CN114223378B - Grabbing type radish harvesting robot - Google Patents

Grabbing type radish harvesting robot Download PDF

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Publication number
CN114223378B
CN114223378B CN202111652314.6A CN202111652314A CN114223378B CN 114223378 B CN114223378 B CN 114223378B CN 202111652314 A CN202111652314 A CN 202111652314A CN 114223378 B CN114223378 B CN 114223378B
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assembly
conveying
clamping
seat
rod
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CN114223378A (en
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杨钦涌
杨金明
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Chongqing Zhitian Technology Co ltd
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Chongqing Zhitian Technology Co ltd
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D27/00Machines with both topping and lifting mechanisms
    • A01D27/02Machines with both topping and lifting mechanisms with rigid tools

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Root Crops (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Abstract

The invention relates to a grabbing type radish harvesting robot which comprises a crawler travelling device for supporting a harvester to travel and a main frame arranged above the crawler travelling device, wherein a conveying mechanism arranged at the bottom of the main frame is arranged above the crawler travelling device, and a seedling lifting mechanism, a harvesting mechanism and a feeding mechanism are sequentially arranged in the main frame from front to back.

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 root is eaten as vegetables; the seeds, fresh roots, dried roots and leaves are used as medicines, the seeds promote digestion and resolve phlegm, the fresh roots quench thirst and promote digestion, the dried roots promote urination and defecation and She Zhichu dysentery, and prevent diarrhea, the seeds are used for oil extraction industry and eaten, the radishes generally grow in soil, and the radishes generally grow deeper into the soil.
With the development of large-scale planting technology, the conventional manual harvesting is low in efficiency and different in product quality. On one hand, the existing carrot harvester needs the assistance of a digging shovel to finish the harvesting operation of the radishes, so that the damage rate, the energy consumption and the operation difficulty of harvesting are greatly improved, the traditional carrot harvesting equipment is large in volume and mass, high in damage rate, high in operation difficulty, high in energy consumption, high in use cost, not environment-friendly and not beneficial to popularization and application; on the other hand, with regard to particularly compact soil or radishes which are pricked into deeper soil, the existing chain type pulling mode is difficult to effectively pull. Therefore, in order to solve the above problems, a grasping 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, different product quality and poor harvesting effect in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a snatch formula radish harvesting robot, includes the crawler belt running gear that is used for supporting the walking of harvesting robot and installs the main frame in crawler belt running gear top, crawler belt running gear's top is equipped with the conveying mechanism who installs in main frame bottom, install stalk lifting mechanism, harvesting mechanism and feeding mechanism from front to back in proper order in the main frame, feeding mechanism erects in conveying mechanism's top, the rear end of main frame is equipped with the battery compartment, stalk lifting mechanism is used for supporting the radish seedling of pasting the ground, harvesting mechanism is used for extracting the radish and carries out the cutting leaf, feeding mechanism is used for carrying the radish centre gripping and the upset of harvesting mechanism extraction is leading into conveying mechanism in carry out, battery compartment built-in battery for the power supply of each mechanism;
the feeding mechanism is erected above the conveying mechanism and used for guiding picked radishes into the conveying mechanism, and comprises a clamping assembly, a mounting assembly, a traction assembly and a turnover assembly, wherein the clamping assembly is slidably mounted above the mounting assembly, the traction assembly is connected with and drives the clamping assembly, the traction assembly is also connected with and drives the turnover assembly matched with the clamping assembly, and the turnover assembly is used for overturning the radishes clamped by the clamping assembly;
the clamping assembly comprises a mounting plate, two clamping plates symmetrically hinged to one end of the mounting plate and a guide frame arranged on the top surface of the mounting plate, a driving motor matched with the guide frame is arranged at the other end of the mounting plate, the driving motor is connected with and drives a driving seat slidably arranged in the guide frame, the driving seat is hinged with the clamping plates through connecting rods, one end, deviating from the mounting plate, of the clamping plates is vertically connected with a supporting rod downwards, and two adjacent sides of the supporting rod are both rotationally connected with clamping plates;
the traction assembly comprises a driving motor and a second mounting frame for supporting the driving motor, the driving motor is connected with and drives a rack rod which is in sliding connection with the second mounting frame, and one end of the rack rod, which is away from the second mounting frame, is connected with a sliding plate which is movably connected with the mounting plate;
the overturning assembly comprises a support which is connected with the sliding plate and relatively displaces with the mounting plate, and a plurality of driving wheels which are meshed with the side wall of the supporting rod and drive the clamping plate to rotate, the driving wheel at the lowest part is connected with a rotating shaft of the clamping plate, a connecting rod is arranged at one end of the support penetrating through the mounting plate, driving rods which are slidably mounted on the top surface of the clamping plate through guide blocks are hinged to two ends of the connecting rod, and one end of each driving rod deviating from the connecting rod is hinged to the driving wheel at the top end of the supporting rod.
Preferably, the conveying mechanism comprises a conveying assembly arranged above the crawler travelling device and an auxiliary assembly erected above the conveying assembly, the conveying assembly is used for conveying the picked radishes, and the auxiliary assembly is used for auxiliary guiding of conveying of the radishes.
Preferably, the seedling lifting mechanism comprises a swinging component and an adjusting component, wherein the swinging component and the adjusting component are arranged at the front end of the main frame, the swinging component is connected with and drives the swinging component, the swinging component is used for being installed, the seedling lifting component is used for probing down and contacting the ground and is used for lifting the ground-attached radish seedlings, and the adjusting component is used for adjusting the inclination angles of the swinging component and the seedling lifting component.
