CN114557190A

CN114557190A - Broccoli harvesting device

Info

Publication number: CN114557190A
Application number: CN202210160153.7A
Authority: CN
Inventors: 李军; 方淳; 戴晟; 范剑; 钟爱国; 顾臻奇; 秦利明
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2022-02-22
Filing date: 2022-02-22
Publication date: 2022-05-31

Abstract

The invention provides a broccoli harvesting device, and belongs to the technical field of agricultural machinery. The broccoli harvesting device comprises a wheel mechanism and a frame, wherein a picking mechanism, a conveying mechanism and a collecting frame are arranged on the frame, the picking mechanism is arranged at the front end of the frame, the conveying mechanism is arranged at the middle rear end of the frame, the front end of the conveying mechanism is close to the picking mechanism, and the rear end of the conveying mechanism is connected with the collecting frame; the collecting frame is arranged at the tail end of the rack, the picking mechanism comprises a three-axis moving external member, a cutter assembly, a first camera and a control system, the first camera is arranged on the upper portion of the cutter assembly and faces to a cutting opening of the cutter assembly, the cutter assembly is installed on the rack through the three-axis moving external member, the cutter assembly, the first camera and the conveying mechanism are all electrically connected with the control system, and the control system is installed on the rack. The device has stable picking effect, is suitable for picking broccoli with different thicknesses and heights, and has high picking efficiency.

Description

Broccoli harvesting device

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a broccoli harvesting device.

Background

At present, the automation technology generally exists in agricultural production, the related technology is mature, and especially, people design corresponding picking devices to replace manpower aiming at the problems of time consumption and labor waste of agricultural product harvesting. At present, the main domestic research object aims at picking fruits of crops with smaller stalks such as apples, tomatoes, cucumbers and the like, and the research on a picking device of crops with short plant types, large fruits and thick stalks, such as broccoli, is less. The broccoli planting is often huge in quantity, the manual picking cost is too high, and the efficiency is low, so that the problem to be solved urgently is solved by replacing the manual work with a broccoli picking device which is high in picking efficiency and stable and reliable in picking process

Disclosure of Invention

In view of the above, the present invention is directed to a broccoli harvesting device to solve the above-mentioned problems.

The purpose of the invention can be realized by the following technical scheme: a broccoli harvesting device, which comprises a wheel mechanism used for walking and a frame arranged on the wheel mechanism, the frame is provided with a picking mechanism, a conveying mechanism and a collecting frame, the picking mechanism is arranged at the front end of the frame, the conveying mechanism is arranged at the middle rear end of the frame, the front end of the conveying mechanism is close to the picking mechanism, the rear end of the conveying mechanism is connected with the collecting frame, the collecting frame is arranged at the tail end of the frame, the picking mechanism comprises a three-axis moving suite, a cutter component, a first camera and a control system, the first camera is arranged at the upper part of the cutter component and faces to the incision of the cutter component, the cutter component is arranged on the frame through the three-axis moving suite, the three-axis moving external member, the cutter component, the first camera and the conveying mechanism are electrically connected with the control system, and the control system is installed on the rack.

In the above broccoli harvesting device, the cutter assembly comprises a back plate, a first chute, a second chute, a cutter translation guide rail, a first rack, a second rack, a left cutter, a right cutter, a servo motor and an output gear, the back plate is arranged on a three-axis movement kit, the servo motor is arranged at the rear side of the back plate, the front end of an output shaft of the servo motor penetrates through the back plate and is positioned at the front side of the back plate, the output gear is arranged at the front end of the output shaft, the first chute and the second chute are transversely arranged at the front side of the back plate and are respectively and correspondingly arranged above and below the output gear, the first rack is transversely arranged and can translate left and right in the first chute, the second rack is transversely arranged and can translate left and right in the second chute, the first rack and the second rack are respectively and correspondingly engaged with the upper part and the lower part of the output gear, cutter translation guide rail transverse installation just is in the same height with the gear at the backplate front side, left side cutter upper portion sliding connection just links firmly with the second rack on the output gear left side guide rail, right side cutter upper portion sliding connection just links firmly with first rack on the output gear right side guide rail, the lower part of left side cutter has the sword groove towards the right side, the lower part of right side cutter has the left blade of orientation, the blade is relative with the sword groove.

