CN114223378A - Grabbing type radish harvesting robot - Google Patents

Abstract

The invention relates to a grabbing type radish harvesting robot, which comprises a crawler walking device and a main frame, wherein the crawler walking device is used for supporting a harvester to walk, the main frame is arranged above the crawler walking device, a conveying mechanism is arranged at the bottom of the main frame, a grain lifting mechanism, a harvesting mechanism and a feeding mechanism are sequentially arranged in the main frame from front to back, the grabbing type radish harvesting robot adopts the crawler walking device, the main frame, the grain lifting mechanism, a gathering mechanism, the harvesting mechanism, the feeding mechanism and the conveying mechanism which are sequentially arranged in the main frame along the reverse direction of the walking direction to be matched, so that the planted radish is automatically harvested, stem leaves attached to the ground are lifted up through the grain lifting mechanism, the stem leaves are gathered and guided into a clamping jaw of the gathering mechanism through the gathering mechanism, the roots of radish seedlings are accurately clamped through the harvesting mechanism, the radish is pulled out, and simultaneously, the stem leaves of the radish are rapidly and thoroughly removed, under the condition of no assistance of the digging shovel, the harvesting effect of the compacted soil is greatly improved, and the harvesting efficiency is effectively improved.

Description

Grabbing type radish harvesting robot

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a grabbing type radish harvesting robot.

Background

Radish is a common crop, and radish roots are eaten as vegetables; the seeds, the fresh roots, the dead roots and the leaves are all used as medicines, the seeds have the functions of promoting digestion and reducing phlegm, the fresh roots quench thirst and help digestion, the dead roots are beneficial to urination and defecation, the leaves treat primary dysentery and prevent dysentery, the seeds are used for oil extraction industry and eating, radishes generally grow in soil, and the roots and the stems of the radishes generally deeply penetrate into the soil.

With the development of large-scale planting technology and the large-scale planting of radishes, the traditional manual harvesting is not only low in efficiency, but also different in product quality of radish harvesting. On one hand, the conventional carrot harvester can finish harvesting operation of the carrots only by the aid of a digging shovel, so that the damage rate, energy consumption and operation difficulty of harvesting are greatly improved, and the conventional carrot harvesting equipment is large in size and mass, high in damage rate and operation difficulty, high in energy consumption and use cost, not environment-friendly and not beneficial to popularization and application; on the other hand, for the radishes which are particularly compact in soil or deeply pricked into the soil, the radishes are difficult to be effectively pulled out by using the existing chain type pulling mode. Therefore, in order to solve the above problems, a grabbing type radish harvesting robot is proposed.

Disclosure of Invention

The invention aims to provide a grabbing type radish harvesting robot, which solves the problems of low manual harvesting efficiency, inconsistent product quality and poor harvesting effect in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a snatch formula turnip harvesting robot, includes the track running gear that is used for supporting the harvesting robot walking and installs the main frame in track running gear top, track running gear's top is equipped with the conveying mechanism who installs in the main frame bottom, install forward in the main frame behind by in proper order and hold up standing grain mechanism, gather mechanism and feeding mechanism, the feeder framework is established in conveying mechanism's top, the rear end of main frame is equipped with the battery compartment, hold up standing grain mechanism and be used for holding up the turnip seedling that pastes the ground, gather the mechanism and be used for pulling out the turnip and cut the leaf, feeding mechanism is used for carrying in the turnip centre gripping that the mechanism pulled out and the leading-in conveying mechanism of upset, the built-in battery of battery compartment for the power supply of each mechanism.

Preferably, the conveying mechanism comprises a conveying assembly and an auxiliary assembly, the conveying assembly is mounted above the crawler walking device and is used for conveying the picked radishes, and the auxiliary assembly is erected above the conveying assembly and is used for auxiliary guiding of the radish conveying.

Preferably, the seedling lifting mechanism comprises a swinging assembly and an adjusting assembly which are installed at the front end of the main frame, a seedling lifting assembly is installed in the swinging assembly, the adjusting assembly is connected with and drives the swinging assembly, the swinging assembly is used for installing the seedling lifting assembly, the seedling lifting assembly is downwards stretched and contacted with the ground and used for lifting the radish seedlings attached to the ground, and the adjusting assembly is used for adjusting the inclination angles of the swinging assembly and the seedling lifting assembly.

Preferably, still including setting up the mechanism of drawing in between holding up standing grain mechanism and harvesting mechanism, the mechanism of drawing in includes two sets of conveyor components, is first conveyor component and second conveyor component respectively, and two sets of conveyor components structure unanimous and symmetry set up, first conveyor component includes the installation pole and installs the motor frame in installation pole bottom, the motor that is located installation pole one side is installed at the top of motor frame, first band conveyer is installed to the bottom of motor frame, first band conveyer is close to the coaxial interlock of one end of holding up standing grain mechanism and has the second band conveyer, the connecting plate of connecting the second band conveyer is installed to the front side terminal surface of motor frame, the motor passes through hold-in range and connects and drive first band conveyer and second band conveyer.

Preferably, gather the mechanism and include supporting mechanism, remove seat, sideslip subassembly, erect and move the subassembly, indulge and move the subassembly, pull out the seat, cut leaf subassembly and clamping component, supporting mechanism installs in the main frame, be equipped with in the supporting mechanism and remove the seat, it has the seat of pulling out to remove the vertical sliding connection of seat, sideslip subassembly is connected and the drive is removed the seat and is followed the supporting mechanism lateral shifting, erect and move the subassembly and connect and drive the vertical removal of seat of pulling out, indulge and move the subassembly and connect and drive and remove the seat and follow the supporting mechanism longitudinal movement, it installs and cuts the leaf subassembly to pull out the seat, clamping component is installed to the bottom of pulling out the seat, clamping component is used for the supplementary centre gripping action of cutting the leaf subassembly.

