegetable to the arc regulating on lower riser；Described vegetable rotary-cut side chain includes balanced welding It is connected on the two rotary-cut poles captured on platform, the lower end inner wall of two rotary-cut poles is welded with rotation support plate, rotary-cut support plate Inwall upper end is symmetrically installed with two No. five hydraulic cylinders, and the top of two No. five hydraulic cylinders is provided with L-type rotary-cut frame, L-type rotary-cut The lower surface of frame is symmetrically arranged with two Z-type slide blocks, and two Z-type slide blocks respectively and pass through sliding matching mode between two chutes Being connected, the left end of two chutes is all welded on rotation support plate inwall, by two Z-type slide blocks and the spacing slip of two chutes Motion makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, and described L-type rotary-cut frame upper end leads to Cross motor cabinet and rotary-cut motor is installed, the output shaft of rotary-cut motor is installed with rotary-cut sheet, is revolved by rotary-cut driven by motor Section rotary-cut, carrys out, by No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures.During work, when this When bright movement is to required vegetable crawl position, four No. four hydraulic cylinders work simultaneously, and four No. four hydraulic cylinders drive and capture platform work Stable elevating movement, when capturing four below platform crawl vibration side chains and moving to suitable crawl position, No. four hydraulic cylinders stop Only work, now four crawl vibration side chains start simultaneously at work, capture the electric pushrod on governor motion and drive lower riser to exist Rotating on upper vertical plate, when the arc on riser captures crawl vegetable surface needed for plate touches instantly, electric pushrod quits work, Four four arcs captured on vibration side chains capture plates tightly captured vegetable, come up owing to capturing on planting site just now Vegetable root is attached to a large amount of earth, and now four four vibrating motors captured on vibration side chain are by attachment on vegetable root Earth is vibrated on planting site, and after vegetable root earth shakes, vegetable rotary-cut side chain is started working, on vegetable rotary-cut side chain Two No. five hydraulic cylinders are started working, and by the spacing sliding motion of two Z-type slide blocks and two chutes, L-type rotary-cut frame are existed Making stable stretching motion under the driving of two No. five hydraulic cylinders, meanwhile rotary-cut motor is started working, rotary-cut driven by motor Rotary-cut sheet high speed rotary-cut, carrys out, by two No. five hydraulic cylinder extensions rotary-cut sheet out, the vegetable root that high speed rotary-cut captures, from And achieve the vibration to vegetable and gather function, speed of gathering is fast, and harvest efficiency is high.

During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform, first pass through transmission and prop up Driving motor on chain drives driving shaft to rotate, and driving shaft drives driving gear to rotate, and driving gear is in the auxiliary of driven gear Lower drive driven shaft, driven shaft drives the taper walking bar on two walking side chains at two ends to rotate, by a limit spring The taper on two walking side chains is made with the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block Walking bar can be at rough planting vegetable in greenhouse stabilized walking on the ground, and damping performance is good, and stability is good, eliminates people During work operation, astasia reduces the situation of operating rate, applied widely；When booth vegetable needs to gather, first pass through this Bright moving to required vegetable crawl position from steady travelling platform, rotary cutting apparatus of gathering is started working, and four No. four hydraulic cylinders are simultaneously Work, four No. four hydraulic cylinders drive crawl platform to make stable elevating movement, when capturing four below platform crawl vibration side chains When moving to suitable crawl position, No. four hydraulic cylinders quit work, and now four crawl vibration side chains start simultaneously at work, capture Electric pushrod on governor motion drives lower riser to rotate on upper vertical plate, and the plate of the crawl of the arc on riser instantly touches required When capturing vegetable surface, electric pushrod quits work, and four four arcs captured on vibration side chain capture plate crawl tightly Vegetable, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture on vibration side chains Four vibrating motors by vegetable root attachment earth be vibrated on planting site, vegetable root earth shake after vegetable rotation Cutting side chain to start working, two No. five hydraulic cylinders on vegetable rotary-cut side chain are started working, by two Z-type slide blocks and two cunnings The spacing sliding motion of groove makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, same with this Time rotary-cut motor start working, rotary-cut driven by motor rotary-cut sheet high speed rotary-cut, by the rotation out of two No. five hydraulic cylinder extensions Section carrys out the vegetable root that high speed rotary-cut captures, and speed of gathering is fast, and harvest efficiency is high, and the vibration finally achieving booth vegetable is adopted Receiving function, it is not necessary to manual operation, automaticity is high.

