CN115380693A - Agricultural harvesting robot with classification function - Google Patents

Abstract

The invention provides a harvesting agricultural robot with a classification function, and belongs to the technical field of agricultural robots. It has solved present harvest robot does not have classification function scheduling problem. The machine comprises a machine body, a harvesting head arranged at the front part of the machine body, a cleaning device arranged at the middle part of the machine body, and a classification device arranged at the rear part of the machine body, wherein a shell used for protecting the cleaning device and the classification device is also arranged on the machine body, a conveying belt is arranged between the harvesting head and the cleaning device, the cleaning device comprises a cleaning roller, a first driving device used for driving the cleaning roller to rotate and two water spraying pieces, the first driving device drives the cleaning roller to rotate around the central axis of the first driving device through a transmission piece, a control device is arranged at the front end of the shell, a plurality of cameras used for identifying the surrounding environment are arranged on the control device, and a plurality of moving wheels are arranged at the bottom of the machine body. The potato harvester has the advantages that potatoes can be classified during harvesting, and the like.

Description

Agricultural harvesting robot with classification function

Technical Field

The invention belongs to the technical field of agricultural robots, and particularly relates to a harvesting agricultural robot with a classification function.

Background

The agriculture is the bottom foundation of human civilization and is related to the survival, death and survival of human beings, the potatoes are planted all around the world all the time, the potatoes are one of the vegetables which are very popular to people, the potatoes can be used as food of people due to rich nutrition, the potatoes are planted with more and more fire, and the planting area is wider and wider.

The agriculture is gradually advanced from the beginning of pure manual work to mechanization and automation, and the harvesting of potatoes is carried out manually in the past, so that the problems of long time consumption, low efficiency and the like are caused, and an agricultural robot capable of harvesting potatoes and having a sorting function is required to be designed.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provide a harvesting agricultural robot with a sorting function.

The purpose of the invention can be realized by the following technical scheme: the utility model provides a results agricultural robot with classification function, its characterized in that, includes the organism, sets up at the anterior head of gathering of organism, sets up belt cleaning device at the organism middle part, sets up the sorter at the organism rear portion, still be provided with the shell that is used for protecting belt cleaning device and sorter on the organism, it is provided with the conveyer belt to gather between head and the belt cleaning device, belt cleaning device includes the wash bowl, is used for driving wash bowl pivoted first drive arrangement and two water spray spare, first drive arrangement passes through the driving medium drive the wash bowl rotates around self axis, the shell front end is provided with controlling means, controlling means is last to be provided with a plurality of cameras that are used for discerning all ring edge borders, the bottom of the body is provided with a plurality of removal wheels.

The working principle of the invention is as follows: the control device is internally provided with a wireless transmission chip and can be connected to terminal equipment, for example, a control terminal which can be connected to a user is also a remote controller (in practice, the control terminal can be the same as an unmanned aerial vehicle, through design software, and can be controlled on a mobile phone or a computer terminal), then the user controls the work of the whole robot through the remote controller, in operation, the terrain environment around the robot is identified through a plurality of cameras, and images are transmitted to the terminal, the user controls the movement of the robot according to the images, firstly, the potatoes are harvested from the ground through harvesting head work, then the potatoes are transmitted to a cleaning device through a conveying belt, the potatoes pass through a cleaning roller, and are washed by two water spraying pieces, when the cleaning roller is used for cleaning, the cleaning roller can rotate around the central axis of the cleaning roller, the cleaning effect is improved, the potatoes can be classified and stored by a classifying device after impurities such as soil on the potatoes are cleaned, the robot is formed by transforming a tractor, the mode of wireless control, manual control is replaced, when the potatoes are harvested, the workers can select a small room beside a field, and then the work of the robot is controlled through the remote controller, and the convenience and practicability are realized.

