CN115191228A - A harvesting device for broccoli - Google Patents
A harvesting device for broccoli Download PDFInfo
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- CN115191228A CN115191228A CN202210887823.5A CN202210887823A CN115191228A CN 115191228 A CN115191228 A CN 115191228A CN 202210887823 A CN202210887823 A CN 202210887823A CN 115191228 A CN115191228 A CN 115191228A
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- 235000011299 Brassica oleracea var botrytis Nutrition 0.000 title claims abstract description 39
- 235000017647 Brassica oleracea var italica Nutrition 0.000 title claims abstract description 39
- 240000003259 Brassica oleracea var. botrytis Species 0.000 title claims abstract description 39
- 238000003306 harvesting Methods 0.000 title claims abstract description 28
- 239000006096 absorbing agent Substances 0.000 claims description 9
- 230000035939 shock Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 10
- 239000000725 suspension Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/12—Torque-transmitting axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a harvesting device for broccoli, which comprises a frame, wherein a shell is arranged on the frame; the transverse moving frames are arranged at the front end and the rear end of the frame at intervals along the transverse direction, and sliding blocks are movably arranged on the transverse moving frames; the picking arm is fixedly arranged on the frame at one end; a tail end picker arranged at the tail end of the picking arm and used for clamping and cutting mature broccoli; and the picking camera is arranged at the bottom of the frame. According to the harvesting device, the transverse moving frame is arranged on the frame, the sliding blocks are arranged at the two ends of the transverse moving frame, and the sliding blocks on the two sides are driven to synchronously get close to or get away from each other under the action of the driving device, so that the wheel track is adjusted, the whole harvesting device can be suitable for planting areas with different widths, and the universality of the whole harvesting device is improved; meanwhile, the steering driving wheels are formed by the steering motor and the hub motor wheels, so that each steering driving wheel has independent driving and steering functions, and the trafficability and flexibility of the whole vehicle are greatly improved.
Description
Technical Field
The invention relates to the technical field of broccoli automatic harvesting equipment, in particular to a harvesting device for broccoli.
Background
Chinese patent publication No.: CN114557190A discloses a broccoli harvesting device, which comprises a wheel mechanism and a frame, wherein 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 and 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. However, the device still has the following disadvantages in the actual use process:
1. in the collecting device, the wheels only have a single driving function, and the whole vehicle only has a conventional steering mode, so that the steering performance and the movement flexibility are poor when the vehicle works in the field; meanwhile, the broccoli is planted in a standard mode of one narrow-row and two wide-row, and the wheel track of wheels on the same side of the device cannot be adjusted, so that the universality is poor;
2. the harvesting device mainly realizes the picking of broccoli through the three-axis moving assembly on the rack, and the three-axis moving assembly only has the freedom degrees in the transverse direction, the longitudinal direction and the vertical direction, so that the overall freedom degree is low, and broccoli with different shapes and positions cannot be effectively picked;
3. when the device is used, remote control and automatic navigation cannot be performed, so that the automation and intelligence degree of the device is low.
Disclosure of Invention
The invention aims to provide a harvesting device for broccoli, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a harvesting device for broccoli comprises
A frame having a housing disposed thereon;
the transverse moving frame is arranged at the front end and the rear end of the frame at intervals along the transverse direction, a sliding block is movably arranged on the transverse moving frame, a driving device used for driving the sliding blocks on the two sides to synchronously approach or depart from the transverse moving frame is arranged on the transverse moving frame, a connecting block is movably connected on the sliding block, a steering motor is fixedly arranged on the connecting block, a wheel frame is connected on a main shaft of the steering motor, and a hub motor wheel is arranged on the wheel frame;
the picking arm is fixedly arranged on the frame at one end and comprises a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm and a fifth connecting arm, wherein the first connecting arm, the second connecting arm, the third connecting arm, the fourth connecting arm and the fifth connecting arm are sequentially hinged with one another, so that the picking arm can realize six-degree-of-freedom motion in space;
a tail end picker arranged at the tail end of the picking arm and used for clamping and cutting mature broccoli; and
and the picking camera is arranged at the bottom of the frame and is used for identifying and positioning mature broccoli.