In the above broccoli harvesting device, the left cutter and the right cutter are both L-shaped plate structures; the vertical part of the left tool is connected with a left sliding block, the upper end of the left sliding block is connected to a tool translation guide rail in a sliding manner, the lower end of the left sliding block is fixedly connected to a second rack, and the edge groove is formed in the end surface of the horizontal part of the left tool; the vertical portion of right side cutter is connected with right slider, right slider upper end sliding connection is on cutter translation guide rail, right slider lower extreme links firmly on first rack, the blade is established on the terminal surface of right side cutter horizontal part.

In the above device for harvesting broccoli, the cutting edge is in the shape of an inward-concave semicircle, and the bottom of the edge groove protrudes towards the direction of the notch in the shape of a semicircle to be matched with the cutting edge.

In the above broccoli harvesting device, the front and rear ends of the left tool horizontal portion and the front and rear ends of the right tool horizontal portion are both provided with a baffle plate, and an article placing groove is formed in the upper end surface of the left tool horizontal portion.

In the above broccoli harvesting device, the three-axis movement kit comprises two groups of X-axis movement assemblies moving horizontally and back, one group of Y-axis movement assemblies moving horizontally and left and right, and one group of Z-axis movement assemblies moving vertically and up and down; each group of X-axis moving assemblies comprises a first mounting seat, a first guide rail, a first screw, a first sliding block and a first motor, the first mounting seat is horizontally arranged on the rack along the front-back direction, the first screw and the first guide rail are transversely arranged on the first mounting seat, the first sliding block is connected to the first guide rail in a sliding mode and is in threaded connection with the first screw, and the first motor is arranged at one end of the first mounting seat and is in transmission connection with one end of the first screw; the Y-axis moving assembly comprises a second mounting seat, a second guide rail, a second screw rod, a second sliding block and a second motor, the second mounting seat is transversely arranged, two ends of the second mounting seat are fixedly connected to the first sliding blocks of the two groups of X-axis moving assemblies respectively, the second screw rod and the second guide rail are transversely mounted on the second mounting seat, the second sliding block is connected to the second guide rail in a sliding mode and is in threaded connection with the second screw rod, and the second motor is arranged at one end of the second mounting seat and is in transmission connection with one end of the second screw rod; z axle removes subassembly includes third mount pad, third guide rail, third screw rod, third slider and third motor, the vertical setting of third mount pad just links firmly on the second slider, third screw rod, the equal transverse mounting of third guide rail are on the third mount pad, third slider sliding connection on the third guide rail and with third screw rod spiro union, the third motor set up in the upper end of third mount pad and with the one end transmission of third screw rod is connected, the cutter subassembly links firmly on the third slider.

In the above broccoli harvesting device, the conveying mechanism is a conveyor belt, the front end of the conveyor belt is inclined downwards and is located below the rear end of the three-axis moving kit, the rear end of the conveyor belt is connected with the front end of the collecting frame, a strip-shaped blocking piece is arranged on the conveyor belt, and the length direction of the blocking piece is perpendicular to the conveying direction of the conveyor belt.

In foretell broccoli collection device, wheel mechanism includes that four groups set up respectively in the wheel subassembly at frame dead angle, and every wheel subassembly of group all includes wheel driving motor, motor cabinet, vertical section of thick bamboo, reduction gear and antiskid wheel, wheel driving motor links firmly in vertical section of thick bamboo upper end through the motor cabinet, and the reduction gear links firmly at vertical section of thick bamboo lower extreme, and antiskid wheel is connected with the reduction gear transmission, is equipped with the cross universal shaft in the vertical section of thick bamboo, and the one end of cross universal shaft is passed through motor coupling and is connected with wheel driving motor, and the other end passes through reduction gear coupling and retarder connection.

