CN113692849B - Low-type safflower profiling harvester and harvesting method - Google Patents
Low-type safflower profiling harvester and harvesting method Download PDFInfo
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- CN113692849B CN113692849B CN202111147750.8A CN202111147750A CN113692849B CN 113692849 B CN113692849 B CN 113692849B CN 202111147750 A CN202111147750 A CN 202111147750A CN 113692849 B CN113692849 B CN 113692849B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
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Abstract
The invention relates to a short safflower profiling harvester and a harvesting method. The harvesting machine comprises a hand-push type rack, and a plant carding device and a filament harvesting system which are arranged on the hand-push type rack; the plant carding devices are two groups of plant carding mechanisms which are bilaterally symmetrical and have the same structure, and can gather the safflower outside the distribution range into the harvesting range; the filament harvesting system comprises a filament picking mechanism and a filament collecting mechanism; the filament collecting mechanism comprises a filament collecting box, a filament collecting hose and a negative pressure fan, wherein the filament collecting hose is connected to the filament collecting box; the filament picking mechanism comprises a plurality of filament picking end effector monomers, an end effector moving electric cylinder and an end effector profiling mounting frame. The multi-flower picking end effector monomer is arranged in a simulated manner and picked in a subarea manner according to the fruit ball distribution rule, and meanwhile, picking operation is carried out on the fruit balls with different heights, so that the load of workers is reduced, the manual flower aligning step is omitted, the picking operation of the plurality of fruit balls is realized, and the filament picking efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a short safflower profiling harvester and a harvesting method.
Background
The dwarf safflower has better adaptability, stronger drought resistance compared with the high-vigor safflower, lower requirement on the environment in the planting process and wide planting in Xinjiang area. At present, the safflower filament is mainly harvested manually, and because the short safflower plant height is lower and the fruit ball distribution is comparatively dispersed, picking personnel need to bend over the body and stoop for working, the labor intensity is high, the production efficiency is low, and the benign development of the safflower industry is hindered.
With the rapid development of agricultural mechanization, the demand for mechanical safflower harvesting is higher and higher. At present, most of handheld safflower harvesting machines are backpack type, so that the load of picking personnel is increased, and the efficiency is lower; although there is a three-degree-of-freedom truss type safflower picking device (chinese patent application publication No. CN111296072A), a positioning and clamping device composed of a plurality of positioning and clamping mechanisms arranged in a semicircular manner moves downward through the positioning and clamping device, when the positioning and clamping mechanism contacts with a safflower ball, a pressure sensor is stressed and detects the safflower ball, and an end effector moves to a detection position for picking. Although the device realizes coverage detection of the distribution range of the safflower fruit balls, the picking efficiency is slower because only a single end effector is provided, and the positioning and clamping device is integrated and lacks flexibility for detecting the fruit balls with different heights; in addition, the self-propelled full-coverage multi-target safflower filament picking robot (Chinese patent application publication No. CN111955165A) divides the range of the safflower fruit balls into regions, and arranges a plurality of end effector monomers in the regions, but the flower aligning area covered by the end effector monomers is only slightly larger than one fruit ball, and the arranged end effector monomers cannot detect whether safflower exists at all positions in the picking range, so that the picking rate is reduced.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a dwarf safflower profiling harvester and a harvesting method, wherein a multi-flower picking end effector monomer adopts a multi-pair flower mouth fusion design, so that the distribution of fruit balls is covered in a range area, and flowers can be simultaneously aligned and a plurality of fruit balls can be picked; the hand-push type machine is adopted, so that the burden of picking personnel is reduced; the multi-flower picking end effector monomer is arranged in a simulated manner according to the fruit ball distribution rule, is picked in a partition manner, and simultaneously picks fruit balls with different heights, so that the weight of workers is reduced, the manual flower aligning step is omitted, the harvesting operation of the multiple fruit balls is realized, and the filament harvesting efficiency is improved.
In order to achieve the purpose, the invention provides the following technical scheme:
a short safflower profiling harvester comprises a hand-push type frame 1, and a plant carding device 2 and a filament harvesting system 3 which are arranged on the hand-push type frame 1.
The hand-push type rack 1 comprises a support frame 1-1, a walking mechanism 1-2, a harvesting device mounting frame 1-3 and a push rod 1-4.
The support frame 1-1 comprises a front cross beam 1-1-1, a rear cross beam 1-1-2, a left longitudinal beam 1-1-3, a right longitudinal beam 1-1-4 and support legs 1-1-5, wherein the front cross beam 1-1-1, the left longitudinal beam 1-1-3, the rear cross beam 1-1-2 and the right longitudinal beam 1-1-4 are connected end to form a rectangular frame; the top ends of the four vertically arranged supporting legs 1-1-5 are fixedly connected with four corners of the rectangular frame, and the bottom ends are provided with a travelling mechanism 1-2.
Two harvesting device mounting frames 1-3 which are bilaterally symmetrical and parallel to the left longitudinal beam 1-1-3 and the right longitudinal beam 1-1-4 are fixedly connected between the two left supporting legs 1-1-5 and between the two right supporting legs 1-1-5 respectively; the push rod 1-4 is fixedly connected to the rear end of the rear cross beam 1-1-2.
The filament harvesting system 3 comprises a filament harvesting mechanism 3-1 and a filament collecting mechanism 3-2.
The filament collecting mechanism 3-2 comprises a filament collecting box 3-2-2, a filament collecting hose 3-2-1 and a negative pressure fan 3-2-3, wherein the filament collecting hose is connected to the filament collecting box 3-2-2; the filament collecting box 3-2-2 is fixedly connected to the rectangular frame of the support frame 1-1.
The filament picking mechanism 3-1 comprises a multi-flower picking end effector monomer 3-1-1, an end effector moving electric cylinder 3-1-2 and an end effector profiling mounting frame 3-1-3.
The end effector copying mounting frame 3-1-3 is fixedly connected to the harvesting device mounting frame 1-3, the end effector moving electric cylinders 3-1-2 are fixedly connected to the end effector copying mounting frame 3-1-3, each end effector moving electric cylinder 3-1-2 is fixedly connected to one multi-flower picking end effector monomer 3-1-1, and all the multi-flower picking end effector monomers 3-1-1 form a semi-ellipsoidal harvesting surface corresponding to the short safflower plant canopy, so that full coverage of the safflower plant fruit balls is realized.
The end effector movement electric cylinder 3-1-2 comprises an electric cylinder motor 3-1-2-1, an electric cylinder sleeve 3-1-2-2, an electric cylinder push rod 3-1-2-3 and an electric cylinder mounting seat 3-1-2-4; the electric cylinder mounting seat 3-1-2-4 is fixedly connected to the end effector copying mounting frame 3-1-3; the electric cylinder sleeve 3-1-2-2 is fixedly connected to the electric cylinder mounting seat 3-1-2-4; the electric cylinder push rod 3-1-2-3 is arranged inside the electric cylinder sleeve 3-1-2-2 and is connected with the electric cylinder motor 3-1-2-1.
The multi-flower picking end effector monomer 3-1-1 comprises an end effector shell 3-1-1-1, a multi-target flower aligning device 3-1-1-2, a filament cutting device 3-1-1-3 and a capacitance detection device 3-1-1-4.
The end effector housing 3-1-1-1 is divided into three chambers: the multi-target pattern aligning chamber 3-1-1-1-1, the filament cutting and collecting chamber 3-1-1-2 and the cutting motor mounting chamber 3-1-1-1-3; the filament cutting and collecting chamber 3-1-1-1-2 is positioned above the multi-target pattern aligning chamber 3-1-1-1 and is separated from each other by a partition plate 3-1-1-1-4; the cutting motor installation chamber 3-1-1-1-3 is positioned at one side of the multi-target pattern aligning chamber 3-1-1-1-1 and the filament cutting and collecting chamber 3-1-1-2; the bottom of the multi-target pattern aligning cavity 3-1-1-1-1 is an aligning bottom plate 3-1-1-1-5; the top of the filament cutting and collecting chamber 3-1-1-1-2 is provided with a flower collecting cover 3-1-1-6, and the flower collecting cover 3-1-1-1-6 is provided with a filament collecting port 3-1-1-7 connected with a filament collecting hose 3-2-1.
The multi-target registration device 3-1-1-2 comprises a plurality of registration covers 3-1-1-2-1 which are arranged in an array; the pattern matching cover 3-1-1-2-1 is arranged in the multi-target pattern matching chamber 3-1-1-1, is fixedly connected between the partition board 3-1-1-1-4 and the pattern matching bottom board 3-1-1-5, and is communicated up and down.
The capacitance detection device 3-1-1-4 is arranged at the upper part of the patterned cover 3-1-1-2-1 and is used for detecting whether the filament reaches the cutting position.
The shredding opening of each patterned shade 3-1-1-2-1 is provided with a necking separation net 3-1-1-2-2, and the necking separation net 3-1-1-2-2 is fixedly connected to the partition plate 3-1-1-1-4.
The filament cutting device 3-1-1-3 comprises a cutting motor 3-1-1-3-1 arranged in a cutting motor installation chamber 3-1-1-1-3, and a left cutting knife 3-1-1-3-2 and a right cutting knife 3-1-1-3-3 arranged in a filament cutting collection chamber 3-1-1-1-2.
The left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are both blades with arc cross sections, and the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are arranged on the two sides of the partition plate 3-1-1-1-4 in a bilateral symmetry manner; the tail ends of the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 extend into the cutting motor installation chamber 3-1-1-1-3 and are respectively and vertically and fixedly connected with the edge of the front end face of the left cutter disc 3-1-1-3-2 and the right cutter disc 3-1-1-3-3-2; the center of the rear end face of the left cutter disc 3-1-1-3-2-2 is fixedly connected with a left cutter shaft 3-1-1-3-2-1, and the center of the rear end face of the right cutter disc 3-1-1-3-3-2 is fixedly connected with a right cutter shaft 3-1-1-3-3-1; a left cutter gear 3-1-1-3-4 is fixedly connected to the left cutter shaft 3-1-1-3-2-1, a right cutter gear 3-1-1-3-5 is fixedly connected to the right cutter shaft 3-1-1-3-3-1, and the left cutter gear 3-1-1-3-4 and the right cutter gear 3-1-1-3-5 are meshed with each other; the driving gear on the power output shaft of the cutting motor 3-1-1-3-1 is meshed with the left cutter gear 3-1-1-3-4 or the right cutter gear 3-1-1-3-5.
The plant carding mechanism comprises a carding device bearing seat 2-1, a carding plate 2-2 and a carding device driving motor 2-3; two carding device bearing blocks 2-1 are respectively fixedly connected to two supporting legs 1-1-5 on one side; the carding device driving motor 2-3 is fixedly connected to the harvesting device mounting frame 1-3.
The carding plate 2-2 comprises a carding plate body 2-2-1, a plate body connecting plate 2-2-2 and a carding plate rotating shaft 2-2-3; two coaxial carding plate rotating shafts 2-2-3 are respectively and fixedly connected to the outer side of a carding plate body 2-2-1 through a plate body connecting plate 2-2-2, and the carding plate rotating shafts 2-2-3 are arranged in a bearing seat 2-1 of the carding device through bearings; and a power output shaft of the carding device driving motor 2-3 is connected with the carding plate rotating shaft 2-2-3 through a coupler.
The carding plate body 2-2-1 is bent up and down along the horizontal central line and is divided into an upper plate body 2-2-1-1 and a lower plate body 2-2-1-2, and the included angle alpha between the upper plate body 2-2-1-1 and the lower plate body 2-2-1-22150 to 155 degrees; when the card is not in a carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction1Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction1Is 52 to 55 degrees.
The short type safflower profiling harvester is provided with ten multi-flower picking end effector monomers 3-1-1 in total, every five multi-flower picking end effector monomers 3-1-1 form a picking row, and two rows of picking rows are symmetrically arranged in the end effector profiling mounting frame 3-1-3; dividing the dwarf safflower plant canopy into five harvesting areas in sequence according to the inclination angle distribution rule of the single safflower ball: first harvesting zone OC 1A second recovery area OC2A third recovery area OC3And a fourth recovery area OC4And a fifth recovery zone OC5(ii) a Five multi-flower picking end effector monomers 3-1-1 in the picking row correspond to five picking areas one by one; wherein, it is connected with a first recovery area OC1And a fifth recovery zone OC5A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-11Is 25 degrees to 27 degrees; with a second recovery zone OC2And a fourth recovery zone OC4A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1210 to 12 degrees; and a third recovery area OC3The longitudinal axis of the corresponding multi-flower picking end effector monomer 3-1-1 is parallel to the vertical direction.
Using the central line C of safflower plant6The function of the longitudinal axis of five multi-flower picking end effector monomers 3-1-1 in the picking row is determined as follows by taking the intersection point with the ground as the circle center, taking the horizontal direction as the u axis and taking the vertical direction as the w axis respectively:
with a first recovery zone OC1The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -1.927 u-47.71;
with a second recovery zone OC2The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -4.695 u-133.01;
And a third recovery area OC3The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: u is 0;
with a fourth recovery zone OC4The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 4.695 u-133.01;
with a fifth recovery zone OC5The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 1.927 u-47.71.
The width of the multi-flower picking end effector monomer 3-1-1 is L1Then is communicated with a third recovery area OC3The corresponding horizontal coverage length of the multi-flower picking end effector monomer 3-1-1 is L1(ii) a With a second recovery zone OC2And a fourth recovery zone OC4The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL1cosβ2(ii) a With a first recovery zone OC1And a fifth recovery zone OC5The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL1cosβ1(ii) a In the harvesting state, the edges of the five multi-flower picking end effector monomers 3-1-1 in the picking row are tightly attached, and the total horizontal coverage length L1+2×L1cosβ1+2×L1cosβ2The distribution length D of the fruit balls of the plants is more than or equal to that of the fruit balls of the plants.
The diameter D of the flower inlet of the flower-aligning cover 3-1-1-2-1 on the flower-aligning bottom plate 3-1-1-1-51Is larger than the diameter D of the cutting opening on the spacing plate 3-1-1-1-42(ii) a The pair of flower covers 3-1-1-2-1 is divided into the following parts from bottom to top: flower inlet area 3-1-1-2-1-1 and a fruit fixing area 3-1-1-2-1-2; the flower inlet area 3-1-1-2-1-1 is in an outer ellipsoid shape; the fruit fixing area 3-1-1-2-1-2 is in a round table shape, and an included angle alpha between a generatrix of the round table and the bottom surface4Is 78 to 85 degrees; the diameter D of the flower inlet1For stretching the safflower filament phi11.1-1.3 times of the diameter of the flower inlet150-62 mm; diameter D of the cut2Is the diameter phi of fruit ball21.1 to 1.3 times of the diameter of the filament cutting opening D2Is 26 to 50 mm.
The multi-target pattern aligning device 3-1-1-2 comprises four pattern aligning covers 3-1-1-2-1, and the center distance L of the pattern inlet of the adjacent pattern aligning covers 3-1-1-2-12The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired flower covers 3-1-1-2-1 are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.
The screen bar distance L of the necking separation net 3-1-1-2-23To a diameter of necking phi30.8-0.85 times of the total weight of the powder; the cutting knife length L of the left cutting knife 3-1-1-3-2 and the right cutting knife 3-1-1-3-34110-120 mm; wedge angle alpha of cutter3Is 18 to 22 degrees.
The capacitance detection device 3-1-1-4 comprises a capacitance sensor 3-1-1-4-1 and a sensor line tube 3-1-1-4-2; the fruit fixing area 3-1-1-2 at the upper part of the paired covers 3-1-1-2-1 is provided with a detection device connector 3-1-1-2-1-3 for connecting the capacitive sensor 3-1-1-4-1 in a threaded manner, and the sensor line pipe 3-1-1-4-2 is respectively connected with the capacitive sensor 3-1-1-4-1 and a power supply and information control system 4.