The invention has the beneficial effects as follows:

1, the present invention drives four walking side chains of both sides automatically to work by two transmission branch chain, whole cultivating process without Need manual operation, and the present invention define 3-RPR parallel institution by fixed platform, the side chain in parallel of three RPR types and moving platform, 3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, walking Side chain makes by a limit spring and the 3-RPR parallel institution assosting effect being evenly arranged on walking four sides of jacking block Taper walking bar on two walking side chains can be at rough planting vegetable in greenhouse stabilized walking, damping performance on the ground Good, stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate, applied widely；

2, the present invention drives lower riser to rotate on upper vertical plate by capturing the electric pushrod on governor motion, now four Four the arcs crawl plates capturing four lower risers on vibration side chain tightly capture vegetable, and the vegetable after crawl passes through four Vibrating motor by vegetable root attachment earth be vibrated on planting site, earth shake complete after vegetable revolved by vegetable Cut the rotary-cut sheet on side chain and carry out the vegetable root that high speed rotary-cut captures, it is achieved that function that the vibration of vegetable is gathered, speed of gathering Hurry up, harvest efficiency is high；

3, the present invention solves needs manually long-term auxiliary operation, the work that existing booth vegetable artificial culture's mode exists Intensity is big, plantation stability is poor, work efficiency low, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, it is achieved that booth The vibration of vegetable is gathered function, it is not necessary to manual operation, and automaticity is high, and there is plantation stability is good, work efficiency is high, Speed of gathering is fast and harvest efficiency advantages of higher.

Accompanying drawing explanation

The present invention is further described with embodiment below in conjunction with the accompanying drawings.

Fig. 1 is the perspective view of the present invention；

Fig. 2 is the present invention the first structural representation from steady travelling platform；

Fig. 3 is the present invention the second structural representation from steady travelling platform；

Fig. 4 is the structural representation of shock-absorbing support mechanism of the present invention；

Fig. 5 is the structural representation of parallel connection side chain of the present invention；

Fig. 6 is the sectional view of parallel connection side chain of the present invention；

Fig. 7 is that the present invention gathers the structural representation of rotary cutting apparatus；

Fig. 8 is the structural representation that the present invention captures vibration side chain；

Fig. 9 is the full sectional view that the present invention captures vibration side chain；

Figure 10 is the structural representation of vegetable rotary-cut side chain of the present invention；

Figure 11 is the full sectional view of vegetable rotary-cut side chain of the present invention.

Detailed description of the invention

For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot Conjunction is specifically illustrating, and the present invention is expanded on further.

As shown in Figure 1 to 11, a kind of vegetable rotary-cut is gathered robot, including from steady travelling platform 1, from steady travelling platform 1 has good damping performance and stability, and the present invention can be made to work with being applicable to rough planting vegetable in greenhouse, Described being provided with, on the right side of the upper surface of steady travelling platform 1, rotary cutting apparatus 4 of gathering, rotary cutting apparatus 4 of gathering can realize vegetable Vibration gather function, speed of gathering is fast, and harvest efficiency is high.

