CN115399142B - Agricultural device for intelligent vegetable harvesting - Google Patents
Agricultural device for intelligent vegetable harvesting Download PDFInfo
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- CN115399142B CN115399142B CN202211253766.1A CN202211253766A CN115399142B CN 115399142 B CN115399142 B CN 115399142B CN 202211253766 A CN202211253766 A CN 202211253766A CN 115399142 B CN115399142 B CN 115399142B
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- 238000003306 harvesting Methods 0.000 title claims abstract description 167
- 235000013311 vegetables Nutrition 0.000 title claims abstract description 130
- 238000009434 installation Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 13
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 238000010008 shearing Methods 0.000 description 3
- 244000000383 Allium odorum Species 0.000 description 2
- 235000018645 Allium odorum Nutrition 0.000 description 2
- 235000005338 Allium tuberosum Nutrition 0.000 description 2
- 240000008436 Ipomoea aquatica Species 0.000 description 2
- 235000019004 Ipomoea aquatica Nutrition 0.000 description 2
- 240000002234 Allium sativum Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000008415 Lactuca sativa Species 0.000 description 1
- 235000003228 Lactuca sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000004611 garlic Nutrition 0.000 description 1
- 230000035784 germination Effects 0.000 description 1
- 235000021384 green leafy vegetables Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/015—Cutting mechanisms not covered by another group
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/20—Delivering mechanisms for harvesters or mowers with conveyor belts
Abstract
The invention relates to the technical field of agricultural machinery, in particular to an intelligent agricultural device for harvesting vegetables, which comprises a frame, wherein a collecting box is fixedly arranged on the frame, and a conveying device with the end part movably connected with the collecting box is arranged at an opening above the collecting box; the harvester comprises a rack, a conveying device, a harvesting assembly, a distance meter, a harvesting assembly, a collecting box and a harvesting device, wherein the rack is symmetrically provided with side plates which are connected with the rack in a rotating way, the outer sides of the lower ends of the side plates are hinged with the other ends of the conveying device, harvesting assemblies are arranged between the inner sides of the side plates, the position, close to the top, of the front end of the rack is fixedly provided with the distance meter, the distance meter can measure the growth height of vegetables, the harvesting assemblies can harvest the vegetables according to the growth height of the vegetables, the conveying device can convey the harvested vegetables to the collecting box, the harvesting device can selectively harvest the vegetables according to the growth conditions of the vegetables, and different harvesting methods can be adopted according to different types of vegetables, so that the economic benefits of the vegetables can be ensured, the labor intensity of the physical strength can be reduced, and the practical value and the popularization prospect are good.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an intelligent agricultural device for harvesting vegetables.
Background
The ecological characteristics of different vegetables are different, so that unified harvesting of the vegetables has great complexity; the harvesting methods of different types of vegetables are different, and the quick-growing leaf vegetables are usually pulled up by root and are directly harvested; vegetables with strong germination capacity can be harvested by adopting a root-retaining and leaf-collecting mode, such as Chinese chives, garlic sprouts, lettuce, water spinach and the like.
At present, the domestic vegetable harvesting is mostly finished by manpower, the manual harvesting efficiency is low, the labor intensity is high, the proportion of the manual harvesting cost in the vegetable production cost is also greatly improved along with the increase of the labor price, and some vegetable harvesting machines are in the market for improving the vegetable harvesting efficiency, reducing the manual labor intensity, increasing the product efficiency and ensuring the healthy and stable development of the domestic vegetable industry.
The prior art discloses the application number: 201910159271.4 an intelligent vegetable harvester comprises a driving unit, a frame unit, a harvesting unit, a conveying unit, a bundling unit and an electric control unit, and can automatically walk under the control of a mobile phone; the automatic harvesting of vegetables such as Chinese chives and water spinach can be realized, but the automatic harvesting of vegetables can not be intelligently judged to grow when harvesting, and the vegetables can be harvested only by controlling the disc type cutter to rotationally cut the root of the vegetable plant, so that the continuous root pulling-up can not be realized, and the vegetables can be directly harvested.
Therefore, how to realize intelligent discrimination of vegetable growth conditions for selective harvesting and root pulling can be realized, and a harvesting mode of direct harvesting is a problem to be solved by the current technicians in the field.