The dwarf type safflower profiling harvester also comprises a power supply and information control system 4, wherein the power supply and information control system 4 comprises a battery pack 4-1, an electric control system 4-2, a complete machine switch 4-3 and a touch screen operating system 4-4 which are arranged on a support frame 1-1; the battery assembly 4-1, the complete machine switch 4-3 and the touch screen operating system 4-4 are connected with the electric control system 4-2; the battery component 4-1 and the electric control system 4-2 are respectively connected with a carding device driving motor 2-3, an end effector moving electric cylinder 3-1-2, a cutting motor 3-1-1-3-1 and a capacitance detection device 3-1-1-4.
A low safflower profiling harvesting method utilizing a low safflower profiling harvester comprises the following steps:
s1, pushing the low-type safflower profiling harvester above the low-type safflower plants to enable all multi-flower picking end effector monomers 3-1-1 to form a semi-ellipsoidal harvesting surface and fully cover the crown layers of the low-type safflower plants;
s2, starting a switch 4-3 of the whole machine, operating a touch screen control system 4-4, starting a carding device driving motor 2-3 by an electric control system 4-2, transmitting power to a carding plate body 2-2-1 through a carding plate rotating shaft 2-2-3, driving the carding plate body 2-2-1 to rotate, and gathering the safflower outside a harvesting range into the harvesting range;
s3, starting an electric cylinder motor 3-1-2-1 of an end effector movement electric cylinder 3-1-2, and enabling an electric cylinder push rod 3-1-2-3 to move downwards along an electric cylinder sleeve 3-1-2-2 to drive each multi-flower picking end effector monomer 3-1-1 to move downwards; the fruit balls enter the flower aligning cover 3-1-1-2-1 of the multi-target flower aligning device 3-1-1-2-1, enter the fruit fixing area 3-1-1-2-1-2 through the flower entering area 3-1-1-2-1-1, the necking of the fruit balls is blocked by the necking separation net 3-1-1-2-2, the fruit balls cannot pass through the necking separation net 3-1-1-2-2, the filaments enter the upper part of the necking separation net 3-1-1-2-2, and the fruit balls are located in the fruit fixing area 3-1-1-2-1-2; each capacitive sensor 3-1-1-4-1 of each multi-flower picking end effector monomer 3-1-1 continuously detects a medium in the corresponding flower cover 3-1-1-2-1;
When the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and all the capacitance detection devices 3-1-1-4 do not detect the third capacitance C3, the electric cylinder push rod 3-1-2-3 does not enter a harvesting state, and the electric cylinder push rod 3-1-2-3 returns to the initial state to prepare for next harvesting;
when any one of the following conditions is met, stopping the movement of the electric cylinder push rod 3-1-2-3, enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;
the first condition is as follows: when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and at least one capacitive sensor 3-1-1-4-1 detects a third capacitance C3;
and (2) carrying out a second condition: when the electric cylinder push rod 3-1-2-3 does not reach the maximum stroke, all the capacitance sensors 3-1-1-4-1 detect a third capacitance C3;
s4, the electric control system 4-2 enters a harvesting state, the cutting motor 3-1-1-3-1 of the filament cutting device 3-1-1-3 is started to drive the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 to rotate, and safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose 3-2-1 through a filament collecting cover 3-1-1-6 and enter a filament collecting box 3-2-2 to finish filament collection;
s5, after the filament harvesting is finished, the electric control system 4-2 finishes the harvesting state, the end effector moves the electric cylinder 3-1-2 to execute the reset stroke, the electric cylinder push rod 3-1-2-3 returns to the initial state, the electric control system 4-2 finishes the harvesting state and enters the standby state, and the plant carding device 2 resets to prepare for next harvesting.
Compared with the prior art, the invention has the beneficial effects that:
1. the design of the end effector register device is optimized by analyzing the distribution rule of the dwarf safflower plants and fruit balls. The multi-target flower aligning device 3-1-1-2 can cover the picking area, and the multi-ball flower aligning without manual assistance can be realized.
2. The copying subareas of the safflower are realized by reasonably arranging the end effectors; different end effector inclinations are designed aiming at different regional safflower fruit ball inclinations, vertical register synchronous harvesting of different inclination fruit balls in different regions is realized, and harvesting efficiency is improved.
3. The capacitance sensor 3-1-1-4-1 detects the medium in the flower cover 3-1-1-2-1 at any moment. Whether the filament reaches the cutting position is detected through a second capacitor C2 and a third capacitor C3, wherein the second capacitor C2 and the third capacitor C3 are different from the fruit ball in the detection range. When the third capacitor C3 is detected, the filament passes through the detection position and enters the cutting position through the necking separation net 3-1-1-2-2, and the electric control system 4-2 controls the filament cutting device 3-1-1-3 to cut the filament, so that automatic detection and automatic cutting of the filament are realized.
4. Because partial safflower is deviated from the row line when being planted or a few fruit balls exceed the distribution range of the fruit balls, a carding mechanism is added according to the collection range of the end effector; after the carding plate 2 reaches the carding position, the included angle between the lower plate body 2-2-1-2 and the vertical direction is a carding angle alpha 1And gathering the fruit balls beyond the harvesting range into the harvesting range.
Drawings
FIG. 1 is a schematic view of the architecture of the low profile safflower harvester of the present invention;
fig. 2 is a schematic structural view of the hand-push type stand 1 of the present invention;
FIG. 3 is a schematic view of the plant grooming device 2 of the present invention;
FIG. 4 is a schematic view of the construction of carding wire 2-2 of the present invention;
FIG. 5 is a schematic diagram of the filament harvesting system 3 of the present invention;
FIG. 6 is a schematic structural view of the filament picking mechanism 3-1 of the present invention;
FIG. 7 is a schematic representation of dwarf safflower plants;
FIG. 8 is a schematic view of the horizontal distribution of dwarf red flower bulbs and the horizontal distance z between the nearest red flower bulbs;
FIG. 9 is a schematic size diagram of a safflower fruit ball;
FIG. 10 is a schematic view of the installation angle of the filament picking mechanism 3-1 of the present invention;
FIG. 11 is a schematic structural view of the multiple flower picking end effector monomer 3-1-1 and end effector moving electric cylinder 3-1-2 of the present invention;
FIG. 12 is a schematic structural view of a multiple flower picking end effector monomer 3-1-1 of the present invention;
FIG. 13 is a schematic perspective view of the multi-target registration device 3-1-1-2 of the present invention;
FIG. 14 is a schematic cross-sectional view of the register 3-1-1-2-1 of the present invention;
FIG. 15 is a schematic diagram of the distribution of individual dwarf safflower plants in the form of pellets of Ficus carica;
FIG. 16 is a schematic view of the structure of a safflower fruit ball;
FIG. 17 is a schematic layout of a register cover 3-1-1-2-1 of the multi-target register device 3-1-1-2 of the present invention;
FIG. 18 is a schematic view of the structure of a necked-down screen 3-1-1-2-2 of the present invention;
FIG. 19 is a schematic view showing the structure of the filament cutting device 3-1-1-3 according to the present invention;
FIG. 20 is a schematic view of the structure of the left cutter 3-1-1-3-2 of the present invention;
FIG. 21 is a schematic view of the structure of the capacitance detecting device 3-1-1-4 of the present invention;
FIG. 22 is a schematic view of the installation of the capacitive sensor 3-1-1-4-1 of the present invention;
FIG. 23 is a schematic diagram of the power and information control system 4 of the present invention;
fig. 24 is a flow chart of the recovery method of the present invention.
