CN115643898B - Selective broccoli harvester - Google Patents
Selective broccoli harvester Download PDFInfo
- Publication number
- CN115643898B CN115643898B CN202211324085.XA CN202211324085A CN115643898B CN 115643898 B CN115643898 B CN 115643898B CN 202211324085 A CN202211324085 A CN 202211324085A CN 115643898 B CN115643898 B CN 115643898B
- Authority
- CN
- China
- Prior art keywords
- frame
- lead screw
- cutting
- motor
- bolts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a selective broccoli harvester which comprises an identification system, a centering cutting system, a three-degree-of-freedom positioning system, a trigger mechanism, a collecting system, a traveling system, an electrical system and a rack main body. The identification system mainly comprises an industrial camera, an LED light source and a camera bellows; the centering cutting system mainly comprises a cutting motor seat, a cutter driving fluted disc, a cutting motor, a cutter driving arm, a cutter blade and a cutter rest; the three-degree-of-freedom positioning system mainly comprises a screw rod, a cross beam, a driving motor and the like; the trigger mechanism comprises a rocker, a return spring, a bearing mounting plate and the like; the collecting system comprises a collecting box, a conveying belt, a conveying groove and a conveying motor; the electrical system comprises a lithium battery, a complete machine controller and a navigation camera. The invention realizes selective harvesting based on the maturity of the broccoli, ensures that the broccoli is little damaged in the cutting process by centering cutting, has high uniformity of rootstock, is not damaged, and improves the harvesting quality of the broccoli.
Description
Technical Field
The invention relates to the field of vegetable harvesting machinery equipment, and particularly belongs to the technical field of selective broccoli harvesters.
Background
The broccoli is a common vegetable, the base of the main root is thick, the root system is developed, the edible part is mainly crisp and tender flower stems and flower buds which are tightly clustered into spheres, and the maturity of the broccoli needs to be judged, so that the current broccoli harvest is still mainly manual, the labor intensity is high, the production efficiency is low, and the machinery for selectively harvesting the maturity of the broccoli is lacked.
Aiming at harvesting broccoli, the prior art discloses a disordered close planting broccoli harvester with an intelligent cutting function, which has low-damage leaf stripping, cutting, lifting conveying and collecting devices and can finish root cutting, conveying, leaf stripping and collecting technologies; aiming at the removal method of broccoli stems and leaves, as disclosed in the prior art, an intermittent rolling type cabbage vegetable outer package leaf removing device is disclosed, and a technology for removing the outer package leaves automatically after the outer package She Quanbu is cut into small blocks continuously in an intermittent overturning mode is disclosed; aiming at the problem of cutting broccoli roots, a cabbage vegetable root cutting technology is disclosed, and a cutting device for simultaneously cutting two rows of vegetable roots is designed.
The above technologies all provide corresponding methods and equipment designs for harvesting broccoli, but when the maturity of broccoli in the same harvesting area is different, selective harvesting cannot be performed, and the yield of broccoli is reduced and the benefit is reduced by a general harvesting mode. The invention provides a selective broccoli harvester aiming at the problems.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides the selective broccoli harvester which has the functions of identifying, centering cutting, conveying and collecting broccoli, and the complete machine continuously completes the operations of identifying, cutting and collecting, thereby improving the intelligent and mechanical level of broccoli harvesting.
The invention realizes the technical purpose by the following technical means.
The selective broccoli harvester is characterized by comprising an identification system, a centering cutting system, a three-degree-of-freedom positioning system, a collecting system, a traveling system, an electrical appliance system and a rack main body.
The identification system comprises: the camera comprises a camera bellows square tube (12), a camera bellows upper mounting plate (31), an LED light source (32) and an industrial camera (33) camera bellows lower mounting plate (41). The camera bellows square tube (12) is formed by bending and welding metal plates, four LED light sources (32) and an industrial camera (33) are fixed on a camera bellows upper mounting plate (31) through bolts, the camera bellows upper mounting plate (31) is welded above the camera bellows square tube (12), and a camera bellows lower mounting plate (41) is connected below the camera bellows square tube (12) through bolts.