In foretell harvest agricultural robot with classification function, the shell includes first casing and second casing, first casing and second casing and organism cooperation have formed the first chamber and the second chamber that holds that is used for holding belt cleaning device and sorter respectively and have held the chamber, first chamber and the second of holding hold the chamber and communicate each other, the first opening that holds the chamber of intercommunication is seted up to first casing front end, the opening is used for supplying to send the area and stretches into the first intracavity that holds, be provided with the installation piece on the organism, the aqua storage tank that is used for the water storage is seted up to the installation piece, the slope of cleaning roller sets up in the aqua storage tank top, cleaning roller runs through and is provided with the washing passageway that supplies the potato to pass, evenly distributed has the sieve mouth of a plurality of intercommunication washing passageways on the cleaning roller outer wall, two water spray symmetry sets up the both sides at cleaning roller, two water spray all includes the mounting panel and sets up the nozzle group on the mounting panel.

In foretell harvest agricultural robot with classification function, the slope is provided with the direction arc board that is used for leading-in washing passageway with the potato between the upper end of conveyer belt and the upper end of washing cylinder, first drive arrangement is located direction arc board below, the driving medium sets up to first rack, first rack sets up along the girth of washing cylinder upper end, first drive arrangement includes first driving motor and sets up the first drive gear on first driving motor output shaft, first drive gear and the meshing of first rack are connected.

In foretell harvest agricultural robot who has classification function, the lower extreme of cleaning roller is provided with the spacing ring, the notch both sides of aqua storage tank all are provided with and are used for spacing breach to the spacing ring, the cross section of spacing ring is semi-circular.

In foretell harvest agricultural robot with classification function, every two nozzle groups have set gradually from the top down at least on the mounting panel, every nozzle group all includes a plurality of water spout, the upper portion of aqua storage tank is provided with the filter screen, the water spout is connected with the water pump through the connecting pipe, and the water pump setting is in the installation piece is inside and is located the aqua storage tank below, and the water inlet of water pump is located on the diapire of aqua storage tank.

In foretell harvest agricultural robot with classification function, sorter includes categorised board and mobile device, categorised board slope sets up and holds the intracavity and the upper end of categorised board is located the below of washing cylinder lower extreme at the second, be provided with a plurality of sieve subareas on the categorised board, every sieve subarea evenly distributed has a plurality of sieve meshes, and the sieve mesh of each sieve subarea becomes gradually from the upper end of categorised board to the lower extreme, the second holds the bottom in chamber and is provided with a plurality of baffles, and is a plurality of the baffle with categorised board and the second holds the chamber cooperation and forms a plurality of storage chambeies that are used for storing the potato.

In foretell harvest agricultural robot who has classification function, the second holds the intracavity and is provided with second drive arrangement, the bottom of the lower part of categorised board is provided with the second rack, second drive arrangement includes second driving motor and second drive gear, second drive gear and second rack meshing connection, thereby second driving motor is used for driving second drive gear to rotate and drives the length direction removal of categorised board along the second rack.

In foretell harvest agricultural robot who has classification function, the parallel arrangement has two limit baffle on the classification board, two limit baffle all sets up to the wave, the sieve subregion all is located between two limit baffle.

In foretell harvest agricultural robot with classification function, be provided with a plurality of first doors that open and shut on the second casing, it is a plurality of first door and the reservoir one-to-one that open and shut, the second holds the chamber rear portion and is provided with the backup pad, the backup pad forms the cavity that is used for holding second drive arrangement with the baffle cooperation that is close to the backup pad, the upper end tip of classification board is provided with the deflector, the guide way has been seted up to one side of installation piece, the deflector rolls with the guide way through the leading wheel that the bottom set up and is connected, the lower extreme bottom of classification board is provided with spacing, the bottom both ends of spacing all are provided with the pulley, the spout has been seted up at the backup pad top, the pulley is located the spout and rolls with the spout and is connected.

In foretell harvest agricultural robot who has classification function, backup pad and organism and casing cooperation form the storage chamber, second casing rear portion corresponds the storage chamber is provided with the second door that opens and shuts.

Compared with the prior art, the potato harvester has the advantage that potatoes can be classified during harvesting.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of the present invention after a part of the housing is hidden.

FIG. 3 is a schematic diagram of a hidden part structure according to the present invention.

Fig. 4 is an enlarged schematic view of part a of the present invention.

FIG. 5 is a schematic view of a part of the structure of the present invention.

In the figure, 1, a machine body; 2. harvesting heads; 3. a cleaning device; 4. a sorting device; 5. a housing; 6. a conveyor belt; 7. a control device; 8. a camera; 9. a moving wheel; 10. a first housing; 11. a second housing; 12. a first accommodating chamber; 13. a second accommodating cavity; 14. an opening; 15. mounting blocks; 16. cleaning the roller; 17. a water spraying member; 18. a water storage tank; 19. cleaning the channel; 20. a screen opening; 21. a nozzle group; 22. a guide arc plate; 23. a first driving device; 24. a first drive motor; 25. a first drive gear; 26. a first rack; 27. a limiting ring; 28. a limiting notch; 29. mounting a plate; 30. a water spray nozzle; 31. a classification plate; 32. a mobile device; 33. screening areas; 34. screening holes; 35. a partition plate; 36. a storage chamber; 37. a second driving device; 38. a second rack; 39. a second drive motor; 40. a second drive gear; 41. a limit baffle; 42. a first opening and closing door; 43. a cavity; 44. a guide plate; 45. a guide groove; 46. a limiting strip; 47. a pulley; 48. a guide wheel; 49. a storage chamber; 50. a second opening and closing door; 51. a support plate; 52. filtering with a screen; 53. a chute.

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. 1-5, the agricultural harvesting robot with classification function includes a machine body 1, a harvesting head 2 disposed in front of the machine body 1, a cleaning device 3 disposed in the middle of the machine body 1, and a classification device 4 disposed in the rear of the machine body 1, wherein the machine body 1 is further provided with a housing 5 for protecting the cleaning device 3 and the classification device 4, a conveyor belt 6 is disposed between the harvesting head 2 and the cleaning device 3, the cleaning device 3 includes a cleaning roller 16, a first driving device 23 for driving the cleaning roller 3 to rotate, and two water spraying members 17, the first driving device 23 drives the cleaning roller 16 to rotate around its central axis through a transmission member, the front end of the housing 5 is provided with a control device 7, the control device 7 is provided with a plurality of cameras 8 for identifying surrounding environments, and the bottom of the machine body 1 is provided with a plurality of moving wheels 9; this robot adopts the diesel engine drive to remove 9 work of wheel, removes wheel 9 and is provided with four and is located the bottom at 1 middle part of organism respectively, is provided with two auxiliary wheels simultaneously in the rear end bottom of organism 1, and two auxiliary wheels follow and remove wheel 9 and rotate and play the effect that supports organism 1 in 1 rear end of organism, and the first 2 of gathering that uses on chooseing present potato harvester is chooseed for use to gather first 2, consequently the structure of gathering first 2 is no longer repeated.

In more detail, the shell 5 comprises a first shell 10 and a second shell 11, the first shell 10, the second shell 11 and the machine body 1 are matched to form a first accommodating cavity 12 and a second accommodating cavity 13 which are used for accommodating the cleaning device 3 and the classifying device 4 respectively, the first accommodating cavity 12 and the second accommodating cavity 13 are communicated with each other, an opening 14 communicated with the first accommodating cavity 12 is formed in the front end of the first shell 10, the opening 14 is used for enabling the conveying belt 6 to extend into the first accommodating cavity 12, an installation block 15 is arranged on the machine body 1, a water storage tank 18 used for storing water is formed in the installation block 15, the cleaning roller 16 is obliquely arranged above the water storage tank 18, a cleaning channel 19 for potatoes to pass through is arranged in the cleaning roller 16 in a penetrating manner, a plurality of screen openings 20 communicated with the cleaning channel 19 are uniformly distributed on the outer wall of the cleaning roller 16, the two water spraying pieces 17 are symmetrically arranged on two sides of the cleaning roller 16, and each of the two water spraying pieces 17 comprises an installation plate 29 and a nozzle group 21 arranged on the installation plate 29; potatoes are harvested from the ground by the harvesting head 2 and are conveyed into a cleaning channel 19 of a cleaning roller 16 through a conveying belt 6, the potatoes move downwards along the cleaning roller 16, meanwhile, a water spraying piece 17 works to spray water into the cleaning channel 19 through a sieve opening 20 to wash the surfaces of the potatoes, and impurities such as soil and the like on the surfaces of the potatoes are washed away and fall into a water storage tank 18 through the sieve opening 20.

