CN106182022B - A kind of vegetables rotary-cut harvesting robot - Google Patents

A kind of vegetables rotary-cut harvesting robot Download PDF

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Publication number
CN106182022B
CN106182022B CN201610522431.3A CN201610522431A CN106182022B CN 106182022 B CN106182022 B CN 106182022B CN 201610522431 A CN201610522431 A CN 201610522431A CN 106182022 B CN106182022 B CN 106182022B
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China
Prior art keywords
rotary
platform
walking
crawl
cut
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CN201610522431.3A
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CN106182022A (en
Inventor
徐子桐
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Mengcheng County Jing Huizhou agricultural science and Technology Development Co., Ltd.
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Mengcheng County Jing Huizhou Agricultural Science And Technology Development Co Ltd
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Priority to CN201610522431.3A priority Critical patent/CN106182022B/en
Publication of CN106182022A publication Critical patent/CN106182022A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D45/00Harvesting of standing crops
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091Shock absorbers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics

Abstract

The present invention relates to a kind of vegetables rotary-cuts to harvest robot, including from steady travelling platform, there is good damping performance and stability from steady travelling platform, it can be so that the present invention works suitable for rough planting vegetable in greenhouse, it is described that harvesting rotary cutting apparatus is installed from the right side of the upper surface of steady travelling platform, the vibration harvesting function to vegetables may be implemented in harvesting rotary cutting apparatus, and harvesting speed is fast, and harvest efficiency is high;It is described from steady travelling platform include mounting platform, it each side installs there are one transmission branch chain the lower face of the mounting platform, and two transmission branch chains are arranged symmetrically, respectively there are one branches of walking for welding for the front and rear sides of each transmission branch chain, and two walking unbranched symmetric arrangements, drive walking branch in planting vegetable in greenhouse ground automatically walk by transmission branch chain, without human intervention, work efficiency is high for cultivating process.The vibration harvesting function of booth vegetable, without human intervention, high degree of automation may be implemented in the present invention.

Description

A kind of vegetables rotary-cut harvesting robot
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of vegetables rotary-cut harvests robot.
Background technology
In we live, booth vegetable is seen everywhere, and the Time To Market of vegetables, greenhouse vegetable can be artificially controlled by greenhouse Dish can meet the fast supply demand of Various Seasonal vegetables, therefore the yield of booth vegetable is very huge.Existing booth vegetable kind Plant substantially based on artificial culture, the concrete technology that greenhouse is cultivated has plantation, loosens the soil, applies fertilizer, watering, harvesting, it is existing this Kind booth vegetable artificial culture mode has the following defects:1, artificial long-term auxiliary operation is needed, labor intensity is big, working efficiency Lowly;2, since planting vegetable in greenhouse ground surface affirmative is uneven, operator is by mechanical cultivation tool on planting site Walk up and down operation stability it is poor, astasia is it is easy to appear the situation fallen down, the work that causes booth vegetable to be cultivated Efficiency is greatly lowered;3, it after vegetable ripeness, needs manually to harvest vegetables, it is typically first artificial to capture vegetables, then shake off Soil on vegetables root, then cuts off root with cutter, is all manually-operated in whole process, and harvesting speed is slow, harvesting Inefficiency.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of vegetables rotary-cuts to harvest robot, can solve existing greenhouse Need that artificial long-term auxiliary operation, labor intensity are big, plantation stability is poor, working efficiency existing for vegetables artificial culture mode The problems such as lowly, harvesting speed is slow and harvest efficiency is low, may be implemented the vibration harvesting function of booth vegetable, without artificial behaviour Make, high degree of automation, and has many advantages, such as that plantation stability is good, work efficiency is high, harvesting speed is fast and harvest efficiency is high.
To achieve the goals above, the present invention is realized using following technical scheme:A kind of vegetables rotary-cut harvesting robot, It, can be so that the present invention be suitable for including from steady travelling platform, there is good damping performance and stability from steady travelling platform Work to rough planting vegetable in greenhouse, it is described that harvesting rotary cutting apparatus is installed from the right side of the upper surface of steady travelling platform, The vibration harvesting function to vegetables may be implemented in harvesting rotary cutting apparatus, and harvesting speed is fast, and harvest efficiency is high.