The centered cutting system includes: the cutting machine comprises a cutting motor seat (15), a cutting knife driving fluted disc (16), a driving gear (25), a cutting motor (28), a cutting knife driving arm (34), a cutting knife blade (35), a cutting knife frame (36) and an idler (37). The cutter driving fluted disc (16) is formed by steel laser cutting, the cutter driving fluted disc is sleeved on a cutter rest (36), two ends of a cutter driving arm (34) are respectively connected to the cutter driving fluted disc (16) and a cutter blade (35) through pins, the cutter blade (35) is connected to a cutter frame (36) through pins, the cutter frame (36) is connected to a lower camera bellows mounting plate (41) through bolts, a cutting motor seat (15) is welded to a camera bellows square tube (12), a driving gear (25) is connected with an output shaft of a cutting motor (28) through a key, the cutting motor (28) is fixed to the cutting motor seat (15) through bolts, and an idler wheel (37) is connected to the lower camera bellows mounting plate (41) through bearings.
The three-degree-of-freedom positioning system comprises: left side lead screw frame (8), left side lead screw (9), left side slider (10), crossbeam (11), upper and lower lead screw frame mounting panel (17), vertical driving motor (18), right side lead screw (19), right side slider (20), camera bellows mounting panel (21), upper and lower slider (22), horizontal driving motor (23), horizontal lead screw frame (24), upper and lower lead screw frame (26), upper and lower lead screw (27), upper and lower driving motor (29), locating piece (30), vertical driving motor (43), horizontal lead screw (44), horizontal slider (45), right side lead screw frame (47). The left side lead screw frame (8), the right side lead screw frame (47) are fixed on side beams at two sides of a frame (42) through bolts, the left side sliding block (10) and the right side sliding block (20) are respectively arranged on the left side lead screw frame (8), the right side lead screw frame (47), the longitudinal driving motor (43) is connected with the left side lead screw (9) through a coupler, the end face of the motor is fixed with the end face of the left side lead screw frame (8) through bolts, two ends of a beam (11) are respectively fixed on the left side sliding block (10) and the right side sliding block (20) through bolts, the transverse lead screw frame (24) is fixed on the beam (11) through bolts, the transverse sliding block (45) is arranged on the transverse lead screw frame (24), the transverse driving motor (23) is connected with the end face of the transverse lead screw frame (24) through a coupler and the transverse lead screw (44) through bolts, the upper lead screw frame mounting plate (17) and the lower lead screw frame mounting plate (45) are welded and connected, the upper lead screw frame (26) is fixed with the lower lead screw frame mounting plate (17) through bolts, the upper lead screw mounting plate (21) and the lower lead screw frame (22) are connected with the upper lead screw mounting plate (22) through bolts, the upper and lower driving motors (29) are connected with the end surfaces of the motors through couplings and the upper and lower screw frames (26) and are fixed with the end surfaces of the upper and lower screw frames (26) through bolts.
The triggering mechanism comprises: the device comprises a right rocker (48), a sliding plate (49), a movable pin (50), a left rocker (51), a left roller (52), a left sliding rod (53), a left sliding sleeve (54), a left return spring (55), a right pulley (56), a right sliding rod (57), a right sliding sleeve (58), a right return spring (59), a left bearing mounting plate (60), a left bearing (61), a right bearing mounting plate (62) and a right bearing (63). The sliding plate (49) is connected to the conveying groove (7) through a movable pin (50), a left bearing mounting plate (60) and a right bearing mounting plate (62) are welded on the left side and the right side of the frame (42), a left bearing (61) and a right bearing (63) are connected to the left bearing mounting plate (60) and the right bearing mounting plate (62) through bolts, one ends of a left rocker (51) and a right rocker (48) are hinged to mounting holes on the left side and the right side of the sliding plate (49) respectively, fixing points are connected with the left bearing (61) and the right bearing (63) respectively, a left sliding sleeve (54) and a right sliding sleeve (58) are welded on the left side and the right side of the frame (42) respectively, a left return spring (55) and a right return spring (59) are sleeved on the left sliding rod (53) and the right sliding rod (57) respectively, the left sliding rod (53) and the right sliding rod (57) are sleeved on the left sliding sleeve (54) and the right sliding sleeve (58) respectively, and the left roller (52) and the right roller (56) are connected to the left rocker (51) and the right rocker (48) through pins respectively.