In more detail, a guide arc plate 22 for guiding potatoes into the cleaning channel 19 is obliquely arranged between the upper end of the conveying belt 6 and the upper end of the cleaning roller 16, a first driving device 23 is positioned below the guide arc plate, a transmission part is provided as a first rack 26, the first rack 26 is arranged along the circumference of the upper end of the cleaning roller 16, the first driving device 23 comprises a first driving motor 24 and a first driving gear 25 arranged on an output shaft of the first driving motor 24, and the first driving gear 25 is meshed with the first rack 26; let cleaning roller 16 rotate around self axis, let the potato in the cleaning channel 19 also rotate thereupon, water spray 17 is when washing the potato like this, and is comparatively comprehensive to washing of potato, improves and washes the effect, rotates simultaneously and also can avoid the potato to stop the condition appearance that the gliding because setting up of fore shaft 20.

In more detail, the lower end of the cleaning roller 16 is provided with a limiting ring 27, both sides of the notch of the water storage tank 18 are provided with limiting notches 28 for limiting the limiting ring 27, and the cross section of the limiting ring 27 is semicircular; the outer surface of the limit ring 27 and the inner wall of the limit notch 28 are smooth, the limit ring 27 is inserted into the limit notch 28 to support the cleaning roller 16, and the resistance to rotation is small.

In more detail, each mounting plate 29 is at least provided with two nozzle groups 21 from top to bottom in sequence, each nozzle group 21 comprises a plurality of water nozzles 30, the upper part of the water storage tank 18 is provided with a filter screen 52, the water nozzles 30 are connected with a water pump through a connecting pipe, the water pump is arranged in the mounting block 15 and is positioned below the water storage tank 18, and a water inlet of the water pump is positioned on the bottom wall of the water storage tank 18; connecting pipe and water pump all belong to common structure, for the clarity of drawing, do not show in the drawing, can say through the setting of filter screen 52 that impurity such as great stone on the potato filters on filter screen 52, the aquatic of water pump extraction only can contain tiny sand and soil like this, still can be used for washing the potato, just so can recycle the water washing potato in the aqua storage tank 18.

In further detail, the classifying device 4 comprises a classifying plate 31 and a moving device 32, the classifying plate 31 is obliquely arranged in the second accommodating cavity 13, the upper end of the classifying plate 31 is positioned below the lower end of the cleaning roller 16, a plurality of screening areas 33 are arranged on the classifying plate 31, a plurality of screen holes 34 are uniformly distributed on each screening area 33, the screen holes 34 of each screening area 33 become larger gradually from the upper end to the lower end of the classifying plate 31, a plurality of partition plates 35 are arranged at the bottom of the second accommodating cavity 13, and the partition plates 35, the classifying plate 31 and the second accommodating cavity 13 are matched to form a plurality of storage cavities 36 for storing potatoes; similarly, the potatoes are gradually slid down from the washing drum 16 to the classifying plate 31, so that the potatoes are respectively dropped into the corresponding storage chambers 36 according to their sizes.

In more detail, a second driving device 37 is arranged in the second accommodating cavity 13, a second rack 38 is arranged at the bottom of the lower portion of the classification plate 31, the second driving device 37 includes a second driving motor 39 and a second driving gear 40, the second driving gear 40 is meshed with the second rack 38, the second driving motor 39 is used for driving the second driving gear 40 to rotate so as to drive the classification plate 31 to move along the length direction of the second rack 38, two limit baffles 41 are arranged on the classification plate 31 in parallel, the two limit baffles 41 are both set to be wave-shaped, and the screening area 33 is located between the two limit baffles 41; during operation, second driving motor 39 can just reverse, and pivoted speed is slower, lets categorised board 31 mild round trip movement, lets the potato can make a round trip to rock between two limit baffle 41 like this, one can follow the time that long potato stayed between each sieve subregion 33, avoids the gliding very fast of potato and does not fall into this storage chamber 36 that falls into, and another also can avoid leading to the potato to stop the gliding because of sieve mesh 34.