Disclosure of Invention
The invention provides an intelligent vegetable harvesting agricultural device, which aims to solve the problems that the prior art can not intelligently judge the growth vigor of vegetables to carry out selective harvesting and can not realize root pulling and direct harvesting.
The technical scheme of the invention is as follows:
the invention provides an intelligent agricultural device for harvesting vegetables, which comprises a frame, wherein a collecting box is fixedly arranged on the upper surface of the frame, and a conveying device with the end part movably connected with the upper opening of the collecting box is arranged at the upper opening of the collecting box; the frame is close to the inboard symmetry of its front end and is equipped with the curb plate of rotating connection with it, and the lower extreme outside of both sides board is articulated to be connected with conveyer's the other end, and the position that the medial surface of both sides board is close to its middle part and is close to down is equipped with reaping the subassembly, and the front end of frame is close to the position fixed mounting at its top has the distancer, and the growth height of vegetables can be measured to the distancer, reaps the subassembly and can reap according to the growth height of vegetables, and conveyer can carry the vegetables of reaping to the collection box inside.
Further, the conveying device comprises two symmetrically arranged supporting frames, the outer side surfaces of the two supporting frames are matched and provided with a conveying belt, a second motor capable of driving the conveying belt to run is fixedly arranged between the inner side surfaces of the two supporting frames, and the outer side surfaces of the two end parts of the two supporting frames are provided with mounting columns fixedly connected with the outer side surfaces of the two end parts of the two supporting frames; the inner side surface of the opening above the collecting box is symmetrically provided with a sliding rail, the outer side surface of the mounting column close to the upper end part of the supporting frame is movably connected with the inner side surface of the sliding rail, the outer side surface of the mounting column close to the lower end part of the supporting frame is provided with a mounting plate which is rotationally connected with the mounting plate, and the mounting plates are respectively and fixedly mounted on the outer sides of the lower ends of the two side plates.
Further, the harvesting assembly comprises a cam shaft, the cam shaft is rotationally connected to the inner side surfaces of the two side plates close to the position where the middle part of the cam shaft is downward, and a third motor capable of driving the cam shaft to rotate is fixedly arranged on the outer side surfaces of the side plates corresponding to the cam shaft; the position that the medial surface of both sides board is close to the lower extreme is equipped with the cross axle with its fixed connection, and the lateral surface of cross axle is equipped with the last harvesting board of rotating connection with it, and the first U-shaped notch that a plurality of equidistance was distributed has been seted up to the front end of going up harvesting board, and the downside of going up harvesting board is equipped with the lower harvesting board with its sliding connection, and the second U-shaped notch has been seted up to the front end of lower harvesting board corresponding first U-shaped notch, and the upper surface of lower harvesting board surpasses the position sliding connection of last harvesting board rear end has electric slide.
Further, a torsion spring is arranged at the rotation connection part of the upper harvesting plate and the transverse shaft.
Further, a first reset spring is arranged at the sliding connection part of the upper harvesting plate and the lower harvesting plate.
Further, a first electric telescopic rod which is rotationally connected with the outer side surfaces of the two side plates is arranged at a position close to the lower part of the middle part of the outer side surfaces of the two side plates; two second electric telescopic rods are symmetrically and fixedly arranged at positions, close to the top of the frame, of the front end of the frame, the fixed end parts of the two second electric telescopic rods are fixedly connected with a first installation frame, the range finder is fixedly arranged on the lower side surface of the first installation frame, the hinge seat is fixedly arranged on the lower side surface of the fixed end of the second electric telescopic rod, and the telescopic end parts of the first electric telescopic rods are rotationally connected with the hinge seat; the telescopic end of the second electric telescopic rod is provided with a second mounting frame fixedly connected with the second electric telescopic rod, the lower side surface of the second mounting frame is fixedly provided with a third electric telescopic rod, and the end part of the telescopic end of the third electric telescopic rod is provided with a baffle fixedly connected with the third electric telescopic rod.
Further, a curved annular groove is formed in the outer side face of the cam shaft, and the maximum displacement D of the curved annular groove is not smaller than the widths of the first U-shaped notch and the second U-shaped notch; the upper surface of lower harvesting board has seted up first recess, and the first logical groove has been seted up to corresponding first recess on the electronic slider, and the bottom one end of first recess is equipped with the driving lever of rotating connection with it, and the other end of the bottom of first recess is equipped with the fourth electric telescopic handle of rotating connection with it, and the flexible end of fourth electric telescopic handle is articulated with the position of the middle part of driving lever upper limit and is connected.