The collection system includes: the device comprises a collecting box (4), a collecting box supporting frame (5), a conveying belt (6), a conveying groove (7) and a conveying motor (46). The collecting box supporting frame (5) and the conveying groove (7) are welded with the frame (42) into a whole, the collecting box (4) is arranged on the collecting box supporting frame (5), the conveying belt (6) is connected with the conveying groove through a bolt bearing, the conveying motor (46) is connected with the conveying belt (6) through a key, and the end face of the motor is fixed with the outer side face of the conveying groove (7) through a bolt.
The traveling system includes: the driving wheel (1), the wheel mounting shaft (2) and the wheel frame (3). The driving wheel (1) is driven by an in-wheel motor, the wheel frame (3) and the vehicle frame (42) are fastened by bolts, and the wheel mounting shaft (3) is welded on the wheel frame (3).
The electrical appliance system includes: lithium battery (13), complete machine controller (14), navigation camera (64). The lithium battery (13), the whole machine controller (14) and the navigation camera (64) are fixed with the frame (42) through bolts.
The frame main body (42) is formed by welding square steel
Drawings
The invention has the following drawings:
FIG. 1 is a schematic three-dimensional view of the left front side of a selective broccoli harvester according to the present invention;
FIG. 2 is a schematic view of a three-dimensional structure of a right front view of a selective broccoli harvester according to the present invention;
FIG. 3 is a schematic diagram of the left side view of a selective broccoli harvester according to the invention;
FIG. 4 is a schematic top view of an alternative broccoli harvester according to the invention;
FIG. 5 is a schematic view of the rear view of an alternative broccoli harvester according to the invention;
FIG. 6 is a schematic diagram of a three degree of freedom positioning system according to the present invention;
FIG. 7 is a schematic view of the open configuration of the centering cutting mechanism of the present invention;
FIG. 8 is a schematic view of the closing structure of the centering cutting mechanism of the present invention;
FIG. 9 is a schematic diagram of a trigger mechanism according to the present invention;
reference numerals:
wheel mounting shaft for 1-drive wheel 2
3 wheel carrier 4 collecting box
5 collecting box support frame 6 conveyer belt
7 conveying groove 8 left side lead screw frame
9 left side lead screw 10 left side sliding block
Square barrel of camera bellows with 11 cross beams and 12
13 lithium battery 14 complete machine controller
15 cutting motor seat 16 cutting knife driving fluted disc
17 upper and lower lead screw frame mounting plate 18 longitudinal driving motor
19 right side lead screw 20 right side sliding block
Up-down slide block of 21 camera bellows mounting plate 22
23 transverse driving motor 24 transverse screw rod frame
25 driving gear 26 up-down screw rod rack
27 up-down screw 28 cutting motor
29 up-down driving motor 30 positioning block
Mounting plate 32LED light source on 31 camera bellows
33 industry camera 34 cutting knife driving arm
35 cutting knife blade 36 cutting knife rack
37 idler 38 drive pin
39 fixed pin 40 blade pin
41 camera bellows lower mounting panel 42 frame
43 longitudinal drive motor 44 transverse screw
45 transverse slide 46 conveying motor
47 right side screw frame 48 right rocker
49 skateboard 50 movable pin
51 left rocker 52 left roller
53 left slide bar 54 left sliding sleeve
55 left return spring 56 right roller
57 right slide bar 58 right sliding sleeve
59 right return spring 60 left bearing mounting plate
61 left bearing 62 right bearing mounting plate
63 right bearing 64 navigation camera
Detailed Description
The invention is described in further detail below with reference to fig. 1-9.
The selective broccoli harvester is characterized by comprising an identification system, a centering cutting system, a three-degree-of-freedom positioning system, a collecting system, a traveling system, an electrical appliance system and a frame main body, wherein the mechanical implementation mode is as follows.