Preferably, the harvester further comprises a furling mechanism arranged between the grain lifting mechanism and the harvesting mechanism, the furling mechanism comprises two groups of conveying components, namely a first conveying component and a second conveying component, the two groups of conveying components are identical in structure and symmetrically arranged, the first group of conveying components comprise a mounting rod and a motor frame arranged at the bottom end of the mounting rod, a motor arranged on one side of the mounting rod is arranged at the top of the motor frame, a first belt conveyor is arranged at the bottom of the motor frame, a second belt conveyor is coaxially linked with one end of the first belt conveyor, which is close to the grain lifting mechanism, a connecting plate connected with the second belt conveyor is arranged on the front end face of the motor frame, and the motor is connected with and drives the first belt conveyor and the second belt conveyor through synchronous belts.
Preferably, the harvesting mechanism comprises a supporting mechanism, a moving seat, a traversing assembly, a vertical moving assembly, a longitudinal moving assembly, a pulling seat, a leaf cutting assembly and a clamping assembly, wherein the supporting mechanism is installed in the main frame, the supporting mechanism is internally provided with the moving seat, the moving seat is vertically and slidably connected with the pulling seat, the traversing assembly is connected with and drives the moving seat to transversely move along the supporting mechanism, the vertical moving assembly is connected with and drives the pulling seat to vertically move, the longitudinal moving assembly is connected with and drives the moving seat to longitudinally move along the supporting mechanism, the leaf cutting assembly is installed on the pulling seat, the clamping assembly is installed at the bottom end of the pulling seat, and the clamping assembly is used for assisting the clamping action of the leaf cutting assembly.
The invention has at least the following beneficial effects:
1. according to the invention, the crawler traveling device, the main frame, and the seedling supporting mechanism, the gathering mechanism, the harvesting mechanism, the feeding mechanism and the conveying mechanism which are sequentially arranged in the main frame along the advancing direction are matched, so that the planted radish is automatically harvested, the stem leaves stuck to the ground are supported by the seedling supporting mechanism, the gathering mechanism gathers the stem leaves and guides the stem leaves into the clamping jaw of the harvesting mechanism, the root parts of the radish seedlings are accurately clamped by the harvesting 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 conveyed into the conveying mechanism for conveying, so that the harvesting efficiency and the harvesting quality of the radish are effectively improved.
2. The invention uses a grabbing type harvesting mode of pulling out the clamping jaw, not only does not need the assistance of a digging shovel, but also can still successfully finish the harvesting operation of the radishes for compacting soil or penetrating the radishes deeper in the soil; the utility model provides a pure electric snatchs formula results to be equipped, has reduced the volume of preparing for greatly and weight, work energy consumption and the use 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 economy of equipment by a wide margin, moreover, has guaranteed the energy-concerving and environment-protective of equipment with pure electric driving mode, consequently, is favorable to solving the mechanized and automatic problem of radish results more.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic perspective view of a conveying mechanism according to the present invention;
FIG. 4 is an exploded view of the conveyor mechanism of the present invention;
FIG. 5 is a schematic perspective view of a seedling 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 view of the recovery mechanism of the present invention;
FIG. 8 is a schematic perspective view of the traversing assembly, the vertical moving assembly and the vertical moving assembly of the present invention;
FIG. 9 is a schematic perspective view of the other view of FIG. 8;
FIG. 10 is a schematic perspective view of the mating of the blade cutting assembly and clamping assembly of the present invention;
FIG. 11 is a schematic view of a front cross-sectional structure of the clamping assembly of the present invention;
FIG. 12 is a schematic perspective view of a movable seat according to the present invention;
FIG. 13 is a schematic perspective view of a folding mechanism according to the present invention;
FIG. 14 is a schematic perspective view of a feeding mechanism according to the present invention;
FIG. 15 is an exploded view of the feed mechanism of the present invention.