In detail, the second housing 11 is provided with a plurality of first opening and closing doors 42, the plurality of first opening and closing doors 42 correspond to the storage cavities 36 one by one, the rear portion of the second accommodating cavity 13 is provided with a support plate 51, the support plate 51 and a partition 35 close to the support plate 51 are matched to form a cavity 43 for accommodating the second driving device 37, the upper end portion of the classification plate 31 is provided with a guide plate 44, one side of the mounting block 15 is provided with a guide groove 45, the guide plate 44 is in rolling connection with the guide groove 45 through a guide wheel 48 arranged at the bottom, the bottom of the lower end of the classification plate 31 is provided with a limit strip 46, two ends of the bottom of the limit strip 46 are provided with pulleys 47, the top of the support plate 51 is provided with a sliding groove 53, and the pulleys 47 are located in the sliding groove 53 and in rolling connection with the sliding groove 53; after the potatoes are harvested, the potatoes can be taken out through the first opening and closing door 42, the guide plate 44 and the limiting strips 46 are arranged to play a supporting and limiting role, and normal operation of the classification plate 31 is guaranteed.

In further detail, the supporting plate 51 cooperates with the machine body 1 and the shell to form a storage cavity 49, and a second opening and closing door 50 is arranged at the rear part of the second shell 11 corresponding to the storage cavity 49; the classifying plate 31 has a section at the lower end where no sieve holes 34 are provided, that is, a section of the classifying plate 31 above the cavity 43, and potatoes which exceed the size of the largest sieve holes 34 on the classifying plate 31 pass through all the sieve areas 33 and then fall into the storage chamber 49 for storage, and the second opening and closing door 50 is also provided for people to take out the potatoes.

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.

Although a large number of terms are used here more, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims (10)

1. The utility model provides a results agricultural robot with classification function, its characterized in that, includes organism (1), sets up in the anterior harvesting head (2) of organism (1), sets up belt cleaning device (3) in the middle part of organism (1), sets up sorter (4) at organism (1) rear portion, still is provided with shell (5) that are used for protecting belt cleaning device (3) and sorter (4) on organism (1), is provided with conveyer belt (6) between harvesting head (2) and belt cleaning device (3), belt cleaning device (3) include cleaning roller (16), are used for driving cleaning roller (3) pivoted first drive arrangement (23) and two water spray (17), first drive arrangement (23) are through the driving medium drive cleaning roller (16) rotate around self axis, and shell (5) front end is provided with controlling means (7), is provided with a plurality of cameras (8) that are used for discerning all ring edge borders on controlling means (7), and organism (1) bottom is provided with a plurality of removal wheel (9).

2. A harvesting agricultural robot with a sorting function according to claim 1, the housing (5) comprises a first shell (10) and a second shell (11), the first shell (10), the second shell (11) and the machine body (1) are matched to form a first accommodating cavity (12) and a second accommodating cavity (13) which are used for accommodating the cleaning device (3) and the sorting device (4) respectively, the first containing cavity (12) and the second containing cavity (13) are communicated with each other, the front end of the first shell (10) is provided with an opening (14) communicated with the first accommodating cavity (12), the opening (14) is used for the conveyor belt (6) to extend into the first accommodating cavity (12), the machine body (1) is provided with an installation block (15), the installation block (15) is provided with a water storage tank (18) for storing water, the cleaning roller (16) is obliquely arranged above the water storage tank (18), the cleaning roller (16) is provided with a cleaning channel (19) for potatoes to pass through, the cleaning device is characterized in that a plurality of screen openings (20) communicated with the cleaning channel (19) are uniformly distributed on the outer wall of the cleaning roller (16), two water spraying pieces (17) are symmetrically arranged on two sides of the cleaning roller (16), and each water spraying piece (17) comprises a mounting plate (29) and a nozzle group (21) arranged on the mounting plate (29).