Further, the surface of cross axle seted up the second recess, go up the rear end that reaps the board and be located electronic slider front end and correspond the second recess and set up the second through groove, the inside limiting plate that is equipped with sliding connection with it of second recess, the inside of second through groove corresponds the limiting plate and is equipped with the push pedal, push pedal and second through groove sliding connection.
Further, a second reset spring is arranged between the inner end part of the limiting plate and the inner bottom part of the second groove.
Further, four wheels capable of driving the frame to integrally move are arranged on the lower side face of the frame close to four corners of the frame, and a first motor capable of driving the frame to rotate is fixedly arranged on the lower side face of the frame corresponding to the wheels.
The beneficial effects achieved by the invention are as follows:
when the vegetable harvesting operation is carried out, the driving wheels corresponding to the first motor are controlled to drive the frame to integrally run, the range finder is used for measuring the growth height of the vegetables, and when the growth height of the vegetables does not reach the harvesting standard, the first electric telescopic rod is controlled to shorten and drive the side plates to swing upwards around the frame, so that the harvesting assembly is lifted upwards, and the harvesting assembly continues to run forwards after being lifted upwards, and the vegetables with the growth height which does not reach the harvesting standard pass through the upper part of the vegetables; when the growth height of the vegetables reaches the harvesting standard, the first electric telescopic rod is controlled to extend and drive the side plate to swing downwards around the frame, so that the first U-shaped notch and the second U-shaped notch clamp the root position of the vegetables, and then the vegetables reaching the harvesting standard are harvested in a proper mode through the harvesting assembly; the design achieves the purposes of intelligently judging the growth vigor of vegetables and selectively harvesting, increases the intelligence of the invention, ensures the maximization of the benefits of vegetable planting, and reduces the physical labor intensity of workers during harvesting operation.
When the vegetable harvester is used for harvesting vegetables, the electric sliding block is controlled to slide forwards to be positioned below the cam shaft, then the third motor is controlled to drive the cam shaft to rotate, and the cam shaft drives the upper harvesting plate to swing upwards through the electric sliding block and the lower harvesting plate, so that the vegetables are pulled up through the first U-shaped notch and the second U-shaped notch; when the electric sliding block is controlled to slide backwards to the position far away from the lower part of the cam shaft, the fourth electric telescopic rod is controlled to extend, the telescopic rod can push the deflector rod to swing upwards, when the deflector rod swings upwards, the third motor is controlled to drive the cam shaft to rotate, the upper end part of the deflector rod can correspondingly enter a curved annular groove on the outer side face of the cam shaft, and then the cam shaft can drive the deflector rod to swing back and forth through the curved annular groove when rotating, so that the left and right sliding of the lower harvesting plate and the electric sliding block is realized, the first U-shaped notch and the second U-shaped notch can slide in a staggered manner when the lower harvesting plate slides left and right, and the vegetables can be cut off by the shearing force generated when the first U-shaped notch and the second U-shaped notch slide in a staggered manner; the design can not only pull up the vegetable root and directly harvest the vegetable when harvesting the vegetable, but also harvest the vegetable by adopting a root-leaving and leaf-harvesting mode, thereby increasing the applicability of the invention.
When the vegetable harvester is used for harvesting vegetables, when the roots are required to be removed after the vegetables are pulled up, the electric sliding block can be controlled to slide forwards to be positioned below the cam shaft, the fourth electric telescopic rod is controlled to extend, the third motor is controlled to drive the cam shaft to rotate, the upper end part of the deflector rod correspondingly enters the curved annular groove on the outer side surface of the cam shaft, and the roots of the vegetables are directly cut off after the roots of the vegetables are pulled out.
After the vegetable harvesting device is used for harvesting vegetables, the third electric telescopic rod can be controlled to extend, and the second electric telescopic rod is controlled to shorten, so that the baffle plate moves backwards, the harvested vegetables can be better conveyed to the conveying device by matching with the harvesting assembly when the baffle plate moves backwards, the second motor is controlled to drive the conveying belt to operate, and the conveying belt can convey the harvested vegetables into the collecting box, so that convenience of the vegetable harvesting device in the use process is further ensured.