In the reference numerals:
1. a crawler belt walking device;
2. a main frame;
3. a conveying mechanism; 31. a transmission assembly; 311. a transmission base frame; 312. a bracket; 313. a conveyor belt; 314. a motor; 315. an input belt; 316. a baffle; 317. an arc plate; 32. an auxiliary component; 321. a belt conveyor; 322. a transmission shaft; 323. a side bar; 324. a transmission belt; 325. a stop lever; 326. a baffle; 327. a roller frame; 328. a roller; 329. a spring;
4. a seedling lifting mechanism; 41. a swing assembly; 411. a first rotating shaft; 412. a swinging plate; 413. a shaft seat; 414. a motor base; 42. a seedling lifting assembly; 421. a motor; 422. a power shaft; 423. a conveyor belt; 424. a cover plate; 425. a seedling lifting fork; 43. an adjustment assembly; 431. a second rotating shaft; 432. a mounting plate; 433. a hinge base; 434. a motor; 435. a screw seat;
5. a folding mechanism; 51. a mounting 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 longitudinal beam; 612. a cross beam; 613. a support plate; 62. a movable seat; 63. a traversing assembly; 631. a first driving motor; 632. a guide seat; 633. a rack bar; 64. a vertical movement assembly; 641. an upper support plate; 642. a driving motor; 643. a first rotary base; 644. a transmission rod; 645. a support rod; 65. a longitudinally moving component; 651. a driving motor; 652. a lower support plate; 653. a second rotary base; 654. a screw; 66. pulling out the seat; 67. a leaf cutting assembly; 671. a driving motor; 672. a first gear shaft; 673. a second gear shaft; 674. a deflector rod; 675. a clamping jaw; 676. a cutter; 677. a connecting block; 68. a clamping assembly; 681. a driving motor; 682. a threaded shaft; 683. a slide; 684. a push rod; 685. a locking lever;
7. a feeding mechanism; 71. a clamping assembly; 711. a mounting plate; 712. a clamping plate; 713. a support rod; 714. a clamping plate; 715. an anti-slip pad; 716. a guide frame; 717. a driving motor; 718. a driving seat; 719. a connecting rod; 720. a limit groove; 72. a mounting assembly; 721. a guide rail; 722. a first mounting frame; 73. a traction assembly; 731. a driving motor; 732. a second mounting frame; 733. a rack bar; 734. a slide plate; 74. a flip 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1-15, the present invention provides a technical solution: the utility model provides a snatch formula radish harvesting robot, including being used for supporting the crawler-type running gear 1 of harvesting robot walking and installing the main frame 2 in crawler-type running gear 1 top, crawler-type running gear 1's top is equipped with the conveying mechanism 3 of installing in main frame 2 bottom, install in proper order from front to back in the main frame 2 and hold up standing grain mechanism 4, mechanism 6 and feeding mechanism 7 gather, feeding mechanism 7 erects the top at conveying mechanism 3, 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 radish seedling that pastes the ground, mechanism 6 is used for pulling up the radish and carries out the cutting leaf, feeding mechanism 7 is used for carrying the radish centre gripping that mechanism 6 pulled out and upset is leading-in conveying mechanism 3 in carry, battery compartment 8 embeds the battery, be used for the power supply of each mechanism.
The conveying mechanism 3 comprises a conveying assembly 31 arranged above the crawler traveling device 1 and an auxiliary assembly 32 erected above the conveying assembly 31, the conveying assembly 31 is used for conveying the 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 transmission belts 313 arranged in parallel in the transmission base frame 311, one end of the transmission base frame 311 is provided with a motor 314, the motor 314 is connected with and drives the transmission belts 313, the motor 314 is particularly connected with a pulley shaft at one end of the transmission belts 313 through a coupling, one end of the transmission base frame 311, which is away from the motor 314, is provided with an input belt 315 coaxially connected with the transmission belts 313, particularly, the input belt 315 is positioned between the two transmission belts 313 and is connected with a pulley at one end of the transmission belts 313, which is away from the motor 314, one end of the input belt 315 is connected with the transmission base frame 311 through a pulley, one end of the transmission base frame 311, which is away from the motor 314, is connected with a baffle 316 penetrating through the input belt 315, the top surface of the baffle 316 is provided with two arc plates 317 symmetrically distributed at two sides of the input belt 315, so that the two groups of parallel transmission belts 313 are driven to rotate through the motor 314, the radish is positioned through a gap between the transmission belts 313, and the radish is guided through the cooperation of the input belt 315 and the arc plates 317;
the auxiliary assembly 32 comprises a belt conveyer 321 arranged above an input belt 315, one end of the belt conveyer 321, which is close to a motor 314, is connected with a power connection transmission shaft 322, in particular, the transmission shaft 322 is connected with a belt pulley key at the end part of the belt conveyer 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 end of each side rod 323 is provided with a baffle 326, one side of the belt conveyer 321, which is close to the transmission shaft 322, penetrates through a baffle 325 matched with the baffle 326, in particular, the baffle 326 supports the baffle 325, the belt conveyer 313 is connected with and drives the belt conveyer 321 through a transmission belt 324, in particular, a belt pulley connected with the transmission belt 324 is arranged on the side wall of the side rod 323 in a single degree of freedom rotation manner, and the end part of the belt pulley penetrating through the side rod 323 is in meshed transmission with one end, which the side rod 323 extends out of the transmission shaft 322, of the auxiliary assembly 32 further comprises a plurality of roller frames 327 which are distributed on one side of the transmission shaft 322, which is close to the motor 314, specifically, the roller frame 327 is in a U-shaped structure, two ends of the roller frame 327 are respectively hinged with the outer walls of two sides of the transmission base frame 311, the top end of the roller frame 327 is rotationally connected with a roller 328, two sides of the top of the roller frame 327 are respectively provided with springs 329 hinged with the transmission base frame 311, specifically, two ends of each spring 329 are respectively hinged with the roller frame 327 and the transmission base frame 311, namely, the two ends of each spring 329 are matched with a side rod 323 and a transmission shaft 322 to be hinged and positioned on the belt conveyor 321, meanwhile, the stop rod 325 is matched with the stop table 326 to support the belt conveyor 321, a gap for the passage of radishes is ensured between the belt conveyor 321 and the input belt 315, the belt in the belt conveyor 321 is driven by the transmission belt 313 to reversely rotate at the same speed with the input belt 315 through the transmission belt 324 and then the belt in the belt conveyor 321 is matched with the input belt 315, the turnip is self-adaptively clamped and conveyed towards the conveying belt 313, the roller 328 is supported in a rolling way through the roller frame 327, the turnip conveyed by the conveying belt 313 is further assisted to be pressed downwards and limited, the roller frame 327 is elastically supported through the spring 329, and accordingly the turnip is self-adaptively pressed downwards and adjusted through the roller 328, and stable conveying of the turnip is guaranteed.