In the broccoli harvesting device, an installation frame is fixedly connected above the rear end of the rack; the mounting frame is provided with a storage battery pack, or the mounting frame is provided with a generator and a fuel tank, or the mounting frame is provided with the storage battery pack, the generator and the fuel tank simultaneously.

In the above broccoli harvesting device, at least two second cameras are arranged at the front end of the frame, and the second cameras are electrically connected with the control system.

Compared with the prior art, this broccoli harvesting device has following advantage: the picking accuracy of the broccoli is improved by positioning through the camera, and damage to the broccoli is avoided; the stem of the broccoli can be stably and reliably cut off by adopting the design of matching the cutting edge with the cutting edge groove; the front baffle and the rear baffle are arranged on the cutter, so that the stability of the broccoli in stem cutting is improved, and the broccoli can be conveniently conveyed to the conveying mechanism from the cutter assembly; the three-axis moving kit is adopted, so that the position of broccoli can be automatically adapted, and the convenience for picking and transferring broccoli is improved; the synchronous belt is adopted, so that the conveying stability of the broccoli can be improved, and the broccoli can be prevented from falling; adopt independent driven antiskid wheel, realize four-wheel drive, help improving adaptability and trafficability characteristic of this device to gathering the place.

Drawings

Fig. 1 is a schematic structural diagram of the broccoli harvesting device.

Fig. 2 is a schematic view of the cutter assembly.

Fig. 3 is a schematic view of the structure of the left and right cutters.

Fig. 4 is a schematic structural diagram of a three-axis moving set.

Fig. 5 is a schematic structural view of the wheel assembly.

In the figure, 1, a wheel mechanism; 2. a frame; 3. a picking mechanism; 4. a transfer mechanism; 5. a collection frame; 6. a three-axis movement kit; 7. a cutter assembly; 8. a first camera; 9. a control system; 10. a second camera; 11. a mounting frame; 12. a battery pack; 13. a generator; 14. a fuel tank; 15. a baffle plate; 16. a back plate; 17. a first chute; 18. a second chute; 19. a tool translation guide rail; 20. a first rack; 21. a second rack; 22. a left cutter; 23. a right cutter; 24. an output gear; 25. a roller; 26. a baffle plate; 27. a storage groove; 28. a left slider; 29. a right slider; 30. a blade groove; 31. cutting edges; 32. an X-axis moving assembly; 33. a Y-axis moving assembly; 34. a Z-axis moving assembly; 35. a first mounting seat; 36. a first guide rail; 37. a first screw; 38. a first slider; 39. a first motor; 40. a second mounting seat; 41. a second guide rail; 42. a second screw; 43. a second slider; 44. a second motor; 45. a third mounting seat; 46. a third guide rail; 47. a third screw; 48. a third slider; 49. a third motor; 50. a wheel drive motor; 51. a motor base; 52. a vertical cylinder; 53. a speed reducer; 54. anti-skid wheels; 55. and (4) anti-slip sheets.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1, the picking device for picking broccoli provided by the invention comprises a wheel mechanism 1 for walking and a frame 2 arranged on the wheel mechanism 1, wherein a picking mechanism 3, a conveying mechanism 4 and a collecting frame 5 are arranged on the frame 2, the picking mechanism 3 is arranged at the front end of the frame 2, the conveying mechanism 4 is arranged at the rear end of the frame 2, the front end of the conveying mechanism 4 is close to the picking mechanism 3, the rear end of the conveying mechanism 4 is connected with the collecting frame 5, the collecting frame 5 is arranged at the tail end of the frame 2, the picking mechanism 3 comprises a three-shaft moving kit 6, a cutter assembly 7, a first camera 8 and a control system 9, the first camera 8 is arranged at the upper part of the cutter assembly 7 and faces to the cutting opening of the cutter assembly 7, the cutter assembly 7 is arranged on the frame 2 through the three-shaft moving kit 6, the cutter assembly 7, the first camera 8 and the conveying mechanism 4 are all electrically connected with the control system 9, the control system 9 is mounted on the frame 2.

