CN210202491U - Dense planting vegetable ordered harvester - Google Patents
Dense planting vegetable ordered harvester Download PDFInfo
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- CN210202491U CN210202491U CN201921037302.0U CN201921037302U CN210202491U CN 210202491 U CN210202491 U CN 210202491U CN 201921037302 U CN201921037302 U CN 201921037302U CN 210202491 U CN210202491 U CN 210202491U
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Abstract
The utility model discloses a close planting vegetables orderly harvester, the harvester front end is equipped with the circular orbit through the support frame and can follow the dolly that reaps that the circular orbit outer fringe removed, reap the dolly and include the base, when removing along the circular orbit, the broadside perpendicular to of base reaps the direction of advance of dolly on the circular orbit, the front end of the one end broadside of base is equipped with a pair of cutting knife of arranging, and on the base, the rear end of double cutting knife has erect one row of delivery wheel in proper order and has formed conveying platform, on the rear of double cutting knife, conveying platform, still be equipped with a width and conveying platform width assorted telescopic tongs structure, the tongs structure still is connected with a first manipulator that is fixed in on the dolly of reaping. The utility model discloses the structure is ingenious, has realized reaping in batches, shifting to the close planting vegetables, and is orderly, reaps efficiently, has saved the arrangement process of back end, also can not form the scotch to the vegetables that the place ahead did not reap and damage, and the practicality is strong, is worth promoting.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine, especially, relate to an orderly harvester of close planting vegetables.
Background
For a long time, the harvesting of vegetables such as Chinese little greens, Chinese chives, water spinach, amaranth and the like always depends on manpower, and has high labor intensity and low efficiency. With the increasing shortage of labor force, vegetable harvesters become the hot spot of current agricultural machinery research. Although the related research has been advanced in recent years, the following problems are common to the existing vegetable harvesters to the applicant's knowledge: the vegetables that collect are in disorder and disorderly, have increased the degree of difficulty of follow-up arrangement, still must spend many people again to arrange in order and select and pack like the dish of reaping, not only wastes time and energy, still may cause the loss and reduce the new freshness that vegetables appeared on the market. In addition, the existing harvester has over-strong specificity, and only one kind of vegetables can be harvested by one kind of machine, such as a burclover harvester and a leek harvester, so that the machine has low utilization rate and high production cost; and because the vegetables are fresh, tender and juicy, the vegetables are easily damaged by conventional mechanical harvesting.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a dense planting vegetable ordered harvester is provided.
The utility model discloses a realize through following technical scheme:
the dense planting vegetable ordered harvester is characterized in that the front end of the harvester is provided with an annular track and a harvesting trolley which can move along the outer edge of the annular track through a support frame,
the harvesting trolley comprises a base, when the harvesting trolley moves along an annular rail, the wide edge of the base is perpendicular to the advancing direction of the harvesting trolley on the annular rail, a pair of rows of cutting knives are arranged at the front end of the wide edge at one end of the base and used for cutting vegetables, a row of conveying wheels are sequentially erected at the rear ends of the two rows of cutting knives on the base and the rear end of the two rows of cutting knives to form a conveying platform which is used for conveying the vegetables which are cut by the two rows of cutting knives and continuously pushed backwards by the newly-cut vegetables, a row of vegetable supporting rollers are respectively arranged at the two sides of the conveying platform, an active swing reel is arranged at one side of the two rows of cutting knives, a row of reel wheels are vertically arranged at the same side of the active swing reel and at the outer side of the base and close to the long edge of the base and used for pulling apart the vegetables which are not in the cutting range when the;
the rear part of the double-row cutting knife and the conveying platform are also provided with a telescopic gripper structure with the width matched with the width of the conveying platform, and the telescopic gripper structure is used for holding the harvested vegetables during harvesting and grabbing the vegetables on the conveying platform after the conveying platform is full.
Preferably, the gripper structure comprises a telescopic joint and a gripper arranged at the tail end of the telescopic joint, and the gripper comprises two gripper arms and a driving motor for controlling the two gripper arms to open and close; the telescopic joint is connected with a first manipulator fixed on the harvesting trolley, a second manipulator is further arranged on the harvesting machine fixed at the rear of the circular track, a vegetable collecting basket is arranged below the second manipulator, a second gripper capable of rotating by an angle is arranged on the second manipulator, and the first manipulator is matched with the second manipulator to transfer vegetables.