The seedling lifting mechanism 4 comprises a swinging component 41 and an adjusting component 43 which are arranged at the front end of the main frame 2, the swinging component 41 is internally provided with a seedling lifting component 42, the adjusting component 43 is connected with and drives the swinging component 41, the swinging component 41 is used for installing the seedling lifting component 42, the seedling lifting component 42 is used for probing down and contacting the ground and lifting the ground-attached radish seedlings, the adjusting component 43 is used for adjusting the inclination angles of the swinging component 41 and the seedling lifting component 42, and the swinging component 41 can be driven by the adjusting component 43 to drive the swinging component 41 to swing the seedling lifting component 42, so that the seedling lifting mechanism is more convenient to adjust according to different ridge heights;
the swinging component 41 comprises a first rotating shaft 411 and two symmetrically distributed swinging plates 412, wherein the first rotating shaft 411 is rotatably arranged at the front end of the main frame 2 through a shaft seat 413, the first rotating shaft 411 is connected with the top of the swinging plates 412, namely the first rotating shaft 411 can be rotatably arranged through the shaft seat 413, and the two symmetrically distributed swinging plates 412 are hinged at the front end of the main frame 2;
the seedling supporting assembly 42 comprises a motor 421 and a power shaft 422, wherein the motor 421 is arranged at the top of one swinging plate 412, the power shaft 422 is rotationally connected with the two swinging plates 412, the motor 421 is particularly connected with the power shaft 422 by adopting belt transmission, two ends of the power shaft 422 are connected with and drive a conveying belt 423 arranged on the end face of the adjacent side of the swinging plate 412, particularly, two ends of the conveying belt 423 are rotationally connected with the swinging plates 412 through belt pulleys, cover plates 424 connected with the swinging plates 412 are further arranged at two ends of the conveying belt 423, a plurality of seedling supporting forks 425 are arranged on the outer end face of the conveying belt 423 in parallel, particularly, the seedling supporting forks 425 comprise vertical parts perpendicular to the conveying belt 423 and inclined parts forming an included angle with the vertical parts, the included angle between the vertical parts and the inclined parts is not more than 90 degrees, and the included angle faces towards radish plants, namely, the power shaft 422 can be driven to rotate by the motor 421, and the two conveying belts 423 are further driven to rotate by the motor 422, so that the radish seedling supporting forks 425 are supported by soft;
the adjusting component 43 comprises a second rotating shaft 431 arranged above the first rotating shaft 411 through a mounting plate 432 and a motor 434 hinged with the top end of the swinging plate 412, the second rotating shaft 431 is connected with two hinge bases 433 corresponding to the swinging plate 412, the top ends of the hinge bases 433 are rotationally connected with threaded bases 435, the motor 434 is connected with and drives the threaded bases 435, specifically, external threads are etched at the shaft ends of the motor 434, an internal thread hole is etched in the middle of the threaded bases 435, a motor base 414 is arranged at the top end of the swinging plate 412, the motor base 414 is hinged with the motor 434, the motor 434 can be hinged and positioned through the motor base 414, and then the motor 434 is matched with the threaded bases 435 to drive the swinging plate 412 to adjust the height and deformation of the seedling lifting fork 425 around the first rotating shaft 411 according to the ridge height and the ground sticking degree of the radish seedlings.
Wherein the harvester also comprises a furling mechanism 5 arranged between the grain lifting mechanism 4 and the harvesting mechanism 6, the furling mechanism 5 comprises two groups of conveying components, namely a first conveying component and a second conveying component, the two groups of conveying components are in consistent and symmetrical structure, the first group of conveying components comprises a mounting rod 51 and a motor frame 52 arranged at the bottom end of the mounting rod 51, the top end of the mounting rod 51 is connected with the main frame 2, a motor 53 positioned at one side of the mounting rod 51 is arranged at the top of the motor frame 52, a first belt conveyor 54 is arranged at the bottom of the motor frame 52, the first belt conveyor 54 is connected with the bottom end of the motor frame 52 through a shell and is horizontally arranged, a second belt conveyor 55 is coaxially linked at one end of the first belt conveyor 54 close to the grain lifting mechanism 4, the two first belt conveyors 54 are arranged in parallel, the distance is adjusted according to the installation distance of the two mounting rods 51, the distance between the two second belt conveyors 55 gradually increases towards one end deviating from the first belt conveyor 54, a connecting plate 56 for connecting the second belt conveyors 55 is arranged on the front end surface of the motor frame 52, one end of the connecting plate 56 is connected with the side wall of the motor frame 52, the other end of the connecting plate is connected with the shell of the second belt conveyors 55, the motor 53 is connected with and drives the first belt conveyors 54 and the second belt conveyors 55 through a synchronous belt 57, the shaft end of a shared shaft of the second belt conveyors 55 and the first belt conveyors 54 and the shaft end of the motor 53 are respectively provided with a belt pulley matched with the synchronous belt 57, the first belt conveyors 54 and the second belt conveyors 55 which are coaxially driven can be further supported through the connecting plate 56, and the two second belt conveyors 55 are driven by the motor 53 to collect and convey the spread radish seedlings backwards, further, the roots of the radish seedlings are furled by the two first belt conveyors 54, so that the radish seedlings are convenient to pick.