Preferably, the feeder frame is arranged above the conveying mechanism and used for guiding picked radishes into the conveying mechanism, and the feeder frame comprises a clamping component, an installation component, a traction component and a turnover component, wherein the clamping component is slidably installed above the installation component, the traction component is connected with and drives the clamping component, the traction component is further connected with and drives the turnover component matched with the clamping component, and the turnover component is used for turning over the radishes clamped by the clamping component.

The invention has at least the following beneficial effects:

1. the invention adopts the cooperation of the crawler traveling device, the main frame, the grain lifting mechanism, the gathering mechanism, the collecting mechanism, the feeding mechanism and the conveying mechanism which are sequentially arranged in the main frame along the reverse direction of the advancing direction to automatically collect the planted radish, the stem leaves attached to the ground are lifted by the grain lifting mechanism, the stem leaves are gathered and guided into the clamping jaw of the collecting mechanism by the gathering mechanism, the roots of the radish seedlings are accurately clamped by the collecting mechanism, the radish is pulled out, the stem leaves of the radish are rapidly and thoroughly removed, and the radish with the stem leaves removed is overturned by the feeding mechanism and is conveyed to the conveying mechanism for conveying, thereby effectively improving the harvesting efficiency and the harvesting quality of the radish.

2. According to the invention, a grabbing type harvesting mode of pulling the clamping jaw is utilized, so that the auxiliary of a digging shovel is not needed, and the harvesting operation of the radishes can be successfully completed for the radishes which are compacted in soil or deeply pricked into the soil; pure electronic formula results of snatching is equipped, has reduced greatly and has reorganized volume and weight, work energy consumption and use the degree of difficulty, and crawler-type running gear has effectively reduced turning radius, has promoted the topography trafficability characteristic of equipment, has promoted the operation adaptability and the use economic nature of equipment by a wide margin, moreover, uses pure electronic drive mode to guarantee the energy-concerving and environment-protective of equipment, consequently, more is favorable to solving the mechanization and the automation problem of turnip results.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is an exploded schematic view of the present invention;

FIG. 3 is a perspective view of the conveying mechanism of the present invention;

FIG. 4 is an exploded view of the delivery mechanism of the present invention;

FIG. 5 is a schematic perspective view of the grain lifting mechanism of the present invention;

FIG. 6 is an exploded view of the grain lifting mechanism of the present invention;

fig. 7 is an exploded schematic view of the recovery mechanism of the present invention;

FIG. 8 is a schematic perspective view of the combination of the traversing assembly, the erecting assembly and the longitudinally moving assembly of the present invention;

FIG. 9 is a perspective view of FIG. 8 from another perspective;

FIG. 10 is a perspective view of the cutting blade assembly and clamping assembly of the present invention in combination;

FIG. 11 is a front cross-sectional structural view of the clamping assembly of the present invention;

FIG. 12 is a perspective view of the movable base of the present invention;

FIG. 13 is a schematic perspective view of a furling mechanism of the present invention;

FIG. 14 is a schematic perspective view of the feeding mechanism of the present invention;

fig. 15 is an exploded view of the feed mechanism of the present invention.

In the reference symbols:

1. a crawler traveling device;

2. a main frame;

3. a conveying mechanism; 31. a transmission assembly; 311. a transport pedestal; 312. a support; 313. a conveyor belt; 314. a motor; 315. inputting a belt; 316. a baffle plate; 317. an arc plate; 32. an auxiliary component; 321. a belt conveyor; 322. a drive shaft; 323. a side lever; 324. a transmission belt; 325. a stop lever; 326. blocking the platform; 327. a roller frame; 328. a roller; 329. a spring;

4. a grain lifting mechanism; 41. a swing assembly; 411. a first rotating shaft; 412. a swing plate; 413. a shaft seat; 414. a motor base; 42. a grain lifting assembly; 421. a motor; 422. a power shaft; 423. a conveyor belt; 424. a cover plate; 425. a grain lifting fork; 43. an adjustment assembly; 431. a second rotating shaft; 432. mounting a plate; 433. a hinged seat; 434. a motor; 435. a threaded seat;

5. a furling mechanism; 51. mounting a rod; 52. a motor frame; 53. a motor; 54. a first belt conveyor; 55. a second belt conveyor; 56. a connecting plate; 57. a synchronous belt;

6. a harvesting mechanism; 61. a support mechanism; 611. a stringer; 612. a cross beam; 613. a support plate; 62. a movable seat; 63. a traversing assembly; 631. a first drive motor; 632. a guide seat; 633. a rack bar; 64. vertically moving the assembly; 641. an upper support plate; 642. a drive motor; 643. a first rotary base; 644. a transmission rod; 645. a support bar; 65. a longitudinal movement component; 651. a drive motor; 652. a lower support plate; 653. a second rotary base; 654. a screw; 66. pulling out the base; 67. a leaf cutting assembly; 671. a drive motor; 672. a first gear shaft; 673. a second gear shaft; 674. a deflector rod; 675. a clamping jaw; 676. a cutter; 677. connecting blocks; 68. a clamping assembly; 681. a drive motor; 682. a threaded shaft; 683. a slide base; 684. a push rod; 685. a locking lever;