Preferably, the driving device comprises a screw rod in transmission connection with the sliding blocks on the two sides, and the transverse moving frame is provided with a distance adjusting motor for driving the screw rod to rotate.
Preferably, the driving device comprises a first rack and a second rack which are respectively connected with the sliding blocks on the two sides, the traversing frame is provided with a distance adjusting motor, and a main shaft of the distance adjusting motor is provided with a gear which is meshed with the first rack and the second rack.
Preferably, the driving device comprises a hydraulic cylinder arranged on the transverse moving frame, and the telescopic end of the hydraulic cylinder is connected with the sliding block on the corresponding side respectively.
Preferably, the side surface of the sliding block is movably connected with one end of a connecting rod, the other end of the connecting rod is movably connected with a connecting block, the sliding block is hinged with one end of a shock absorber, and the other end of the shock absorber is hinged with the connecting block.
Preferably, the vehicle body path planning navigation device further comprises a path planning navigation device, wherein the path planning navigation device comprises a visual camera arranged in front of the vehicle frame, a signal receiving antenna, a satellite signal receiver and an ultrasonic sensor used for detecting objects around the vehicle body.
Preferably, the system further comprises a remote control device, wherein the remote control device comprises a pan-tilt camera for shooting and a G signal antenna for receiving a control signal.
Preferably, the tail end picker comprises a first fixing frame arranged at the tail end of a fifth connecting arm, a picking motor is arranged in the first fixing frame, the lower end of the first fixing frame is connected with a second fixing frame, a driving disc is movably arranged on the second fixing frame and is in transmission connection with a screw on a main shaft of the picking motor, one end of the driving disc is movably connected with a driving frame hinged to the second fixing frame, the lower end of the driving frame is hinged to a driving arm, and a clamping plate and a cutter which are used for clamping and cutting off broccoli are respectively arranged on the driving arm.
Preferably, a solar panel for supplying power is arranged on the shell.
Preferably, the periphery of the shell is provided with an anti-collision rod.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the transverse moving frame is arranged on the frame, and the sliding blocks are arranged at the two ends of the transverse moving frame, so that the sliding blocks at the two sides are driven to synchronously get close to or get away from each other under the action of the driving device, and further the wheel track is adjusted, so that the whole harvesting device can be suitable for planting areas with different widths, and the universality of the whole harvesting device is improved; meanwhile, the steering driving wheels are formed by the steering motor and the hub motor wheel, so that each steering driving wheel has independent driving and steering functions, particularly, when the steering driving wheels are used in field operation, the whole vehicle has various running modes such as straight running, side running, in-situ rotation and the like, and the trafficability and flexibility of the whole vehicle are greatly improved under the cooperation of independent suspension formed by the connecting block, the connecting rod and the shock absorber;
2. according to the broccoli picking device, the picking arm with six degrees of freedom is arranged on the frame, so that broccoli with different shapes, sizes and positions can be effectively picked under the matching of the tail end picking device and the picking camera, and the picking quality and efficiency are improved;
3. the invention realizes automatic navigation and planning of the path by arranging the path planning navigation device and the remote control device, has the remote control function, reduces the labor intensity of operation and improves the intelligent and automatic degree of the whole device.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a schematic structural diagram of the components of the traversing frame, the sliding block and the hub motor wheel of the present invention;
FIG. 5 is a front view of the cross-frame, slide and hub motor wheels of the present invention;
FIG. 6 is an enlarged view of the structure of area A in FIG. 4;
FIG. 7 is a schematic view of a picking arm and end picker configuration of the present invention;
FIG. 8 is a schematic view of another angular configuration of the picking arm and end pickers of the present invention;
fig. 9 is an enlarged view of the structure of region B in fig. 7.