Described from steady travelling platform includes mounting platform, there are one the lower face of the mounting platform is each side installed Transmission branch chain, and two transmission branch chains are arranged symmetrically, respectively there are one branches of walking for welding for the front and rear sides of each transmission branch chain, and Two walking unbranched symmetric arrangements, drive walking branch in planting vegetable in greenhouse ground automatically walk, cultivate by transmission branch chain Without human intervention, work efficiency is high for process;The transmission branch chain includes being symmetrically welded at mounting platform lower face front and rear sides Two pieces of fixed boards, driving shaft is equipped with by bearing between the upper end of two pieces of fixed boards, passes through key in the middle part of driving shaft Driving gear is installed, the front end of driving shaft is equipped with driving motor by shaft coupling, and driving motor is mounted on by motor cabinet The lower face of mounting platform is equipped with driven shaft by bearing between the lower end of two pieces of fixed boards, passes through in the middle part of driven shaft Key is equipped with driven gear, and driven gear is meshed with driving gear, and respectively there are one walking branch for welding for the rear and front end of driven shaft Chain, and two walking unbranched symmetric arrangements, drive driving shaft rotation, driving shaft to drive driving gear rotation by driving motor, Driving gear drives driven shaft, driven shaft to drive two walking branches at both ends in booth vegetable kind under the auxiliary of driven gear Plant ground automatically walk;The walking branch includes the walking jacking block that side is welded on driven shaft, and walking jacking block is square Structure, respectively there are one shock-absorbing support mechanisms for installation on four sides of jacking block of walking, and each shock-absorbing support mechanism upper end is respectively mounted There are one arc walking block, No.1 limit spring, and each arc row are all uniformly connected between two neighboring arc walking block Walk all to be evenly arranged with taper walking item on the outer wall of block, taper walks item for pyramidal structure, by the present invention to booth vegetable kind The walking pressure for planting ground concentrates on taper walking item, improves walking stability energy of the present invention when booth vegetable is cultivated, No.1 limit spring plays the role of limit and damping, and shock-absorbing support mechanism has good damping performance and stability, makes The taper walking item of the invention on the booster action arc lower of No.1 limit spring and shock-absorbing support mechanism walking block can be with Stabilization is walked in rough planting vegetable in greenhouse, applied widely;The transmission ratio of the driving gear and driven gear It is 2:1, the velocity of rotation of driven gear is reduced by low transmission ratio, to reduce walking branch in planting vegetable in greenhouse The speed of travel of ground further increases walking stability energy;The shock-absorbing support mechanism includes being mounted on walking jacking block pair The fixed platform on side is answered, uniformly there are three branch in parallel, three branches in parallel for installation along its circumferential direction for fixed platform upper surface Top be installed on the lower face of moving platform, there are three bar shaped bearing piece, bar shaped bearing pieces for the upper surface uniform welding of moving platform Upper surface be to walk the corresponding globoidal structure of block with arc, the upper surface of three bar shaped bearing pieces is welded on corresponding arc walking On the inner wall of block so that three bar shaped bearing pieces can give the corresponding arc walking strong support force of block;The parallel connection branch packet Include the concave bearing for being welded on fixed platform upper surface, lower limit axis be installed between the middle part of concave bearing, concave bearing it is upper Hold arc limit slot there are two being symmetrical arranged on inner wall;No.1 hydraulic cylinder is arranged on the lower limit axis, No.1 hydraulic cylinder There are two gag lever posts for the setting of bottom end both sides, pass through sliding matching mode between the end and two arc limit slots of two gag lever posts It is connected, the slewing area for limiting No.1 hydraulic cylinder bottom end is played in the movement between two gag lever posts and two arc limit slots, The situation for preventing No.1 hydraulic cylinder bottom end to move left and right, since the present invention is often in rough planting vegetable in greenhouse ground Walking, and by two gag lever posts and two arc limit slots can enhance No.1 hydraulic cylinder bottom end lower limit shaft rotation move when Stability improves working performance;The top of the No.1 hydraulic cylinder is equipped with spherical connector, spherical connector by screw thread Both ends be symmetrically arranged with two upper limit axis, two upper limit axis pass through bearing phase between the both ends of No.1 ear mount respectively Even, positioning column is welded on the lower face inner wall of No.1 ear mount, the end of positioning column is concave corresponding with spherical connector Spherical structure is connected between the end and spherical connector of positioning column by sliding matching mode, the upper surface weldering of No.1 ear mount It is connected on moving platform, the movement of spherical connector is limited and supported by positioning column, so that two on spherical connector Root upper limit axis can be stablized to be rotated in No.1 ear mount, is enhanced the stability when rotation of No.1 hydraulic cylinder top, is improved Working performance, the R that is formed by No.1 hydraulic cylinder when concave bearing rotates is secondary, No.1 hydraulic cylinder works when the P that is formed it is secondary, one The R pairs that number hydraulic cylinder is formed when No.1 ear mount rotates constitute the branch in parallel of RPR types, and the present invention passes through fixed platform, three The branch and moving platform in parallel of a RPR types form 3-RPR parallel institutions, 3-RPR parallel institutions good, rigidity with dynamic response The advantages that height, large carrying capacity, stability are good and kinematic accuracy is high makes the present invention exist by the advantages of 3-RPR parallel institutions There is good damping performance and stability, astasia drops when eliminating manual operation when planting vegetable in greenhouse is walked on the ground The situation of low operating rate, the scope of application are big.When work, active shaft rotation is driven by the driving motor in transmission branch chain first Dynamic, driving shaft drives driving gear rotation, driving gear that driven shaft, driven shaft is driven to drive both ends under the auxiliary of driven gear Two walking branches on tapers walking items rotation, by No.1 limit spring and be evenly arranged in walking jacking block four sides On 3-RPR parallel institution booster actions allow two walking branches on tapers walk items in rough greenhouse vegetable Colza plants ground stabilized walking, and damping performance is good, and stability is good, and astasia reduces operating rate when eliminating manual operation Situation, it is applied widely.