7. a feeding mechanism; 71. a clamping assembly; 711. mounting a plate; 712. a clamping plate; 713. a strut; 714. a splint; 715. a non-slip mat; 716. a guide frame; 717. a drive motor; 718. a driving seat; 719. a connecting rod; 720. a limiting groove; 72. mounting the component; 721. a guide rail; 722. a first mounting bracket; 73. a traction assembly; 731. a drive motor; 732. a second mounting bracket; 733. a rack bar; 734. a slide plate; 74. a turnover assembly; 741. a support; 742. a connecting rod; 743. a transmission rod; 744. a driving wheel; 745. a guide block;

8. and a battery compartment.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1-15, the present invention provides a technical solution: the utility model provides a snatch formula turnip harvesting robot, including being used for supporting the crawler travel unit 1 that the harvesting robot walked and installing the main frame 2 in crawler travel unit 1 top, crawler travel unit 1's top is equipped with the conveying mechanism 3 of installing in main frame 2 bottom, hold up standing grain mechanism 4 by preceding in proper order backward in the main frame 2, gather mechanism 6 and feeding mechanism 7, feeding mechanism 7 erects in conveying mechanism 3's top, the rear end of main frame 2 is equipped with battery compartment 8, hold up standing grain mechanism 4 and be used for holding up the turnip seedling that pastes the ground, it is used for pulling out the turnip and carries out the leaf of cutting to gather mechanism 6, feeding mechanism 7 is used for carrying in the turnip centre gripping that mechanism 6 pulled out of gathering mechanism 3 with the upset leading-in, battery compartment 8 embeds the battery, a power supply for each mechanism.

The conveying mechanism 3 comprises a conveying assembly 31 and an auxiliary assembly 32, wherein the conveying assembly 31 is mounted above the crawler walking device 1, the auxiliary assembly 32 is erected above the conveying assembly 31, the conveying assembly 31 is used for conveying picked radishes, and the auxiliary assembly 32 is used for auxiliary guiding of conveying the radishes;

the transmission assembly 31 comprises a transmission base frame 311 arranged at the bottom of the main frame 2 through a bracket 312 and two conveying belts 313 arranged in parallel in the transmission base frame 311, wherein one end of the transmission base frame 311 is provided with a motor 314, the motor 314 is connected with and drives the conveying belts 313, specifically, the motor 314 is connected with a pulley shaft at one end of the conveying belts 313 through a coupling, one end of the transmission base frame 311 departing from the motor 314 is provided with an input belt 315 coaxially connected with the conveying belts 313, specifically, the input belt 315 is positioned between the two conveying belts 313 and connected with a pulley at one end of the conveying belts 313 departing from the motor 314, one end of the input belt 315 departing from the conveying belts 313 is connected with the transmission base frame 311 through a pulley, one end of the transmission base frame 311 departing from the motor 314 is connected with a baffle 316 penetrating through the input belt 315, and the top surface of the baffle 316 is provided with two arc plates 317 symmetrically distributed at two sides of the input belt 315, thus, the motor 314 drives the two groups of parallel conveying belts 313 to rotate, the radishes are positioned through the gap between the conveying belts 313, and the radishes are guided in through the matching of the input belt 315 and the arc plate 317;

the auxiliary assembly 32 comprises a belt conveyor 321 arranged above an input belt 315, one end of the belt conveyor 321 close to a motor 314 is connected with a power connection transmission shaft 322, in particular, the transmission shaft 322 is in keyed joint with a belt wheel at the end part of the belt conveyor 321, two sides of the transmission shaft 322 are hinged with side rods 323 connected with the side wall of a transmission base frame 311, the top ends of the side rods 323 are provided with baffle platforms 326, one side of the belt conveyor 321 close to the transmission shaft 322 is penetrated through baffle rods 325 matched with the baffle platforms 326, in particular, the baffle platforms 326 support the baffle rods 325, a conveying belt 313 is connected with the belt conveyor 321 through a transmission belt 324 and drives the belt conveyor 321, in particular, the side wall of the side rods 323 is rotatably provided with a belt wheel connected with the transmission belt 324 in a single degree of freedom, the end part of the belt wheel penetrating through the side rods 323 and one end of the transmission shaft 322, extending out of the side rods 323, are in meshed transmission through a gear, the auxiliary assembly 32 further comprises a plurality of roller frames 327 distributed on one side of the transmission shaft 322 close to the motor 314, specifically, the roller frame 327 is a U-shaped structure, two ends of the roller frame 327 are respectively hinged to outer walls of two sides of the transmission base frame 311, a roller 328 is rotatably connected to the top end of the roller frame 327, two sides of the top of the roller frame 327 are respectively provided with a spring 329 hinged to the transmission base frame 311, specifically, two ends of the spring 329 are respectively hinged to the roller frame 327 and the transmission base frame 311, so that the belt conveyor 321 can be hinged and positioned through the side bar 323 and the transmission shaft 322, and the baffle bar 325 and the baffle table 326 are matched to support the belt conveyor 321, so that a gap through which radishes pass is ensured between the belt conveyor 321 and the input belt 315, and the belt in the belt conveyor 321 is driven by the conveyor belt 313 to rotate at the same speed and in the opposite direction with the input belt 315 through the transmission belt 324 and the gear transmission, and the belt in the belt conveyor 321 is matched with the input belt 315 to self-adaptively clamp the radishes and convey the radishes toward the conveyor 313, in addition, the roller 328 is supported by the roller frame 327 in a rolling manner, the radish conveyed by the conveying belt 313 is assisted to be pressed downwards and limited by the roller 328, the roller frame 327 is elastically supported by the spring 329, and therefore the radish is subjected to self-adaptive pressing adjustment by the roller 328, and stable conveying of the radish is guaranteed.