The harvesting mechanism 6 comprises a supporting mechanism 61, a moving seat 62, a traversing assembly 63, a vertical moving assembly 64, a longitudinal moving assembly 65, a pulling seat 66, a leaf cutting assembly 67 and a clamping assembly 68, wherein the supporting mechanism 61 is installed in the main frame 2, the moving seat 62 is arranged in the supporting mechanism 61, the pulling seat 66 is vertically and slidably connected with the moving seat 62, the traversing assembly 63 is connected with and drives the moving seat 62 to transversely move along the supporting mechanism 61, the vertical moving assembly 64 is connected with and drives the pulling seat 66 to vertically move, the longitudinal moving assembly 65 is connected with and drives the moving seat 62 to longitudinally move along the supporting mechanism 61, the leaf cutting assembly 67 is installed on the pulling seat 66, the clamping assembly 68 is installed at the bottom end of the pulling seat 66, and the clamping assembly 68 is used for assisting the clamping action of the leaf cutting assembly 67, namely, the supporting mechanism 61 is installed and positioned, the moving seat 62 is driven by the assembly 63 and the longitudinal moving assembly 65 to transversely displace and longitudinally displace in the horizontal plane, and the pulling seat 66 is driven by the vertical moving assembly 64 to vertically displace.
The supporting mechanism 61 comprises a frame assembled by two longitudinal beams 611 and a cross beam 612 arranged between the two longitudinal beams 611 in parallel, the end parts of the two longitudinal beams 611 are connected with the main frame 2, the two ends of the movable seat 62 are longitudinally and slidably connected with supporting plates 613, the two ends of the two supporting plates 613 are respectively and transversely connected with the cross beam 612, specifically, the end surfaces of the supporting plates 613 are provided with sliding rails, the two ends of the movable seat 62 are provided with sliding blocks matched with the sliding rails, the top edge and the bottom edge of the cross beam 612 are provided with sliding rails, the two ends of the supporting plates 613 are provided with sliding blocks matched with the sliding rails, namely, the movable seat 62 can be longitudinally and slidably supported in the main frame 2 of the harvesting robot through the frame composed of the longitudinal beams 611 and the cross beam 612, and the movable seat 62 can be longitudinally and longitudinally slid between the two supporting plates 613, and the two supporting plates 613 can drive the movable seat 62 to transversely slide along the cross beam 612;
the traversing assembly 63 comprises a driving motor 631 installed on the side wall of one of the longitudinal beams 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 meshed with the rack bar 633 through a gear, one end of the rack bar 633, which is away from the driving motor 631, is connected with a supporting plate 613 at the bottom end of the movable seat 62, the rack bar 633 is slidably connected with a guide seat 632 installed at the bottom edge of the longitudinal beam 611, specifically, the rack bar 633 penetrates through the guide seat 632, the tooth shape of the rack bar 633 is not contacted with the guide seat 632, namely, 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 movable seat 62 to transversely slide along the cross beam 612, so that picked radishes are conveyed backwards;
the vertical moving assembly 64 comprises an upper support plate 641 which is slidably connected with one of the cross beams 612, specifically, one end of the bottom of the upper support plate 641 is connected with a supporting plate 613 above the cross beam 612, the other end of the bottom of the upper support 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 support plate 641, which is far away from the supporting plate 613, a first rotary seat 643 is rotatably connected at the top of the other end of the upper support plate 641, the driving motor 642 is connected with and drives the first rotary seat 643, specifically, the driving motor 642 and the first rotary seat 643 are in transmission through a synchronous belt, a transmission rod 644 which is slidably connected with the first rotary seat 643 is rotatably connected at the top end of the movable seat 62, specifically, the transmission rod 644 is a square shaft, one end of the square shaft is a stepped round shaft connected with the movable seat 62, a through square hole is formed in the middle of the first rotary seat 643 and is matched with a square shaft part of the transmission rod 644, the top end of the pulling seat 66 is connected with two parallel support rods 645 which extend into the moving seat 62, one support rod 645 is in gear transmission with a shaft section of the transmission rod 644 which extends into the moving seat 62, specifically, the shaft section of the transmission rod 644 which extends into the moving seat 62 is provided with a gear, the outer wall of the support rod 645 is etched with tooth shapes which are meshed with the gear, the two support rods 645 are both in sliding connection with the moving seat 62, specifically, the top end of the moving seat 62 is provided with a sliding block which is in sliding connection with the support rod 645, namely the two support rods 645 are in sliding connection with the moving seat 62, so that the pulling seat 66 is vertically guided, the first rotary seat 643 is driven by a driving motor 651 to drive the transmission rod 644 to rotate, and then the pulling seat 66 is driven to vertically lift through the gear transmission of the transmission rod 644 and one support rod 645, and the pulling seat 66 is convenient to adjust according to the height, simultaneously, the radish 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 which is slidingly 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 of the top edge of the lower support plate 652 is slidingly matched with a sliding rail at the bottom edge of the cross beam 612 through a sliding block, the driving motor 651 is connected and drives a second rotary seat 653 rotationally connected with the lower support plate 652, specifically, the second rotary seat 653 is rotationally arranged in the lower support plate 652 in a single degree of freedom manner, the second rotary seat 653 is in threaded connection with a screw 654 rotationally connected with the moving seat 62, specifically, one end of the screw 654 is rotationally arranged at the bottom of the moving seat 62 in a single degree of freedom manner, and the middle part of the second rotary seat 653 is etched with an internal threaded hole matched with the screw 654, namely, the support plate 613 can be connected with the cross beam 612 through the lower support plate 652, the longitudinal moving assembly 65 is further guaranteed to transversely slide along with the moving seat 62, the second rotary seat 653 is further, the moving seat 653 is driven by the screw 654 is further longitudinally slides along the support plate 654 through the driving the screw rod, and further, the moving seat 613 is further, and the radish is convenient to take out soil accurately and accurately;
the blade cutting assembly 67 comprises a driving motor 671 and two clamping jaws 675 which are arranged at the top end of the pulling seat 66 and are hinged at the bottom end of the pulling seat 66 in a horizontal and symmetrical mode, specifically, two clamping jaws 675 are positioned on the front side end face of the pulling seat 66, the driving motor 671 is connected with and drives a first gear shaft 676 which is rotatably arranged at the front side of the pulling seat 66, two sides of the bottom end of the first gear shaft 672 are provided with second gear shafts 673 which are rotatably arranged at the bottom of the pulling seat 66, the first gear shafts 672 drive the two second gear shafts 673 to reversely rotate at the same speed, specifically, the bottom ends of the two first gear shafts 672 are respectively meshed with a shifting rod 674 which is hinged with the pulling seat 66, one end of each shifting rod 674 is hinged with a cutter 676 which is movably connected with the clamping jaw 675, the two ends of each cutter 676 are hinged with the corresponding cutting jaw 675 through a connecting block 677, specifically, the two ends of each connecting block 677 are respectively hinged with the corresponding cutting blades 676 and the corresponding clamping jaw 676, the corresponding gear shafts 677 are positioned between the corresponding gear shafts 676 and the corresponding cutting jaw 676, specifically, the two cutting blades 676 are staggered up and down, and further, the two cutting blades 676 are driven by the root assembly in the opposite directions are driven by the corresponding cutting blades 6767 to reversely rotate, and the cutting blades 6762 are driven synchronously, and the cutting blades 6762 are driven and driven by the corresponding cutting blades 6767;
the clamping assembly 68 comprises a driving motor 681 arranged below the driving motor 671 and a threaded shaft 682 rotatably arranged at the bottom end of the pulling seat 66, specifically, the bottom end of the pulling seat 66 is provided with a U-shaped groove, 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 is in meshed transmission with the overhanging end of the threaded shaft 682 through gears, the threaded shaft 682 is in threaded connection with a sliding seat 683 slidably arranged at the bottom end of the pulling seat 66, specifically, the middle part of the sliding seat 683 is etched with an internal threaded hole in threaded connection with the threaded shaft 682, 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 at two sides of the bottom end of the sliding seat 683, one side opposite to the two clamping jaws 675 is provided with a locking rod 685 hinged with the pulling seat 66, the outer end faces of the clamping jaws 675 are contacted with the rollers, specifically, one side of the locking rod 685, which is away from the pulling seat 66, is rotatably provided with a roller 683, one end of the push rod 684 is away from the root of the sliding seat 683, the root of the motor 683 is in threaded connection with the driving jaw 684, and the clamping jaw 684 is driven by the driving rod 684 to rotate, and the clamping jaw 684 is matched with the driving rod to rotate, and can be clamped.
The feeding mechanism 7 is erected above the conveying mechanism 3 and is used for guiding picked radishes into the conveying mechanism 3, and comprises a clamping assembly 71, a mounting assembly 72, a traction assembly 73 and a turnover assembly 74, wherein the clamping assembly 71 is slidably mounted above the mounting assembly 72, the traction assembly 73 is connected with and drives the clamping assembly 71, the traction assembly 73 is also connected with and drives the turnover assembly 74 matched with the clamping assembly 71, the turnover assembly 74 is used for overturning radishes clamped by the clamping assembly 71, so that erection and mounting are carried out through the mounting assembly 72, the radishes after picking and cutting are clamped through the clamping assembly 71, meanwhile, the clamping assembly 71 and the turnover assembly 74 are driven by the traction assembly 73 to clamp and feed the radishes, and the radishes in a vertical state are turned over, so that the transportation of the radishes is facilitated;
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 arranged 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, particularly, the shaft end of the driving motor 717 penetrates through the guide frame 716 and is rotationally connected with two ends of the guide frame 716, a driving seat 718 slidably arranged in the guide frame 716 is particularly connected and driven by the driving motor 717, an external thread is etched on an overhanging shaft of the driving motor 717, an internal thread hole is etched in the middle of the driving seat 718, the plane at the top end and the plane at the bottom end of the driving seat 718 are respectively jointed with the inner top surface of the guide frame 716 and the top surface of the mounting plate 711, the driving seat 718 and the clamping plate 712 are particularly hinged through a connecting rod 719, the two ends of the connecting rod 719 are respectively hinged with the driving seat 718 and the clamping plate 712, one end of the clamping plate 712, which is away from the mounting plate 711, is downwards and vertically connected with a supporting rod 713, one side, adjacent to the two supporting rods 713, of each clamping plate 714 is respectively provided with a shaft which is rotatably arranged at the bottom end of the supporting rod 713 in a single degree of freedom, one side, adjacent to the two clamping plates 714, of each clamping plate is respectively provided with an anti-slip pad 715, the anti-slip pad 715 is a soft rubber pad or a silica gel pad, the driving seat 718 can be driven by the driving motor 717 to push the connecting rod 719, the clamping plate 712 is driven to rotate around a hinging point, the clamping plate 714 is driven by the supporting rod 713 to clamp the picked radishes, the radishes are clamped in an anti-slip manner through the anti-slip pads 715, and the clamping is more stable, so that the 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, and two ends of the two guide rails 721 are connected with a first mounting frame 722, namely, the first mounting frame 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 frame 732 for supporting the driving motor 731, specifically, the second mounting frame 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 which is slidably connected with the second mounting frame 732, one end of the rack bar 733, which is away from the second mounting frame 732, is connected with a sliding plate 734 which is movably connected with the mounting plate 711, and 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 that the radish is clamped and fed;
the turnover assembly 74 comprises a support 741 connected with the sliding plate 734 and relatively displaced with the mounting plate 711, and a plurality of driving wheels 744 meshed with the side wall of the supporting rod 713 and driving the clamping plate 714 to rotate, specifically, the number of the driving wheels 744 is a multiple of 2, the lowest driving wheels 744 are connected with the rotating shaft of the clamping plate 714, a limit groove 720 matched with the support 741 is formed in the end face of the mounting plate 711, a connecting rod 742 is arranged at one end of the support 741 penetrating through the mounting plate 711, two 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 guide blocks 745, specifically, the driving rod 743 penetrates through a guide block 745, through holes matched with the driving rod 743 are formed in the middle of the guide block 745, the guide block 745 is mounted on the top surface of the clamping plate 712, one end of the driving rod 743 deviating from the connecting rod 742 is hinged with the driving wheel 744 on 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 pulls the turnover assembly 74 first, the support 741 slides along the limit groove 720 through the sliding plate 734, and relatively displaces with the clamping plate 712 through the connecting rod driving rod, the driving rod 743 and the clamping plate 712 through the guide block, the guide block 745, the transmission rod 745 slides in the direction of the transmission assembly, the transmission assembly via the guide rod, the supporting rod 743 and the turnover assembly, the radish body and the turnover assembly 71, the radish body and the conveying mechanism through the transmission mechanism, and the transmission mechanism.