Described include mounting platform 11 from steady travelling platform 1, the left and right sides, the lower surface symmetry peace of described mounting platform 11 Equipped with two transmission branch chain 12, and before and after each transmission branch chain 12, both sides are all symmetrically welded with two walking side chains 13, pass through Transmission branch chain 12 drives walking side chain 13 in planting vegetable in greenhouse walking the most automatically, and cultivating process is without manual operation, work Efficiency is high；Described transmission branch chain 12 includes being symmetrically welded at two pieces of fixed boards 121 of both sides before and after mounting platform 11 lower surface, Being provided with driving shaft 122 by bearing between the upper end of two pieces of fixed boards 121, the middle part of driving shaft 122 is provided with by key Driving gear 123, the front end of driving shaft 122 is provided with driving motor 124 by shaft coupling, and driving motor 124 passes through motor cabinet It is arranged on the lower surface of mounting platform 11, between the lower end of two pieces of fixed boards 121, by bearing, driven shaft 125 is installed, from The middle part of moving axis 125 is provided with driven gear 126 by key, and driven gear 126 is meshed with driving gear 123, driven shaft 125 Before and after two ends be symmetrically welded with two walking side chains 13, drive driving shaft 122 to rotate by driving motor 124, driving shaft 122 Driving driving gear 123 to rotate, driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 carries Two walking side chains 13 at dynamic two ends are in planting vegetable in greenhouse walking the most automatically；Described walking side chain 13 includes that side is welded on Walking jacking block 131 on driven shaft 125, walking jacking block 131 is square structure, on four sides of walking jacking block 131 respectively Being provided with four shock-absorbing support mechanisms 132, four shock-absorbing support mechanism 132 upper ends are separately installed with four arc walking blocks 133, All uniformly connect between adjacent two arcs walking block 133 and have a limit spring 134, and outside each arc walking block 133 All being evenly arranged with taper walking bar 135 on wall, taper walking bar 135 is pyramidal structure, by the present invention to planting vegetable in greenhouse The walking pressure on ground concentrates on taper walking bar 135, improves the present invention walking stability energy when booth vegetable is cultivated, A number limit spring 134 plays spacing and damping effect, and shock-absorbing support mechanism 132 has good damping performance and stability Can so that the present invention walks on block 133 at the assosting effect arc lower of a limit spring 134 and shock-absorbing support mechanism 132 Taper walking bar 135 can be stablized and walks at rough planting vegetable in greenhouse, applied widely；Described driving gear 123 is 2:1 with the gear ratio of driven gear 126, is reduced the velocity of rotation of driven gear 126 by low gear ratio, thus Reduce the side chain 13 speed of travel in planting vegetable in greenhouse ground of walking, further increase walking stability energy；Described subtract Shake supporting mechanism 132 includes the fixed platform 136 being arranged in walking jacking block 131 corresponding side surface, and fixed platform 136 upper surface is along axis Direction is uniformly provided with three side chains 137 in parallel, and the top of three side chains 137 in parallel is installed in the lower surface of moving platform 138 On, the upper surface uniform welding of moving platform 138 has three bar shapeds to prop up block 139, and bar shaped props up the upper surface of block 139 for walking with arc The globoidal structure that block 133 is corresponding, the upper surface that block 139 is propped up in three bar shapeds is welded on the inwall of corresponding arc walking block 133, Making three bar shapeds prop up block 139 can be to the corresponding arc walking strong support force of block 133；Described side chain 137 in parallel includes It is welded on the matrix bearing 1371 of fixed platform 136 upper surface, lower limit axle 1372 is installed between the middle part of matrix bearing 1371, Two arc-shaped limit groove 1371a it are symmetrically arranged with on the upper end inwall of matrix bearing 1371；On described lower limit axle, 1372 is sheathed Having a hydraulic cylinder 1373, the both sides, bottom of a hydraulic cylinder 1373 are provided with two gag lever posts 1374, two gag lever posts 1374 End and two arc-shaped limit groove 1371a between by sliding matching mode be connected, two gag lever posts 1374 and two arcs The slewing area limiting hydraulic cylinder 1373 bottom is played in motion between stopper slot 1371a, also prevent a hydraulic cylinder The situation that 1373 bottoms move left and right, due to the present invention often in the walking on the ground of rough planting vegetable in greenhouse, and passes through Two gag lever posts 1374 and two arc-shaped limit groove 1371a can strengthen hydraulic cylinder 1373 bottom on 1372 turns of lower limit axle Stability time dynamic, improves service behaviour；The top of a described hydraulic cylinder 1373 is provided with spherical connector by screw thread 1375, the two ends of spherical connector 1375 are symmetrically arranged with two upper limit axles 1376, and two upper limit axles 1376 are respectively with one All it is connected by bearing between the two ends of number ear mount 1377, the lower surface inwall of an ear mount 1377 is welded with locating dowel 1378, the end of locating dowel 1378 is the matrix spherical structure corresponding with spherical connector 1375, the end of locating dowel 1378 Being connected by sliding matching mode with between spherical connector 1375, the upper surface of an ear mount 1377 is welded on moving platform 138 On, the motion of spherical connector 1375 is limited and supports by locating dowel 1378, so that on spherical connector 1375 Two upper limit axles 1376 can stablize rotation in an ear mount 1377, enhances when hydraulic cylinder 1373 top rotates Stability, improves service behaviour, and the R formed when matrix bearing 1371 rotates by a hydraulic cylinder 1373 is secondary, a liquid The R pair that the P formed when cylinder pressure 1373 works is secondary, hydraulic cylinder 1373 is formed when an ear mount 1377 rotates constitutes RPR The side chain in parallel 137 of type, and the present invention defined by the side chain in parallel 137 of 136, three RPR types of fixed platform and moving platform 138 3-RPR parallel institution, 3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and motion essence Degree advantages of higher, the advantage by 3-RPR parallel institution makes the present invention have well when planting vegetable in greenhouse walking on the ground Damping performance and stability, when eliminating manual operation astasia reduce operating rate situation, the scope of application is big.Work When making, first passing through the driving motor 124 in transmission branch chain 12 and drive driving shaft 122 to rotate, driving shaft 122 drives driving gear 123 rotate, and driving gear 123 drives driven shaft 125 under the auxiliary of driven gear 126, and driven shaft 125 drives two of two ends Taper walking bar 135 on walking side chain 13 rotates, by a limit spring 134 be evenly arranged in walking jacking block 131 4 3-RPR parallel institution assosting effect on individual side makes the taper on two walking side chains 13 walk bar 135 can be concavo-convex Uneven planting vegetable in greenhouse stabilized walking on the ground, damping performance is good, and stability is good, astasia when eliminating manual operation Reduce the situation of operating rate, applied widely.