As shown in fig. 1 and 4, the identification system includes: the camera bellows square tube 12, the camera bellows upper mounting plate 31, the LED light source 32, and the industrial camera 33 camera bellows lower mounting plate 41. The camera bellows square cylinder 12 is formed by bending and welding metal plates, the four LED light sources 32 and the industrial camera 33 are fixed on the camera bellows upper mounting plate 31 through bolts, the camera bellows upper mounting plate 31 is welded above the camera bellows square cylinder 12, the camera bellows lower mounting plate 41 is connected below the camera bellows square cylinder 12 through bolts and used for constructing a relatively stable image recognition environment, whether the maturity of the broccoli meets harvesting conditions is judged by using an image recognition method, the loudness position of the broccoli is analyzed, and the accuracy of broccoli recognition is improved.
The centered cutting system includes: cutting motor base 15, cutting knife drive fluted disc 16, drive gear 25, cutting motor 28, cutting knife actuating arm 34, cutting knife blade 35, cutting knife frame 36, idler 37. The cutting knife driving fluted disc 16 is formed by steel laser cutting and is sleeved on the cutting knife rest 36, two ends of the cutting knife driving arm 34 are respectively connected to the cutting knife driving fluted disc 16 and the cutting knife blade 35 through pins, the cutting knife blade 35 is connected to the cutting knife rest 36 through pins, the cutting knife rest 36 is connected to the lower mounting plate 41 of the camera bellows through bolts, the cutting motor seat 15 is welded on the square barrel 12 of the camera bellows, the driving gear 25 is connected with an output shaft of the cutting motor 28 through a key, the cutting motor 28 is fixed with the cutting motor seat 15 through bolts, the idler wheel 37 is connected with the lower mounting plate 41 of the camera bellows through a bearing and is used for completing cutting of broccoli, and when the centering cutting system reaches a cutting position, the cutting motor 28 drives the cutting knife driving fluted disc 16 through the idler wheel 37, and the cutting knife driving fluted disc 16 drives the cutting knife blade 35 through the cutting knife driving arm 34 to complete cutting of broccoli.
The three-degree-of-freedom positioning system comprises: left side lead screw frame 8, left side lead screw 9, left side slider 10, crossbeam 11, upper and lower lead screw frame mounting plate 17, vertical driving motor 18, right side lead screw 19, right side slider 20, camera bellows mounting plate 21, upper and lower slider 22, lateral driving motor 23, lateral lead screw frame 24, upper and lower lead screw frame 26, upper and lower lead screw 27, upper and lower driving motor 29, locating piece 30, vertical driving motor 43, lateral lead screw 44, lateral slider 45, right side lead screw frame 47. The left side lead screw frame 8, right side lead screw frame 47 is fixed on the boundary beam on both sides of the frame 42 by the bolt, the left side slider 10, right side slider 20 is installed on the left side lead screw frame 8 respectively, the right side lead screw frame 47, vertical driving motor 43 is connected with left side lead screw 9 by the shaft coupling, the motor terminal surface and with left side lead screw frame 8 terminal surface lean on the bolt to be fixed, the both ends of crossbeam 11 are fixed on left side slider 10, right side slider 20 respectively by the bolt, the transverse lead screw frame 24 is fixed on crossbeam 11 by the bolt, transverse slider 45 is installed on transverse lead screw frame 24, transverse driving motor 23 is connected with transverse lead screw 44 by the shaft coupling and with transverse lead screw frame 24 terminal surface lean on the bolt to be fixed, locating piece 30 is fixed on transverse slider 45 by the shaft coupling, upper and lower lead screw frame mounting plate 17 and transverse slider 45 welded connection, upper and lower lead screw frame 26 is fixed on upper and lower lead screw frame mounting plate 17 by the bolt, upper and lower slider 22 is installed on upper and lower lead screw 27, camera housing mounting plate 21 and upper and lower slider 22 are connected by the bolt to the motor terminal surface and with upper and lower slider 29 by the shaft coupling and with upper and lower lead screw frame 26 lean on the bolt to be fixed. The three-degree-of-freedom positioning system is mainly used for driving the recognition system and the centering cutting system to change front and back, left and right, up and down, and finishing the position adjustment in the processes of broccoli recognition, cutting, transportation and the like.