The seedling lifting mechanism 4 comprises a swinging assembly 41 and an adjusting assembly 43 which are arranged at the front end of the main frame 2, a seedling lifting assembly 42 is arranged in the swinging assembly 41, the adjusting assembly 43 is connected with and drives the swinging assembly 41, the swinging assembly 41 is used for installing the seedling lifting assembly 42, the seedling lifting assembly 42 is downwards stretched and contacted with the ground for lifting radish seedlings attached to the ground, the adjusting assembly 43 is used for adjusting the inclination angles of the swinging assembly 41 and the seedling lifting assembly 42, namely the swinging assembly 41 is driven by the adjusting assembly 43 to move the seedling lifting assembly 42 to swing, and the seedling lifting mechanism is more convenient to adjust according to different ridge heights;

the swing assembly 41 comprises a first rotating shaft 411 rotatably mounted at the front end of the main frame 2 through a shaft seat 413 and two swing plates 412 symmetrically distributed, the first rotating shaft 411 is connected with the top of the swing plates 412, that is, the first rotating shaft 411 can be rotatably mounted through the shaft seat 413, and then the two symmetrical swing plates 412 are hinged at the front end of the main frame 2;

the seedling lifting assembly 42 comprises a motor 421 mounted on the top of one of the swing plates 412 and a power shaft 422 rotatably connected with the two swing plates 412, the motor 421 is connected with and drives the power shaft 422, specifically, the motor 421 and the power shaft 422 are in belt transmission, two ends of the power shaft 422 are connected with and drive a conveyor belt 423 mounted on an adjacent side end face of the swing plate 412, specifically, two ends of the conveyor belt 423 are rotatably connected with the swing plates 412 through belt wheels, two ends of the conveyor belt 423 are further provided with cover plates 424 connected with the swing plates 412, the outer end face of the conveyor belt 423 is provided with a plurality of parallel seedling lifting forks 425, specifically, the seedling lifting forks 425 comprise a vertical part perpendicular to the conveyor belt 423 and an inclined part forming an included angle with the vertical part, the included angle between the vertical part and the inclined part is not more than 90 degrees, and faces to radishes, namely, the power shaft 422 can be driven to rotate through the motor 421, the two conveying belts 423 are driven to rotate by the power shaft 422, so that radish seedlings attached to the soil are lifted by the soft seedling lifting forks 425, and picking and leaf cutting of the radishes are facilitated;

the adjusting assembly 43 comprises a second rotating shaft 431 mounted above the first rotating shaft 411 through a mounting plate 432 and a motor 434 hinged to the top end of the swinging plate 412, the second rotating shaft 431 is connected with two hinged seats 433 corresponding to the swinging plate 412, the top end of each hinged seat 433 is rotatably connected with a threaded seat 435, the motor 434 is connected with and drives the threaded seats 435, specifically, external threads are etched at the shaft ends of the motor 434, an internal thread hole is etched in the middle of each threaded seat 435, the motor seat 414 is mounted at the top end of the swinging plate 412, the motor seat 414 is hinged to the motor 434, the motor 434 can be hinged and positioned through the motor seat 414, and then the motor 434 is matched with the threaded seats 435 to drive the swinging plate 412 to adjust the ground height and the deformation of the grain lifting fork 425 according to the ridge height and the ground contact degree of radish seedlings around the first rotating shaft 411.

Wherein, the straw harvester also comprises a furling mechanism 5 arranged between the straw holding mechanism 4 and the harvesting mechanism 6, the furling mechanism 5 comprises two groups of conveying components which are respectively a first conveying component and a second conveying component, the two groups of conveying components are consistent in structure and are symmetrically arranged, the first group of conveying components comprises an installation rod 51 and a motor frame 52 arranged at the bottom end of the installation rod 51, concretely, the top end of the installation rod 51 is connected with the main frame 2, a motor 53 positioned at one side of the installation rod 51 is arranged at the top of the motor frame 52, a first belt conveyer 54 is arranged at the bottom of the motor frame 52, concretely, the first belt conveyer 54 is connected with the bottom end of the motor frame 52 through a shell and is horizontally arranged, a second belt conveyer 55 is coaxially linked at one end of the first belt conveyer 54 close to the straw holding mechanism 4, concretely, the two first belt conveyers 54 are arranged in parallel, the distance is adjusted according to the installation distance of the two installation rods 51, the distance between the two second belt conveyors 55 gradually increases towards the end departing from the first belt conveyor 54, a connecting plate 56 connected with the second belt conveyor 55 is installed on the front side end face of the motor frame 52, specifically, one end of the connecting plate 56 is connected with the side wall of the motor frame 52, the other end is connected with the shell of the second belt conveyor 55, the motor 53 is connected with and drives the first belt conveyor 54 and the second belt conveyor 55 through a synchronous belt 57, specifically, the shaft ends of the common shaft of the second belt conveyor 55 and the first belt conveyor 54 and the shaft end of the motor 53 are both provided with belt wheels matched with the synchronous belt 57, namely, the first belt conveyor 54 and the second belt conveyor 55 which are coaxially driven can be further supported through the connecting plate 56, and then the motor 53 drives the two second belt conveyors 55 to convey the expanded radish seedlings backwards, and further gather the roots of the radish seedlings through the two first belt conveyors 54, is convenient for picking.