Preferably, the first manipulator and the second manipulator have the same structure and respectively comprise an L-shaped rod with an arc-shaped middle at one angle, a first guide groove communicated from two ends of the L-shaped rod to the arc-shaped middle part is formed in the L-shaped rod, a swing rod is further arranged on the L-shaped rod, a second guide groove is formed in the swing rod, a push rod is arranged in the second guide groove, and a guide column is arranged on the push rod; a driving swing rod is further arranged on one side of the L-shaped rod, a third guide groove is formed in the driving swing rod, and the driving swing rod is connected with the eccentric position of the driving swing rod through a motor and a connecting rod so as to realize the process of driving the driving swing rod to swing; the guide post on the push rod is matched with the first guide groove, the second guide groove and the third guide groove to realize the pull-back, the steering and the push-out of the push rod.
And a first node at the front end of the telescopic joint on the gripper structure is fixedly connected with the front end of the swing rod on the first manipulator, and a second node at the front end of the telescopic joint is fixedly connected with the front end of the push rod, so that the telescopic joint can be extended or tightened when the L-shaped rod is arranged on two sides of the L-shaped rod, and the telescopic joint is tightened when the L-shaped rod is turned.
The second gripper is arranged at the front end of a push rod of the second manipulator and comprises two claw arms and a driving motor for controlling the two claw arms to open, close and turn.
Preferably, a secondary cutting knife is arranged beside the retraction path of the second manipulator and used for cutting off the root hairs of the vegetables;
preferably, the second manipulator is also provided with a brush on a path passed by the second manipulator during reversing, and the brush is used for brushing off dead leaves, seed leaves, soil and the like and is fixed on the harvester.
Preferably, a vegetable guiding plate which can swing in a rotary mode is arranged above the double rows of cutting knives and fixed on the base, and is used for promoting the vegetables to move backwards on the conveying platform by shifting the upper half section of the cut vegetables;
preferably, the width side of the base of the harvesting trolley is 15-30cm, and the length side of the base of the harvesting trolley is 40-50 cm. Preferably, the width side of the base of the harvesting trolley is 20cm, and the length side of the base of the harvesting trolley is 40 cm.
Preferably, the active swing reel, the vegetable poking wheel and the vegetable guiding plate are driven by a motor which is arranged above the vegetable poking wheel, and the vegetable poking wheels in one row are driven by a belt.
Preferably, the conveying wheels are started by a motor arranged on the base, and a row of conveying wheels are driven by a belt.
Preferably, the base is provided with a driving device for driving the harvesting trolley to move along the edge of the annular track.
The utility model has the advantages that:
the utility model discloses an orderly harvester structure of close-planting vegetables is ingenious, the application sets up the dolly of reaping in harvester the place ahead and takes the mode of transversely reaping close-planting vegetables, the batch that has realized close-planting vegetables reaps, the processing of shift and vanning, can guarantee vegetables from reaping to shift to the vanning all not fall, in disorder, realized reaping in order, it is efficient to reap, the arrangement process of back end has also been saved, and also can not form the scotch to the vegetables that the place ahead did not reap when reaping and damage, therefore, the clothes hanger is strong in practicability, and is worth promoting.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic view of the harvester of the present invention in a state of harvesting and transferring vegetables;
FIG. 2 is a schematic view of the harvesting cart in a vegetable harvesting configuration;
FIG. 3 is a schematic view of the harvesting cart in the configuration for transferring vegetables;
fig. 4 is a schematic view of the position of the relevant structure on the transfer path of the second robot;
FIG. 5 is a schematic view of the arrangement structure of the vegetable guiding plate;
FIG. 6 is a schematic view of the first and second robots;
FIG. 7 is a schematic view of the first and second manipulators as they turn;
FIG. 8 is a schematic view of the first and second robots pushing together;
FIG. 9 is a schematic view of a combination of a first robot and a gripper structure;
FIG. 10 is a schematic view of a second robot combined with a second gripper;
fig. 11 is a schematic view of the driving structure of the active swing reel, the vegetable-poking wheel and the vegetable-guiding plate.
Detailed Description
As shown in fig. 1-11, the vegetable dense planting ordered harvester is provided with an annular rail 1 and harvesting trolleys 20 capable of moving along the outer edge of the annular rail 10 at the front end of the harvester through a bracket, and the number of the harvesting trolleys 20 can be one or 2.
The harvesting trolley 20 comprises a base 21, when the harvesting trolley 20 moves along the annular track 10, the wide edge of the base 21 is perpendicular to the advancing direction of the harvesting trolley 20 on the annular track 10, a double-row cutting knife 22 is arranged at the front end of the wide edge of one end of the base 21 and is used for cutting vegetables, a row of conveying wheels are sequentially erected on the base 21 and at the rear end of the double-row cutting knife 22 to form a conveying platform 23 for conveying the vegetables which are cut by the double-row cutting knife 22 and are continuously pushed backwards by the newly-cut vegetables, a row of vegetable supporting rollers 24 are respectively arranged at two sides of the conveying platform 23, an active swing reel 25 is arranged at one side of the double-row cutting knife 22, a row of reel 26 is vertically arranged at the same side of the active swing reel 25 and at the outer side of the base 21 and close to the long edge of the base 21 and is used for pulling the vegetables which are not in the cutting range when the harvesting trolley 20 advances to prevent the, the vegetable poking wheel 26 is a flexible wheel;
a telescopic gripping structure 30 with the width matched with the width of the conveying platform 23 is arranged behind the double rows of cutting knives 22 and on the conveying platform 23 and is used for holding the harvested vegetables during harvesting and gripping the vegetables on the conveying platform after the conveying platform 23 is full,
the gripping structure 30 comprises a telescopic joint 31 and a gripping hand 32 arranged at the tail end of the telescopic joint, and the gripping hand 32 comprises two claw arms and a driving motor for controlling the two claw arms to open and close; the telescopic joint 31 is connected with a first manipulator 40 fixed on the harvesting trolley 20, a second manipulator 50 is further arranged on the harvesting machine fixed behind the circular track 10, a vegetable collecting basket 80 is arranged below the second manipulator 50, a second gripper 51 capable of rotating by a certain angle is arranged on the second manipulator 50, and the first manipulator 40 is matched with the second manipulator 50 to transfer vegetables.
The first mechanical arm 40 and the second mechanical arm 50 have the same structure and both comprise an L-shaped rod 41 with an arc-shaped middle at one angle, a first guide groove communicated from two ends of the L-shaped rod 41 to the arc-shaped middle part is formed in the L-shaped rod 41, a swing rod 42 is further arranged on the L-shaped rod 41, a second guide groove is formed in the swing rod 42, a push rod 43 is arranged in the second guide groove, and a guide column 44 is arranged on the push rod; a driving swing rod 45 is further arranged on one side of the L-shaped rod 41, a third guide groove is formed in the driving swing rod 45, and the driving swing rod 45 is connected with the eccentric position of the driving swing rod 45 through a motor and a connecting rod 46 so as to realize the swing process of the driving swing rod 45; the guide post 44 on the push rod 43 is matched with the first guide groove, the second guide groove and the third guide groove to realize the pulling back, the steering and the pushing out of the push rod 43, and the push rod 43 is fixedly connected with the claw rod 31.
The first node at the front end of the telescopic joint 31 on the gripping structure 30 is fixedly connected with the front end of the swing rod 42 on the first manipulator, and the second node at the front end of the telescopic joint 31 is fixedly connected with the front end of the push rod 43, so that the telescopic joint 31 can be extended or tightened when the two sides of the L-shaped rod 41 are connected, and the telescopic joint 31 is tightened when the steering is performed.
The second gripper 51 is arranged at the front end of the push rod of the second manipulator 50, and the second gripper 51 comprises two claw arms and a driving motor for controlling the opening, closing and steering of the two claw arms.
A vegetable guiding plate 27 which can swing back and forth is fixed on the base 21 and above the double rows of cutting knives 22 and is used for promoting the vegetables to move backwards on the conveying platform 23 by shifting the upper half section of the cut vegetables;
a secondary cutting knife 60 is arranged beside the retraction path of the push rod of the second mechanical arm 50 and is used for cutting off the root hairs of the vegetables;
the second manipulator 50 is also provided with a brush 70 on the path through which the second manipulator passes during the reversing for brushing off dead leaves, seed leaves, soil and the like, and the brush 70 is fixed on the harvester.
The wide side of the base 21 of the harvesting trolley 20 is 20cm, and the long side is 40 cm.
The active swing reel piece 25, the vegetable poking wheel 26 and the vegetable guiding plate 27 are driven by a motor which is arranged above the vegetable poking wheel 26, and a row of vegetable poking wheels 26 are driven by a belt. Specifically, the driving shaft 281 driven by the motor drives the active swing reel piece 25 through a crank structure, the driving shaft 281 driven by the motor drives the vegetable poking wheel 26 to rotate through the matching of a big gear and a small gear and a gearbox, and the driving shaft 281 driven by the motor drives the vegetable guiding plate 27 to rotate through a variable speed worm gear.
The conveying wheels are started by a motor arranged on the base 21, and a row of conveying wheels are driven by a belt.
The base 21 is provided with a driving device for driving the harvesting trolley 20 to move along the edge of the circular track 10.
The vegetable collection process comprises the following steps:
the harvesting trolley 20 rotates to one end of the annular track 10 and then starts to move forwards for harvesting, during harvesting, the double rows of cutting knives 22 cut vegetables from the bottom, the active swing reel blades 25 located beside the double rows of harvesting knives 22 are used for roughly separating the vegetables in front through swinging to prevent mistaken cutting, the vegetable shifting wheels 26 on the side surfaces of the harvesting trolley ensure that the vegetables which are not in the cutting range are shifted away when the harvesting trolley 20 moves forwards to prevent the vegetables from being scratched, meanwhile, the cut vegetables are sequentially pushed onto the conveying platform 23, on the conveying platform, the two sides of the vegetables are righted by the vegetable holding rollers 24 on the two sides of the conveying platform to ensure that the vegetables do not fall, the lower parts of the vegetables are pushed by the conveying platform to move inwards, the upper half parts of the vegetables are better moved inwards by the driving of the vegetable guiding plate 27 which is continuously shifted inwards above, the advancing direction of the vegetables, and the two arms which are not folded by the grippers 32 of the gripper structure block the vegetables and slowly retreat by the driving of the telescopic joint 31 to ensure that the Forward and backward;
when all vegetables are in the harvesting trolley, the harvesting trolley 20 continuously moves to one side close to a vegetable collecting basket on the harvester along the circular track 10, after the vegetables are in place, two claw arms of the gripper 32 tighten the vegetables into a bundle, and then the vegetables are transferred and sent to a second gripper 51 of a second manipulator 50 under the driving of the first manipulator 40;
then the second hand grip 51 on the second manipulator 50 grips the vegetables tightly, after the second hand grip 51 reaches the upper part of the vegetable collecting basket 80, the second hand grip 51 is driven by the driving motor, the second hand grip 51 rotates 90 degrees from the vertical state, then the second hand grip 51 is loosened, the vegetables are put into the basket, the primary vegetable collection is completed, and in the transferring process of the second manipulator 50, the roots of the vegetables are cut off by the secondary cutting knife 60, and dead leaves, seed leaves, soil and the like are brushed off by the brush 70.
At this time, the gripping structure 30 is driven by the first manipulator 40 to return to the harvesting trolley 20 for a new round of harvesting operation.
The utility model discloses an orderly harvester structure of close-planting vegetables is ingenious, the application sets up the dolly of reaping in harvester the place ahead and takes the mode of transversely reaping close-planting vegetables, the batch that has realized close-planting vegetables reaps, the processing of shift and vanning, can guarantee vegetables from reaping to shift to the vanning all not fall, in disorder, realized reaping in order, it is efficient to reap, the arrangement process of back end has also been saved, and also can not form the scotch to the vegetables that the place ahead did not reap when reaping and damage, therefore, the clothes hanger is strong in practicability, and is worth promoting.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the creative work should be covered within the scope of the present invention.
Claims (8)
1. The dense planting vegetable ordered harvester is characterized in that the front end of the harvester is provided with an annular track and a harvesting trolley which can move along the outer edge of the annular track through a support frame, the harvesting trolley comprises a base, when the harvesting trolley moves along the annular track, the wide edge of the base is vertical to the advancing direction of the harvesting trolley on the annular track, the front end of the wide edge at one end of the base is provided with a pair of rows of cutting knives for cutting vegetables, a row of conveying wheels are sequentially erected at the rear ends of the double rows of cutting knives on the base to form a conveying platform for conveying vegetables which are cut by the double rows of cutting knives and are continuously pushed backwards by newly cut vegetables, two sides of the conveying platform are respectively provided with a row of vegetable holding rollers, one side of the double rows of cutting knives is provided with a driving swing reel, a row of vegetable poking wheels are vertically arranged on the same side of the active swing reel and on the outer side of the base and close to the long edge of the base;
and a telescopic gripper structure with the width matched with the width of the conveying platform is further arranged behind the double-row cutting knife and on the conveying platform.
2. The ordered harvester for closely planted vegetables as claimed in claim 1, wherein a vegetable guide plate is fixed on the base above the double rows of cutters and can swing back and forth.
3. The orderly harvester for closely planted vegetables according to claim 1, wherein the width of the base of the harvesting trolley is 15-30cm, and the length of the base of the harvesting trolley is 40-50 cm.
4. The orderly harvester for densely planted vegetables according to claim 1, wherein the base is provided with a driving device for driving the harvesting trolley to move along the edge of the circular track.
5. The close-planting vegetable ordered harvester according to claim 1, wherein the gripper structure comprises a telescopic joint and a gripper arranged at the tail end of the telescopic joint, and the gripper comprises two gripper arms and a driving motor for controlling the two gripper arms to open and close; the telescopic joint is connected with a first manipulator fixed on the harvesting trolley, a second manipulator is further arranged on the harvesting machine fixed behind the circular track, a second gripper capable of rotating by an angle is arranged on the second manipulator, and the first manipulator is matched with the second manipulator to transfer vegetables.
6. The ordered harvester for densely planted vegetables according to claim 5, wherein the first manipulator and the second manipulator are identical in structure and each comprise an L-shaped rod with an arc-shaped angle in the middle, the L-shaped rod is provided with a first guide groove communicated from two ends of the L-shaped rod to the arc-shaped middle part, the L-shaped rod is further provided with a swing rod, the swing rod is provided with a second guide groove, a push rod is arranged in the second guide groove, and the push rod is provided with a guide column; a driving swing rod is further arranged on one side of the L-shaped rod, a third guide groove is formed in the driving swing rod, and the driving swing rod is connected with the eccentric position of the driving swing rod through a motor and a connecting rod so as to realize the process of driving the driving swing rod to swing; the guide post on the push rod is matched with the first guide groove, the second guide groove and the third guide groove to realize the pull-back, the steering and the push-out of the push rod.
7. The orderly harvester for densely planted vegetables according to claim 6, wherein a first node at the front end of the telescopic joint on the gripper structure is fixedly connected with the front end of the swing rod on the first manipulator, and a second node at the front end of the telescopic joint is fixedly connected with the front end of the push rod; the second gripper is arranged at the front end of a push rod of the second manipulator and comprises two claw arms and a driving motor for controlling the two claw arms to open, close and turn.
8. The ordered harvester for closely planted vegetables as claimed in claim 5, wherein a secondary cutter is provided beside the retraction path of the second manipulator for cutting off the root hairs of the vegetables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921037302.0U CN210202491U (en) | 2019-07-05 | 2019-07-05 | Dense planting vegetable ordered harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921037302.0U CN210202491U (en) | 2019-07-05 | 2019-07-05 | Dense planting vegetable ordered harvester |
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| Publication Number | Publication Date |
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| CN210202491U true CN210202491U (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921037302.0U Active CN210202491U (en) | 2019-07-05 | 2019-07-05 | Dense planting vegetable ordered harvester |
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| CN (1) | CN210202491U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110169257A (en) * | 2019-07-05 | 2019-08-27 | 朱永干 | The orderly harvester of dense planting vegetables |
| CN117337688A (en) * | 2023-11-02 | 2024-01-05 | 湖州丰源农业装备制造有限公司 | Soybean harvesting and threshing integrated machine and control method thereof |
-
2019
- 2019-07-05 CN CN201921037302.0U patent/CN210202491U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110169257A (en) * | 2019-07-05 | 2019-08-27 | 朱永干 | The orderly harvester of dense planting vegetables |
| CN117337688A (en) * | 2023-11-02 | 2024-01-05 | 湖州丰源农业装备制造有限公司 | Soybean harvesting and threshing integrated machine and control method thereof |
| CN117337688B (en) * | 2023-11-02 | 2024-05-17 | 湖州丰源农业装备制造有限公司 | Soybean harvesting and threshing integrated machine and control method thereof |
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