The harvesting rotary cutting apparatus includes the harvesting bottom plate for being welded on mounting platform upper surface, in the middle part of harvesting bottom plate upper surface It is welded with harvesting strut, the end for harvesting strut is welded with harvesting platform, and the lower face for harvesting platform is symmetrically installed there are four four Number hydraulic cylinder, the top of four No. four hydraulic cylinders are equipped with crawl platform, drive crawl platforms work to stablize by four No. four hydraulic cylinders Oscilaltion campaign, capture and vegetables rotary-cut branch be installed on the left of the upper surface of platform, the lower face for capturing platform is symmetrically welded with Four crawl vibration branches, by four crawl vibrate branches automatically crawl needed for harvest vegetables and will be attached on vegetables root The soil is vibrated on planting site, soil vibration finish after by vegetables rotary-cut branch automatic rotary cutting vegetables root, rotary-cut Vegetables after finishing can be collected;The crawl vibration branch includes the upper vertical plate for being welded on crawl platform lower face, on The lower end of riser is equipped with lower riser by hinge, the lower end setting of lower riser there are two capturing lifting lug, two crawl lifting lugs it Between harvesting shaft is equipped with by bearing, the middle part for harvesting shaft is fixedly mounted that there are two engaging lug, the ends of two engaging lugs The back of plate is captured mounted on arc, arc captures plate and can be rotated in harvesting shaft by two engaging lugs, and arc captures plate No. two limit springs are installed, No. two limit springs limit arc crawl plate upper end between upper surface and lower riser upper surface The lower end of position, arc crawl plate is welded with connection support plate, connects and is equipped with No. three between support plate upper surface and lower riser lower face Limit spring, No. three limit springs limit arc crawl plate lower end, when arc crawl plate is tightly attached to required crawl vegetables When surface, arc crawl plate can arbitrarily be rotated according to required crawl vegetables relative to the angle of inclination of planting site, and arc captures Plate can be tightly attached to required crawl vegetable surface by the position-limiting action up and down of No. two limit springs, No. three limit springs, increase The crawl effect of vegetables, the lower face setting of the lower riser are equipped on two motor journal stirrups and are shaken there are two motor journal stirrup The soil adhered on vegetables root, is vibrated on planting site by dynamic motor by vibrating motor, the lower riser upper surface with it is upper Crawl regulating mechanism is installed, crawl regulating mechanism captures plate to capture to adjust the arc on lower riser between riser inner wall Need vegetables;The crawl regulating mechanism includes No. two ear mounts being welded on upper vertical plate inner wall, passes through axis pin between No. two ear mounts Electric pushrod is installed, by axis pin between No. three ear mounts, No. three ear mounts are welded on lower riser on the top of electric pushrod Upper surface on, the crawl plate of the arc on lower riser is adjusted by electric pushrod and captures required vegetables;The vegetables rotary-cut Branch includes two rotary-cut struts being symmetrically welded on crawl platform, and rotation branch is welded on the lower end inner wall of two rotary-cut struts The inner wall upper end of plate, rotary-cut support plate is symmetrically installed there are two No. five hydraulic cylinders, and the top of two No. five hydraulic cylinders is equipped with L-type rotation The lower face of cutting frame, L-type rotary-cut frame is symmetrical arranged there are two Z-type sliding block, and two Z-type sliding blocks pass through between two sliding slots respectively Sliding matching mode is connected, and the left end of two sliding slots is welded on rotation support plate inner wall, passes through two Z-type sliding blocks and two cunnings The limit sliding motion of slot makes L-type rotary-cut frame make stable stretching motion, the L-type under the driving of two No. five hydraulic cylinders Rotary-cut frame upper end is equipped with rotary-cut motor by motor cabinet, and rotary-cut piece is installed on the output shaft of rotary-cut motor, passes through rotation It cuts motor and drives rotary-cut piece rotary-cut, the vegetables root that the rotary-cut piece come out by No. five hydraulic cylinder extensions captures come high speed rotary-cut. When work, when the present invention is moved to required vegetables crawl position, four No. four hydraulic cylinders work at the same time, four No. four hydraulic cylinders Crawl platform is driven to make stable elevating movement, when four crawl vibration branches below crawl platform move to suitable crawl position No. four hydraulic cylinders are stopped, and four crawl vibration branches start simultaneously at work at this time, capture the electric pushrod on regulating mechanism Lower riser is driven to be rotated on upper vertical plate, it is electronic when the arc crawl plate on riser touches required crawl vegetable surface instantly to push away Bar is stopped, four arcs crawl plates on four crawl vibration branches tightly captured vegetables, due to planting site just now The upper vegetables root come up that captures is attached to a large amount of soil, and four crawls at this time vibrate four vibrating motors on branches by vegetables The soil adhered on root is vibrated on planting site, vegetables root soil shakes fall after vegetables rotary-cut branch start to work, vegetables Two No. five hydraulic cylinders on rotary-cut branch are started to work, and are made by the limit sliding motion of two Z-type sliding blocks and two sliding slots It obtains L-type rotary-cut frame and makees stable stretching motion under the driving of two No. five hydraulic cylinders, at the same time rotary-cut motor is started to work, Rotary-cut motor drives rotary-cut piece high speed rotary-cut, what the rotary-cut piece come out by two No. five hydraulic cylinder extensions captured come high speed rotary-cut Vegetables root, to realize the vibration harvesting function to vegetables, harvesting speed is fast, and harvest efficiency is high.
In use, first passing through transmission branch by the way that from steady travelling platform position will be cultivated needed for the mobile vegetables of the present invention first Driving motor on chain drives driving shaft rotation, driving shaft to drive driving gear rotation, auxiliary of the driving gear in driven gear Lower drive driven shaft, driven shaft drives the taper walking item rotation on two walking branches at both ends, by No.1 limit spring Make the taper on two walking branches with the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block Walking item can be in rough planting vegetable in greenhouse ground stabilized walking, and damping performance is good, and stability is good, eliminates people Astasia reduces the situation of operating rate when work operates, applied widely;When booth vegetable needs harvesting, this hair is first passed through Bright to be moved to required vegetables crawl position from steady travelling platform, harvesting rotary cutting apparatus is started to work, and four No. four hydraulic cylinders are simultaneously Work, four No. four hydraulic cylinders drive crawl platform to make stable elevating movement, four crawl vibration branches below crawl platform No. four hydraulic cylinders are stopped when moving to suitable crawl position, and four crawl vibration branches start simultaneously at work at this time, capture Electric pushrod on regulating mechanism drives lower riser to be rotated on upper vertical plate, and the arc crawl plate on riser touches required instantly Electric pushrod is stopped when capturing vegetable surface, the crawl of four arcs crawl plate on four crawl vibration branches tightly Vegetables, since the vegetables root captured up on planting site just now is attached to a large amount of soil, at this time on four crawl vibration branches Four vibrating motors the soil adhered on vegetables root is vibrated on planting site, vegetables root soil shakes fall after vegetables revolve Branch start-up operation is cut, two No. five hydraulic cylinders on vegetables rotary-cut branch are started to work, and two Z-type sliding blocks and two cunnings are passed through The limit sliding motion of slot makes L-type rotary-cut frame make stable stretching motion under the driving of two No. five hydraulic cylinders, same with this When rotary-cut motor start to work, rotary-cut motor drive rotary-cut piece high speed rotary-cut, pass through two No. five hydraulic cylinder extensions come out rotation Slice comes the vegetables root of high speed rotary-cut crawl, and harvesting speed is fast, and harvest efficiency is high, and the vibration for finally realizing booth vegetable is adopted Receive function, without human intervention, high degree of automation.