Wherein the reference numerals are:
1 hand-push type rack 1-1 support frame
1-1-1 front beam 1-1-2 rear beam
1-1-3 left longitudinal beam and 1-1-4 right longitudinal beam
1-1-5 supporting leg 1-2 walking mechanism
1-2-1 universal wheel 1-2-2 linear wheel
1-3 harvesting device mounting rack 1-4 push rod
2 plant carding unit 2-1 carding unit bearing frame
2-2 carding plate 2-2-1 carding plate body
2-2-1-1 upper plate body 2-2-1-2 lower plate body
2-2-2 plate body connecting plate 2-2-3 carding plate rotating shaft
2-3 carding unit driving motor
3-1 filament picking mechanism of 3 filament picking system
3-1-1 end effector monomer 3-1-1-1 end effector shell is picked to 3-1-1 floret
3-1-1-1-1 multi-target chamber for aligning 3-1-1-1-2 filament cutting and collecting chamber
3-1-1-1-3 cutting motor installation chamber 3-1-1-1-4 partition plate
3-1-1-1-5 pairs of flower bottom plates and 3-1-1-1-6 flower collecting covers
3-1-1-1-7 filament collecting port 3-1-1-2 multi-target flower aligning device
3-1-1-2-1 paired flower covers 3-1-1-2-1-1 flower inlet area
3-1-1-2 fruit fixing area 3-1-1-2-1-3 detection device connector
3-1-1-2-2 necking separation net 3-1-1-3 filament cutting device
3-1-1-3-1 cutting motor 3-1-1-3-2 left cutting knife
3-1-1-3-2-1 left cutter shaft 3-1-1-3-2-2 left cutter disc
3-1-1-3-3 right cutting knife 3-1-1-3-3-1 right cutting knife shaft
3-1-1-3-3-2 right cutting knife disc 3-1-1-3-4 left cutting knife gear
3-1-1-3-5 right cutting knife gear 3-1-1-4 capacitance detection device
3-1-1-4-1 capacitive sensor 3-1-1-4-2 sensor spool
3-1-2 end effector movement electric cylinder 3-1-2-1 electric cylinder motor
3-1-2-2 electric cylinder sleeve 3-1-2-3 electric cylinder push rod
3-1-2-4 electric cylinder mounting seat 3-1-3 end effector copying mounting frame
3-2 filament collecting mechanism 3-2-1 filament collecting hose
3-2-2 filament collecting box 3-2-3 negative pressure fan
4 power and information control system 4-1 battery pack
4-2 electric control system 4-3 complete machine switch
4-4 touch screen operating system alpha1The included angle between the lower plate body and the vertical direction
α2The included angle between the upper plate body and the lower plate body is D, and the fruit balls are distributed with long diameters
E fruit ball distribution minor diameter H1Height of dwarf safflower plant
z1～z10Closest horizontal distance between adjacent fruit balls OC1First harvesting zone
OC2Second recovery zone OC3Third stepHarvesting area
OC4Fourth recovery zone OC5The fifth recovery zone
Φ1Filament spreading diameter phi2Diameter of fruit ball
Φ3Dip angle of theta ball of necking diameter
β1First angle of inclination of harvest beta 2Second angle of harvest
H2Fruit ball height L1End effector width
L2Center distance L of flower inlet3Distance of screen bar
L4Length of cutting knife alpha3Wedge angle of cutter
α4Fruit fixing area included angle C6Center line of safflower plant
G vertical direction D1Diameter of flower inlet
D2Diameter of the cut
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in figure 1, the dwarf safflower profiling harvester comprises a hand-push type frame 1, and a plant carding device 2, a filament harvesting system 3 and a power supply and information control system 4 which are arranged on the hand-push type frame 1.
As shown in figure 2, the hand-push type frame 1 comprises a support frame 1-1, a walking mechanism 1-2, a harvesting device mounting frame 1-3 and a push rod 1-4.
The support frame 1-1 comprises a front cross beam 1-1-1, a rear cross beam 1-1-2, a left longitudinal beam 1-1-3, a right longitudinal beam 1-1-4 and support legs 1-1-5, wherein the front cross beam 1-1-1, the left longitudinal beam 1-1-3, the rear cross beam 1-1-2 and the right longitudinal beam 1-1-4 are connected end to form a rectangular frame; the top ends of the four vertically arranged supporting legs 1-1-5 are fixedly connected with four corners of the rectangular frame, and the bottom ends are provided with a travelling mechanism 1-2.
The travelling mechanisms 1-2 on the two front supporting legs 1-1-5 are universal wheels 1-2-1; the running mechanisms 1-2 on the two supporting legs 1-1-5 at the rear part are straight-line wheels 1-2-2.
Two harvesting device mounting frames 1-3 which are bilaterally symmetrical and parallel to the left longitudinal beam 1-1-3 and the right longitudinal beam 1-1-4 are fixedly connected between the two left supporting legs 1-1-5 and between the two right supporting legs 1-1-5 respectively. The push rod 1-4 is fixedly connected to the rear end of the rear cross beam 1-1-2.
The plant carding device 2 is two sets of plant carding mechanisms which are symmetrical left and right and have the same structure. As shown in figure 3, the plant carding mechanism comprises a carding device bearing seat 2-1, a carding plate 2-2 and a carding device driving motor 2-3; two carding unit bearing blocks 2-1 are respectively and fixedly connected with two supporting legs 1-1-5 on one side. The carding device driving motor 2-3 is fixedly connected to the harvesting device mounting frame 1-3.
As shown in FIG. 4, the carding plate 2-2 comprises a carding plate body 2-2-1, a plate body connecting plate 2-2-2 and a carding plate rotating shaft 2-2-3; two coaxial carding plate rotating shafts 2-2-3 are respectively and fixedly connected to the outer side of the carding plate body 2-2-1 through a plate body connecting plate 2-2-2, and the carding plate rotating shafts 2-2-3 are arranged in a bearing seat 2-1 of the carding device through bearings; and a power output shaft of the carding device driving motor 2-3 is connected with the carding plate rotating shaft 2-2-3 through a coupler.
The carding plate body 2-2-1 is bent up and down along the horizontal central line and is divided into an upper plate body 2-2-1-1 and a lower plate body 2-2-1-2, and the included angle alpha between the upper plate body 2-2-1-1 and the lower plate body 2-2-1-22150 to 155 degrees; when the card is not in a carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction1Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction1Is 52-55 degrees, and can gather the safflower outside the distribution range into the harvesting range.
As shown in FIG. 5, the filament harvesting system 3 includes a filament picking mechanism 3-1 and a filament collecting mechanism 3-2.
The filament collecting mechanism 3-2 comprises a filament collecting box 3-2-2, a filament collecting hose 3-2-1 and a negative pressure fan 3-2-3, wherein the filament collecting hose is connected to the filament collecting box 3-2-2; the filament collecting box 3-2-2 is fixedly connected to the rectangular frame of the support frame 1-1.
As shown in FIG. 6, the filament picking mechanism 3-1 comprises a multi-flower picking end effector single body 3-1-1, an end effector moving electric cylinder 3-1-2 and an end effector profiling mounting frame 3-1-3.
The end effector copying mounting frame 3-1-3 is fixedly connected to the harvesting device mounting frame 1-3, the end effector moving electric cylinders 3-1-2 are fixedly connected to the end effector copying mounting frame 3-1-3, each end effector moving electric cylinder 3-1-2 is fixedly connected to one multi-flower picking end effector monomer 3-1-1, and all the multi-flower picking end effector monomers 3-1-1 form a semi-ellipsoidal harvesting surface corresponding to the short safflower plant canopy, so that full coverage of the safflower plant fruit balls is realized.
As shown in FIG. 7, the height of the dwarf safflower plant is H1The distribution range of the plant fruit balls can be similar to a semi-ellipsoid with the distribution major diameter D of 400mm and the distribution minor diameter E of 120 mm.
Preferably, as shown in fig. 5, 6, 8 and 9, the short safflower profiling harvester is provided with ten multi-flower picking end effector monomers 3-1-1 in total, every five multi-flower picking end effector monomers 3-1-1 form a picking row, and the two picking rows are symmetrically arranged in the end effector profiling mounting frame 3-1-3. As shown in fig. 7 and 8, the dwarf safflower plant canopy is divided into five harvesting areas in turn according to the inclination angle distribution rule of the individual safflower ball: first harvesting zone OC1A second recovery area OC2A third recovery area OC3And a fourth recovery area OC4And a fifth recovery zone OC5(ii) a Five multi-flower picking end effector monomers 3-1-1 in the picking row correspond to five picking areas one by one. Wherein, it is connected with a first recovery area OC1And a fifth recovery zone OC5A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-11Is 25 degrees to 27 degrees; with a second recovery zone OC2And a fourth recovery zone OC4A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1 2Is 10 to 12 degrees; and a third recovery area OC3Corresponding multi-flower picking end effector monomer 3-1-The longitudinal axis of 1 is parallel to the vertical.
The width of the end effector monomer 3-1-1 for picking the flowers is L1Then is communicated with a third recovery area OC3The corresponding horizontal coverage length of the multi-flower picking end effector monomer 3-1-1 is L1(ii) a With a second recovery zone OC2And a fourth recovery zone OC4The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL1cosβ2(ii) a With a first recovery zone OC1And a fifth recovery zone OC5The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL1cosβ1(ii) a As shown in Figs. 9 and 10, in the harvesting state, the edges of the five multi-flower picking end effector units 3-1-1 in the picking row are close and the total horizontal coverage length L1+2×L1cosβ1+2×L1cosβ2The distribution major diameter D of the plant fruit balls is more than or equal to that of the plant fruit balls, and the full coverage of the safflower plant fruit balls is realized.
As shown in fig. 10, the centerline C of safflower plant is used6The function of the longitudinal axis of five multi-flower picking end effector monomers 3-1-1 in the picking row is determined as follows by taking the intersection point with the ground as the circle center, taking the horizontal direction as the u axis and taking the vertical direction as the w axis respectively:
with a first recovery zone OC1The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -1.927 u-47.71; with a second recovery zone OC 2The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w-4.695 u-133.01; and a third recovery area OC3The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: u is 0; with a fourth recovery zone OC4The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 4.695 u-133.01; with a fifth recovery zone OC5The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 1.927 u-47.71.
As shown in FIG. 11, the end effector moving electric cylinder 3-1-2 comprises an electric cylinder motor 3-1-2-1, an electric cylinder sleeve 3-1-2-2, an electric cylinder push rod 3-1-2-3 and an electric cylinder mounting seat 3-1-2-4; the electric cylinder mounting seat 3-1-2-4 is fixedly connected to the end effector copying mounting frame 3-1-3; the electric cylinder sleeve 3-1-2-2 is fixedly connected to the electric cylinder mounting seat 3-1-2-4; the electric cylinder push rod 3-1-2-3 is arranged inside the electric cylinder sleeve 3-1-2-2 and is connected with the electric cylinder motor 3-1-2-1. The electric cylinder motor 3-1-2-1 is a stepping motor and can adjust the movement stroke of the electric cylinder push rod 3-1-2-3.
As shown in fig. 12, the multi-flower picking end effector monomer 3-1-1 comprises an end effector shell 3-1-1-1, a multi-target flower aligning device 3-1-1-2, a filament cutting device 3-1-1-3, and a capacitance detection device 3-1-1-4;
The end effector housing 3-1-1-1 is divided into three chambers: the multi-target pattern aligning chamber 3-1-1-1-1, the filament cutting and collecting chamber 3-1-1-2 and the cutting motor mounting chamber 3-1-1-1-3; the filament cutting and collecting chamber 3-1-1-1-2 is positioned above the multi-target pattern aligning chamber 3-1-1-1 and is separated from each other by a partition plate 3-1-1-1-4; the cutting motor installation chamber 3-1-1-1-3 is positioned at one side of the multi-target register chamber 3-1-1-1-1 and the filament cutting and collecting chamber 3-1-1-2. The bottom of the multi-target pattern aligning cavity 3-1-1-1-1 is an aligning bottom plate 3-1-1-1-5; the top of the filament cutting and collecting chamber 3-1-1-1-2 is provided with a flower collecting cover 3-1-1-6, and the flower collecting cover 3-1-1-1-6 is provided with a filament collecting port 3-1-1-7 connected with a filament collecting hose 3-2-1.
As shown in fig. 13 to 14, the multi-target register device 3-1-1-2 includes a plurality of register covers 3-1-1-2-1 arranged in an array; the pattern matching cover 3-1-1-2-1 is arranged in the multi-target pattern matching chamber 3-1-1-1-1, is fixedly connected between the partition plate 3-1-1-1-4 and the pattern matching bottom plate 3-1-1-5, and is communicated up and down; the diameter D of the flower inlet of the flower-aligning cover 3-1-1-2-1 on the flower-aligning bottom plate 3-1-1-1-51Is larger than the diameter D of the cutting opening on the spacing plate 3-1-1-1-4 2. The pair of flower covers 3-1-1-2-1 is divided into the following parts from bottom to top: a flower inlet area 3-1-1-2-1-1 and a fruit fixing area 3-1-1-2-1-2; the flower inlet area 3-1-1-2-1-1 is in an outer ellipsoid shape; the fruit fixing area 3-1-1-2-1-2 is in a circular truncated cone shape, and an included angle alpha between a generatrix of the circular truncated cone and the bottom surface4Is 78-85 degrees.
As shown in FIG. 15, the closest horizontal distance between adjacent fruit balls in the individual dwarf safflower plants is z1～z10The average value is z; short single plantThe horizontal range of fruit ball of formula Carthami flos can be regarded as circle with diameter D, and the coverage length of five side-by-side multiple-flower picking end effector monomers 3-1-1 in each picking row is 5L1Larger than the fruit balls and distributed with a major diameter of D, 5L1＞D。
As shown in FIG. 16, the flower silk width of Carthamus tinctorius ball1Diameter of fruit ball phi2Diameter of neck of phi3Fruit ball height H2The dip angle theta of the fruit ball is the included angle between the growth direction of the safflower filaments and the vertical direction, namely the included angle between the connecting line of the center of the bottom of the fruit ball and the center of the necking down and the vertical direction. Measured, the spread phi of the filaments of most of the carthamus tinctorius flowers1Is 42-55 mm, and the diameter phi of the fruit ball222-28 mm, and a neck diameter phi33.5-5.5 mm, fruit ball height H2The average value z of the nearest horizontal distance between adjacent fruit balls in the safflower plants is 18-25 mm, and is 45-55 mm.
As shown in FIG. 17, the multi-target register device 3-1-1-2 comprises four register covers 3-1-1-2-1, and the center distance L of the flower inlet of the adjacent register cover 3-1-1-2-1 2The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired flower covers 3-1-1-2-1 are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.
The diameter D of the flower inlet1For stretching the safflower filament phi11.1-1.3 times of the diameter of the flower inlet150-62 mm; diameter D of the cut2Is the diameter phi of fruit ball21.1 to 1.3 times of the diameter of the filament cutting opening D2Is 26 to 50 mm.
The capacitance detection device 3-1-1-4 is arranged at the upper part of the patterned cover 3-1-1-2-1 and is used for detecting whether the filament reaches the cutting position.
The shredding opening of each patterned shade 3-1-1-2-1 is provided with a necking separation net 3-1-1-2-2, and the necking separation net 3-1-1-2-2 is fixedly connected to the partition plate 3-1-1-1-4.
As shown in fig. 18, the screen bar distance L of the necking separation net 3-1-1-2-23To a diameter of necking phi30.8 to 0.85 times of the total weight of the powder.
As shown in FIG. 19, the cut filament cutting device 3-1-1-3 includes a cutting motor 3-1-1-3-1 disposed in a cutting motor installation chamber 3-1-1-1-3, and a left cutter 3-1-1-3-2 and a right cutter 3-1-1-3-3 disposed in a filament cutting collection chamber 3-1-1-1-2.