Wherein, the harvesting mechanism 6 comprises a supporting mechanism 61, a moving seat 62, a transverse moving component 63, a vertical moving component 64, a longitudinal moving component 65, a pulling seat 66, a leaf cutting component 67 and a clamping component 68, the supporting mechanism 61 is installed in the main frame 2, the moving seat 62 is arranged in the supporting mechanism 61, the moving seat 62 is vertically and slidably connected with the pulling seat 66, the transverse moving component 63 is connected with and drives the moving seat 62 to transversely move along the supporting mechanism 61, the vertical moving component 64 is connected with and drives the pulling seat 66 to vertically move, the longitudinal moving component 65 is connected with and drives the moving seat 62 to longitudinally move along the supporting mechanism 61, the leaf cutting component 67 is installed on the pulling seat 66, the clamping component 68 is installed at the bottom end of the pulling seat 66, the clamping component 68 is used for assisting the clamping action of the leaf cutting component 67, namely, the installation and positioning can be carried out through the supporting mechanism 61, the transverse moving component 63 and the longitudinal moving component 65 drive the moving seat 62 to carry out transverse displacement and longitudinal displacement in a horizontal plane, the pulling seat 66 is driven by the vertical moving component 64 to vertically move;

the support mechanism 61 comprises a frame assembled from two longitudinal beams 611 and a transverse beam 612 juxtaposed between the two longitudinal beams 611, the end parts of the two longitudinal beams 611 are connected with the main frame 2, the two ends of the movable base 62 are longitudinally slidably connected with the supporting plates 613, the two ends of the two supporting plates 613 are respectively slidably connected with the cross beam 612 in the transverse direction, specifically, the end surfaces of the supporting plates 613 are provided with slide rails, the two ends of the movable base 62 are provided with slide blocks matched with the slide rails, the top edge and the bottom edge of the cross beam 612 are provided with slide rails, the two ends of the supporting plates 613 are provided with slide blocks matched with the slide rails, namely, the frame composed of the longitudinal beam 611 and the transverse beam 612 is arranged in the main frame 2 of the harvesting robot, the movable seat 62 is supported in a sliding way through the supporting plate 613, so that the movable base 62 slides longitudinally between the two support plates 613, and the two support plates 613 can drive the movable base 62 to slide transversely along the cross beam 612;

the traverse motion assembly 63 comprises a driving motor 631 mounted on one side wall of the longitudinal beam 611, the driving motor 631 is connected with and drives a rack bar 633, specifically, the shaft end of the driving motor 631 is externally engaged with the rack bar 633 through a gear, one end of the rack bar 633, which is far away from the driving motor 631, is connected with a support plate 613 at the bottom end of the moving seat 62, the rack bar 633 is slidably connected with a guide seat 632 mounted on the bottom edge of the longitudinal beam 611, specifically, the rack bar 633 penetrates through the guide seat 632, and the tooth profile of the rack bar is not in contact with the guide seat 632, so that the rack bar 633 can be guided through the guide seat 632, and the driving motor 631 drives the rack bar 633 to drive the moving seat 62 to transversely slide along the cross beam 612, so that the picked radishes are conveyed backwards;

the vertical moving assembly 64 comprises an upper supporting plate 641 slidably connected with one of the cross beams 612, specifically, one end of the bottom of the upper supporting plate 641 is connected with a supporting plate 613 above the cross beam 612, the other end of the bottom of the upper supporting plate 641 is matched with a sliding rail on the top edge of the cross beam 612 through a sliding block, a driving motor 642 is detachably arranged at the top of one side of the upper supporting plate 641, which is far away from the supporting plate 613, a first rotating seat 643 is rotatably connected with the top of the other end of the upper supporting plate 641, the driving motor 642 is connected with and drives the first rotating seat 643, specifically, the driving motor 642 is in synchronous belt transmission with the first rotating seat 643, a transmission rod 644 slidably connected with the first rotating seat 643 is rotatably connected with the top end of the moving seat 62, specifically, the transmission rod 644 is a square shaft, one end of the square shaft is a stepped circular shaft connected with the moving seat 62, a through square hole is formed in the middle of the first rotating seat 643 and is matched with the square shaft part of the transmission rod 644, the top end of the pulling seat 66 is connected with two parallel supporting rods 645 which extend into the movable seat 62, one of the support bars 645 is in gear transmission with a shaft section of the transmission rod 644 extending into the movable seat 62, specifically, a shaft section of the transmission rod 644 extending into the movable seat 62 is provided with a gear, the outer wall of the supporting rods 645 is etched with a tooth shape engaged with the outside of the gear, both supporting rods 645 are slidably connected with the moving seat 62, specifically, the top end of the moving seat 62 is provided with a sliding block slidably connected with the supporting rods 645, the two support rods 645 can be slidably connected through the movable seat 62, so as to vertically guide the pulling seat 66, and the driving motor 651 drives the first rotating seat 643 to drive the transmission rod 644 to rotate, the pulling seat 66 is driven to vertically lift through the transmission rod 644 and the gear transmission of one of the support rods 645, so that the adjustment according to the height is facilitated, and the radishes in the soil can be pulled out;