The front end of the frame 2 is provided with three second cameras 10, and the three second cameras 10 are electrically connected with the control system 9. The upper part of the rear end of the frame 2 is also fixedly connected with a mounting rack 11, and a storage battery pack 12, a generator 13 and a fuel tank 14 are simultaneously arranged on the mounting rack 11. In other embodiments of the present invention, the battery pack 12 may be mounted on the mounting frame 11 separately, or the generator 13 and the fuel tank 14 may be mounted on the mounting frame 11.

Conveying mechanism 4 is the conveyer belt, and the below that the conveyer belt front end downward sloping just is located triaxial removal external member 6 rear end, and the rear end of conveyer belt meets with the front end portion of collecting frame 5, is equipped with strip separation blade 15 on the conveyer belt, and the length direction and the conveyer belt transport direction of separation blade 15 are perpendicular mutually.

As shown in fig. 2-3, the cutter assembly 7 includes a back plate 16, a first slide slot 17, a second slide slot 18, a cutter translation guide 19, a first rack 20, a second rack 21, a left cutter 22, a right cutter 23, a servo motor, and an output gear 24. The back plate 16 is installed on the three-axis moving set 6, the servo motor is arranged on the rear side of the back plate 16, the front end of an output shaft of the servo motor penetrates through the back plate 16 and is located on the front side of the back plate 16, the output gear 24 is installed at the front end of the output shaft, the first sliding groove 17 and the second sliding groove 18 are transversely installed on the front side of the back plate 16 and are correspondingly arranged above and below the output gear 24 respectively, the first rack 20 is transversely arranged and translates left and right in the first sliding groove 17 through the roller 25, the second rack 21 is transversely arranged and translates left and right in the second sliding groove 18 through the roller 25, the first rack 20 and the second rack 21 are correspondingly engaged with the upper portion and the lower portion of the output gear 24 respectively, and the cutter translation guide rail 19 is transversely installed on the front side of the back plate 16 and is located at the same height as the gear.

The left cutter 22 and the right cutter 23 are both L-shaped plate structures; the front and rear ends of the horizontal part of the left tool 22 and the front and rear ends of the horizontal part of the right tool 23 are provided with baffle plates 26, and the upper end surface of the horizontal part of the left tool 22 is provided with an article placing groove 27. The vertical part of the left tool 22 is connected with a left slide block 28, the upper end of the left slide block 28 is connected on the tool translation guide rail 19 in a sliding manner, the lower end of the left slide block 28 is fixedly connected on the second rack 21, and a blade groove 30 is formed in the end surface of the horizontal part of the left tool 22; the vertical part of the right tool 23 is connected with a right sliding block 2929, the upper end of the right sliding block 2929 is connected to the tool translation guide rail 19 in a sliding manner, the lower end of the right sliding block 2929 is fixedly connected to the first rack 20, the cutting edge 31 is arranged on the end surface of the horizontal part of the right tool 23, and the cutting edge 31 and the cutting edge groove 30 form a cut relatively. The cutting edge 31 is in the shape of an inward semicircle, and the bottom of the blade groove 30 protrudes towards the direction of the notch to be in the shape of a semicircle to match with the cutting edge 31. When the output shaft of the servo motor rotates anticlockwise, the two racks approach to the middle to drive the left cutter 22 and the right cutter 23 to move towards the middle to implement cutting action; after the cutting, the broccoli is positioned in a U-shaped structure formed by matching the left cutter 22 and the right cutter 23, and then is transferred to the conveying mechanism 4 through the three-axis moving assembly 6.