Working principle:
driving the harvesting robot into a picking area through the crawler traveling device 1, adjusting the seedling lifting mechanism 4 when the harvesting robot travels to pick up planting ridges, and driving the swinging plate 412 to wind the first rotating shaft 411 according to the height of the ridges and the ground sticking degree of the radish seedlings through the cooperation of the motor 434 and the threaded seat 435;
after the seedling lifting mechanism 4 is adjusted, the harvesting robot advances along the planting ridge, all the mechanisms are started, the motor 421 drives the power shaft 422 to rotate, and then the power shaft 422 drives the two conveying belts 423 to rotate, so that the radish seedlings attached to the soil are lifted through the soft seedling lifting fork 425;
the turnip seedlings after being lifted are gathered into the conveying area of the first belt conveyor 54 through the second belt conveyor 55;
the pulling seat 66 is moved to the vertical direction corresponding to the radish by the transverse moving assembly 63 and the longitudinal moving assembly 65 according to the plant position, the pulling seat 66 is driven to descend to the rear of the radish for gathering seedlings by the vertical moving assembly 64, the radish for gathering the stems and leaves by the gathering mechanism 5 enters between the clamping jaws 675, the clamping jaws 675 are driven by the clamping assembly 68 to clamp the stems and leaves, meanwhile, the first gear shaft 672 is driven by the driving motor 671 in the leaf cutting assembly 67 to drive the two second gear shafts 673 to synchronously and reversely rotate, and then the cutter 676 is driven by the driving deflector rod 674 of the second gear shaft 673 to oppositely move, so that the radish seedlings are cut by the cutter 676;
after the stems and leaves are cut, the transverse moving assembly 63, the vertical moving assembly 64 and the longitudinal moving assembly 65 are matched, the radishes are lifted to be between two clamping plates 714 of the feeding mechanism 7, the clamping assembly 71 clamps the radishes, after the clamping assembly 71 clamps the radishes, the traction assembly 73 firstly pulls the overturning assembly 74, the sliding plate 734 drives the support 741 to slide along the limiting groove 720, the transmission rod 743 and the clamping plate 712 are driven to relatively displace through the connecting rod 742, the transmission rod 743 is guided through the guide block 745, the transmission rods 743 are driven to be meshed to rotate through the transmission rods 744, the clamping plates 714 are driven to rotate, the radishes are overturned to be parallel to the conveying direction of the conveying mechanism 3, after the support 741 is contacted with the upstream 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 then the overturned radishes are guided between the two arc plates 317 in the conveying mechanism 3;
and the motor 314 drives the two groups of parallel conveying belts 313 to rotate, and the conveying belts 313 drive the input belt 315 and the belt conveyor 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.