the longitudinal moving assembly 65 comprises a driving motor 651 arranged on the side wall of the upper support plate 641 and a lower support plate 652 slidably connected below the upper support plate 641, specifically, one end of the top edge of the lower support plate 652 is connected with a support plate 613 at the bottom end of the moving seat 62, the other end is slidably matched with a slide rail at the bottom edge of the cross beam 612 through a slide block, the driving motor 651 is connected with and drives a second rotary seat 653 rotatably connected with the lower support plate 652, specifically, the second rotary seat 653 is rotatably arranged in the lower support plate 652 in a single degree of freedom, the second rotary seat 653 is in threaded connection with a screw 654 rotatably connected with the moving seat 62, specifically, one end of the screw 654 is rotatably arranged at the bottom of the moving seat 62 in a single degree of freedom, an internal threaded hole matched with the screw 654 is etched in the middle of the second rotary seat 653, so that the longitudinal moving assembly 65 can be connected with the support plate 613 through the lower support plate 652 and slidably matched with the cross beam 612, thereby ensuring that the longitudinal moving assembly 65 can slide along with the moving seat 62 transversely, the driving motor 651 drives the second rotary seat 653 to rotate, so that the movable seat 62 is driven by the screw 654 to longitudinally slide along the support plate 613, and longitudinal adjustment is performed according to the position of the radish, thereby facilitating accurate extraction of the radish in the soil;

the leaf cutting assembly 67 comprises a driving motor 671 arranged at the top end of the pulling seat 66 and two clamping jaws 675 horizontally and symmetrically hinged at the bottom end of the pulling seat 66, specifically, the two clamping jaws 675 are arranged on the front end face of the pulling seat 66, the driving motor 671 is connected with and drives a first gear shaft 672 rotatably arranged at the front end of the pulling seat 66, two sides of the bottom end of the first gear shaft 672 are provided with a second gear shaft 673 rotatably arranged at the bottom of the pulling seat 66, the first gear shaft 672 drives the two second gear shafts 673 to rotate reversely and at the same speed, specifically, the bottom ends of the two first gear shafts 672 are respectively engaged with a shifting lever 674 hinged with the pulling seat 66, one ends of the two shifting levers 674 departing from the pulling seat 66 are respectively hinged with a cutter 676 movably connected with the clamping jaws 675, two ends of the cutter 676 are hinged with the clamping jaws 675 through a connecting block 677, specifically, two ends of the connecting block 677 are respectively hinged with the cutter 676 and the clamping jaws 675, and the connecting block 677 is arranged between the cutter 676 and the clamping jaws 675, specifically, the two cutters 676 are staggered up and down, the driving motor 671 in the leaf cutting assembly 67 drives the first gear shaft 672 to drive the two second gear shafts 673 to synchronously rotate in opposite directions, the second gear shafts 673 drive the shift lever 674 to drive the cutters 676 to move in opposite directions, the cutters 676 cut off radish seedlings, and the clamping jaws 675 are driven to clamp the roots of the radish seedlings through the leaf cutting action of the cutters 676;

the clamping assembly 68 comprises a driving motor 681 arranged below the driving motor 671 and a threaded shaft 682 rotatably mounted at the bottom end of the pulling seat 66, specifically, a U-shaped groove is formed at the bottom end of the pulling seat 66, two ends of the groove are rotatably connected with two ends of the threaded shaft 682, the driving motor 681 is connected with and drives the threaded shaft 682, specifically, the driving motor 681 and the extending end of the threaded shaft 682 are in gear engagement transmission, the threaded shaft 682 is in threaded connection with a sliding seat 683 slidably mounted at the bottom end of the pulling seat 66, specifically, an internal threaded hole in threaded connection with the threaded shaft 682 is etched in the middle of the sliding seat 683, the plane at the top of the sliding seat 683 is attached to the top surface of the groove at the bottom end of the pulling seat 66, two symmetrically distributed push rods 684 are hinged to two sides of the bottom end of the sliding seat 683, a locking rod 685 hinged with the pulling seat 66 is arranged on one side of the two clamping jaws 675, the outer end surface of the locking rod 685 is in contact with the clamping jaw 675, specifically, the installation roller is rotated to one side that locking lever 685 deviates from seat 66 of pulling out, and push rod 684 deviates from the one end of slide 683 and is articulated with locking lever 685, can drive threaded shaft 682 through driving motor 681 and rotate, and then drives slide 683 cooperation push rod 684 and promotes locking lever 685 and exert pressure to clamping jaw 675, and drive clamping jaw 675 presss from both sides the root of radish seedling.

The feeding mechanism 7 is erected above the conveying mechanism 3 and used for guiding picked radishes into the conveying mechanism 3 and comprises a clamping component 71, a mounting component 72, a traction component 73 and an overturning component 74, the clamping component 71 is slidably mounted above the mounting component 72, the traction component 73 is connected with and drives the clamping component 71, the traction component 73 is further connected with and drives the overturning component 74 matched with the clamping component 71, the overturning component 74 is used for overturning the radishes clamped by the clamping component 71, so that the radishes are erected and mounted through the mounting component 72, the picked and cut radishes are clamped through the clamping component 71, meanwhile, the traction component 73 drives the clamping component 71 and the overturning component 74 to clamp and feed the radishes, and the radishes in a vertical state are overturned, so that the radishes are conveniently conveyed;