The beneficial effects of the invention are as follows:
1, the present invention drives four walking branch automatic works of both sides by two transmission branch chains, entire cultivating process without Manual operation is needed, and the present invention forms 3-RPR parallel institutions by the branch and moving platform in parallel of fixed platform, three RPR types, 3-RPR parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, walking Branch makes by No.1 limit spring and the 3-RPR parallel institution booster actions being evenly arranged on four sides of walking jacking block Taper walking item on two walking branches can be in rough planting vegetable in greenhouse ground stabilized walking, damping performance Good, stability is good, and astasia reduces the situation of operating rate when eliminating manual operation, applied widely;
2, the present invention drives lower riser to be rotated on upper vertical plate by the electric pushrod captured on regulating mechanism, four at this time Four arcs crawl plate of four lower risers tightly captures vegetables on crawl vibration branch, and the vegetables after crawl pass through four The soil adhered on vegetables root is vibrated on planting site by vibrating motor, and the soil vegetables fallen after finishing that shake are revolved by vegetables The vegetables root that the rotary-cut piece on branch carrys out high speed rotary-cut crawl is cut, the vibration harvesting function to vegetables is realized, harvests speed Soon, harvest efficiency is high;
3, the present invention, which solves, needs artificial long-term auxiliary operation, labour existing for existing booth vegetable artificial culture mode The problems such as intensity is big, plantation stability is poor, working efficiency is low, harvesting speed is slow and harvest efficiency is low, realize greenhouse The vibrations of vegetables harvests function, without human intervention, high degree of automation, and it is good with plantation stability, work efficiency is high, Harvest the advantages that speed is fast and harvest efficiency is high.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention;
Fig. 2 is first structure schematic diagram of the present invention from steady travelling platform;
Fig. 3 is second structural schematic diagram of the present invention from steady travelling platform;
Fig. 4 is the structural schematic diagram of shock-absorbing support mechanism of the present invention;
Fig. 5 is the structural schematic diagram of branch in parallel of the invention;
Fig. 6 is the sectional view of branch in parallel of the invention;
Fig. 7 is the structural schematic diagram of present invention harvesting rotary cutting apparatus;
Fig. 8 is the structural schematic diagram of present invention crawl vibration branch;
Fig. 9 is the full sectional view of present invention crawl vibration branch;
Figure 10 is the structural schematic diagram of vegetables rotary-cut branch of the present invention;
Figure 11 is the full sectional view of vegetables rotary-cut branch of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to 11, a kind of vegetables rotary-cut harvests robot, including from steady travelling platform 1, from steady travelling platform 1 has good damping performance and stability, can the present invention be worked suitable for rough planting vegetable in greenhouse, Described that harvesting rotary cutting apparatus 4 is equipped with from the right side of the upper surface of steady travelling platform 1, harvesting rotary cutting apparatus 4 may be implemented to vegetables Vibration harvest function, harvesting speed is fast, and harvest efficiency is high.
Described to include mounting platform 11 from steady travelling platform 1, the lower face of the mounting platform 11 is each side installed There are one transmission branch chains 12, and two transmission branch chains 12 are arranged symmetrically, and the front and rear sides of each transmission branch chain 12 are respectively welded with one A walking branch 13, and two walking branches 13 are arranged symmetrically, and drive walking branch 13 in booth vegetable by transmission branch chain 12 Automatically walk on planting site, without human intervention, work efficiency is high for cultivating process;The transmission branch chain 12 includes being symmetrically welded at Two pieces of fixed boards 121 of 11 lower face front and rear sides of mounting platform are pacified by bearing between the upper end of two pieces of fixed boards 121 Equipped with driving shaft 122, the middle part of driving shaft 122 is equipped with driving gear 123 by key, and the front end of driving shaft 122 passes through shaft coupling Device is equipped with driving motor 124, and driving motor 124 is mounted on the lower face of mounting platform 11 by motor cabinet, and two pieces of fixations are vertical Driven shaft 125 is equipped with by bearing between the lower end of plate 121, the middle part of driven shaft 125 is equipped with driven gear by key 126, driven gear 126 is meshed with driving gear 123, and the rear and front end of driven shaft 125 is respectively welded there are one branch 13 of walking, And two walking branches 13 are arranged symmetrically, and drive driving shaft 122 to rotate by driving motor 124, driving shaft 122 drives driving tooth 123 rotation of wheel, driving gear 123 drive driven shaft 125, driven shaft 125 to drive the two of both ends under the auxiliary of driven gear 126 A walking branch 13 is in planting vegetable in greenhouse ground automatically walk;The walking branch 13 is welded on driven shaft 125 including side On walking jacking block 131, walking jacking block 131 is square structure, and respectively there are one subtract for installation on four sides of jacking block 131 of walking Shake supporting mechanism 132, each 132 upper end of shock-absorbing support mechanism be respectively mounted there are one arc walk block 133, two neighboring arc row It walks and is all uniformly connected with No.1 limit spring 134 between block 133, and be uniformly arranged on the outer wall of each arc walking block 133 There are taper walking item 135, taper to walk item 135 for pyramidal structure, by the present invention to the walking pressure collection on planting vegetable in greenhouse ground In on taper walking item 135, improve walking stability energy of the present invention when booth vegetable is cultivated, No.1 limit spring 134 play the role of limit and damping, and shock-absorbing support mechanism 132 has good damping performance and stability so that this hair The bright taper walking item on the booster action arc lower of No.1 limit spring 134 and shock-absorbing support mechanism 132 walking block 133 135 can stablize and walk in rough planting vegetable in greenhouse, applied widely;The driving gear 123 and driven tooth The transmission ratio of wheel 126 is 2:1, the velocity of rotation of driven gear 126 is reduced by low transmission ratio, to reduce walking branch Chain 13 further increases walking stability energy in the speed of travel of planting vegetable in greenhouse ground;The shock-absorbing support mechanism 132 Include the fixed platform 136 in walking 131 corresponding side surface of jacking block, 136 upper surface of fixed platform is uniformly pacified along its circumferential direction There are three branch 137 in parallel, the tops of three branches 137 in parallel to be installed on the lower face of moving platform 138 for dress, moving platform 138 upper surface uniform welding is to walk block 133 relatively with arc there are three bar shaped bearing piece 139, the upper surface of bar shaped bearing piece 139 The upper surface of the globoidal structure answered, three bar shaped bearing pieces 139 is welded on the inner wall of corresponding arc walking block 133 so that three Bar shaped bearing piece 139 can give corresponding arc walking 133 strong support force of block;The parallel connection branch 137 includes being welded on to determine The concave bearing 1371 of 136 upper surface of platform is equipped with lower limit axis 1372, concave bearing between the middle part of concave bearing 1371 Arc limit slot 1371a there are two being symmetrical arranged on 1371 upper end inner wall;1372 are arranged with No.1 liquid on the lower limit axis Cylinder pressure 1373, the bottom end both sides setting of No.1 hydraulic cylinder 1373 there are two gag lever post 1374, the end of two gag lever posts 1374 with It is connected by sliding matching mode between two arc limit slot 1371a, two gag lever posts 1374 and two arc limit slots The slewing area for limiting 1373 bottom end of No.1 hydraulic cylinder is played in movement between 1371a, also prevents 1373 bottom of No.1 hydraulic cylinder The situation moved left and right is held, since the present invention often walks in rough planting vegetable in greenhouse on the ground, and is limited by two Position bar 1374 and two arc limit slot 1371a can enhance 1373 bottom end of No.1 hydraulic cylinder when lower limit axis 1372 rotates Stability improves working performance;The top of the No.1 hydraulic cylinder 1373 is equipped with spherical connector 1375, ball by screw thread The both ends of shape connector 1375 are symmetrically arranged with two upper limit axis 1376, two upper limit axis 1376 respectively with No.1 ear mount It is connected by bearing between 1377 both ends, positioning column 1378 is welded on the lower face inner wall of No.1 ear mount 1377, is positioned The end of column 1378 is concave spherical structure corresponding with spherical connector 1375, and the end of positioning column 1378 is connect with spherical shape It is connected by sliding matching mode between first 1375, the upper surface of No.1 ear mount 1377 is welded on moving platform 138, passes through positioning Column 1378 limits and supports the movement of spherical connector 1375, so that two on spherical connector 1375 piece upper limit axis 1376 can stablize and be rotated in No.1 ear mount 1377, enhance the stability when rotation of 1373 top of No.1 hydraulic cylinder, improve Working performance, the R that is formed by No.1 hydraulic cylinder 1373 when concave bearing 1371 rotates is secondary, No.1 hydraulic cylinder 1373 works When the P that is formed is secondary, No.1 hydraulic cylinder 1373 is formed when No.1 ear mount 1377 rotates R pairs constitute the branches in parallel of RPR types 137, and the present invention forms 3-RPR parallel machines by the branch in parallel 137 and moving platform 138 of 136, three RPR types of fixed platform Structure, 3-RPR parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, By the advantages of 3-RPR parallel institutions make the present invention planting vegetable in greenhouse on the ground walk when have good damping performance and Stability, astasia reduces the situation of operating rate when eliminating manual operation, and the scope of application is big.It is logical first when work The driving motor 124 crossed in transmission branch chain 12 drives driving shaft 122 to rotate, and driving shaft 122 drives driving gear 123 to rotate, main Moving gear 123 drives driven shaft 125, driven shaft 125 to drive two walking branches 13 at both ends under the auxiliary of driven gear 126 On taper walking item 135 rotate, by No.1 limit spring 134 and be evenly arranged on walking jacking block 131 4 sides 3-RPR parallel institution booster actions allow the taper on two walking branches 13 to walk item 135 in rough greenhouse Vegetable cultivation ground stabilized walking, damping performance is good, and stability is good, and astasia reduces work speed when eliminating manual operation The situation of degree, it is applied widely.