The left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are both blades with arc cross sections, and the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are arranged on the two sides of the partition plate 3-1-1-1-4 in a bilateral symmetry manner; the tail ends of the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 extend into the cutting motor installation chamber 3-1-1-1-3 and are respectively and vertically and fixedly connected with the edge of the front end face of the left cutter disc 3-1-1-3-2 and the right cutter disc 3-1-1-3-3-2; the center of the rear end face of the left cutter disc 3-1-1-3-2-2 is fixedly connected with a left cutter shaft 3-1-1-3-2-1, and the center of the rear end face of the right cutter disc 3-1-1-3-3-2 is fixedly connected with a right cutter shaft 3-1-1-3-3-1; a left cutter gear 3-1-1-3-4 is fixedly connected to the left cutter shaft 3-1-1-3-2-1, a right cutter gear 3-1-1-3-5 is fixedly connected to the right cutter shaft 3-1-1-3-3-1, and the left cutter gear 3-1-1-3-4 and the right cutter gear 3-1-1-3-5 are meshed with each other; the driving gear on the power output shaft of the cutting motor 3-1-1-3-1 is meshed with the left cutter gear 3-1-1-3-4 or the right cutter gear 3-1-1-3-5.
As shown in figure 20, the length L of the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-34Is 110-120 mm; wedge angle alpha of cutter3Is 18 degrees to 22 degrees;
as shown in fig. 21 and 22, the capacitance detection device 3-1-1-4 includes a capacitance sensor 3-1-1-4-1 and a sensor line tube 3-1-1-4-2. The fruit fixing area 3-1-1-2 at the upper part of the paired covers 3-1-1-2-1 is provided with a detection device connector 3-1-1-2-1-3 for connecting the capacitive sensor 3-1-1-4-1 in a threaded manner, and the sensor line pipe 3-1-1-4-2 is respectively connected with the capacitive sensor 3-1-1-4-1 and a power supply and information control system 4. The detection distance of the capacitive sensor 3-1-1-4-1 is 8-10 mm. The capacitance sensor 3-1-1-4-1 continuously detects the medium in the patterned cover 3-1-1-2-1; when no medium exists in the register 3-1-1-2-1, the capacitance sensor 3-1-1-4-1 detects a first capacitance C1; when the filament passes through the detection range of the capacitive sensor 3-1-1-4-1, the capacitive sensor 3-1-1-4-1 detects a second capacitance C2, and when the fruit ball enters the detection range of the capacitive sensor 3-1-1-4-1, the capacitive sensor 3-1-1-4-1 detects a third capacitance C3; because the filament is a fluffy structure and has high water content, and the fruit ball is a solid structure, the difference between the second capacitor C2 and the third capacitor C3 is larger.
As shown in fig. 23, the power supply and information control system 4 includes a battery assembly 4-1 mounted on the support frame 1-1, an electric control system 4-2, a complete machine switch 4-3, and a touch screen operating system 4-4; the battery assembly 4-1, the complete machine switch 4-3 and the touch screen operating system 4-4 are connected with the electric control system 4-2; the battery component 4-1 and the electric control system 4-2 are respectively connected with a carding device driving motor 2-3, an end effector moving electric cylinder 3-1-2, a cutting motor 3-1-1-3-1 and a capacitance detection device 3-1-1-4; the electric control system 4-2 receives signals of the capacitance detection device 3-1-1-4 and controls the carding device driving motor 2-3, the end effector moving electric cylinder 3-1-2 and the cutting motor 3-1-1-3-1.
As shown in fig. 24, a method for low safflower profiling harvesting by using a low safflower profiling harvester comprises the following steps:
s1, pushing the low-type safflower profiling harvester above the low-type safflower plants to enable all multi-flower picking end effector monomers 3-1-1 to form a semi-ellipsoidal harvesting surface and fully cover the crown layers of the low-type safflower plants;
s2, starting a complete machine switch 4-3, operating a touch screen control system 4-4, starting a carding device driving motor 2-3 by an electric control system 4-2, transmitting power to a carding plate body 2-2-1 through a carding plate rotating shaft 2-2-3 and driving the carding plate body 2-2-1 to rotate, and gathering the safflower outside a harvesting range into the harvesting range;
S3, starting an electric cylinder motor 3-1-2-1 of an end effector movement electric cylinder 3-1-2, and enabling an electric cylinder push rod 3-1-2-3 to move downwards along an electric cylinder sleeve 3-1-2-2 to drive each multi-flower picking end effector monomer 3-1-1 to move downwards; the fruit balls enter a flower aligning cover 3-1-1-2-1 of a multi-target flower aligning device 3-1-1-2, enter a fruit fixing area 3-1-1-2-1-2 through a flower entering area 3-1-1-2-1-1-1, the necking of the fruit balls is blocked by a necking separation net 3-1-1-2-2 and cannot pass through the necking separation net 3-1-1-2-2, and the filaments enter the upper part of the necking separation net 3-1-1-2-2, and the fruit balls are located in the fruit fixing area 3-1-1-2-1-2 at the moment; each capacitive sensor 3-1-1-4-1 of each multi-flower picking end effector monomer 3-1-1 continuously detects a medium in the corresponding flower cover 3-1-1-2-1;
when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and all the capacitance detection devices 3-1-1-4 do not detect the third capacitance C3, the electric cylinder push rod 3-1-2-3 does not enter a harvesting state, and the electric cylinder push rod 3-1-2-3 returns to the initial state to prepare for next harvesting;
when any one of the following conditions is met, stopping the movement of the electric cylinder push rod 3-1-2-3, enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;
the first condition is as follows: when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and the at least one capacitive sensor 3-1-1-4-1 detects the third capacitance C3;
And (2) carrying out a second condition: when the electric cylinder push rod 3-1-2-3 does not reach the maximum stroke, all the capacitance sensors 3-1-1-4-1 detect a third capacitance C3;
s4, the electric control system 4-2 enters a harvesting state, a cutting motor 3-1-1-3-1 of the filament cutting device 3-1-1-3 is started to drive a left cutter 3-1-1-3-2 and a right cutter 3-1-1-3-3 to rotate, and the safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose 3-2-1 through a filament collecting cover 3-1-1-6 and enter a filament collecting box 3-2-2, and filament harvesting is completed;
s5, after the filament harvesting is completed, the electric control system 4-2 finishes the harvesting state, the end effector moves the electric cylinder 3-1-2 to execute the reset stroke, the electric cylinder push rod 3-1-2-3 returns to the initial state, the electric control system 4-2 finishes the harvesting state and enters the standby state, the plant carding device 2 resets and is ready for the next harvesting.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, etc. of the components may be changed, and all equivalent changes and modifications based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. A short type safflower profiling harvester is characterized by comprising a hand-push type frame (1), a plant carding device (2) and a filament harvesting system (3), wherein the plant carding device and the filament harvesting system are installed on the hand-push type frame (1);
The hand-push type rack (1) comprises a support frame (1-1), a walking mechanism (1-2), a harvesting device mounting frame (1-3) and a push rod (1-4);
the support frame (1-1) comprises a front cross beam (1-1-1), a rear cross beam (1-1-2), a left longitudinal beam (1-1-3), a right longitudinal beam (1-1-4) and support legs (1-1-5), wherein the front cross beam (1-1-1), the left longitudinal beam (1-1-3), the rear cross beam (1-1-2) and the right longitudinal beam (1-1-4) are connected end to form a rectangular frame; the top ends of four vertically arranged supporting legs (1-1-5) are fixedly connected with four corners of the rectangular frame, and the bottom ends of the four vertically arranged supporting legs are respectively provided with a travelling mechanism (1-2);