the clamping assembly 71 comprises a mounting plate 711, two clamping plates 712 symmetrically hinged at one end of the mounting plate 711, and a guide frame 716 mounted on the top surface of the mounting plate 711, wherein a driving motor 717 matched with the guide frame 716 is arranged at the other end of the mounting plate 711, specifically, the shaft end of the driving motor 717 penetrates through the guide frame 716 and is rotatably connected with the two ends of the guide frame 716, the driving motor 717 is connected with and drives a driving seat 718 slidably mounted in the guide frame 716, specifically, an external thread is etched on an external extending shaft of the driving motor 717, an internal thread hole is etched in the middle of the driving seat 718, the plane of the top end and the plane of the bottom end of the driving seat 718 are respectively attached to the inner top surface of the guide frame 716 and the top surface of the mounting plate 711, the driving seat 718 is hinged with the clamping plate 712 through a connecting rod 719, specifically, the two ends of the connecting rod 719 are respectively hinged with the driving seat 718 and the clamping plate 712, a supporting rod 713 is vertically connected to the end of the clamping plate 712, which is far away from the mounting plate 711, the clamping plates 714 are rotatably connected to one adjacent sides of the two supporting rods 713, specifically, shafts rotatably mounted at the bottom ends of the supporting rods 713 with a single degree of freedom are arranged on the opposite sides of the two clamping plates 714, anti-slip pads 715 are arranged on the adjacent sides of the two clamping plates 714, specifically, the anti-slip pads 715 are soft rubber pads or silica gel pads, the driving seat 718 can be driven by the driving motor 717 to push the connecting rod 719, the clamping plates 712 are driven to rotate around a hinge point, the clamping plates 714 are driven by the supporting rods 713 to clamp picked radishes, the radishes are clamped in an anti-slip mode through the anti-slip pads 715, clamping is more stable, and harvesting efficiency is effectively improved;

the mounting assembly 72 comprises two guide rails 721 symmetrically distributed on two sides of the mounting plate 711, the guide rails 721 are slidably connected with the mounting plate 711, two ends of the two guide rails 721 are connected with first mounting frames 722, and the first mounting frames 722 can be erected along the conveying mechanism 3 and slidably support the clamping assembly 71 through the guide rails 721;

the traction assembly 73 comprises a driving motor 731 and a second mounting rack 732 for supporting the driving motor 731, specifically, the second mounting rack 732 is erected at the output end of the conveying mechanism 3, the driving motor 731 is connected with and drives a rack bar 733 slidably connected with the second mounting rack 732, one end of the rack bar 733, which is away from the second mounting rack 732, is connected with a sliding plate 734 movably connected with the mounting plate 711, that is, the driving motor 731 drives the rack bar 733 to drive the sliding plate 734 to drive the clamping assembly 71 to slide along the mounting assembly 72, so as to clamp and feed the radishes;

the turnover assembly 74 includes a support 741 connected to the sliding plate 734 and relatively displaced with the mounting plate 711, and a plurality of driving wheels 744 engaged with the side walls of the supporting rod 713 and driving the rotation of the clamping plate 714, specifically, the number of the driving wheels 744 should be a multiple of 2, the lowermost driving wheel 744 is connected to the rotation shaft of the clamping plate 714, the end surface of the mounting plate 711 is provided with a limit slot 720 matching with the support 741, the support 741 penetrates one end of the mounting plate 711 to be provided with a connecting rod 742, both ends of the connecting rod 742 are hinged with a driving rod 743 slidably mounted on the top surface of the clamping plate 712 through a guide block 745, specifically, the driving rod 743 penetrates a guide block 745, the middle of the guide block 745 is provided with a through hole matching with the driving rod 743, the guide block 745 is mounted on the top surface of the clamping plate 712, one end of the driving rod 743 departing from the connecting rod 742 is hinged with the driving wheel 744 at the top end of the supporting rod 713, so that the clamping assembly 71 clamps the radish, due to the dead weight of the clamping assembly 71, the traction assembly 73 firstly pulls the overturning assembly 74, the support 741 is driven by the sliding plate 734 to slide along the limiting groove 720, the transmission rod 743 and the clamping plate 712 are driven to relatively displace by the connecting rod 742, the transmission rod 743 is guided by the guide block 745, the transmission rods 743 are driven to drive the transmission wheels 744 to rotate in a meshing manner, the clamping plate 714 is driven to rotate, so that the radishes are overturned to the conveying direction parallel to the conveying mechanism 3, and after the support 741 is contacted with the ascending tail end of the limiting groove 720, the traction assembly 73 drives the clamping assembly 71 and the overturning assembly 74 to synchronously slide along the mounting assembly 72, and the overturned radishes are guided into the conveying mechanism 3.

The working principle is as follows:

the harvesting robot is driven into a picking area through the crawler traveling device 1, when the harvesting robot runs to pick planting ridges, the grain lifting mechanism 4 is adjusted, the motor 434 is matched with the threaded seat 435, and the swing plate 412 is driven to wind the first rotating shaft 411 according to the ridge height and the ground sticking degree of the radish seedlings;

after the adjustment of the seedling lifting mechanism 4 is completed, the harvesting robot advances along the planting ridges, all mechanisms are started, the motor 421 drives the power shaft 422 to rotate, and then the power shaft 422 drives the two conveyor belts 423 to rotate, so that the radish seedlings attached to the soil are lifted by the soft seedling lifting forks 425;

the raised radish seedlings are collected by a second belt conveyor 55 and enter a conveying area of a first belt conveyor 54;

the pulling seat 66 is moved to the vertical direction corresponding to the radish according to the plant position through the transverse moving component 63 and the longitudinal moving component 65, the pulling seat 66 is driven to descend to the rear of the radish for collecting seedlings through the vertical moving component 64, the radish for collecting stem leaves through the collecting mechanism 5 enters between the clamping jaws 675, the clamping jaws 68 drive the clamping jaws 675 to clamp the stem leaves, meanwhile, the driving motor 671 in the leaf cutting component 67 drives the first gear shaft 672 to drive the two second gear shafts 673 to synchronously rotate in the opposite direction, the second gear shafts 673 drive the shift rods 674 to drive the cutters 676 to move in the opposite direction, and the cutters 676 cut the radish seedlings;