The harvesting rotary cutting apparatus 4 includes the harvesting bottom plate 41 for being welded on 11 upper surface of mounting platform, is harvested on bottom plate 41 Harvesting strut 42 is welded in the middle part of end face, the end of harvesting strut 42 is welded with harvesting platform 43, harvests the lower face of platform 43 It is symmetrically installed there are four No. four hydraulic cylinders 44, the top of four No. four hydraulic cylinders 44 is equipped with crawl platform 45, passes through four No. four Hydraulic cylinder 44 drives crawl platform 45 to make stable oscilaltion campaign, captures and is equipped with vegetables rotary-cut branch on the left of the upper surface of platform 45 The lower face of chain 46, crawl platform 45 is symmetrically welded there are four crawl vibration branch 47, and it is automatic to vibrate branch 47 by four crawls It captures the required vegetables harvested and the soil adhered on vegetables root is vibrated on planting site, soil vibration is led to after finishing 46 automatic rotary cutting vegetables root of vegetables rotary-cut branch is crossed, the vegetables after rotary-cut finishes can be collected;The crawl vibration Branch 47 includes the upper vertical plate 471 for being welded on 45 lower face of crawl platform, and the lower end of upper vertical plate 471 is equipped with lower riser by hinge 472, the lower end setting of lower riser 472 is equipped with by bearing between two crawl lifting lugs 473 and is adopted there are two lifting lug 473 is captured Shaft 474 is received, there are two engaging lugs 475 for the middle part fixed installation of harvesting shaft 474, and the end of two engaging lugs 475 is mounted on Arc captures the back of plate 476, and arc captures plate 476 and can be rotated in harvesting shaft 474 by two engaging lugs 475, arc No. two limit springs 477 are installed between crawl 476 upper surface of plate and lower 472 upper surface of riser, No. two limit springs 477 are to arc 476 upper end of shape crawl plate is limited, and the lower end of arc crawl plate 476 is welded with connection support plate 478,478 upper end of connection support plate No. three limit springs 479 are installed, No. three limit springs 479 capture under plate 476 arc between face and lower 472 lower face of riser End is limited, and when arc crawl plate 476 is tightly attached to required crawl vegetable surface, arc crawl plate 476 can be grabbed according to required Vegetables are taken arbitrarily to be rotated relative to the angle of inclination of planting site, and arc captures plate 476 by No. two limit springs 477, three The position-limiting action up and down of limit spring 479 captures vegetable surface needed for being tightly attached to, and increases the crawl effect of vegetables, described The lower face setting of lower riser 472 is equipped with vibrating motor 481 on two motor journal stirrups 480, leads to there are two motor journal stirrup 480 It crosses vibrating motor 481 soil adhered on vegetables root is vibrated on planting site, 472 upper surface of lower riser and upper vertical plate Crawl regulating mechanism 482 is installed, crawl regulating mechanism 482 captures plate to adjust the arc on lower riser 472 between 471 inner walls 476 capture required vegetables;The crawl regulating mechanism 482 includes No. two ear mounts 4821 being welded on 471 inner wall of upper vertical plate, Electric pushrod 4822 is equipped with by axis pin between No. two ear mounts 4821, the top of electric pushrod 4822 is mounted on three by axis pin Between number ear mount 4823, No. three ear mounts 4823 are welded on the upper surface of lower riser 472, are adjusted down by electric pushrod 4822 Arc on riser 472 captures plate 476 to capture required vegetables;The vegetables rotary-cut branch 46 includes being symmetrically welded at crawl platform Two rotary-cut struts 461 on 45 are welded with rotation support plate 462, rotary-cut support plate on the lower end inner wall of two rotary-cut struts 461 462 inner wall upper end is symmetrically installed there are two No. five hydraulic cylinders 463, and the top of two No. five hydraulic cylinders 463 is equipped with L-type rotary-cut Frame 464, the lower face of L-type rotary-cut frame 464 are symmetrical arranged there are two Z-type sliding block 465, two Z-type sliding blocks 465 respectively with two cunnings It is connected by sliding matching mode between slot 466, the left end of two sliding slots 466 is welded on rotation 462 inner wall of support plate, is passed through The limit sliding motion of two Z-type sliding blocks 465 and two sliding slots 466 makes L-type rotary-cut frame 464 in two No. five hydraulic cylinders 463 Driving under make stable stretching motion, 464 upper end of L-type rotary-cut frame is equipped with rotary-cut motor 467, rotary-cut by motor cabinet It is installed with rotary-cut piece 468 on the output shaft of motor 467,468 rotary-cut of rotary-cut piece is driven by rotary-cut motor 467, passes through five The vegetables root for 468 high speed rotary-cut of the rotary-cut piece crawl that number hydraulic cylinder 463 telescopes out.When work, when the present invention is moved to When required vegetables crawl position, four No. four hydraulic cylinders 44 work at the same time, and four No. four hydraulic cylinders 44 drive crawl platform 45 to make surely Fixed elevating movement, No. four hydraulic cylinders when four crawl vibration branches 47 for capturing 45 lower section of platform move to suitable crawl position 44 are stopped, and four crawl vibration branches 47 start simultaneously at work at this time, capture the electric pushrod 4822 on regulating mechanism 482 Lower riser 472 is driven to be rotated on upper vertical plate 471, the arc crawl plate 476 on riser 472 touches required crawl vegetables instantly Electric pushrod 4822 is stopped when surface, the crawl of four arcs crawl plate 476 on four crawl vibration branches 47 tightly Vegetables, since the vegetables root captured up on planting site just now is attached to a large amount of soil, four crawl vibration branches at this time The soil adhered on vegetables root is vibrated on planting site by four vibrating motors 481 on 47, and vegetables root soil, which shakes, falls it Vegetables rotary-cut branch 46 is started to work afterwards, and two No. five hydraulic cylinders 463 on vegetables rotary-cut branch 46 are started to work, and pass through two The limit sliding motion of Z-type sliding block 465 and two sliding slots 466 makes L-type rotary-cut frame 464 in the drive of two No. five hydraulic cylinders 463 The dynamic lower stretching motion for making stabilization, the at the same time start-up operation of rotary-cut motor 467, rotary-cut motor 467 drive 468 high speed of rotary-cut piece Rotary-cut, the vegetables root captured come high speed rotary-cut by the rotary-cut piece 468 that two No. five hydraulic cylinders 463 telescope out, to real The vibration harvesting function to vegetables is showed, harvesting speed is fast, and harvest efficiency is high.