The triggering mechanism comprises: the left rocker 48, the slide plate 49, the movable pin 50, the left rocker 51, the left roller 52, the left slide bar 53, the left slide bush 54, the left return spring 55, the right pulley 56, the right slide bar 57, the right slide bush 58, the right return spring 59, the left bearing mounting plate 60, the left bearing 61, the right bearing mounting plate 62, and the right bearing 63. The slide plate 49 is connected to the conveying groove 7 through the movable pin 50, the left bearing mounting 60 and the right bearing mounting plate 62 are welded on the left side and the right side of the frame 42, the left bearing 61 and the right bearing 63 are connected to the left bearing mounting plate 60 and the right bearing mounting plate 62 through bolts, one ends of the left rocker 51 and the right rocker 48 are respectively hinged to mounting holes on the left side and the right side of the slide plate 49, fixing points are respectively connected with the left bearing 61 and the right bearing 63, the left sliding sleeve 54 and the right sliding sleeve 58 are respectively welded on the left side and the right side of the frame 42, the left return spring 55 and the right return spring 59 are respectively sleeved on the left sliding rod 53 and the right sliding rod 57, the left sliding rod 53 and the right sliding rod 57 are respectively sleeved on the left sliding sleeve 54 and the right sliding sleeve 58, the left roller 52 and the right roller 56 are respectively connected to the left rocker 51 and the right rocker 48 through pins, and the left roller 52 and the right roller 56 are respectively in tight contact with the left rocker 51 and the right rocker 48. When the cutting knife is in a closed state after the broccoli is cut, the cut broccoli moves towards the conveying groove 7 under the pushing of the three-degree-of-freedom positioning system in a camera bellows of the recognition system, when the cross beam 11 pushes the left slide rod 53 and the right slide rod 57 to slide in the left slide sleeve 54 and the right slide sleeve 58, the position sensor is arranged in the left slide sleeve 54, when the broccoli is released, the position sensor sends a signal to the whole machine controller 14, the cutting motor 28 is controlled to reversely rotate to drive the cutting knife to open, and at the moment, the slide plate 49 is connected with the camera bellows under the action of the re-triggering mechanism, so that the broccoli is prevented from falling nondestructively.
The collection system includes: the collecting box 4, the collecting box supporting frame 5, the conveying belt 6, the conveying groove 7 and the conveying motor 46. The collecting box supporting frame 5 and the conveying groove 7 are welded with the frame 42 into a whole, the collecting box 4 is placed on the collecting box supporting frame 5, the conveying belt 6 is connected with the conveying groove through a bolt bearing, the conveying motor 46 is connected with the conveying belt 6 through a key, and the end face of the motor is fixed with the outer side face of the conveying groove 7 through a bolt. The collecting system is used for conveying the cut broccoli into a collecting tank.
The traveling system includes: a driving wheel 1, a wheel mounting shaft 2 and a wheel frame 3. The driving wheel 1 is driven by an in-wheel motor, the wheel frame 3 and the frame 42 are fastened by bolts, and the wheel mounting shaft 3 is welded on the wheel frame 3 to finish the forward, backward, steering and turning of the whole machine.
The electrical appliance system includes: lithium battery 13, complete machine controller 14, navigation camera 64. The lithium battery 13, the whole machine controller 14 and the navigation camera 64 are fixed with the frame 42 by bolts. The lithium battery 13 provides electric energy for the whole machine work, the whole machine controller 14 completes the control of walking, broccoli identification, cutting, conveying and collecting in the working process, and the navigation camera 64 cooperates with the whole machine controller 14 to complete the extraction of the whole machine navigation line.
The frame body 42 is welded from square steel.