after the stem leaves are cut off, the transverse moving component 63, the vertical moving component 64 and the longitudinal moving component 65 are matched, the radish is lifted between two clamping plates 714 of the feeding mechanism 7, the clamping component 71 clamps the radish, after the clamping component 71 clamps the radish, due to the self weight of the clamping component 71, the traction component 73 firstly pulls the overturning component 74, the sliding plate 734 drives the support 741 to slide along the limiting groove 720, the connecting rod 742 drives the transmission rod 743 and the clamping plate 712 to relatively displace, the guide block 745 guides the transmission rod 743, the transmission rods 743 drive the transmission wheels 744 to rotate in a meshing manner, the clamping component 71 and the overturning component 74 are driven by the traction component 73 to synchronously slide along the mounting component 72 by driving the clamping component 714 to overturn the conveying direction of the parallel conveying mechanism 3, and after the support 741 is contacted with the upstream end of the limiting groove 720, then the turned radish is guided between the two arc plates 317 in the conveying mechanism 3;

and then the motor 314 drives the two groups of parallel conveying belts 313 to rotate, and the conveying belts 313 drive the input belts 315 and the belt conveyors 321 to synchronously and reversely rotate, so that the radishes between the arc plates 317 can be guided into the working areas of the two conveying belts 313, and the picked radishes are stably conveyed by the conveying belts 313 under the assistance of the rollers 328.

To sum up, the radish with uneven planting in the ridges is quickly harvested through the harvesting robot, the harvesting efficiency is high, and the product quality can be effectively improved.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a snatch formula turnip harvesting robot, includes the crawler attachment who is used for supporting the walking of harvesting robot and installs the main frame in crawler attachment top, its characterized in that: the harvester is characterized in that a conveying mechanism installed at the bottom of a main frame is arranged above the crawler traveling device, a grain lifting mechanism, a harvesting mechanism and a feeding mechanism are sequentially installed in the main frame from front to back, the feeding mechanism is arranged above the conveying mechanism in a framing mode, a battery compartment is arranged at the rear end of the main frame, the grain lifting mechanism is used for lifting radish seedlings attached to the ground, the harvesting mechanism is used for pulling the radishes and cutting the radish seedlings, the feeding mechanism is used for clamping the radishes pulled by the harvesting mechanism and turning the radishes into the conveying mechanism to be conveyed, and a storage battery is arranged in the battery compartment and used for supplying power to all mechanisms.

2. The grabbed radish harvesting robot as claimed in claim 1, wherein: conveying mechanism is including the transmission assembly of installation crawler travel unit top and erect the auxiliary assembly in the transmission assembly top, transmission assembly is used for carrying the turnip after picking, auxiliary assembly is used for the supplementary direction that the turnip was carried.

3. The grabbed radish harvesting robot as claimed in claim 1, wherein: the seedling lifting mechanism comprises a swing assembly and an adjusting assembly, the swing assembly and the adjusting assembly are mounted at the front end of the main frame, a seedling lifting assembly is mounted in the swing assembly, the adjusting assembly is connected with and drives the swing assembly, the swing assembly is used for mounting the seedling lifting assembly, the seedling lifting assembly is downwards detected and contacted with the ground and used for lifting radish seedlings attached to the ground, and the adjusting assembly is used for adjusting the inclination angles of the swing assembly and the seedling lifting assembly.

4. The grabbed radish harvesting robot as claimed in claim 1, wherein: still including setting up holding up standing grain mechanism and gathering in mechanism between the mechanism, gathering in mechanism includes two sets of conveyor components, is first conveyor component and second conveyor component respectively, and two sets of conveyor component structures are unanimous and the symmetry sets up, first conveyor component is including installation pole and the motor frame of installing the pole bottom, the motor that is located installation pole one side is installed at the top of motor frame, first band conveyer is installed to the bottom of motor frame, first band conveyer is close to the coaxial interlock of one end of holding up standing grain mechanism and has second belt conveyor, the connecting plate of connecting the second belt conveyor is installed to the front side terminal surface of motor frame, the motor passes through hold-in range and connects and drive first band conveyer and second belt conveyor.

5. The grabbed radish harvesting robot as claimed in claim 1, wherein: gather the mechanism and include supporting mechanism, remove seat, sideslip subassembly, erect and move the subassembly, indulge the subassembly, pull out the seat, cut leaf subassembly and clamping component, supporting mechanism installs in the main frame, be equipped with in the supporting mechanism and remove the seat, it has the seat of pulling out to remove the vertical sliding connection of seat, sideslip subassembly is connected and the drive removes the seat along the supporting mechanism lateral shifting, erect and move the subassembly and connect and drive the vertical removal of seat of pulling out, indulge and move the subassembly and connect and drive the seat of removing and remove along the supporting mechanism longitudinal movement, it installs and cuts the leaf subassembly to pull out the seat, pull out the bottom of seat and install clamping component, clamping component is used for supplementary clamping action who cuts the leaf subassembly.

6. The grabbed radish harvesting robot as claimed in claim 1, wherein: the feeding machine framework is arranged above the conveying mechanism and used for guiding picked radishes into the conveying mechanism, and the feeding machine framework comprises a clamping assembly, an installation assembly, a traction assembly and a turnover assembly, wherein the clamping assembly is slidably installed above the installation assembly, the traction assembly is connected with and drives the clamping assembly, the traction assembly is further connected with and drives the turnover assembly matched with the clamping assembly, and the turnover assembly is used for turning over the radishes clamped by the clamping assembly.

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