In sum, the harvesting robot is used for rapidly harvesting the radishes planted unevenly in the ridges, the harvesting efficiency is high, and the product quality can be effectively improved.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, 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 may be embodied in 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides a snatch formula radish harvesting robot, includes the crawler belt running gear that is used for supporting the walking of harvesting robot and installs the main frame in crawler belt running gear top, its characterized in that: the crawler belt type seedling harvester is characterized in that a conveying mechanism arranged at the bottom of a main frame is arranged above the crawler belt traveling device, a seedling lifting mechanism, a harvesting mechanism and a feeding mechanism are sequentially arranged in the main frame from front to back, the feeding mechanism is arranged above the conveying mechanism, a battery bin is arranged at the rear end of the main frame, the seedling lifting mechanism is used for lifting ground-attached radish seedlings, the harvesting mechanism is used for pulling out the radish and cutting leaves, the feeding mechanism is used for clamping and turning the radish pulled out by the harvesting mechanism into the conveying mechanism for conveying, and a storage battery is arranged in the battery bin and is used for supplying power to all the mechanisms;
the feeding mechanism is erected above the conveying mechanism and used for guiding picked radishes into the conveying mechanism, and comprises a clamping assembly, a mounting assembly, a traction assembly and a turnover assembly, wherein the clamping assembly is slidably mounted above the mounting assembly, the traction assembly is connected with and drives the clamping assembly, the traction assembly is also connected with and drives the turnover assembly matched with the clamping assembly, and the turnover assembly is used for overturning the radishes clamped by the clamping assembly;
the clamping assembly comprises a mounting plate, two clamping plates symmetrically hinged to one end of the mounting plate and a guide frame arranged on the top surface of the mounting plate, a driving motor matched with the guide frame is arranged at the other end of the mounting plate, the driving motor is connected with and drives a driving seat slidably arranged in the guide frame, the driving seat is hinged with the clamping plates through connecting rods, one end, deviating from the mounting plate, of the clamping plates is vertically connected with a supporting rod downwards, and two adjacent sides of the supporting rod are both rotationally connected with clamping plates;
the traction assembly comprises a driving motor and a second mounting frame for supporting the driving motor, the driving motor is connected with and drives a rack rod which is in sliding connection with the second mounting frame, and one end of the rack rod, which is away from the second mounting frame, is connected with a sliding plate which is movably connected with the mounting plate;
the overturning assembly comprises a support which is connected with the sliding plate and relatively displaces with the mounting plate, and a plurality of driving wheels which are meshed with the side wall of the supporting rod and drive the clamping plate to rotate, the driving wheel at the lowest part is connected with a rotating shaft of the clamping plate, a connecting rod is arranged at one end of the support penetrating through the mounting plate, driving rods which are slidably mounted on the top surface of the clamping plate through guide blocks are hinged to two ends of the connecting rod, and one end of each driving rod deviating from the connecting rod is hinged to the driving wheel at the top end of the supporting rod.
2. A grasping radish harvesting robot as claimed in claim 1, wherein: the conveying mechanism comprises a conveying assembly arranged above the crawler travelling device and an auxiliary assembly erected above the conveying assembly, the conveying assembly is used for conveying the picked radishes, and the auxiliary assembly is used for auxiliary guiding of conveying of the radishes.
3. A grasping radish harvesting robot as claimed in claim 1, wherein: the seedling lifting mechanism comprises a swinging component and an adjusting component, wherein the swinging component and the adjusting component are arranged at the front end of the main frame, the swinging component is internally provided with the seedling lifting component, the adjusting component is connected with and drives the swinging component, the swinging component is used for mounting the seedling lifting component, the seedling lifting component is used for downwards probing and contacting the ground and is used for lifting the ground-attached radish seedlings, and the adjusting component is used for adjusting the inclination angles of the swinging component and the seedling lifting component.
4. A grasping radish harvesting robot as claimed in claim 1, wherein: the harvester is characterized by further comprising a furling mechanism arranged between the grain lifting mechanism and the harvesting mechanism, the furling mechanism comprises two groups of conveying components, namely a first conveying component and a second conveying component, the two groups of conveying components are structurally identical and symmetrically arranged, the first group of conveying components comprise a mounting rod and a motor frame arranged at the bottom end of the mounting rod, a motor arranged on one side of the mounting rod is arranged at the top of the motor frame, a first belt conveyor is arranged at the bottom of the motor frame, a second belt conveyor is coaxially linked with one end of the first belt conveyor, which is close to the grain lifting mechanism, a connecting plate connected with the second belt conveyor is arranged on the front end face of the motor frame, and the motor is connected with and drives the first belt conveyor and the second belt conveyor through synchronous belts.
5. A grasping radish harvesting robot as claimed in claim 1, wherein: the harvesting mechanism comprises a supporting mechanism, a moving seat, a traversing assembly, a vertical moving assembly, a longitudinal moving assembly, a pulling seat, a leaf cutting assembly and a clamping assembly, wherein the supporting mechanism is installed in a main frame, the supporting mechanism is internally provided with the moving seat, the moving seat is vertically and slidably connected with the pulling seat, the traversing assembly is connected with and drives the moving seat to transversely move along the supporting mechanism, the vertical moving assembly is connected with and drives the pulling seat to vertically move, the longitudinal moving assembly is connected with and drives the moving seat to longitudinally move along the supporting mechanism, the leaf cutting assembly is installed on the pulling seat, the clamping assembly is installed at the bottom end of the pulling seat, and the clamping assembly is used for assisting the clamping action of the leaf cutting assembly.
CN202111652314.6A 2021-12-30 2021-12-30 Grabbing type radish harvesting robot Active CN114223378B (en)

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JPH07114590B2 (en) * 1991-12-17 1995-12-13 秀治 長田 Carrot harvester
JPH09308346A (en) * 1996-05-21 1997-12-02 Sasaki Corp:Kk Root vegetable-pulling out structure in root vegetable harvester
JP4293085B2 (en) * 2004-07-29 2009-07-08 井関農機株式会社 Crop harvesting machine
CN110050565A (en) * 2019-04-23 2019-07-26 重庆智田科技有限公司 A kind of draw type radish harvester device people
CN111056272A (en) * 2019-12-26 2020-04-24 珠海格力智能装备有限公司 Production equipment of unloader and through-flow fan blade
CN111656943B (en) * 2020-07-10 2022-05-13 重庆智田科技有限公司 Arm type pulling actuator for radish harvesting robot
CN111656944B (en) * 2020-07-10 2022-05-20 重庆智田科技有限公司 Arm chain hybrid type conveying mechanism for radish harvesting robot
CN213443246U (en) * 2020-09-26 2021-06-15 五矿联众(天津)焊接材料有限公司 Welding rod boxing equipment easy to use
CN112997686A (en) * 2021-03-19 2021-06-22 广西红科农业机械有限责任公司 Sugarcane cuts heap machine

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