As shown in fig. 4, the three-axis movement kit 6 includes two sets of X-axis movement assemblies 32 moving horizontally back and forth, one set of Y-axis movement assemblies 33 moving horizontally left and right, and one set of Z-axis movement assemblies 34 moving vertically up and down; each group of X-axis moving assemblies comprises a first mounting seat 35, a first guide rail 36, a first screw 37, a first slider 38 and a first motor 39, the first mounting seat 35 is horizontally arranged on the frame 2 along the front-back direction, the first screw 37 and the first guide rail 36 are transversely arranged on the first mounting seat 35, the first slider 38 is slidably connected on the first guide rail 36 and is in threaded connection with the first screw 37, and the first motor 39 is arranged at one end of the first mounting seat 35 and is in transmission connection with one end of the first screw 37; the Y-axis moving assembly comprises a second mounting seat 40, a second guide rail 41, a second screw 42, a second sliding block 43 and a second motor 44, the second mounting seat 40 is transversely arranged, two ends of the second mounting seat are respectively and correspondingly fixedly connected to the first sliding blocks 38 of the two groups of X-axis moving assemblies 32, the second screw 42 and the second guide rail 41 are transversely arranged on the second mounting seat 40, the second sliding block 43 is slidably connected to the second guide rail 41 and is in threaded connection with the second screw 42, and the second motor 44 is arranged at one end of the second mounting seat 40 and is in transmission connection with one end of the second screw 42; the Z-axis moving assembly comprises a third mounting seat 45, a third guide rail 46, a third screw 47, a third sliding block 48 and a third motor 49, the third mounting seat 45 is vertically arranged and fixedly connected to the second sliding block 43, the third screw 47 and the third guide rail 46 are transversely arranged on the third mounting seat 45, the third sliding block 48 is slidably connected to the third guide rail 46 and is in threaded connection with the third screw 47, the third motor 49 is arranged at the upper end of the third mounting seat 45 and is in transmission connection with one end of the third screw 47, and the cutter assembly 7 is fixedly connected to the third sliding block 48.

As shown in fig. 5, the wheel mechanism 1 includes four wheel assemblies respectively disposed at four corners of the frame 2, each wheel assembly includes a wheel driving motor 50, a motor base 51, a vertical cylinder 52, a speed reducer 53 and an anti-skid wheel 54, the wheel driving motor 50 is fixedly connected to the upper end of the vertical cylinder 52 through the motor base 51, the speed reducer 53 is fixedly connected to the lower end of the vertical cylinder 52, the anti-skid wheel 54 is in transmission connection with the speed reducer 53, a cross universal shaft is mounted in the vertical cylinder 52, one end of the cross universal shaft is connected to the wheel driving motor 50 through a motor coupler, and the other end of the cross universal shaft is connected to the speed reducer 53 through a speed reducer 53 coupler. The wheel body of the antiskid wheel 54 is uniformly provided with a plurality of antiskid sheets 55 along the circumferential direction, and the structure can ensure that the wheel assembly has good grip and is convenient to roll in the soil without skidding.

The working principle of the invention is as follows: this device drives through four groups of wheel components, realizes four-wheel drive, can smoothly remove in complicated field. The picking work can be carried out by guiding the device to move to a broccoli planting place through a second camera 10 arranged at the front end of the frame 2. When picking, firstly, the first camera 8 collects the image of the cut of the cutter component 7, and the control system 9 determines whether the broccoli is positioned at the cut of the cutter component 7 or not through the image: when the broccoli does not accurately fall into the cut of the cutter assembly 7, the control system 9 controls the three-axis moving kit 6 to respectively adjust up and down, left and right and back and forth, so that the cut of the cutter assembly 7 is well matched with the position of the broccoli, and then subsequent operation is performed; when the broccoli is just positioned at the cut of the cutter component 7, the control system 9 directly controls the cutter component 7 to act, the servo motor works to separate the left cutter 22 and the right cutter 23 firstly, so that the broccoli stem enters between the cutting edge 31 and the knife slot 30, then the servo motor runs in the reverse direction, so that the cutting edge 31 and the knife slot 30 are mutually closed until the cutting edge 31 is embedded into the knife slot 30, and the broccoli stem is cut off. At this time, broccoli falls into the U-shaped groove structure formed by the left cutter 22 and the right cutter 23 and is limited by the baffle 26, at this time, the control system 9 controls the three-axis moving kit 6 to move the broccoli to the front end of the conveyor belt, and the broccoli falls into the collecting frame 5 at the rear end of the rack 2 along with the operation of the conveyor belt, so that picking is completed.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. The broccoli harvesting device comprises a wheel mechanism (1) used for walking and a rack (2) arranged on the wheel mechanism (1), and is characterized in that a picking mechanism (3), a conveying mechanism (4) and a collecting frame (5) are arranged on the rack (2), the picking mechanism (3) is arranged at the front end of the rack (2), the conveying mechanism (4) is arranged at the rear end of the rack (2), the front end of the conveying mechanism (4) is close to the picking mechanism (3), the rear end of the conveying mechanism (4) is connected with the collecting frame (5), the collecting frame (5) is arranged at the tail end of the rack (2), the picking mechanism (3) comprises a three-axis moving suite (6), a cutter component (7), a first camera (8) and a control system (9), the first camera (8) is arranged at the upper part of the cutter component (7) and faces to the cutting opening of the cutter component (7), cutter unit spare (7) pass through the triaxial removes external member (6) and installs in frame (2), the triaxial remove external member (6), cutter unit spare (7), first camera (8) and transport mechanism (4) all with control system (9) electric connection, control system (9) are installed in frame (2).

2. The broccoli harvesting device according to claim 1, wherein the cutter assembly (7) comprises a back plate (16), a first chute (17), a second chute (18), a cutter translation guide rail (19), a first rack (20), a second rack (21), a left cutter (22), a right cutter (23), a servo motor and an output gear (24), the back plate (16) is used for being mounted on the three-shaft moving kit (6), the servo motor is arranged behind the back plate (16) and the front end of the output shaft of the servo motor penetrates through the back plate (16) and is located at the front side of the back plate (16), the output gear (24) is mounted at the front end of the output shaft, the first chute (17) and the second chute (18) are both transversely mounted at the front side of the back plate (16) and respectively and correspondingly arranged above and below the output gear (24), the first rack (20) is transversely arranged and can translate left and right in the first chute (17), the utility model discloses a cutter cutting device, including backplate (16), second spout (18), cutter translation guide rail (19), first rack (20), second rack (21), first rack (20) and second rack (21) are transversely set up and can control translation in second spout (18), correspond respectively meshing with the upper portion and the lower part of output gear (24), cutter translation guide rail (19) transversely install in backplate (16) front side and be in the same height with the gear, left cutter (22) upper portion sliding connection just links firmly with second rack (21) on output gear (24) left side guide rail, right cutter (23) upper portion sliding connection just links firmly with first rack (20) on output gear (24) right side guide rail, the lower part of left cutter (22) has sword groove (30) towards the right side, the lower part of right cutter (23) has blade (31) towards the left side, blade (31) are relative with sword groove (30).

3. The broccoli harvesting device of claim 2, wherein the left knife (22) and the right knife (23) are both L-shaped plate-like structures; the vertical part of the left tool (22) is connected with a left sliding block (28), the upper end of the left sliding block (28) is connected to a tool translation guide rail (19) in a sliding mode, the lower end of the left sliding block (28) is fixedly connected to a second rack (21), and a blade groove (30) is formed in the end face of the horizontal part of the left tool (22); the vertical portion of right side cutter (23) is connected with right slider (29) (29), right slider (29) (29) upper end sliding connection is on cutter translation guide rail (19), right slider (29) (29) lower extreme links firmly on first rack (20), blade (31) are established on the terminal surface of right side cutter (23) horizontal part.

4. The broccoli harvesting device according to claim 2 or 3, wherein the cutting edge (31) is concave and semicircular, and the bottom of the blade groove (30) protrudes towards the direction of the opening and is semicircular to match with the cutting edge (31).

5. The broccoli harvesting device of claim 4, wherein the front and rear ends of the horizontal part of the left knife (22) and the front and rear ends of the horizontal part of the right knife (23) are provided with baffles (26), and the upper end surface of the horizontal part of the left knife (22) is provided with an article placing groove (27).

6. The broccoli harvesting device according to claim 1, 2 or 3, wherein the three-axis movement kit (6) comprises two groups of X-axis movement assemblies (32) moving horizontally and back and forth, one group of Y-axis movement assemblies (33) moving horizontally and left and right, and one group of Z-axis movement assemblies (34) moving vertically and up and down; each group of X-axis moving assemblies comprises a first mounting seat (35), a first guide rail (36), a first screw rod (37), a first sliding block (38) and a first motor (39), the first mounting seat (35) is horizontally arranged on the rack (2) along the front-back direction, the first screw rod (37) and the first guide rail (36) are transversely arranged on the first mounting seat (35), the first sliding block (38) is connected to the first guide rail (36) in a sliding mode and in threaded connection with the first screw rod (37), and the first motor (39) is arranged at one end of the first mounting seat (35) and in transmission connection with one end of the first screw rod (37); the Y-axis moving assembly comprises a second mounting seat (40), a second guide rail (41), a second screw rod (42), a second sliding block (43) and a second motor (44), the second mounting seat (40) is transversely arranged, two ends of the second mounting seat (40) are respectively and correspondingly fixedly connected to the first sliding blocks (38) of the two groups of X-axis moving assemblies (32), the second screw rod (42) and the second guide rail (41) are transversely arranged on the second mounting seat (40), the second sliding block (43) is slidably connected to the second guide rail (41) and is in threaded connection with the second screw rod (42), and the second motor (44) is arranged at one end of the second mounting seat (40) and is in transmission connection with one end of the second screw rod (42); z axle removes subassembly includes third mount pad (45), third guide rail (46), third screw rod (47), third slider (48) and third motor (49), the vertical setting of third mount pad (45) just links firmly on second slider (43), third screw rod (47), third guide rail (46) are all transversely installed on third mount pad (45), third slider (48) sliding connection on third guide rail (46) and with third screw rod (47) spiro union, third motor (49) set up in the upper end of third mount pad (45) and with the one end transmission of third screw rod (47) is connected, cutter subassembly (7) link firmly on third slider (48).

7. The broccoli harvesting device according to claim 1, 2 or 3, wherein the conveying mechanism (4) is a conveyor belt, the front end of the conveyor belt is inclined downwards and is positioned below the rear end of the three-axis moving sleeve member (6), the rear end of the conveyor belt is connected with the front end part of the collecting frame (5), a strip-shaped baffle (15) is arranged on the conveyor belt, and the length direction of the baffle (15) is perpendicular to the conveying direction of the conveyor belt.

8. The broccoli harvesting device according to claim 1, 2 or 3, wherein the wheel mechanism (1) comprises four wheel assemblies respectively arranged at four corners of the frame (2), each wheel assembly comprises a wheel driving motor (50), a motor base (51), a vertical cylinder (52), a speed reducer (53) and an anti-skid wheel (54), the wheel driving motor (50) is fixedly connected to the upper end of the vertical cylinder (52) through the motor base (51), the speed reducer (53) is fixedly connected to the lower end of the vertical cylinder (52), the anti-skid wheel (54) is in transmission connection with the speed reducer (53), a cross universal shaft is arranged in the vertical cylinder (52), one end of the cross universal shaft is connected with the wheel driving motor (50) through a motor coupler, and the other end of the cross universal shaft is connected with the speed reducer (53) through a speed reducer (53) coupler.

9. The broccoli harvesting device of claim 1, 2 or 3, wherein a mounting frame (11) is further fixedly connected above the rear end of the frame (2); install storage battery (12) on mounting bracket (11), perhaps install generator (13) and fuel tank (14) on mounting bracket (11), perhaps install storage battery (12), generator (13) and fuel tank (14) simultaneously on mounting bracket (11).

10. A broccoli harvesting device according to claim 1, 2 or 3, wherein at least two second cameras (10) are arranged at the front end of the frame (2), the second cameras (10) being electrically connected to the control system (9).