In conclusion, the vegetable harvesting machine can selectively harvest according to the growth vigor of vegetables, can also adopt different harvesting methods according to different types of vegetables, has stable use performance and better universality, can ensure the economic benefit of the vegetables when used for harvesting, can reduce the labor intensity during harvesting, and has better practical value and popularization prospect.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic view of the present invention in a cut-away configuration; FIG. 3 is an enlarged schematic view of a portion of the structure of the present invention; FIG. 4 is an enlarged schematic view of the cross-sectional structure A-A of FIG. 2; FIG. 5 is an enlarged schematic view of the structure of the portion I in FIG. 2; FIG. 6 is an enlarged schematic view of the portion II of FIG. 2; fig. 7 is a schematic view of the overall structure of the camshaft.
Detailed Description
In order to facilitate understanding of the invention by those skilled in the art, a specific embodiment of the invention is described below with reference to the accompanying drawings.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1-5, the invention provides an intelligent agricultural device for harvesting vegetables, which comprises a frame 1, wherein four wheels 2 capable of driving the frame 1 to integrally move are arranged on the lower side surface of the frame 1 near four corners of the frame, a first motor 3 capable of driving the frame to rotate is fixedly arranged on the lower side surface of the frame 1 corresponding to the wheels 2, and in the working process, the corresponding wheels 2 can be driven to rotate after the first motor 3 is electrified.
As shown in fig. 1, 2 and 3, a collecting box 4 is fixedly mounted on the upper surface of a rack 1, sliding rails 5 are symmetrically arranged on the inner side surface of an opening above the collecting box 4, a conveying device 6 is mounted in the sliding rails 5 in a matched manner, an avoidance opening 7 is formed on the front side surface of the collecting box 4 corresponding to the conveying device 6, the conveying device 6 comprises two symmetrically arranged supporting frames 60, a conveying belt 61 is mounted in the matched manner on the outer side surfaces of the two supporting frames 60, a second motor 62 capable of driving the conveying belt 61 to run is fixedly mounted between the inner side surfaces of the two supporting frames 60, mounting columns 63 fixedly connected with the outer side surfaces of the two end portions of the two supporting frames 60 are respectively arranged, the outer side surfaces of the mounting columns 63 close to the upper end portions of the supporting frames 60 are movably connected with the inner side surfaces of the sliding rails 5, and a mounting plate 64 in rotary connection with the outer side surfaces of the mounting columns 62 close to the lower end portions of the supporting frames 60; in the working process, the second motor 62 can drive the conveyor belt 61 to run after being electrified, and the harvested vegetables are conveyed into the collecting box.
As shown in fig. 1, 2 and 3, the inner side of the frame 1 near the front end of the frame is symmetrically provided with side plates 8 which are rotationally connected with the frame, mounting plates 64 are respectively fixedly arranged on the outer sides of the lower ends of the two side plates 8, harvesting assemblies are arranged on the inner side surfaces of the two side plates 8 near the lower positions of the middle parts of the two side plates, and first electric telescopic rods 9 which are rotationally connected with the outer side surfaces of the two side plates 8 near the lower positions of the middle parts of the two side plates; two second electric telescopic rods 10 are symmetrically and fixedly arranged at positions, close to the top, of the front end of the frame 1, a first installation frame 11 is fixedly connected to the end parts of the fixed ends of the two second electric telescopic rods 10, a range finder 12 is fixedly arranged on the lower side surface of the first installation frame 11, a hinging seat 13 is fixedly arranged on the lower side surface of the fixed end of the second electric telescopic rod 10, and the end parts of the telescopic ends of the first electric telescopic rods 9 are rotationally connected with the hinging seat 13; the telescopic end of the second electric telescopic rod 10 is provided with a second mounting frame 14 fixedly connected with the second electric telescopic rod, the lower side surface of the second mounting frame 14 is fixedly provided with a third electric telescopic rod 15, and the end part of the telescopic end of the third electric telescopic rod 15 is provided with a baffle 16 fixedly connected with the third electric telescopic rod; in the working process, the range finder 12 can detect the growth height of vegetables below the range finder in real time, can drive the side plate 8 to swing around the frame 1 when controlling the first electric telescopic rod 9 to stretch and retract, can drive the third electric telescopic rod 15 and the baffle 16 to move forwards and backwards when controlling the second electric telescopic rod 10 to stretch and retract, and can drive the baffle 16 to move upwards and downwards when controlling the third electric telescopic rod 15 to stretch and retract; the design can measure the growth height of vegetables through the range finder 12 during harvesting; when the growth height of the vegetables does not reach the harvesting standard, the first electric telescopic rod 9 is controlled to shorten and drive the side plate 8 to swing upwards around the frame 1, so that the harvesting assembly is lifted upwards and does not harvest, when the growth height of the vegetables reaches the harvesting standard, the third electric telescopic rod 15 is controlled to extend, and the second electric telescopic rod 10 is controlled to shorten, so that the baffle 16 moves backwards and is matched with the harvesting assembly to enable the harvested vegetables to be better conveyed to the conveying device 6; the design achieves the purposes of intelligently judging the growth vigor of vegetables and selectively harvesting.
As shown in fig. 1, 2, 3, 4, 5 and 6, the harvesting assembly comprises a cam shaft 17, the cam shaft 17 is rotatably connected to the inner side surfaces of the two side plates 8 near the lower position of the middle part of the cam shaft 17, and a third motor 18 capable of driving the cam shaft 17 to rotate is fixedly arranged on the outer side surfaces of the side plates 8 corresponding to the cam shaft 17; the inner side surfaces of the two side plates 8 are close to the lower end, a transverse shaft 19 fixedly connected with the transverse shaft is arranged on the inner side surfaces of the two side plates 8, an upper harvesting plate 20 rotatably connected with the transverse shaft is arranged on the outer side surfaces of the transverse shaft 19, a torsion spring is arranged at the rotary connection position of the upper harvesting plate 20 and the transverse shaft 19, the torsion spring can enable the upper harvesting plate 20 to keep a fixed angle with the transverse shaft 19 when the upper harvesting plate 20 is not acted by external force, a plurality of first U-shaped notches 21 which are distributed at equal intervals are formed in the front end of the upper harvesting plate 20, a lower harvesting plate 22 which is slidably connected with the upper harvesting plate 20 is arranged on the lower side surface of the upper harvesting plate 20, a second U-shaped notch 23 is formed at the front end of the lower harvesting plate 22 corresponding to the first U-shaped notches 21, and a first return spring 25 is arranged at the sliding connection position of the upper harvesting plate 20 and the lower harvesting plate 22, and when the upper harvesting plate 22 is not acted by external force, the second U-shaped notches 23 of the lower harvesting plate 22 always keep the position which is overlapped with the first U-shaped notches 21; the upper surface of the lower harvesting plate 22 is slidably connected with an electric sliding block 24 beyond the rear end of the upper harvesting plate 20, and the electric sliding block 24 corresponds to the cam shaft 17.
In the working process, the driving wheel 2 corresponding to the first motor 3 can be controlled to drive the frame to integrally drive to the position where the first U-shaped notch 21 and the second U-shaped notch 23 clamp the root parts of vegetables, so that the vegetables can be harvested; when the vegetables need to be root-pulled up and directly picked up, the electric sliding block 24 can be controlled to slide forwards to the position below the cam shaft 17, then the third motor 18 is controlled to drive the cam shaft 17 to rotate, and the cam shaft 17 drives the upper harvesting plate 20 to swing upwards through the electric sliding block 24 and the lower harvesting plate 22, so that the vegetables are root-pulled up through the first U-shaped notch 21 and the second U-shaped notch 23; when vegetables are required to be harvested in a root-leave harvesting mode, the vegetables can be cut off by controlling the left-right sliding of the lower harvesting plate 22 to enable the shearing force generated when the first U-shaped notch 21 and the second U-shaped notch 23 are misplaced; the design can be used for pulling up the vegetable root and directly harvesting the vegetable when harvesting the vegetable, and also can be used for harvesting the vegetable in a root-reserving and leaf-harvesting mode.