In the figure: the device comprises a frame 1, a shell 2, a transverse moving frame 3, a sliding block 4, a screw rod 5, a pitch motor 6, a connecting block 7, a connecting rod 8, a shock absorber 9, a steering motor 10, a wheel frame 11, a hub motor wheel 12, a first connecting arm 13, a second connecting arm 14, a third connecting arm 15, a fourth connecting arm 16, a fifth connecting arm 17, a picking camera 18, a picking motor 19, a first fixing frame 20, a second fixing frame 21, a driving disc 22, a screw rod 23, a driving frame 24, a driving arm 25, a clamping plate 26, a cutter 27, a visual camera 28, a signal receiving antenna 29, a satellite signal receiver 30, an ultrasonic sensor 31, a tripod head camera 32, a signal antenna 335G, a signal collecting bin 36 and a crash bar 37.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution:
the first embodiment is as follows:
a harvesting device for broccoli comprises
The solar energy field work vehicle comprises a vehicle frame 1, wherein a shell 2 is arranged on the vehicle frame 1, in the technical scheme of the embodiment, the vehicle frame 1 is made of light aluminum materials, so that the weight of the whole vehicle is reduced, the trafficability of the whole vehicle in field work is improved, a solar panel for supplying power is arranged on the shell 2, the solar panel can charge a storage battery in the vehicle frame 1, and the solar panel and the storage battery are used as power sources, so that the pollution is avoided, and the energy is saved and the environment is protected; the periphery of the shell 2 is provided with the anti-collision rods 37, and the shell 2 can be effectively protected by the anti-collision rods 37;
the transverse moving frame 3 is fixedly arranged at the front end and the rear end of the frame 1 at intervals along the transverse direction, two groups of sliding blocks 4 are movably arranged at the two ends of the transverse moving frame 3, the transverse moving frame 3 forms a track for the sliding blocks 4 at the two sides to move, a driving device for driving the sliding blocks 4 at the two sides to synchronously get close to or get away from is arranged on the transverse moving frame 3, the side surface of each sliding block 4 is movably connected with one end of a connecting rod 8, the other end of each connecting rod 8 is movably connected with a connecting block 7, each sliding block 4 is hinged with one end of a shock absorber 9, and the other end of each shock absorber 9 is hinged with the corresponding connecting block 7, so that an independent suspension structure is formed; a steering motor 10 is fixedly arranged on the connecting block 7, a wheel carrier 11 is connected on a main shaft of the steering motor 10, a wheel hub motor wheel 12 is rotatably arranged on the wheel carrier 11, and anti-skid grains (not shown in the figure) are arranged on the outer wall of the wheel hub motor wheel 12; in the technical scheme of the embodiment, the driving device is of a screw rod structure and specifically comprises a screw rod 5 in transmission connection with sliding blocks 4 on two sides, a distance adjusting motor 6 for driving the screw rod 5 to rotate is arranged on the transverse moving frame 3, and the distance adjusting motor 6 drives the screw rod 5 to rotate, so that the sliding blocks 4 on two sides can be synchronously close to or far away from the transverse moving frame 3, and finally the wheel track can be adjusted, so that the whole harvesting device can be suitable for planting areas with different widths, and the universality of the whole harvesting device is improved; meanwhile, the steering driving wheels are formed by the steering motor 10 and the hub motor wheels 12, so that each steering driving wheel has independent driving and steering functions, particularly, when the steering driving wheels are used in field operation, the whole vehicle has various running modes such as straight running, side running and pivot rotation, and the trafficability and flexibility of the whole vehicle are greatly improved under the cooperation of independent suspension formed by the connecting block 7, the connecting rod 8 and the shock absorber 9;
the picking arm is fixedly arranged on the frame 1 at one end and comprises a first connecting arm 13, a second connecting arm 14, a third connecting arm 15, a fourth connecting arm 16 and a fifth connecting arm 17, wherein the first connecting arm 13, the second connecting arm 14, the third connecting arm 15, the fourth connecting arm 16 and the fifth connecting arm 17 are sequentially hinged with one another, and the upper end of the first connecting arm 13 is vertically connected with the frame 1, so that the picking arm can move in six degrees of freedom in space, has higher degree of freedom, realizes effective picking of broccoli with different shapes, sizes and shapes, and improves picking quality and efficiency;
the tail end picking device is arranged at the tail end of the picking arm and used for clamping and cutting mature broccoli, the tail end picking device comprises a first fixing frame 20 arranged at the tail end of a fifth connecting arm 17, a picking motor 19 is fixedly arranged in the first fixing frame 20, the lower end of the first fixing frame 20 is connected with a second fixing frame 21, a driving disc 22 is movably arranged in the second fixing frame 21, two ends of the driving disc 22 are movably sleeved on guide rods on two sides of the second fixing frame 21, the driving disc 22 is in transmission connection with a screw 23 on a main shaft of the picking motor 19, one end of the driving disc 22 is movably connected with a driving frame 24 hinged with the second fixing frame 21, the lower end of the driving frame 24 is hinged with a driving arm 25, a clamping plate 26 and a cutting knife 27 used for clamping and cutting off the broccoli are respectively arranged on the driving arm 25, the picking motor 19 drives the screw 23 to rotate, the driving disc 22 moves along the guide rods, and finally the driving frame 24 and the driving arm 25 on the lower portion are linked to rotate, the clamping plate 26 and the cutting knife 27 on two sides are synchronously close to realize the cutting off of the broccoli roots and the clamping after the broccoli; meanwhile, a collecting bin 36 is detachably arranged at the bottom of the frame 1, the picking arm drives the tail end picker to the collecting bin 36, then the driving frames 24 and the driving arms 25 at the two ends rotate in opposite directions under the action of the picking motor 19, and the clamped broccoli is placed in the collecting bin 36; and
the picking camera 18 is arranged at the bottom of the frame 1 and used for identifying and positioning mature broccoli so as to drive the picking arm and the tail end picker to realize the harvesting of the broccoli;
the vehicle body path planning navigation device further comprises a path planning navigation device, wherein the path planning navigation device comprises a visual camera 28, a signal receiving antenna 29, a satellite signal receiver 30 and an ultrasonic sensor 31 which is arranged in front of the vehicle frame 1 and is used for detecting objects around the vehicle body; the vision camera 28 is used for shooting the front route of the vehicle so as to realize the planning of the running route, the signal receiving antenna 29 is used for receiving control signals, and the satellite signal receiver 30 is used for realizing positioning;
the remote control device comprises a tripod head camera 32 for shooting and a 5G signal antenna 33 for receiving control signals, and the remote control end transmits the control signals to the whole equipment through the 5G signal antenna 33 according to the shooting of the tripod head camera 32, so that the remote control is realized;
according to the technical scheme, the automatic navigation and planning of the path are realized by arranging the path planning navigation device and the remote control device, and the remote control function is realized, so that the intelligent and automatic degree of the whole device is improved while the operation labor intensity is reduced;
example two:
the difference from the above embodiment is that: the driving device is a gear and rack device, and specifically comprises a first rack and a second rack which are respectively fixedly connected with the sliding blocks 4 on the two sides, the traversing frame 3 is provided with a distance adjusting motor 6, a main shaft of the distance adjusting motor 6 is provided with a gear meshed with the first rack and the second rack, when distance adjustment is needed, the distance adjusting motor 6 drives the gear to rotate, and then the first rack and the second rack which are meshed with the distance adjusting motor are linked to be synchronously close to or far away from each other, so that the distance adjusting function is finally realized.
Example three:
the difference from the above embodiment is that: the driving device is a hydraulic cylinder, and specifically comprises two sets of hydraulic cylinders arranged at two ends of the transverse moving frame 3, the telescopic ends of the hydraulic cylinder are respectively connected with the sliding blocks 4 corresponding to the sides, and the sliding blocks 4 corresponding to the sides are driven to be close to or far away through the telescopic action of the hydraulic cylinder, so that the distance adjusting function is finally realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A harvesting device for broccoli, which is characterized in that: comprises that
A frame (1) on which a housing (2) is arranged;
the device comprises a transverse moving frame (3) which is arranged at the front end and the rear end of a frame (1) at intervals along the transverse direction, a sliding block (4) is movably arranged on the transverse moving frame (3), a driving device for driving the sliding blocks (4) at the two sides to synchronously approach or separate is arranged on the transverse moving frame (3), a connecting block (7) is movably connected on the sliding block (4), a steering motor (10) is fixedly arranged on the connecting block (7), a wheel carrier (11) is connected on a main shaft of the steering motor (10), and a hub motor wheel (12) is arranged on the wheel carrier (11);
the picking arm is fixedly arranged on the frame (1) at one end and comprises a first connecting arm (13), a second connecting arm (14), a third connecting arm (15), a fourth connecting arm (16) and a fifth connecting arm (17), wherein the first connecting arm (13), the second connecting arm (14), the third connecting arm (15), the fourth connecting arm (16) and the fifth connecting arm (17) are sequentially hinged with each other, so that the picking arm can realize six-degree-of-freedom motion in space;
a tail end picker arranged at the tail end of the picking arm and used for clamping and cutting mature broccoli; and
a picking camera (18) arranged at the bottom of the frame (1) and used for identifying and positioning mature broccoli.
2. A harvesting device for broccoli according to claim 1, wherein: the driving device comprises a screw rod (5) in transmission connection with sliding blocks (4) on two sides, and a distance adjusting motor (6) used for driving the screw rod (5) to rotate is arranged on the transverse moving frame (3).
3. A harvesting device for broccoli according to claim 1, wherein: the driving device comprises a first rack and a second rack which are respectively connected with the sliding blocks (4) on the two sides, the transverse moving frame (3) is provided with a distance adjusting motor (6), and a main shaft of the distance adjusting motor (6) is provided with a gear meshed with the first rack and the second rack.
4. A harvesting device for broccoli according to claim 1, wherein: the driving device comprises a hydraulic cylinder arranged on the transverse moving frame (3), and the telescopic end of the hydraulic cylinder is connected with the sliding block (4) on the corresponding side respectively.
5. A harvesting device for broccoli according to any one of claims 2 to 4, wherein: slider (4) side swing joint connecting rod (8) one end, connecting rod (8) other end swing joint connecting block (7), slider (4) articulated bumper shock absorber (9) one end, the articulated connecting block (7) of bumper shock absorber (9) other end.
6. The harvesting device for broccoli according to claim 5, wherein: the vehicle body path planning navigation device further comprises a path planning navigation device, wherein the path planning navigation device comprises a visual camera (28) arranged in front of the vehicle frame (1), a signal receiving antenna (29), a satellite signal receiver (30) and an ultrasonic sensor (31) used for detecting objects around the vehicle body.
7. A harvesting device for broccoli according to claim 5, wherein: the device also comprises a remote control device, wherein the remote control device comprises a tripod head camera (32) used for shooting and a 5G signal antenna (33) used for receiving control signals.
8. A harvesting device for broccoli according to claim 6 or 7, characterized in that: the tail end picking device comprises a first fixing frame (20) arranged at the tail end of a fifth connecting arm (17), a picking motor (19) is arranged inside the first fixing frame (20), the lower end of the first fixing frame (20) is connected with a second fixing frame (21), a driving disc (22) is movably arranged on the second fixing frame (21), the driving disc (22) is in transmission connection with a screw rod (23) on a main shaft of the picking motor (19), one end of the driving disc (22) is movably connected with a driving frame (24) hinged to the second fixing frame (21), a driving arm (25) is hinged to the lower end of the driving frame (24), and a clamping plate (26) and a cutter (27) used for clamping and cutting off broccoli are respectively arranged on the driving arm (25).
9. A harvesting device for broccoli according to claim 8, wherein: and a solar panel for supplying power is arranged on the shell (2).
10. A harvesting device for broccoli according to claim 8, wherein: and anti-collision rods are arranged around the shell (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210887823.5A CN115191228A (en) | 2022-07-26 | 2022-07-26 | A harvesting device for broccoli |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210887823.5A CN115191228A (en) | 2022-07-26 | 2022-07-26 | A harvesting device for broccoli |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115191228A true CN115191228A (en) | 2022-10-18 |
Family
ID=83584955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210887823.5A Pending CN115191228A (en) | 2022-07-26 | 2022-07-26 | A harvesting device for broccoli |
Country Status (1)
| Country | Link |
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| CN (1) | CN115191228A (en) |
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| CN114600640A (en) * | 2022-02-18 | 2022-06-10 | 湖北汽车工业学院 | Distributed four-wheel electric drive and all-round steering intelligent fruit picking platform |
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