3. A harvesting agricultural robot with sorting function according to claim 2 characterized in that a guiding arc plate (22) for guiding potatoes into the cleaning channel (19) is obliquely arranged between the upper end of the conveyor belt (6) and the upper end of the cleaning drum (16), the first driving device (23) is located below the guiding arc plate (22), the transmission member is provided as a first rack (26), the first rack (26) is arranged along the circumference of the upper end of the cleaning drum (3), the first driving device (23) comprises a first driving motor (24) and a first driving gear (25) arranged on the output shaft of the first driving motor (24), and the first driving gear (25) is meshed with the first rack (26).

4. A harvesting agricultural robot with a sorting function according to claim 2, characterized in that the lower end of the cleaning drum (16) is provided with a limiting ring (27), the two sides of the notch of the water storage tank (18) are provided with limiting notches (28) for limiting the limiting ring (27), and the cross section of the limiting ring (27) is semicircular.

5. A harvesting agricultural robot with sorting function according to claim 2 characterized in that each mounting plate (29) is provided with at least two nozzle groups (21) in turn from top to bottom, each nozzle group (21) comprises a plurality of water nozzles (30), the upper part of the water storage tank (18) is provided with a filter screen (52), the water nozzles (30) are connected with a water pump through connecting pipes, the water pump is arranged inside the mounting block (15) and below the water storage tank (18), and the water inlet of the water pump is located on the bottom wall of the water storage tank (18).

6. A harvesting agricultural robot with a sorting function according to claim 1, characterized in that the sorting device (4) comprises a sorting plate (31) and a moving device (32), the sorting plate (31) is obliquely arranged in the second containing chamber (13) and the upper end of the sorting plate (31) is positioned below the lower end of the washing drum (16), a plurality of sieve sections (33) are arranged on the sorting plate (31), each sieve section (33) is uniformly distributed with a plurality of sieve holes (34), the sieve holes (34) of each sieve section (33) become larger from the upper end to the lower end of the sorting plate (31), a plurality of partition plates (35) are arranged at the bottom of the second containing chamber (13), and the plurality of partition plates (35) and the sorting plate (31) as well as the second containing chamber (13) cooperate to form a plurality of storage chambers (36) for storing potatoes.

7. A harvesting agricultural robot with a sorting function according to claim 6, characterized in that a second driving device (37) is arranged in the second accommodating chamber (13), a second rack (38) is arranged at the bottom of the lower part of the sorting plate (31), the second driving device (37) comprises a second driving motor (39) and a second driving gear (40), the second driving gear (40) is meshed with the second rack (38), and the second driving motor (39) is used for driving the second driving gear (40) to rotate so as to drive the sorting plate (31) to move along the length direction of the second rack (38).

8. A harvesting agricultural robot with a sorting function according to claim 6, characterized in that the sorting plate (31) is provided with two limit stops (41) in parallel, both limit stops (41) are arranged in a wave shape, and the screening area (33) is located between both limit stops (41).

9. A harvesting agricultural robot with a classifying function according to claim 6, characterized in that a plurality of first opening and closing doors (42) are arranged on the second housing (11), the first opening and closing doors (42) and the storage cavities (36) correspond to each other one by one, a support plate (51) is arranged at the rear part of the second accommodating cavity (13), the support plate (51) and a partition plate (35) close to the support plate (51) are matched to form a cavity (43) for accommodating the second driving device (37), a guide plate (44) is arranged at the upper end of the classifying plate (31), a guide groove (45) is formed in one side of the mounting block (15), the guide plate (44) is connected with the guide groove (45) in a rolling manner through a guide wheel (48) arranged at the bottom, a limiting strip (46) is arranged at the bottom of the classifying plate (31), pulleys (47) are arranged at both ends of the bottom of the limiting strip (46), a sliding groove (53) is formed at the top of the support plate (51), and the pulleys (47) are positioned in the sliding groove (53) and are connected with the sliding groove (53) in a rolling manner.

10. A harvesting agricultural robot with sorting function according to claim 9 characterized in that the support plate (51) cooperates with the body (1) and the housing to form a storage chamber (49), and the second housing (11) is provided with a second opening and closing door (50) at the rear corresponding to the storage chamber (49).

Images