In use, first passing through transmission branch by the way that from steady travelling platform 1 position will be cultivated needed for the mobile vegetables of the present invention first 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 Driven shaft 125, driven shaft 125 is driven to drive the taper on two walking branches 13 at both ends under the auxiliary of driven gear 126 Item 135 of walking rotates, in parallel by No.1 limit spring 134 and the 3-RPR being evenly arranged on 131 4 sides of walking jacking block Mechanism booster action allows the taper on two walking branches 13 to walk item 135 in rough planting vegetable in greenhouse Upper stabilized walking, damping performance is good, and stability is good, and astasia reduces the situation of operating rate when eliminating manual operation, It is applied widely;When booth vegetable needs harvesting, first passes through the present invention and be moved to required vegetables crawl position from steady travelling platform 1 It sets, harvesting rotary cutting apparatus 4 is started to work, and four No. four hydraulic cylinders 44 work at the same time, and four No. four hydraulic cylinders 44 drive crawl platform 45 make stable elevating movement, when four crawl vibration branches 47 for capturing 45 lower section of platform move to suitable crawl position No. four Hydraulic cylinder 44 is stopped, and four crawl vibration branches 47 start simultaneously at work at this time, and capture on regulating mechanism 482 electronic pushes away Bar 4822 drives lower riser 472 to be rotated on upper vertical plate 471, and the arc crawl plate 476 on riser 472 touches required grab instantly Electric pushrod 4822 is stopped when taking vegetable surface, and four arcs crawl plate 476 on four crawl vibration branches 47 is tightly Captured vegetables, since the vegetables root captured up on planting site just now is attached to a large amount of soil, four crawls at this time are shaken The soil adhered on vegetables root is vibrated on planting site by four vibrating motors 481 on dynamic branch 47, vegetables root soil The vegetables rotary-cut branch 46 after falling that shakes is started to work, and two No. five hydraulic cylinders 463 on vegetables rotary-cut branch 46 are started to work, and are led to The limit sliding motion for crossing two Z-type sliding blocks 465 and two sliding slots 466 makes L-type rotary-cut frame 464 in two No. five hydraulic cylinders Make stable stretching motion under 463 driving, at the same time rotary-cut motor 467 is started to work, and rotary-cut motor 467 drives rotary-cut piece 468 high speed rotary-cuts, the vegetables root captured come high speed rotary-cut by the rotary-cut piece 468 that two No. five hydraulic cylinders 463 telescope out, It is fast to harvest speed, harvest efficiency is high, finally realizes booth vegetable and automatically vibrates harvesting energy, without human intervention, automation Degree is high, solves and needs that artificial long-term auxiliary operation, labor intensity be big, kind existing for existing booth vegetable artificial culture mode The problems such as stability is poor, working efficiency is low, harvesting speed is slow and harvest efficiency is low are planted, purpose has been reached.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (3)

1. a kind of vegetables rotary-cut harvests robot, it is characterised in that:It is described from steady travelling platform including from steady travelling platform (1) (1) harvesting rotary cutting apparatus (4) is installed on the right side of upper surface;It is described from steady travelling platform (1) include mounting platform (11), it is described The lower face of mounting platform (11) is each side installed there are one transmission branch chain (12), and two symmetrical cloth of transmission branch chain (12) It sets, respectively there are one walking branches (13) for welding for the front and rear sides of each transmission branch chain (12), and two walking branches (13) are symmetrical Arrangement;The transmission branch chain (12) includes two pieces of fixed boards for being symmetrically welded at mounting platform (11) lower face front and rear sides (121), driving shaft (122), the middle part of driving shaft (122) are equipped with by bearing between the upper end of two pieces of fixed boards (121) Driving gear (123) is installed by key, the front end of driving shaft (122) is equipped with driving motor (124) by shaft coupling, transmission Motor (124) is mounted on the lower face of mounting platform (11) by motor cabinet, passes through between the lower end of two pieces of fixed boards (121) Bearing is equipped with driven shaft (125), and the middle part of driven shaft (125) is equipped with driven gear (126), driven gear by key (126) it being meshed with driving gear (123), respectively welding is there are one walking branch (13) for the rear and front end of driven shaft (125), and two A walking branch (13) is arranged symmetrically;The walking branch (13) includes the walking jacking block that side is welded on driven shaft (125) (131), walking jacking block (131) is square structure, and respectively there are one shock-absorbing supports for installation on four sides of jacking block (131) of walking Mechanism (132), each shock-absorbing support mechanism (132) upper end be respectively mounted there are one arc walking block (133), two neighboring arc row It walks and is all uniformly connected with No.1 limit spring (134) between block (133), and on the outer wall of each arc walking block (133) It is even to be provided with taper walking item (135);The shock-absorbing support mechanism (132) includes being mounted on walking jacking block (131) corresponding side surface On fixed platform (136), along its circumferential direction side, uniformly installation is there are three branch (137) in parallel for fixed platform (136) upper surface, and three are simultaneously The top of connection branch (137) is installed on the lower face of moving platform (138), and the upper surface uniform welding of moving platform (138) has Three bar shaped bearing pieces (139), the upper surface of bar shaped bearing piece (139) are to walk block (133) corresponding globoidal structure with arc, three The upper surface of a bar shaped bearing piece (139) is welded on the inner wall of corresponding arc walking block (133);
The harvesting rotary cutting apparatus (4) includes the harvesting bottom plate (41) for being welded on mounting platform (11) upper surface, harvests bottom plate (41) harvesting strut (42) is welded in the middle part of upper surface, the end of harvesting strut (42) is welded with harvesting platform (43), harvesting branch The lower face of platform (43) is symmetrically installed there are four No. four hydraulic cylinders (44), and the top of four No. four hydraulic cylinders (44) is equipped with crawl The upper surface left side of platform (45), crawl platform (45) is equipped with vegetables rotary-cut branch (46), the lower face balanced welding of crawl platform (45) Crawl vibration branch (47) there are four connecing;The crawl vibration branch (47) includes being welded on the upper of crawl platform (45) lower face to stand The lower end of plate (471), upper vertical plate (471) is equipped with lower riser (472) by hinge, and the lower end of lower riser (472) is provided with two A crawl lifting lug (473) is equipped with harvesting shaft (474) by bearing between two crawls lifting lugs (473), harvests shaft (474) middle part is fixedly mounted there are two engaging lug (475), and the end of two engaging lugs (475) is mounted on arc and captures plate (476) back is equipped with No. two limit springs between arc crawl plate (476) upper surface and lower riser (472) upper surface (477), the lower end of arc crawl plate (476) is welded with connection support plate (478), connection support plate (478) upper surface and lower riser (472) No. three limit springs (479) are installed, there are two motors for the lower face setting of the lower riser (472) between lower face Journal stirrup (480), is equipped with vibrating motor (481) on two motor journal stirrups (480), lower riser (472) upper surface with it is upper vertical Crawl regulating mechanism (482) is installed between plate (471) inner wall;The vegetables rotary-cut branch (46) includes being symmetrically welded at crawl Two rotary-cut struts (461) on platform (45) are welded with rotation support plate (462) on the lower end inner wall of two rotary-cut struts (461), The inner wall upper end of rotary-cut support plate (462) is symmetrically installed there are two No. five hydraulic cylinders (463), the top of two No. five hydraulic cylinders (463) End is equipped with L-type rotary-cut frame (464), and the lower face of L-type rotary-cut frame (464) is symmetrical arranged that there are two Z-type sliding block (465), two Z Type sliding block (465) is connected between two sliding slots (466) by sliding matching mode respectively, and the left end of two sliding slots (466) is equal It is welded on rotation support plate (462) inner wall, the L-type rotary-cut frame (464) upper end is equipped with rotary-cut motor by motor cabinet (467), it is installed with rotary-cut piece (468) on the output shaft of rotary-cut motor (467);
The parallel connection branch (137) includes the concave bearing (1371) for being welded on fixed platform (136) upper surface, concave bearing (1371) lower limit axis (1372) is installed between middle part, be symmetrical arranged on the upper end inner wall of concave bearing (1371) there are two Arc limit slot (1371a);(1372) are arranged with No.1 hydraulic cylinder (1373), No.1 hydraulic cylinder (1373) on the lower limit axis The setting of bottom end both sides there are two gag lever post (1374), the end of two gag lever posts (1374) and two arc limit slots It is connected by sliding matching mode between (1371a);The top of the No.1 hydraulic cylinder (1373) is equipped with spherical shape by screw thread The both ends of connector (1375), spherical connector (1375) are symmetrically arranged with two upper limit axis (1376), two upper limit axis (1376) it is connected respectively by bearing between the both ends of No.1 ear mount (1377), the lower face inner wall of No.1 ear mount (1377) On be welded with positioning column (1378), the end of positioning column (1378) is concave spherical surface knot corresponding with spherical connector (1375) Structure is connected between the end and spherical connector (1375) of positioning column (1378) by sliding matching mode, No.1 ear mount (1377) upper surface is welded on moving platform (138).
2. a kind of vegetables rotary-cut according to claim 1 harvests robot, it is characterised in that:The driving gear (123) Transmission ratio with driven gear (126) is 2:1.
3. a kind of vegetables rotary-cut according to claim 1 harvests robot, it is characterised in that:The crawl regulating mechanism (482) include No. two ear mounts (4821) being welded on upper vertical plate (471) inner wall, pacified by axis pin between No. two ear mounts (4821) Equipped with electric pushrod (4822), between the top of electric pushrod (4822) is mounted on No. three ear mounts (4823) by axis pin, No. three Ear mount (4823) is welded on the upper surface of lower riser (472).
CN201610522431.3A 2016-07-06 2016-07-06 A kind of vegetables rotary-cut harvesting robot Active CN106182022B (en)

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CN201810077152.XA CN108274474A (en) 2016-07-06 2016-07-06 A kind of ecological agriculture booth vegetable recovery operations intelligence equipment

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CN108990531B (en) * 2018-08-13 2021-08-06 蔚蓝计划(北京)科技有限公司 Greenhouse vegetable harvesting robot
CN108994812B (en) * 2018-08-14 2021-07-16 浙江大学滨海产业技术研究院 Intelligent robot for pharmaceutical production line and intelligent production system
CN108901302B (en) * 2018-09-03 2021-04-23 青岛益居锋农业机械制造有限公司 Vegetable harvester
CN109648233B (en) * 2019-02-24 2020-11-17 安徽普华灵动机器人科技有限公司 Square frame welding robot
CN112369198B (en) * 2020-10-14 2021-10-29 温州科技职业学院 Cutting and separating device for cauliflower ball-and-flower used in field

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