two harvesting device mounting frames (1-3) which are bilaterally symmetrical and parallel to the left longitudinal beam (1-1-3) and the right longitudinal beam (1-1-4) are respectively and fixedly connected between the two left supporting legs (1-1-5) and between the two right supporting legs (1-1-5); the push rod (1-4) is fixedly connected with the rear end of the rear cross beam (1-1-2);
the plant carding devices (2) are two groups of plant carding mechanisms which are symmetrical left and right and have the same structure, and can gather the safflower outside the distribution range into the harvesting range;
the filament harvesting system (3) comprises a filament picking mechanism (3-1) and a filament collecting mechanism (3-2);
the filament collecting mechanism (3-2) comprises a filament collecting box (3-2-2), a filament collecting hose (3-2-1) and a negative pressure fan (3-2-3), wherein the filament collecting hose (3-2-2) is connected to the filament collecting box (3-2-2); the filament collecting box (3-2-2) is fixedly connected to the rectangular frame of the support frame (1-1);
The filament picking mechanism (3-1) comprises a multi-flower picking end effector monomer (3-1-1), an end effector moving electric cylinder (3-1-2) and an end effector profiling mounting frame (3-1-3);
the end effector copying mounting frame (3-1-3) is fixedly connected to the harvesting device mounting frame (1-3), a plurality of end effector moving electric cylinders (3-1-2) are fixedly connected to the end effector copying mounting frame (3-1-3), each end effector moving electric cylinder (3-1-2) is fixedly connected with a multi-flower picking end effector monomer (3-1-1), and all the multi-flower picking end effector monomers (3-1-1) form a semi-ellipsoidal picking surface corresponding to a short safflower plant canopy, so that full coverage of safflower plant fruit balls is realized;
the end effector movement electric cylinder (3-1-2) comprises an electric cylinder motor (3-1-2-1), an electric cylinder sleeve (3-1-2-2), an electric cylinder push rod (3-1-2-3) and an electric cylinder mounting seat (3-1-2-4); the electric cylinder mounting seat (3-1-2-4) is fixedly connected to the end effector copying mounting frame (3-1-3); the electric cylinder sleeve (3-1-2-2) is fixedly connected to the electric cylinder mounting seat (3-1-2-4); the electric cylinder push rod (3-1-2-3) is arranged inside the electric cylinder sleeve (3-1-2-2) and is connected with the electric cylinder motor (3-1-2-1);
the multi-flower picking end effector monomer (3-1-1) comprises an end effector shell (3-1-1-1), a multi-target flower aligning device (3-1-1-2), a filament cutting device (3-1-1-3) and a capacitance detection device (3-1-1-4);
The end effector housing (3-1-1-1) is divided into three chambers: the multi-target pattern aligning chamber (3-1-1-1-1), the filament cutting and collecting chamber (3-1-1-1-2) and the cutting motor mounting chamber (3-1-1-1-3); the filament cutting and collecting chamber (3-1-1-1-2) is positioned above the multi-target register chamber (3-1-1-1-1) and is separated from each other by a partition plate (3-1-1-1-4); the cutting motor installation chamber (3-1-1-1-3) is positioned at one side of the multi-target register chamber (3-1-1-1-1) and the filament cutting and collecting chamber (3-1-1-1-2); the bottom of the multi-target pattern aligning cavity (3-1-1-1-1) is an aligning bottom plate (3-1-1-1-5); the top of the filament cutting and collecting chamber (3-1-1-1-2) is provided with a flower collecting cover (3-1-1-1-6), and the flower collecting cover (3-1-1-1-6) is provided with a filament collecting port (3-1-1-1-7) connected with a filament collecting hose (3-2-1);
the multi-target pattern aligning device (3-1-1-2) comprises a plurality of pattern aligning covers (3-1-1-2-1) arranged in an array; the pattern matching cover (3-1-1-2-1) is arranged in the multi-target pattern matching chamber (3-1-1-1-1) and fixedly connected between the partition plate (3-1-1-1-4) and the pattern matching bottom plate (3-1-1-1-5) and is communicated up and down;
the capacitance detection device (3-1-1-4) is arranged at the upper part of the register cover (3-1-1-2-1) and is used for detecting whether the filament reaches a cutting position;
Each die cutting opening of each pair of the flower covers (3-1-1-2-1) is provided with a necking separation net (3-1-1-2-2), and the necking separation net (3-1-1-2-2) is fixedly connected to the partition plate (3-1-1-1-4);
the filament cutting device (3-1-1-3) comprises a cutting motor (3-1-1-3-1) arranged in a cutting motor installation chamber (3-1-1-1-3), and a left cutting knife (3-1-1-3-2) and a right cutting knife (3-1-1-3-3) arranged in a filament cutting collection chamber (3-1-1-1-2);
the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3) are both blades with arc-shaped cross sections, and the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3) are arranged on two sides of the partition plate (3-1-1-1-4) in a bilateral symmetry manner; the tail ends of the left cutter (3-1-1-3-2) and the right cutter (3-1-1-3-3) extend into the cutting motor installation chamber (3-1-1-1-3) and are respectively and vertically and fixedly connected with the edges of the front end faces of the left cutter disc (3-1-1-3-2-2) and the right cutter disc (3-1-1-3-3-2); the center of the rear end face of the left cutter disc (3-1-1-3-2-2) is fixedly connected with a left cutter shaft (3-1-1-3-2-1), and the center of the rear end face of the right cutter disc (3-1-1-3-3-2) is fixedly connected with a right cutter shaft (3-1-1-3-3-1); a left cutting knife gear (3-1-1-3-4) is fixedly connected to the left cutting knife shaft (3-1-1-3-2-1), a right cutting knife gear (3-1-1-3-5) is fixedly connected to the right cutting knife shaft (3-1-1-3-3-1), and the left cutting knife gear (3-1-1-3-4) and the right cutting knife gear (3-1-1-3-5) are meshed with each other; the driving gear on the power output shaft of the cutting motor (3-1-1-3-1) is meshed with the left cutting knife gear (3-1-1-3-4) or the right cutting knife gear (3-1-1-3-5).
2. The low safflower profiling harvester of claim 1, wherein said plant combing mechanism comprises a combing device bearing seat (2-1), a combing plate (2-2) and a combing device driving motor (2-3); two carding device bearing blocks (2-1) are respectively and fixedly connected to two supporting legs (1-1-5) on one side; the carding device driving motor (2-3) is fixedly connected to the harvesting device mounting frame (1-3);
the carding plate (2-2) comprises a carding plate body (2-2-1), a plate body connecting plate (2-2-2) and a carding plate rotating shaft (2-2-3); two coaxial carding plate rotating shafts (2-2-3) are respectively and fixedly connected to the outer side of the carding plate body (2-2-1) through a plate body connecting plate (2-2-2), and the carding plate rotating shafts (2-2-3) are arranged in a bearing seat (2-1) of the carding device through bearings; the power output shaft of the carding device driving motor (2-3) is connected with the carding plate rotating shaft (2-2-3) through a coupler;
the carding plate body (2-2-1) is bent up and down along the horizontal central line of the carding plate body and is divided into an upper plate body (2-2-1-1) and a lower plate body (2-2-1-2), and the included angle alpha between the upper plate body (2-2-1-1) and the lower plate body (2-2-1-2)2150 to 155 degrees; non-carded shapeIn the state, the included angle alpha between the lower plate body (2-2-1-2) and the vertical direction1Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body (2-2-1-2) and the vertical direction 1Is 52 to 55 degrees.