Described rotary cutting apparatus 4 of gathering includes the base plate 41 of gathering being welded on mounting platform 11 upper surface, gathers on base plate 41 Being welded with pole 42 of gathering in the middle part of end face, the end of pole 42 of gathering is welded with a platform 43 of gathering, the lower surface of a platform 43 of gathering Being symmetrically installed with four No. four hydraulic cylinders 44, the top of four No. four hydraulic cylinders 44 is provided with crawl platform 45, by four No. four Hydraulic cylinder 44 drives crawl platform 45 to make stable oscilaltion campaign, is provided with vegetable rotary-cut and props up on the left of the upper surface of crawl platform 45 Chain 46, the lower surface capturing platform 45 is symmetrically welded with four crawl vibration side chains 47, captures vibration side chains 47 by four automatic The vegetable gathered needed for crawl and the earth of attachment on vegetable root is vibrated on planting site, logical after earth vibration is complete Crossing vegetable rotary-cut side chain 46 automatic rotary cutting vegetable root, the vegetable after rotary-cut is complete just can be collected；Described crawl is vibrated Side chain 47 includes being welded on the upper vertical plate 471 capturing platform 45 lower surface, and the lower end of upper vertical plate 471 is provided with lower riser by hinge 472, the lower end of lower riser 472 is provided with two and captures hanger 473, is provided with by bearing and adopts between two crawl hangers 473 Receiving rotating shaft 474, the middle part of rotating shaft 474 of gathering is installed with two engaging lugs 475, and the end of two engaging lugs 475 is arranged on Arc captures the back of plate 476, and arc is captured plate 476 and can be rotated in rotating shaft 474 gathering by two engaging lugs 475, arc Capturing and be provided with No. two limit spring 477 between plate 476 upper end and lower riser 472 upper end, arc is grabbed by No. two limit spring 477 Take plate 476 upper end and carry out spacing, arc capture plate 476 lower end be welded with connection support plate 478, connect support plate 478 upper end with under Being provided with No. three limit spring 479 between riser 472 lower end, No. three limit spring 479 capture plate 476 lower end to arc and limit Position, when arc captures and captures vegetable surface needed for plate 476 is close to, arc captures plate 476 can be according to required crawl vegetable phase Angle of inclination for planting site arbitrarily rotates, and arc captures plate 476 by 477, No. three limit spring of No. two limit spring The position-limiting action up and down of 479 can be close to required crawl vegetable surface, adds the crawl effect of vegetable, described lower riser The lower end of 472 is provided with two motor journal stirrups 480, and two motor journal stirrups 480 are provided with vibrating motor 481, by vibration electricity The earth of attachment on vegetable root is vibrated on planting site by machine 481, described lower riser 472 upper end and upper vertical plate 471 inwall it Between crawl governor motion 482 is installed, capture governor motion 482 and regulate arc on lower riser 472 and capture plate 476 and capture Required vegetable；Described crawl governor motion 482 includes No. two ear mount 4821 being welded on upper vertical plate 471 inwall, No. two ear mount Being provided with electric pushrod 4822 by bearing pin between 4821, the top of electric pushrod 4822 is arranged on No. three ear mount by bearing pin Between 4823, No. three ear mount 4823 are welded on the upper surface of lower riser 472, regulate lower riser by electric pushrod 4822 Arc on 472 captures plate 476 and captures required vegetable；Described vegetable rotary-cut side chain 46 includes being symmetrically welded on crawl platform 45 Two rotary-cut poles 461, the lower end inner wall of two rotary-cut poles 461 is welded with rotation support plate 462, rotary-cut support plate 462 Inwall upper end is symmetrically installed with two No. five hydraulic cylinders 463, and the top of two No. five hydraulic cylinders 463 is provided with L-type rotary-cut frame 464, the lower surface of L-type rotary-cut frame 464 is symmetrically arranged with two Z-type slide blocks 465, two Z-type slide blocks 465 respectively with two chutes Being connected by sliding matching mode between 466, the left end of two chutes 466 is all welded on rotation support plate 462 inwall, by two The spacing sliding motion of individual Z-type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 at two No. five hydraulic cylinders 463 Making stable stretching motion under driving, described L-type rotary-cut frame 464 upper end is provided with rotary-cut motor 467, rotary-cut electricity by motor cabinet It is installed with rotary-cut sheet 468 on the output shaft of machine 467, drives rotary-cut sheet 468 rotary-cut by rotary-cut motor 467, by No. five The vegetable root that the rotary-cut sheet 468 high speed rotary-cut that hydraulic cylinder 463 telescopes out captures.During work, when the present invention moves to institute When needing vegetable crawl position, four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive crawl platform 45 to stablize Elevating movement, when capturing No. four hydraulic cylinders 44 when four below platform 45 crawl vibration side chains 47 move to suitable crawl position Quitting work, now four crawl vibration side chains 47 start simultaneously at work, and the electric pushrod 4822 captured on governor motion 482 carries Dynamic lower riser 472 rotates on upper vertical plate 471, and the arc on riser 472 captures plate 476 and touches required crawl vegetable table instantly During face, electric pushrod 4822 quits work, and four four arcs captured on vibration side chain 47 capture plate 476 crawl tightly Vegetable, the vegetable root owing to capturing up on planting site just now is attached to a large amount of earth, and now four capture vibration side chain 47 On four vibrating motors 481 by vegetable root attachment earth be vibrated on planting site, after vegetable root earth shakes Vegetable rotary-cut side chain 46 is started working, and two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, by two Z The spacing sliding motion of type slide block 465 and two chutes 466 makes L-type rotary-cut frame 464 in the driving of two No. five hydraulic cylinders 463 Lower making stable stretching motion, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet 468 high-speed rotary Cut, the vegetable root that the rotary-cut sheet 468 high speed rotary-cut telescoped out by two No. five hydraulic cylinders 463 is captured, thus realize Gathering the vibration of vegetable function, speed of gathering is fast, and harvest efficiency is high.