As shown in fig. 5 and 7, the outer side surface of the cam shaft 17 is provided with a curved ring groove 26, and the maximum displacement D of the curved ring groove 26 is not smaller than the widths of the first U-shaped notch 21 and the second U-shaped notch 23; the upper surface of lower harvesting board 22 has seted up first recess 27, the first logical groove 28 has been seted up to corresponding first recess 27 on the electric slide 24, the bottom one end of first recess 27 is equipped with the driving lever 29 of rotating connection with it, the other end of the bottom of first recess 27 is equipped with the fourth electric telescopic handle 30 of rotating connection with it, the flexible end of fourth electric telescopic handle 30 is articulated with the position that the middle part of driving lever 29 is located upward, in the course of the work, when controlling the extension of fourth electric telescopic handle 30, can promote driving lever 29 and upwards swing, when driving lever 29 upwards swing, the control third motor 18 drives camshaft 17 and rotates again, the upper end of driving lever 29 can be corresponding get into in the curved annular 26 of camshaft 17 lateral surface, then the camshaft 17 can drive driving lever 29 through curved annular 26 and reciprocate the swing about, thereby realize the left and right sliding of lower harvesting board 22 and electric slide 24.
As shown in fig. 6, a second groove 31 is formed on the surface of the transverse shaft 19, a second through groove 32 is formed at the rear end of the upper harvesting plate 20 corresponding to the second groove 31 at the front end of the electric sliding block 24, a limiting plate 33 in sliding connection with the second groove 31 is arranged in the second groove 31, a second return spring 34 is arranged between the inner end part of the limiting plate 33 and the inner bottom part of the second groove 31, when no external force acts on the limiting plate 33, the second return spring 34 can enable the limiting plate 33 to slide towards the outer part of the second groove 31 until the limiting plate slides into the second through groove 32, the upper harvesting plate 20 is limited to rotate, a push plate 35 is arranged in the second through groove 32 corresponding to the limiting plate 33, and the push plate 35 is in sliding connection with the second through groove 32; in the working process, when the electric sliding block 24 slides forward to be positioned below the cam shaft 17, the front end part of the electric sliding block 24 can push the push plate 35 and the limiting plate 33 to overcome the elastic force of the second reset spring 34, the limiting plate 33 is pushed out of the second through groove 32 and the rotation limitation of the upper harvesting plate 20 is relieved, the upper harvesting plate 20 can be stably locked in the working process, vegetables are not required to be directly harvested after being pulled up, the upper harvesting plate 20 and the lower harvesting plate 22 can be prevented from accidentally rotating, and the stability of the upper harvesting plate 20 and the lower harvesting plate 22 in the harvesting process is ensured.
In summary, when the vegetable harvesting operation is performed, the driving wheel 2 corresponding to the first motor 3 is controlled to drive the frame 1 to integrally travel to the vegetable planting position, the range finder 12 is started, the growth height of the vegetable is measured through the range finder 12, when the growth height of the vegetable does not reach the harvesting standard, the first electric telescopic rod 9 is controlled to shorten and drive the side plate 8 to swing upwards around the frame 1, so that the harvesting assembly is lifted upwards, and the harvesting assembly continues to travel forwards after being lifted upwards, and the harvesting assembly passes through the upper part of the vegetable with the growth height which does not reach the harvesting standard; when the growth height of vegetables reaches the harvesting standard, the first electric telescopic rod 9 is controlled to extend and drive the side plate 8 to swing downwards around the frame 1, so that the first U-shaped notch 21 and the second U-shaped notch 23 clamp the root position of the vegetables, and then the vegetables reaching the harvesting standard are harvested by a harvesting assembly in a proper mode; the design achieves the purposes of intelligently judging the growth vigor of vegetables and selectively harvesting, increases the intelligence of the invention, ensures the maximization of the benefits of vegetable planting, and reduces the physical labor intensity of workers during harvesting operation.
When the vegetable harvester is used for harvesting vegetables, different harvesting methods can be adopted according to different types of vegetables, when the vegetables are required to be harvested directly by root pulling, the electric sliding block 24 is controlled to slide forwards to be positioned below the cam shaft 17, then the third motor 18 is controlled to drive the cam shaft 17 to rotate, and the cam shaft 17 drives the upper harvesting plate 20 to swing upwards through the electric sliding block 24 and the lower harvesting plate 22, so that the vegetables are pulled up by root pulling through the first U-shaped notch 21 and the second U-shaped notch 23; when vegetables are required to be harvested in a root-remained leaf harvesting mode, firstly controlling the electric sliding block 24 to slide backwards to be far away from the lower part of the cam shaft 17, then controlling the fourth electric telescopic rod 30 to extend, enabling the telescopic rod 30 to extend to push the deflector rod 29 to swing upwards, when the deflector rod 29 swings upwards, controlling the third motor 18 to drive the cam shaft 17 to rotate, enabling the upper end part of the deflector rod 29 to correspondingly enter the curved annular groove 26 on the outer side surface of the cam shaft 17, and then enabling the deflector rod 29 to swing in a left-right reciprocating mode through the curved annular groove 26 when the cam shaft 17 rotates, so that left-right sliding of the lower harvesting plate 22 and the electric sliding block 24 is realized, enabling the first U-shaped notch 21 and the second U-shaped notch 23 to slide in a dislocation mode when the lower harvesting plate 22 slides left-right, and cutting off the vegetables due to shearing force generated when the first U-shaped notch 21 and the second U-shaped notch 23 slide in a dislocation mode; the design can not only pull up the vegetable root and directly harvest the vegetable when harvesting the vegetable, but also harvest the vegetable by adopting a root-leaving and leaf-harvesting mode, thereby increasing the applicability of the invention.
When the invention is used for harvesting vegetables, when the roots are required to be removed after the vegetables are pulled up, the electric sliding block 24 can be controlled to slide forwards to be positioned below the cam shaft 17, the fourth electric telescopic rod 30 is controlled to extend, the third motor 18 is controlled to drive the cam shaft 17 to rotate, the upper end part of the deflector rod 29 correspondingly enters the curved ring groove 26 on the outer side surface of the cam shaft 17, and the roots of the vegetables are directly cut after the roots of the vegetables are pulled out.
After vegetables are harvested by using the vegetable harvester disclosed by the invention, the third electric telescopic rod 15 is controlled to extend, and the second electric telescopic rod 10 is controlled to shorten, so that the baffle 16 moves backwards, the harvested vegetables can be better conveyed to the conveying device 6 by matching with the harvesting assembly when the baffle 16 moves backwards, the second motor 62 is controlled to drive the conveying belt 61 to operate, and the conveying belt 61 can convey the harvested vegetables into the collecting box, so that the convenience of the vegetable harvester in the use process is further ensured.
In a word, the invention can not only selectively harvest according to the growth vigor of vegetables, but also adopt different harvesting methods according to different types of vegetables, has stable use performance and better universality, and can ensure the economic benefit of the vegetables and reduce the labor intensity during harvesting when used for harvesting the vegetables, thereby having better practical value and popularization prospect.
The embodiments of the present invention described above do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention as set forth in the appended claims.
Claims (7)
1. The utility model provides an agricultural device of vegetables is reaped to intelligence, includes frame (1), and the last fixed surface of frame (1) installs collecting box (4), its characterized in that: a conveying device (6) with the end part movably connected with the collecting box (4) is arranged at the upper opening of the collecting box; the inside of the frame (1) close to the front end of the frame is symmetrically provided with side plates (8) which are rotationally connected with the frame, the outer sides of the lower ends of the side plates (8) are hinged with the other end of the conveying device (6), the positions, close to the middle of the frame, of the inner side surfaces of the side plates (8) which are lower are provided with harvesting components, the positions, close to the top of the frame (1), of the front end of the frame (1) which are lower are fixedly provided with distance measuring instruments (12), the distance measuring instruments (12) can measure the growth height of vegetables, the harvesting components can harvest the vegetables according to the growth height of the vegetables, and the conveying device (6) can convey the harvested vegetables into the collecting box (4);
the harvesting assembly comprises a cam shaft (17), the cam shaft (17) is rotatably connected to the inner side surfaces of the two side plates (8) close to the lower position of the middle part of the cam shaft, and a third motor (18) capable of driving the cam shaft (17) to rotate is fixedly arranged on the outer side surface of the side plate (8) corresponding to the cam shaft (17); the inner side surfaces of the two side plates (8) are close to the lower end and are provided with transverse shafts (19) fixedly connected with the transverse shafts, the outer side surfaces of the transverse shafts (19) are provided with upper harvesting plates (20) rotatably connected with the transverse shafts, the front ends of the upper harvesting plates (20) are provided with a plurality of first U-shaped grooves (21) which are distributed at equal intervals, the lower side surfaces of the upper harvesting plates (20) are provided with lower harvesting plates (22) which are in sliding connection with the upper harvesting plates, the front ends of the lower harvesting plates (22) are provided with second U-shaped grooves (23) corresponding to the first U-shaped grooves (21), and the positions, beyond the rear ends of the upper harvesting plates (20), of the upper surface of the lower harvesting plates (22) are in sliding connection with electric sliding blocks (24);
a torsion spring is arranged at the rotation connection part of the upper harvesting plate (20) and the transverse shaft (19);
the surface of the transverse shaft (19) is provided with a second groove (31), the rear end of the upper harvesting plate (20) is positioned at the front end of the electric sliding block (24) and is provided with a second through groove (32) corresponding to the second groove (31), a limiting plate (33) which is in sliding connection with the second groove (31) is arranged in the second groove (31), a push plate (35) is arranged in the second through groove (32) corresponding to the limiting plate (33), and the push plate (35) is in sliding connection with the second through groove (32).
2. An intelligent agricultural device for harvesting vegetables as defined in claim 1, wherein: the conveying device (6) comprises two symmetrically arranged supporting frames (60), the outer side surfaces of the two supporting frames (60) are matched and provided with conveying belts (61), a second motor (62) capable of driving the conveying belts (61) to run is fixedly arranged between the inner side surfaces of the two supporting frames (60), and the outer side surfaces of the two end parts of the two supporting frames (60) are respectively provided with a mounting column (63) fixedly connected with the outer side surfaces of the two end parts; the inside surface symmetry of collecting box (4) top open-ended is equipped with slide rail (5), and the lateral surface of installing column (63) that is close to the upper end of support frame (60) and the medial surface swing joint of slide rail (5), the lateral surface of installing column (63) that is close to the lower extreme of support frame (60) is equipped with mounting panel (64) of rotating connection with it, and mounting panel (64) are fixed mounting respectively in the lower extreme outside of both sides board (8).
3. An intelligent agricultural device for harvesting vegetables as defined in claim 1, wherein: the sliding connection part of the upper harvesting plate (20) and the lower harvesting plate (22) is provided with a first reset spring (25).
4. An intelligent agricultural device for harvesting vegetables as defined by claim 3, wherein: the outer side surfaces of the two side plates (8) are close to the lower position of the middle part of the two side plates, and a first electric telescopic rod (9) which is rotationally connected with the two side plates is arranged; two second electric telescopic rods (10) are symmetrically and fixedly arranged at positions, close to the top, of the front end of the frame (1), a first mounting frame (11) is fixedly connected to the end parts of the fixed ends of the two second electric telescopic rods (10), a range finder (12) is fixedly arranged on the lower side face of the first mounting frame (11), a hinging seat (13) is fixedly arranged on the lower side face of the fixed end of the second electric telescopic rod (10), and the end parts of the telescopic ends of the first electric telescopic rods (9) are rotationally connected with the hinging seat (13); the telescopic end of the second electric telescopic rod (10) is provided with a second installation frame (14) fixedly connected with the second electric telescopic rod, the lower side surface of the second installation frame (14) is fixedly provided with a third electric telescopic rod (15), and the end part of the telescopic end of the third electric telescopic rod (15) is provided with a baffle plate (16) fixedly connected with the third electric telescopic rod.
5. An intelligent agricultural device for harvesting vegetables as defined by claim 4, wherein: the outer side surface of the cam shaft (17) is provided with a curved annular groove (26), and the maximum displacement D of the curved annular groove (26) is not smaller than the widths of the notches of the first U-shaped notch (21) and the second U-shaped notch (23); the upper surface of lower harvesting board (22) has seted up first recess (27), has seted up first logical groove (28) corresponding first recess (27) on electric slider (24), and the bottom one end of first recess (27) is equipped with driving lever (29) of rotating connection with it, and the other end of the bottom of first recess (27) is equipped with fourth electric telescopic handle (30) of rotating connection with it, and the flexible end of fourth electric telescopic handle (30) is articulated with the position of the middle part upper portion of driving lever (29) and is connected.
6. An intelligent agricultural device for harvesting vegetables as defined in claim 1, wherein: a second reset spring (34) is arranged between the inner end part of the limiting plate (33) and the inner bottom part of the second groove (31).
7. The agricultural device for intelligently harvesting vegetables according to claim 6, wherein: four wheels (2) capable of driving the frame (1) to integrally move are arranged on the lower side surface of the frame (1) close to four corners of the frame, and a first motor (3) capable of driving the frame to rotate is fixedly arranged on the lower side surface of the frame (1) corresponding to the wheels (2).
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| CN115399142A (en) | 2022-11-29 |
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