CN111066473A

CN111066473A - Walking type rape-stem harvesting machine

Info

Publication number: CN111066473A
Application number: CN201911406826.7A
Authority: CN
Inventors: 谢伟; 吴明亮; 罗海峰; 许月文
Original assignee: Hunan Agricultural University
Current assignee: Hunan Agricultural University
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-04-28

Abstract

The invention discloses a walking type rape seed harvesting machine which comprises an installation plate and a walking mechanism, wherein a manipulator is installed on the installation plate, a clamping and cutting mechanism used for clamping and cutting rape seeds is installed at the movable end of the manipulator, and the installation plate is fixedly installed on the walking mechanism. The harvester has the advantages of simple and compact structure, flexible use, low cost, capability of reducing the operation difficulty and improving the harvesting efficiency.

Description

Walking type rape-stem harvesting machine

Technical Field

The invention mainly relates to the field of agricultural machinery, in particular to a walking type rape-stem harvesting machine.

Background

The rape for vegetables is called as the laver for short, the laver belongs to upright fresh and tender leaf vegetables, the laver is pulled out from a core of the rape, the tip of the laver is pinched for eating, the yield of the rape seeds is not influenced or even has the effect of increasing the yield after the rape seeds are picked, the picking time is generally from the middle ten days of 11 months to the bottom of 3 months in the next year, the harvesting time efficiency of the harvest of the laver is increased because the laver is mainly eaten fresh, the labor intensity of manpower is completely depended on, the cost is higher, and the mechanical harvesting and one-time picking are adopted, so that the picked laver is often different in size and larger in damage, and the selling phase of the laver is further influenced.

The manipulator can simulate certain action functions of a human hand and an arm, is used for grabbing, clamping, pulling and the like according to a set program, has a good picking effect, can only do simple clamping actions generally in the existing manipulator, often needs various driving mechanisms for matching, is complex in structure, complex in implementation process and high in control difficulty, and is not used in the field of cutting rape bolts at present.

Therefore, the research aims at realizing the mechanical development of the vegetable moss under the condition that the harvesting manipulator matched with the vegetable moss harvesting guarantees good nutritional ingredients and food quality, and has good development prospect for the efficiency improvement of the vegetable moss harvesting and the income increase of farmers.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the walking rape seed harvesting machine which has the advantages of simple and compact structure, flexible use, low cost, capability of reducing the operation difficulty and improving the harvesting efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a walking rape moss harvester, includes mounting panel and running gear, install the manipulator on the mounting panel, the live end of manipulator is installed and is used for centre gripping rape moss and presss from both sides the clamp that cuts rape moss and get cutting mechanism, the mounting panel is adorned on running gear admittedly.

As a further improvement of the above technical solution:

the clamping and cutting mechanism comprises a clamping assembly and a cutting assembly, wherein the clamping assembly and the cutting assembly are both installed at the movable end of the manipulator, and the cutting assembly is located below the clamping assembly.

The clamping assembly comprises a clamping driving piece, an installation table, a clamping connecting rod group and a pair of clamping jaws, the installation table is hinged to the manipulator, the clamping connecting rod group is installed below the installation table, one end of the clamping driving piece is hinged to a movable end of the manipulator, the other end of the clamping driving piece is hinged to the clamping connecting rod group, the other end of the clamping driving piece is connected with the clamping connecting rod group, the clamping jaws are connected with the clamping connecting rod group, and the cutting assembly is connected with the installation table.

The clamping connecting rod group comprises a clamping fixing rod, a pair of first clamping connecting rods and a pair of second clamping connecting rods, the clamping fixing rod is connected with the output end of the clamping driving piece, the pair of first clamping connecting rods are movably hinged with the clamping fixing rod, the pair of second clamping connecting rods are movably hinged with the corresponding first clamping connecting rods, the pair of clamping jaws are respectively connected with the corresponding second clamping connecting rods, and the pair of second clamping connecting rods are respectively movably hinged with the mounting table.

The clamping fixing rod is provided with a joint, and the joint is connected with the output end of the clamping driving piece.

A plurality of hinge holes are formed in the mounting table, and the second clamping connecting rods on the corresponding sides are movably hinged with the corresponding hinge holes.

The cutting assembly comprises a fixed table, a cutting driving piece, a cutting connecting rod set and a cutting knife, the cutting driving piece is installed at the movable end of the manipulator through the fixed table, the cutting connecting rod set is connected with the output end of the cutting driving piece and the fixed table, the cutting connecting rod set is further connected with the installation table, and the cutting knife is movably hinged to the cutting connecting rod set.

The cutting connecting rod group comprises a cutting fixing rod, a first cutting connecting rod, a second cutting connecting rod and a swing rod, the cutting fixing rod is connected with the mounting table, two ends of the first cutting connecting rod are movably hinged with the cutting fixing rod and the mounting table respectively, one end of the second cutting connecting rod is movably hinged with the cutting fixing rod, the other end of the second cutting connecting rod is movably hinged with the cutting knife, and two ends of the swing rod are movably hinged with an output end of the cutting driving piece and the cutting knife respectively.

The fixed platform is movably hinged with the movable end of the manipulator.

The manipulator includes first arm and second arm, first arm and mounting panel activity hinge joint, second arm and first arm activity hinge joint, press from both sides and get driving piece and cutting assembly all with second arm end connection, it has first driving piece to articulate between first arm and the mounting panel, it has the second driving piece to articulate between second arm and the first arm, it has the third driving piece to articulate between second arm and the mount table.

The walking mechanism comprises a frame and walking wheels arranged on the frame, and the mounting plate is fixedly arranged on the frame.

And a collecting mechanism for collecting rape bolts is arranged at one end of the frame close to the clamping jaw.

The collecting mechanism comprises a collecting box, a supporting frame and a slideway, wherein the collecting box and the supporting frame are fixedly arranged on the frame, and the slideway is fixedly arranged on the supporting frame and extends into the collecting box.

Compared with the prior art, the invention has the advantages that:

the walking type rape seed harvesting machine comprises an installation plate and a walking mechanism, wherein a manipulator is installed on the installation plate, a clamping and cutting mechanism used for clamping and cutting rape seeds is installed at the movable end of the manipulator, and the installation plate is fixedly installed on the walking mechanism. When the rape-seed rape picking device is used, the walking mechanism moves to a picking point, the manipulator drives the clamping and cutting mechanism to reach an appointed position, the clamping and cutting mechanism clamps and fixes rape seeds firstly, then the clamping and cutting mechanism cuts the rape seeds, finally the manipulator drives the clamping and cutting mechanism to take the cut rape seeds to a collecting position, the clamping and cutting mechanism loosens, and the rape seeds naturally fall to the collecting point. Compared with the traditional harvesting mode, the harvesting machine is simple and compact in structure, the clamping and cutting mechanism is used for clamping and cutting rape bolts, no additional device is needed for matching, the operation difficulty and cost are reduced, and the harvesting efficiency is greatly improved; each harvesting point can be marched to the running gear, has improved the flexibility of using.

Drawings

Fig. 1 is a schematic perspective view of the walking rape lawn harvester of the invention.

FIG. 2 is a schematic view of the walking rape lawn harvester.

Fig. 3 is a partially enlarged schematic view of fig. 2.

FIG. 4 is a schematic structural diagram of a manipulator in the walking rape lawn harvester of the invention.

Fig. 5 is a schematic structural diagram of a clamping and cutting mechanism in the walking rape seed stalk harvester of the invention.

The reference numerals in the figures denote:

1. mounting a plate; 2. a manipulator; 21. a first robot arm; 22. a second mechanical arm; 23. a third driving member; 3. a clamping and cutting mechanism; 31. a gripping assembly; 311. a gripping drive; 312. an installation table; 3121. a hinge hole; 313. clamping a connecting rod group; 3131. clamping a fixed rod; 31311. a joint; 3132. a first gripping link; 3133. a second gripping link; 314. a clamping jaw; 32. a cutting assembly; 321. a fixed table; 322. cutting the driving piece; 323. cutting the connecting rod group; 3231. cutting the fixed rod; 3232. a first cutting link; 3233. a second cutting link; 3234. a swing rod; 324. cutting; 4. a traveling mechanism; 41. a frame; 42. a traveling wheel; 5. a first driving member; 6. a second driving member; 7. a collection mechanism; 71. a collection box; 72. a support frame; 73. a slideway.

Detailed Description

The invention will be described in further detail below with reference to the drawings and specific examples.

Fig. 1 to 5 show an embodiment of the walking type rape lawn harvester of the invention, which comprises a mounting plate 1 and a walking mechanism 4, wherein a manipulator 2 is mounted on the mounting plate 1, a clamping and cutting mechanism 3 for clamping and cutting rape lawns is mounted at the movable end of the manipulator 2, and the mounting plate 1 is fixedly mounted on the walking mechanism 4. When the rape-seed rape harvesting machine is used, the walking mechanism 4 advances to a harvesting point, the manipulator 2 drives the clamping and cutting mechanism 3 to reach an appointed position, the clamping and cutting mechanism 3 firstly clamps and fixes rape seeds, then the clamping and cutting mechanism 3 cuts the rape seeds, finally the manipulator 2 drives the clamping and cutting mechanism 3 to take the cut rape seeds to a collecting position, the clamping and cutting mechanism 3 loosens, and the rape seeds naturally fall to the collecting point. Compared with the traditional harvesting mode, the harvesting machine is simple and compact in structure, the clamping and cutting mechanism 3 is used for clamping and cutting rape bolts, no additional device is needed for matching, the operation difficulty and cost are reduced, and the harvesting efficiency is greatly improved; the travelling mechanism 4 can advance each collecting point, and the use flexibility is improved.

In this embodiment, mounting panel 1 and manipulator 2 all are provided with one pair ofly, can improve the efficiency of gathering.

In this embodiment, the clamping and cutting mechanism 3 includes a clamping assembly 31 and a cutting assembly 32, the clamping assembly 31 and the cutting assembly 32 are both installed at the movable end of the manipulator 2, and the cutting assembly 32 is located below the clamping assembly 31. In the structure, the clamping assembly 31 and the cutting assembly 32 realize independent actions, the clamping positioning and cutting accuracy is guaranteed, the collected vegetable moss tends to be consistent in size, and the damage to the vegetable moss is reduced.

In this embodiment, the clamping assembly 31 includes a clamping driving member 311, an installation table 312, a clamping linkage 313 and a pair of clamping jaws 314, the installation table 312 is hinged to the manipulator 2, the clamping linkage 313 is installed below the installation table 312, one end of the clamping driving member 311 is hinged to the movable end of the manipulator 2, the other end of the clamping driving member 311 is connected to the clamping linkage 313, the pair of clamping jaws 314 is connected to the clamping linkage 313, and the cutting assembly 32 is connected to the installation table 312. In the structure, the clamping driving piece 311 drives the clamping connecting rod group 313 to drive the pair of clamping jaws 314 to fold and unfold, so that the clamping and loosening actions of the vegetable moss are realized, and the structure is simple and ingenious.

In this embodiment, the gripping driving member 311 is configured as an air cylinder, and in other embodiments, it may be configured as a telescopic driving member such as an oil cylinder.

In this embodiment, the clamping link group 313 includes a clamping fixing rod 3131, a pair of first clamping links 3132 and a pair of second clamping links 3133, the clamping fixing rod 3131 is connected to the output end of the clamping driving element 311, the pair of first clamping links 3132 are both movably hinged to the clamping fixing rod 3131, the pair of second clamping links 3133 are respectively movably hinged to the corresponding first clamping links 3132, the pair of clamping jaws 314 are respectively connected to the corresponding second clamping links 3133, and the pair of second clamping links 3133 are respectively movably hinged to the mounting table 312. In this structure, the clamping fixing rod 3131 is pushed and pulled by the clamping driving member 311, the clamping fixing rod 3131 drives the first clamping link 3132 to fold and unfold, the first clamping link 3132 drives the second clamping link 3133 to fold and unfold, and the second clamping link 3133 drives the pair of clamping jaws 314 to fold and unfold, thereby clamping and releasing the moss.

In this embodiment, the clamping fixing rod 3131 is provided with a joint 31311, and the joint 31311 is connected to the output end of the clamping driving element 311. The joint 31311 allows the gripping fixing rod 3131 to be quickly connected to the gripping driving member 311, thereby improving the convenience of assembly and disassembly.

In this embodiment, a plurality of hinge holes 3121 are disposed on the mounting table 312, and the second gripping link 3133 on the corresponding side is movably hinged to the corresponding hinge hole 3121. The plurality of hinge holes 3121 are provided, so that the second clamping link 3133 can be adjusted to a suitable position and then hinged to the mounting table 312, and the opening degree of the pair of clamping jaws 314 can be adjusted to adapt to the moss with different sizes, thereby greatly improving the applicability.

In this embodiment, the cutting assembly 32 includes a fixed station 321, a cutting driving element 322, a cutting linkage 323 and a cutting knife 324, the cutting driving element 322 is installed at the movable end of the manipulator 2 through the fixed station 321, the cutting linkage 323 is connected with the output end of the cutting driving element 322 and the fixed station 321, the cutting linkage 323 is further connected with the installation station 312, and the cutting knife 324 is movably hinged with the cutting linkage 323. In this structure, the cutting driving member 322 drives the cutting linkage 323 to move, and the cutting linkage 323 drives the cutting knife 324 to move, so as to cut the moss.

In this embodiment, the clip cutting driving member 322 is provided as a stepping motor, and in other embodiments, it may be provided as a rotary driving member such as a servo motor.

In this embodiment, the cutting linkage 323 includes a cutting fixing rod 3231, a first cutting linkage 3232, a second cutting linkage 3233 and a swing rod 3234, the cutting fixing rod 3231 is connected to the mounting table 312, two ends of the first cutting linkage 3232 are movably hinged to the cutting fixing rod 3231 and the fixing table 321, one end of the second cutting linkage 3233 is movably hinged to the cutting fixing rod 3231, the other end of the second cutting linkage 3233 is movably hinged to the cutting knife 324, and two ends of the swing rod 3234 are movably hinged to the output end of the cutting driving unit 322 and the cutting knife 324. In the structure, the first cutting connecting rod 3232 is vertically hinged with the cutting fixing rod 3231 and the fixing table 321, so that the mounting table 312 can swing in the vertical direction, the clamping jaw 314 has a certain adjusting function in the vertical direction, and the clamping and positioning accuracy is improved; the rotation of the cutting driving member 322 and the cooperation of the second cutting connecting rod 3233 and the swing rod 3234 realize the swing of the cutting knife 324, thereby realizing the cutting of the moss.

In this embodiment, the fixed stage 321 is movably hinged to the movable end of the manipulator 2. When the mounting table 312 swings vertically, the fixing table 321 is driven to swing, so that the relative position of the cutting knife 324 and the clamping jaw 314 is ensured.

In this embodiment, the manipulator 2 includes a first manipulator 21 and a second manipulator 22, the first manipulator 21 is movably hinged to the mounting plate 1, the second manipulator 22 is movably hinged to the first manipulator 21, the gripping driving element 311 and the cutting assembly 32 are both connected to an end of the second manipulator 22, a first driving element 5 is hinged between the first manipulator 21 and the mounting plate 1, a second driving element 6 is hinged between the second manipulator 22 and the first manipulator 21, and a third driving element 23 is hinged between the second manipulator 22 and the mounting plate 312. In this structure, through the cooperation of first arm 21, second arm 22, first driving piece 5, second driving piece 6 and third driving piece 23, realized similar articular structure, improved the flexibility when gathering greatly.

In this embodiment, the first driving member 5, the second driving member 6, and the third driving member 23 are provided as air cylinders, and in other embodiments, they may be provided as telescopic driving members such as oil cylinders.

In this embodiment, the traveling mechanism 4 includes a frame 41 and traveling wheels 42 mounted on the frame 41, and the mounting plate 1 is fixed to the frame 41. In the structure, the frame 41 is an integral installation and support foundation, the travelling wheels 42 provide travelling for the whole, and the structure is simple and reliable.

In this embodiment, a collecting mechanism 7 for collecting rape bolts is mounted on the frame 41 at one end close to the clamping jaw 314. The collecting mechanism 7 can timely receive rape bolts on the clamping jaws 314, is convenient for batch collection, has a simple structure, and improves the collection efficiency.

In this embodiment, the collecting mechanism 7 includes a collecting box 71, a supporting frame 72 and a slideway 73, the collecting box 71 and the supporting frame 72 are both fixedly mounted on the frame 41, and the slideway 73 is fixedly mounted on the supporting frame 72 and extends into the collecting box 71. When the vegetable moss is collected, the cut vegetable moss is clamped above the slide way 73 by the clamping jaws 314, then the clamping jaws 314 are loosened, the vegetable moss falls onto the slide way 73 and then rolls into the collecting box 71 from the slide way 73, and the slide way 73 is provided with a falling force capable of buffering the vegetable moss loosened by the clamping jaws 314, so that the vegetable moss is prevented from being damaged, and the vegetable moss collecting device is simple in structure and ingenious in design.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. A walking type rape-stem harvesting machine is characterized in that: including mounting panel (1) and running gear (4), install manipulator (2) on mounting panel (1), the expansion end of manipulator (2) is installed and is used for centre gripping rape lawn and presss from both sides cutting mechanism (3) that cuts rape lawn, mounting panel (1) is adorned admittedly on running gear (4).

2. The walking rape seed stalk harvester according to claim 1, characterized in that: the clamping and cutting mechanism (3) comprises a clamping assembly (31) and a cutting assembly (32), wherein the clamping assembly (31) and the cutting assembly (32) are both installed at the movable end of the manipulator (2), and the cutting assembly (32) is located below the clamping assembly (31).

3. The walking rape seed stalk harvester according to claim 2, characterized in that: the clamping assembly (31) comprises a clamping driving piece (311), an installation table (312), a clamping connecting rod group (313) and a pair of clamping jaws (314), the installation table (312) is hinged to the manipulator (2), the clamping connecting rod group (313) is installed below the installation table (312), one end of the clamping driving piece (311) is hinged to the movable end of the manipulator (2), the other end of the clamping driving piece is connected with the clamping connecting rod group (313), the clamping driving piece is a pair of clamping jaws (314) are connected with the clamping connecting rod group (313), and the cutting assembly (32) is connected with the installation table (312).

4. The walking rape seed stalk harvester according to claim 3, characterized in that: the clamping connecting rod group (313) comprises a clamping fixing rod (3131), a pair of first clamping connecting rods (3132) and a pair of second clamping connecting rods (3133), the clamping fixing rod (3131) is connected with the output end of the clamping driving piece (311), the pair of first clamping connecting rods (3132) are movably hinged with the clamping fixing rod (3131), the pair of second clamping connecting rods (3133) are respectively movably hinged with the corresponding first clamping connecting rods (3132), the pair of clamping jaws (314) are respectively connected with the corresponding second clamping connecting rods (3133), and the pair of second clamping connecting rods (3133) are respectively movably hinged with the mounting table (312).

5. The walking rape seed stalk harvester according to claim 4, characterized in that: the clamping fixed rod (3131) is provided with a joint (31311), and the joint (31311) is connected with the output end of the clamping driving piece (311).

6. The walking rape seed stalk harvester according to claim 5, characterized in that: a plurality of hinge holes (3121) are arranged on the mounting table (312), and the second clamping connecting rod (3133) on the corresponding side is movably hinged with the corresponding hinge hole (3121).

7. The walking rape seed rape harvester of any one of claims 3 to 6, wherein: cutting assembly (32) are including fixed station (321), cutting driving piece (322), cutting linkage (323) and cutting knife (324), the expansion end at manipulator (2) is installed through fixed station (321) in cutting driving piece (322), cutting linkage (323) are connected with output and fixed station (321) of cutting driving piece (322), and cutting linkage (323) still are connected with mount table (312), cutting knife (324) and cutting linkage (323) activity hinge joint.

8. The walking type rape seed harvester according to claim 7, wherein: the cutting connecting rod set (323) comprises a cutting fixing rod (3231), a first cutting connecting rod (3232), a second cutting connecting rod (3233) and a swinging rod (3234), the cutting fixing rod (3231) is connected with an installation table (312), two ends of the first cutting connecting rod (3232) are movably hinged to the cutting fixing rod (3231) and a fixing table (321) respectively, one end of the second cutting connecting rod (3233) is movably hinged to the cutting fixing rod (3231), the other end of the second cutting connecting rod is movably hinged to a cutting knife (324), and two ends of the swinging rod (3234) are movably hinged to an output end of a cutting driving piece (322) and the cutting knife (324) respectively.

9. The walking rape seed stalk harvester according to claim 8, characterized in that: the fixed table (321) is movably hinged with the movable end of the manipulator (2).

10. The walking rape seed rape harvester of any one of claims 3 to 6, wherein: manipulator (2) include first arm (21) and second arm (22), first arm (21) and mounting panel (1) activity hinge joint, second arm (22) and first arm (21) activity hinge joint, press from both sides and get driving piece (311) and cutting component (32) all with second arm (22) end connection, it has first driving piece (5) to articulate between first arm (21) and mounting panel (1), it has second driving piece (6) to articulate between second arm (22) and first arm (21), it has third driving piece (23) to articulate between second arm (22) and mounting table (312).

11. The walking rape seed rape harvester of any one of claims 3 to 6, wherein: the walking mechanism (4) comprises a frame (41) and walking wheels (42) arranged on the frame (41), and the mounting plate (1) is fixedly arranged on the frame (41).

12. The walking rape seed stalk harvester according to claim 11, characterized in that: one end of the frame (41) close to the clamping jaw (314) is provided with a collecting mechanism (7) for collecting rape bolts.

13. The walking rape seed rape harvester of claim 12, wherein: the collecting mechanism (7) comprises a collecting box (71), a supporting frame (72) and a slide way (73), wherein the collecting box (71) and the supporting frame (72) are fixedly arranged on the frame (41), and the slide way (73) is fixedly arranged on the supporting frame (72) and extends into the collecting box (71).