During use, first pass through cultivation position needed for the present invention is moved vegetable by steady travelling platform 1, first pass through transmission and prop up Driving motor 124 on chain 12 drives driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, driving gear 123 Driving driven shaft 125 under the auxiliary of driven gear 126, driven shaft 125 drives the taper on two walking side chains 13 at two ends Walking bar 135 rotates, in parallel by a limit spring 134 and the 3-RPR being evenly arranged on walking 131 4 sides of jacking block Mechanism's assosting effect makes the taper on two walking side chains 13 walk bar 135 can be on rough planting vegetable in greenhouse ground Upper stabilized walking, damping performance is good, and stability is good, and when eliminating manual operation, astasia reduces the situation of operating rate, Applied widely；When booth vegetable needs to gather, first pass through the present invention and move to required vegetable crawl position from steady travelling platform 1 Putting, rotary cutting apparatus 4 of gathering is started working, and four No. four hydraulic cylinders 44 work simultaneously, and four No. four hydraulic cylinders 44 drive and capture platform 45 make stable elevating movement, when capturing when four below platform 45 crawl vibration side chains 47 move to suitable crawl position No. four Hydraulic cylinder 44 quits work, and now four capture vibration side chains 47 and start simultaneously at work, and capture on governor motion 482 electronic pushes away Bar 4822 drives lower riser 472 to rotate on upper vertical plate 471, and the arc on riser 472 captures needed for plate 476 touches and grabs instantly When taking vegetable surface, electric pushrod 4822 quits work, and four four arcs captured on vibration side chain 47 capture plate 476 tightly Captured vegetable, owing to the vegetable root captured up on planting site just now is attached to a large amount of earth, now four crawls are shaken The earth of attachment on vegetable root is vibrated on planting site by four vibrating motors 481 on dynamic side chain 47, vegetable root earth After shaking, vegetable rotary-cut side chain 46 is started working, and two No. five hydraulic cylinders 463 on vegetable rotary-cut side chain 46 are started working, logical The spacing sliding motion crossing two Z-type slide blocks 465 and two chutes 466 makes L-type rotary-cut frame 464 at two No. five hydraulic cylinders Making stable stretching motion under the driving of 463, meanwhile rotary-cut motor 467 is started working, and rotary-cut motor 467 drives rotary-cut sheet 468 high speed rotary-cuts, the vegetable root that the rotary-cut sheet 468 high speed rotary-cut telescoped out by two No. five hydraulic cylinders 463 is captured, Speed of gathering is fast, and harvest efficiency is high, finally achieves booth vegetable and vibrates energy of gathering automatically, it is not necessary to manual operation, automatization Degree is high, solves needs manually long-term auxiliary operation that existing booth vegetable artificial culture's mode exists, labor intensity is big, plant Plant that stability is poor, work efficiency low, speed of gathering is slow and the low inferior difficult problem of harvest efficiency, has reached purpose.