Claims (5)
1. The selective broccoli harvester is characterized by comprising an identification system, a centering cutting system, a three-degree-of-freedom positioning system, a trigger mechanism, a collecting system, a traveling system, an electrical system and a rack main body;
the identification system comprises: the camera comprises a camera bellows square cylinder (12), a camera bellows upper mounting plate (31), LED light sources (32) and an industrial camera (33), wherein the camera bellows square cylinder (12) is formed by bending and welding metal plates, the four LED light sources (32) and the industrial camera (33) are fixed on the camera bellows upper mounting plate (31) through bolts, the camera bellows upper mounting plate (31) is welded above the camera bellows square cylinder (12), and the camera bellows lower mounting plate (41) is connected below the camera bellows square cylinder (12) through bolts;
the centered cutting system includes: the cutting machine comprises a cutting motor seat (15), a cutting knife driving fluted disc (16), a driving gear (25), a cutting motor (28), a cutting knife driving arm (34), a cutting knife blade (35), a cutting knife frame (36) and an idler wheel (37);
the cutter driving fluted disc (16) is formed by cutting steel by laser and sleeved on a cutter rest (36), two ends of a cutter driving arm (34) are respectively connected to the cutter driving fluted disc (16) and a cutter blade (35) by pins, the cutter blade (35) is connected to a cutter frame (36) by pins, the cutter frame (36) is connected to a lower mounting plate (41) of the camera bellows by bolts, a cutting motor seat (15) is welded on a square cylinder (12) of the camera bellows, a driving gear (25) is connected with an output shaft of a cutting motor (28) by a key, the cutting motor (28) is fixed with the cutting motor seat (15) by bolts, and an idler wheel (37) is connected with the lower mounting plate (41) of the camera bellows by bearings;
the three-degree-of-freedom positioning system comprises: a left lead screw frame (8), a left lead screw (9), a left slider (10), a cross beam (11), an upper lead screw frame mounting plate (17), a right lead screw (19), a right slider (20), a camera bellows mounting plate (21), an upper slider (22), a lower slider (22), a transverse driving motor (23), a transverse lead screw frame (24), an upper lead screw frame (26), an upper lead screw (27), a lower lead screw (29), a positioning block (30), a longitudinal driving motor (43), a transverse lead screw (44), a transverse slider (45) and a right lead screw frame (47);
the left side lead screw frame (8), right side lead screw frame (47) are fixed on boundary beams on two sides of a frame (42) through bolts, the left side slider (10) and the right side slider (20) are respectively installed on the left side lead screw frame (8), the right side lead screw frame (47), the longitudinal driving motor (43) is connected with the left side lead screw (9) through a coupler, the end face of the longitudinal driving motor (43) is fixed with the end face of the left side lead screw frame (8) through bolts, two ends of a beam (11) are respectively fixed on the left side slider (10) and the right side slider (20) through bolts, the transverse lead screw frame (24) is fixed on the beam (11) through bolts, the transverse slider (45) is installed on the transverse lead screw frame (24), the transverse driving motor (23) is connected with the transverse lead screw (44) through a coupler, the end face of the transverse driving motor (23) is fixed with the end face of the transverse lead screw frame (24) through bolts, the upper and lower frame mounting plates (17) are welded with the transverse slider (45), the upper and lower frame (26) are fixed with the upper and lower frame (26) through bolts, the upper and lower frame (21) are connected with the lower frame (22) through bolts, the upper and lower frame (29) are connected with the lower frame (22) through bolts, the end face of the upper and lower driving motor (29) is fixed with the end face of the upper and lower screw rod frame (26) by bolts;