3. The short type safflower profiling harvester according to claim 1, wherein ten multi-flower picking end effector monomers (3-1-1) are arranged in the short type safflower profiling harvester, every five multi-flower picking end effector monomers (3-1-1) form a picking row, and the two picking rows are symmetrically arranged in an end effector profiling mounting frame (3-1-3); dividing the dwarf safflower plant canopy into five harvesting areas in sequence according to the inclination distribution rule of the single plant safflower ball: first harvesting zone OC1A second recovery area OC2A third recovery area OC3And a fourth recovery area OC4And a fifth recovery zone OC5(ii) a Five multi-flower picking end effector monomers (3-1-1) in the picking row correspond to the five picking areas one by one; wherein, it is connected with a first recovery area OC1And a fifth recovery zone OC5A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector single body (3-1-1)1Is 25 degrees to 27 degrees; with a second recovery zone OC2And a fourth recovery zone OC4A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector single body (3-1-1)210 to 12 degrees; and a third recovery area OC3The longitudinal axis of the corresponding multi-flower picking end effector monomer (3-1-1) is parallel to the vertical direction;
Using the center line C of safflower plant6The function of the longitudinal axis of five multi-flower picking end effector monomers (3-1-1) in the picking row is determined by taking the intersection point with the ground as the circle center, the horizontal direction as the u axis and the vertical direction as the w axis respectively as follows:
and a first recovery area OC1The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: -1.927 u-47.71;
with a second recovery zone OC2The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: -4.695 u-133.01;
and a third recovery area OC3The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: u is 0;
with a fourth recovery zone OC4The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: w is 4.695 u-133.01;
with a fifth recovery zone OC5The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: w is 1.927 u-47.71.
4. The low-profile safflower profiling harvester according to claim 3, wherein the width of the multi-flower picking end effector monomer (3-1-1) is L1Then is communicated with a third recovery area OC3The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is L1(ii) a With a second recovery zone OC 2And a fourth recovery zone OC4The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is 2 xL1cosβ2(ii) a With a first recovery zone OC1And a fifth recovery zone OC5The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is 2 xL1cosβ1(ii) a In the harvesting state, the edges of the five multi-flower picking end effector monomers (3-1-1) in the picking row are tightly attached, and the total horizontal coverage length L1+2×L1cosβ1+2×L1cosβ2The distribution length D of the fruit balls of the plants is more than or equal to that of the fruit balls of the plants.
5. The low-profile safflower profiling harvester according to claim 1, wherein the flower inlet diameter D of the flower aligning cover (3-1-1-2-1) on the flower aligning base plate (3-1-1-1-5)1Is larger than the diameter D of the cutting opening on the spacing plate (3-1-1-1-4)2(ii) a The pair of flower covers (3-1-1-2-1) is divided into the following parts from bottom to top: a flower inlet area (3-1-1-2-1-1) and a fruit fixing area (3-1-1-2-1-2); the flower inlet area (3-1-1-2-1-1) is in an outer ellipsoid shape; the fruit fixing area (3-1-1-2-1-2) is in a round table shape, and the included angle alpha between the generatrix of the round table and the bottom surface4Is 78 degrees to 85 degrees; the diameter D of the flower inlet1For stretching the safflower filament phi11.1 of1.3 times, diameter D of flower inlet150-62 mm; diameter D of the cut2Is the diameter phi of fruit ball21.1 to 1.3 times of the diameter of the filament cutting opening D2Is 26 to 50 mm.
6. The low-profile safflower harvester according to claim 1, wherein said multi-target register device (3-1-1-2) comprises four register covers (3-1-1-2-1), the distance L between centers of flower inlets of adjacent register covers (3-1-1-2-1)2The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired covers (3-1-1-2-1) are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.
7. The low safflower profiling harvester according to claim 1, wherein the screen bar distance L of the necking separation net (3-1-1-2-2)3For a diameter of necking phi30.8-0.85 times of the total weight of the composition; the length L of the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3)4Is 110-120 mm; wedge angle alpha of the tool3Is 18 to 22 degrees.
8. The low-profile safflower harvester according to claim 1, wherein said capacitive detection means (3-1-1-4) comprise a capacitive sensor (3-1-1-4-1) and a sensor conduit (3-1-1-4-2); the fruit fixing area (3-1-1-2-1-2) at the upper part of the flower cover (3-1-1-2-1) is provided with a detection device connector (3-1-1-2-1-3) for connecting the capacitive sensor (3-1-1-4-1) in a threaded manner, and the sensor line tube (3-1-1-4-2) is respectively connected with the capacitive sensor (3-1-1-4-1) and a power supply and information control system (4).
9. The low-type safflower profiling harvester according to claim 1, further comprising a power supply and information control system (4), wherein the power supply and information control system (4) comprises a battery pack (4-1), an electric control system (4-2), a complete machine switch (4-3) and a touch screen operating system (4-4), which are arranged on the support frame (1-1); the battery assembly (4-1), the whole machine switch (4-3) and the touch screen operating system (4-4) are connected with the electric control system (4-2); the battery component (4-1) and the electric control system (4-2) are respectively connected with the carding device driving motor (2-3), the end effector moving electric cylinder (3-1-2), the cutting motor (3-1-1-3-1) and the capacitance detection device (3-1-1-4).
10. A method of low profile safflower harvesting using a low profile safflower harvester according to claims 1 to 9, comprising the steps of:
s1, pushing the low-type safflower profiling harvester above the low-type safflower plant to enable all multi-flower picking end effector monomers (3-1-1) to form a semi-ellipsoidal harvesting surface and fully cover a crown layer of the low-type safflower plant;
s2, a switch (4-3) of the whole machine is turned on, a touch screen control system (4-4) is operated, an electric control system (4-2) starts a carding device driving motor (2-3), power is transmitted to a carding plate body (2-2-1) through a carding plate rotating shaft (2-2-3) and drives the carding plate body (2-2-1) to rotate, and safflower outside a harvesting range gathers in the harvesting range;
S3, starting an electric cylinder motor (3-1-2-1) of an end effector movement electric cylinder (3-1-2), and driving an electric cylinder push rod (3-1-2-3) to move downwards along an electric cylinder sleeve (3-1-2-2) to drive each multi-flower picking end effector monomer (3-1-1) to move downwards; the fruit balls enter a flower aligning cover (3-1-1-2-1) of a multi-target flower aligning device (3-1-1-2-1), enter a fruit fixing area (3-1-1-2-1-2) through a flower entering area (3-1-1-2-1-1-1), the necking of the fruit balls is blocked by a necking separation net (3-1-1-2-2) and cannot pass through the necking separation net (3-1-1-2-2), the flower filaments enter the upper part of the necking separation net (3-1-1-2-2), and the fruit balls are located in the fruit fixing area (3-1-1-2-2); each capacitance sensor (3-1-1-4-1) of each multi-flower picking end effector monomer (3-1-1) continuously detects the medium in the register cover (3-1-1-2-1);
when the electric cylinder push rod (3-1-2-3) reaches the maximum stroke and all the capacitance detection devices (3-1-1-4) do not detect the third capacitance C3, the electric cylinder push rod does not enter a harvesting state, the electric cylinder push rod (3-1-2-3) returns to the initial state, and next harvesting is ready;
when any one of the following conditions is met, stopping the movement of the electric cylinder push rod (3-1-2-3), enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;
the first condition is as follows: when the electric cylinder push rod (3-1-2-3) reaches the maximum stroke and at least one capacitive sensor (3-1-1-4-1) detects a third capacitance C3;
And (2) carrying out a second condition: when the electric cylinder push rod (3-1-2-3) does not reach the maximum stroke, all the capacitance sensors (3-1-1-4-1) detect the third capacitance C3;
s4, the electric control system (4-2) enters a harvesting state, a cutting motor (3-1-1-3-1) of the filament cutting device (3-1-1-3) is started to drive a left cutting knife (3-1-1-3-2) and a right cutting knife (3-1-1-3-3) to rotate, and the safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose (3-2-1) through a filament collecting cover (3-1-1-1-6) and enter a filament collecting box (3-2-2), and filament harvesting is completed;
s5, after the filament harvesting is completed, the electric control system (4-2) finishes the harvesting state, the end effector moves the electric cylinder (3-1-2) to execute the reset stroke, the electric cylinder push rod (3-1-2-3) returns to the initial state, the electric control system (4-2) finishes the harvesting state and enters the standby state, and the plant carding device (2) resets to prepare for the next harvesting.
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