The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof Define.

Claims (4)

1. a vegetable rotary-cut is gathered robot, it is characterised in that: include from steady travelling platform (1), described from steady travelling platform (1) rotary cutting apparatus of gathering (4) is installed on the right side of upper surface；Described include mounting platform (11) from steady travelling platform (1), described The left and right sides, lower surface of mounting platform (11) is symmetrically installed with two transmission branch chain (12), and before each transmission branch chain (12) Rear both sides are all symmetrically welded with two walkings side chain (13)；Described transmission branch chain (12) includes being symmetrically welded at mounting platform (11) Before and after lower surface, two pieces of fixed boards (121) of both sides, are provided with master by bearing between the upper end of two pieces of fixed boards (121) Moving axis (122), the middle part of driving shaft (122) is provided with driving gear (123) by key, and the front end of driving shaft (122) is by connection Axial organ is provided with driving motor (124), and driving motor (124) is arranged on the lower surface of mounting platform (11) by motor cabinet, and two Being provided with driven shaft (125) by bearing between the lower end of block fixed board (121), the middle part of driven shaft (125) is pacified by key Equipped with driven gear (126), driven gear (126) is meshed with driving gear (123), two ends pair before and after driven shaft (125) Claim to be welded with two walkings side chain (13)；Described walking side chain (13) includes the walking top that side is welded on driven shaft (125) Block (131), walking jacking block (131) is square structure, and four sides of walking jacking block (131) are separately installed with four dampings Supporting mechanism (132), four shock-absorbing support mechanism (132) upper ends are separately installed with four arcs walking block (133), adjacent two All uniformly connect between arc walking block (133) and have a limit spring (134), and the outer wall of each arc walking block (133) On be all evenly arranged with taper walking bar (135)；It is right that described shock-absorbing support mechanism (132) includes being arranged on walking jacking block (131) Answering the fixed platform (136) on side, fixed platform (136) upper surface is the most uniformly provided with three side chains in parallel (137), The top of three side chains in parallel (137) is installed on the lower surface of moving platform (138), and the upper surface of moving platform (138) is uniform Being welded with three bar shapeds and prop up block (139), it is the cambered surface corresponding with arc walking block (133) that the upper surface of block (139) is propped up in bar shaped Structure, the upper surface that block (139) is propped up in three bar shapeds is welded on the inwall of corresponding arc walking block (133)；