the triggering mechanism comprises: the device comprises a right rocker (48), a sliding plate (49), a movable pin (50), a left rocker (51), a left roller (52), a left sliding rod (53), a left sliding sleeve (54), a left return spring (55), a right roller (56), a right sliding rod (57), a right sliding sleeve (58), a right return spring (59), a left bearing mounting plate (60), a left bearing (61), a right bearing mounting plate (62) and a right bearing (63);
the sliding plate (49) is connected to the conveying groove (7) through a movable pin (50), a left bearing mounting plate (60) and a right bearing mounting plate (62) are welded on the left side and the right side of the frame (42), a left bearing (61) and a right bearing (63) are connected to the left bearing mounting plate (60) and the right bearing mounting plate (62) through bolts, one ends of a left rocker (51) and a right rocker (48) are respectively hinged to mounting holes on the left side and the right side of the sliding plate (49), fixed points are respectively connected with the left bearing (61) and the right bearing (63), a left sliding sleeve (54) and a right sliding sleeve (58) are respectively welded on the left side and the right side of the frame (42), a left return spring (55) and a right return spring (59) are respectively sleeved on the left sliding rod (53) and the right sliding rod (57), the left sliding rod (53) and the right sliding rod (57) are respectively sleeved on the left sliding sleeve (54) and the right sliding sleeve (58), and the left roller (52) and the right roller (56) are respectively connected to the left rocker (51) and the right rocker (48) through pins;
the collection system includes: the device comprises a collecting box (4), a collecting box supporting frame (5), a conveying belt (6), a conveying groove (7) and a conveying motor (46);
the collecting box supporting frame (5) and the conveying groove (7) are welded with the frame (42) into a whole respectively, the collecting box (4) is arranged on the collecting box supporting frame (5), the conveying belt (6) is connected with the conveying groove through a bolt bearing, the conveying motor (46) is connected with the conveying belt (6) through a key, and the end face of the conveying motor (46) is fixed with the outer side face of the conveying groove (7) through a bolt;
the traveling system includes: a driving wheel (1), a wheel mounting shaft (2) and a wheel frame (3);
the driving wheel (1) is driven by an in-wheel motor, the wheel frame (3) and the vehicle frame (42) are fastened by bolts, and the wheel mounting shaft (2) is welded on the wheel frame (3);
the electrical appliance system includes: the lithium battery (13), the whole machine controller (14) and the navigation camera (64) are fixed with the frame (42) through bolts;
the frame (42) is welded by square steel.
2. The selective broccoli harvester according to claim 1, wherein the dark box square cylinder (12) is light-tight on four sides, and is matched with the LED light source (32) to prevent the interference of the external environment on the image acquisition of the industrial camera (33), thereby improving the recognition accuracy.
3. A selective broccoli harvester according to claim 2, characterized in that the cutting motor (28) drives the cutter driving arm (34) to drive the cutter blades (35) through the driving gear (25), the idler gear (37) and the cutter driving fluted disc (16), and the cutting is completed, wherein 5 cutter blades (35) are in a central convergence state in the cutting process, and the broccoli stem cutting is completed under the condition of no support.
4. A selective broccoli harvester according to claim 3, characterized in that the longitudinal drive motor (43), the transverse drive motor (23) and the up-down drive motor (29) are independently operated to drive the recognition system and the centering cutting system to freely move in the longitudinal, transverse and up-down dimensions, thereby accurately positioning the broccoli to be cut and the release position of the broccoli to be cut.