Described rotary cutting apparatus of gathering (4) includes the base plate of gathering (41) being welded on mounting platform (11) upper surface, base plate of gathering (41) being welded with pole of gathering (42) in the middle part of upper surface, the end of pole of gathering (42) is welded with a platform (43) of gathering, and gathers and props up The lower surface of platform (43) is symmetrically installed with four No. four hydraulic cylinders (44), and the top of four No. four hydraulic cylinders (44) is provided with crawl Platform (45), captures and is provided with vegetable rotary-cut side chain (46) on the left of the upper surface of platform (45), capture the lower surface balanced welding of platform (45) It is connected to four and captures vibration side chain (47)；Described crawl vibration side chain (47) includes being welded on the upper vertical of crawl platform (45) lower surface Plate (471), the lower end of upper vertical plate (471) is provided with lower riser (472) by hinge, and the lower end of lower riser (472) is provided with two Individual crawl hanger (473), is provided with rotating shaft of gathering (474), rotating shaft of gathering by bearing between two crawls hanger (473) (474) middle part is installed with two engaging lugs (475), and the end of two engaging lugs (475) is arranged on arc and captures plate (476) back, arc captures and is provided with No. two limit spring (477) between plate (476) upper end and lower riser (472) upper end, Arc captures the lower end of plate (476) and is welded with connection support plate (478), connect support plate (478) upper end and lower riser (472) lower end it Between No. three limit spring (479) are installed, the lower end of described lower riser (472) is provided with two motor journal stirrups (480), two electricity Vibrating motor (481) is installed on machine journal stirrup (480), installs between described lower riser (472) upper end and upper vertical plate (471) inwall There is crawl governor motion (482)；Described vegetable rotary-cut side chain (46) includes being symmetrically welded at two rotary-cuts captured on platform (45) Pole (461), the lower end inner wall of two rotary-cut poles (461) is welded with rotation support plate (462), rotary-cut support plate (462) interior Wall upper end is symmetrically installed with two No. five hydraulic cylinders (463), and the top of two No. five hydraulic cylinders (463) is provided with L-type rotary-cut frame (464), the lower surface of L-type rotary-cut frame (464) is symmetrically arranged with two Z-type slide blocks (465), two Z-type slide blocks (465) respectively with Being connected by sliding matching mode between two chutes (466), the left end of two chutes (466) is all welded on rotation support plate (462), on inwall, described L-type rotary-cut frame (464) upper end is provided with rotary-cut motor (467), rotary-cut motor (467) by motor cabinet Output shaft on be installed with rotary-cut sheet (468).

A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described driving gear (123) It is 2:1 with the gear ratio of driven gear (126).

A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described side chain (137) in parallel Including being welded on the matrix bearing (1371) of fixed platform (136) upper surface, it is provided with down between the middle part of matrix bearing (1371) Limit shaft (1372), the upper end inwall of matrix bearing (1371) is symmetrically arranged with two arc-shaped limit grooves (1371a)；Under described On limit shaft, (1372) are arranged with a hydraulic cylinder (1373), the both sides, bottom of a hydraulic cylinder (1373) be provided with two spacing Bar (1374), by sliding matching mode phase between end and two arc-shaped limit grooves (1371a) of two gag lever posts (1374) Even；The top of a described hydraulic cylinder (1373) is provided with spherical connector (1375), spherical connector (1375) by screw thread Two ends be symmetrically arranged with two upper limit axles (1376), two upper limit axles (1376) respectively with the two of an ear mount (1377) All it is connected by bearing between end, the lower surface inwall of an ear mount (1377) is welded with locating dowel (1378), locating dowel (1378) end is the matrix spherical structure corresponding with spherical connector (1375), and the end of locating dowel (1378) is with spherical Being connected by sliding matching mode between union joint (1375), the upper surface of an ear mount (1377) is welded on moving platform (138) On.

A kind of vegetable rotary-cut the most according to claim 1 is gathered robot, it is characterised in that: described crawl governor motion (482) include No. two ear mount (4821) being welded on upper vertical plate (471) inwall, pacified by bearing pin between No. two ear mount (4821) Equipped with electric pushrod (4822), the top of electric pushrod (4822) is arranged between No. three ear mount (4823) by bearing pin, No. three Ear mount (4823) is welded on the upper surface of lower riser (472).