5. A selective broccoli harvester according to claim 4, characterized in that the broccoli released onto the conveyor belt (6) is fed into the collection tank (4) under the drive of a conveyor motor (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211324085.XA CN115643898B (en) | 2022-10-27 | 2022-10-27 | Selective broccoli harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211324085.XA CN115643898B (en) | 2022-10-27 | 2022-10-27 | Selective broccoli harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115643898A CN115643898A (en) | 2023-01-31 |
| CN115643898B true CN115643898B (en) | 2023-10-13 |
Family
ID=84993738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211324085.XA Active CN115643898B (en) | 2022-10-27 | 2022-10-27 | Selective broccoli harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115643898B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0922382A1 (en) * | 1997-12-12 | 1999-06-16 | Gottfried Kügel | Asparagus harvesting and ridge shaping machine |
| CN105265195A (en) * | 2015-06-16 | 2016-01-27 | 中国农业大学 | Garden trimming vehicle having miniature multi-direction adjustable support |
| JP6218905B1 (en) * | 2016-09-20 | 2017-10-25 | マイコム株式会社 | Vegetable automatic harvesting equipment |
| CN108513795A (en) * | 2018-03-14 | 2018-09-11 | 聊城大学 | A kind of pineapple picking machine and working method |
| CN110692356A (en) * | 2019-11-04 | 2020-01-17 | 浙江理工大学 | Picking device and picking method for broccoli suitable for various flower stalk length requirements |
| CN113207422A (en) * | 2021-04-16 | 2021-08-06 | 江苏大学 | Unordered compact planting broccoli harvester with intelligent cutting function |
| CN114872062A (en) * | 2022-05-05 | 2022-08-09 | 扬州大学 | Self-propelled cucumber harvesting robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6997194B2 (en) * | 2002-07-31 | 2006-02-14 | Ramsay Highlander, Inc. | Harvesting apparatus and method therefor |
-
2022
- 2022-10-27 CN CN202211324085.XA patent/CN115643898B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0922382A1 (en) * | 1997-12-12 | 1999-06-16 | Gottfried Kügel | Asparagus harvesting and ridge shaping machine |
| CN105265195A (en) * | 2015-06-16 | 2016-01-27 | 中国农业大学 | Garden trimming vehicle having miniature multi-direction adjustable support |
| JP6218905B1 (en) * | 2016-09-20 | 2017-10-25 | マイコム株式会社 | Vegetable automatic harvesting equipment |
| CN108513795A (en) * | 2018-03-14 | 2018-09-11 | 聊城大学 | A kind of pineapple picking machine and working method |
| CN110692356A (en) * | 2019-11-04 | 2020-01-17 | 浙江理工大学 | Picking device and picking method for broccoli suitable for various flower stalk length requirements |
| CN113207422A (en) * | 2021-04-16 | 2021-08-06 | 江苏大学 | Unordered compact planting broccoli harvester with intelligent cutting function |
| CN114872062A (en) * | 2022-05-05 | 2022-08-09 | 扬州大学 | Self-propelled cucumber harvesting robot |
Non-Patent Citations (1)
| Title |
|---|
| 西红柿收获机往复式切割器试验研究;彭霞;曹杰;徐为民;;农业机械(第05期);第72-73页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115643898A (en) | 2023-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105800511B (en) | One kind can transversal stretching greenhouse transport vehicle hoistable platform | |
| CN105794502B (en) | A kind of full-automatic branch pruning machine people and pruning method | |
| CN206913136U (en) | A kind of conveyor type mechanical arm AGV dollies | |
| CN107047276B (en) | Automatic floating cultivation system for green vegetables | |
| CN106717512B (en) | Harvesting and boxing manipulator | |
| CN111742709A (en) | Banana picking device and method based on depth vision | |
| CN110733663A (en) | unmanned aerial vehicle automatic battery changing device and method | |
| CN103329653A (en) | Intelligent all-dimensional mechanical weeding machine of orchards | |
| CN111149534A (en) | Movable double-arm fruit tree pruning robot | |
| CN115643898B (en) | Selective broccoli harvester | |
| CN207399875U (en) | A kind of draft mulberry harvestry bundling integrated machine | |
| CN104184271A (en) | Automatic assembling machine for motor rotor | |
| CN108718759B (en) | Automatic recovery type rose pruning machine | |
| CN216146910U (en) | Picking robot for industrialized production of agaricus bisporus | |
| CN113348868B (en) | Self-propelled variable-ground-clearance solanaceous vegetable picking machine | |
| CN108834550B (en) | Pineapple auxiliary picking machine based on shutter mechanism principle | |
| CN114431004B (en) | Banana picking device and method based on 3-PRS parallel mechanism | |
| CN115812525A (en) | External walking type automatic mushroom picking device and method | |
| KR100431720B1 (en) | An electromotive chinese leek harvester | |
| CN212862723U (en) | Garlic clamping and conveying mechanism | |
| CN213427091U (en) | Wheel type mobile daylily picking machine | |
| CN104944754A (en) | Automatic edge snapping machine | |
| CN114557190A (en) | Broccoli harvesting device | |
| CN106385952A (en) | Quick harvest device for forage grass | |
| CN206663035U (en) | The positioner of engineering machinery vehicle frame suspended structure part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |