CN213548421U

CN213548421U - Autonomous crop harvester

Info

Publication number: CN213548421U
Application number: CN202022169929.0U
Authority: CN
Inventors: 吴自飞; 李学楠; 康昊
Original assignee: Chuzhou Hetian Agricultural Machinery Co ltd
Current assignee: Chuzhou Hetian Agricultural Machinery Co ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-06-29
Anticipated expiration: 2030-09-28

Abstract

The utility model provides an autonomous crop harvester, which belongs to the technical field of agricultural machinery. The autonomous crop harvester comprises a machine body, a power system, a moving device, a control part, a left-right height adjusting device, a height adjusting tool, a harvested material moving device and a cutting edge height adjusting tool, wherein the left-right height adjusting device rotates by a rotating central shaft arranged at the central part of the front end of the machine body; and two ends of the cutting edge height adjusting tool are respectively connected with the harvested material moving device through hinge shafts and are used for adjusting the height of the cutting tool arranged at the front end of the harvested material moving device. The utility model provides an autonomous crop harvester can be in the stable crops of cutting in the expected position in the topography of difference.

Description

Autonomous crop harvester

Technical Field

The utility model relates to the technical field of agricultural machinery, especially, relate to autonomous crop harvester.

Background

Generally, spinach belonging to a delicate leaf vegetable is extremely vulnerable to damage due to its delicate nature during mining, and therefore, most growers have to manually harvest the spinach in order to prevent the decrease in the marketability of the spinach due to damage.

However, since spinach is to be harvested manually, the spinach grower needs to pay excessive labor costs, and as the population of the farmer decreases, there are cases where it is difficult for the spinach grower to find a person to hire the worker to harvest the spinach. In addition, the production unit price of spinach is increased or the supply is unstable due to excessive labor cost.

In order to prevent such side effects and problems, development and provision of technologies related to spinach harvesters for autonomously harvesting spinach have been started.

Conventionally, spinach harvesters are provided which comprise a spinach root cutting part comprising a spinach root cutting blade for cutting the root of spinach at the tip, a spinach harvester body for moving a spinach-cutting moving part for collecting the spinach cut by the spinach root cutting blade, and a vehicle body for running comprising a power unit for running and a vehicle wheel for running connected to the power unit for running.

Such a conventional spinach harvester cuts the root of spinach using a spinach root cutting blade, moves the cut spinach by a spinach moving part, and collects the moved cut spinach in a collection box to complete harvesting.

Generally, the cutting edge of the root of spinach has a long left-right length in front view, and can cut a large amount of spinach. The environment of a field where spinach is planted may be different in height between the left and right floors, or may be uneven in the moving floor.

In this case, the spinach is often cut by the spinach root cutting blade having a long left-right length, and the spinach root cannot be cut to an appropriate length, and the spinach may be damaged, for example, by cutting the spinach or by cutting the spinach root too short.

In order to prevent such damage, the operator often stops working to adjust the position of the cutting edge of the root of spinach at the time of harvesting, which causes problems such as a decrease in the ability to harvest spinach.

SUMMERY OF THE UTILITY MODEL

In view of the above, an object of the present invention is to provide an autonomous crop harvester to solve the problem of the conventional spinach harvester that when a long left and right cutting blade is used to cut a crop, the left and right crop cannot be cut at a desired position and damaged due to factors such as topography or various environmental factors, resulting in a reduction in the harvesting performance.

In order to realize the purpose of the utility model, the utility model provides a following technical scheme:

the utility model provides an autonomous crop harvester, which comprises a machine body, a power system arranged on the upper part of the machine body, a moving device connected with the power system, a control part arranged at the rear part of the machine body, a left and right height adjusting device which rotates by a rotation center shaft arranged at the center part of the front end of the machine body, a right end arranged on the machine body, one end of the left and right height adjusting device is connected with the one end of the left and right height adjusting device, the other end of the left and right height adjusting device is connected with a height adjusting tool connected with the machine body, the left and right height adjusting device is arranged on the upper part of the left and right height adjusting device, and the front end of the left and right; the cutting blade height adjusting tool comprises a setting table connected with a chain wheel and an oil pressure cylinder, wherein two ends of the oil pressure cylinder are respectively connected with the middle lower part of the harvesting object moving device and one end of the setting table through a first hinge shaft and a second hinge shaft, and the other end of the setting table is connected with the middle upper part of the harvesting object moving device through a third hinge shaft.

Preferably, the device further comprises a balance maintaining device symmetrically arranged on two sides of the rotation central shaft, wherein the balance maintaining device comprises a balance rotating shaft, two ends of which are arranged on the machine body through bearing parts, and an up-down moving shaft guide table which is arranged on the machine body and is matched with the up-down moving shaft; gears arranged on two sides of the balance rotating shaft are matched with rack grooves arranged on the up-and-down moving shaft; one end of the up-down moving shaft is connected with the left-right height adjusting device, and the other end of the up-down moving shaft is connected with the up-down moving shaft guide table in a sliding manner.

Preferably, one end of the up-down moving shaft is connected to a plurality of balance setting rods arranged inside the left-right height adjusting device.

Preferably, the cutting means comprises a reciprocating type crop cutting device or a band saw type crop cutting device.

Preferably, the backward movement type crop cutting device includes a backward and forward movement type cutting body provided at a front end of the harvest moving device, a first hydraulic motor provided on the backward and forward movement type cutting body, and a power conversion device provided on the cutting edge device and converting a rotary force of the first hydraulic motor into a linear backward and forward movement; the cutting edge device comprises a cutting knife arranged on the lower side of the cutting edge device.

Preferably, the power conversion device is connected to the first hydraulic motor through a cam, and is configured to convert a rotational force of the first hydraulic motor into a linear reciprocating motion.

Preferably, the harvester further comprises an angle adjusting device, one end of the angle adjusting device is arranged on the harvester moving device, the tail end of the angle adjusting device is arranged on the reciprocating type cutting machine body, and the angle adjusting device is composed of a screw rod and is used for adjusting the angle of the cutting tool through at least one arc-shaped long hole and a rotary center hole which are arranged on one side of the reciprocating type cutting machine body.

Preferably, the band saw type crops cutting device, including set up in the band saw type cutting organism of results thing mobile device front end, set up in second oil pressure motor on the band saw type cutting organism, connect in second oil pressure motor with set up in the power transmission device of the driving wheel is used to the band saw on the band saw type cutting organism, set up in at least one for the band saw on the band saw type cutting organism leading wheel and set up in the band saw type cutting edge of the loop configuration on the driving wheel is used to the band saw with the band saw.

Preferably, the cutting blade tension adjusting device is respectively arranged on one side of the driving wheel for the band saw and one side of the guide wheel for the band saw, and is used for adjusting the tension of the power transmission device and the cutting blade for the band saw.

Preferably, the harvester further comprises an angle adjusting device, wherein one end of the angle adjusting device is arranged on the harvester moving device, the tail end of the angle adjusting device is arranged on the band saw type cutting machine body, and the angle adjusting device is composed of a screw rod and is used for adjusting the angle of the cutting tool through at least one arc-shaped long hole and a rotary center hole which are arranged on one side of the band saw type cutting machine body.

The utility model discloses for prior art gain following beneficial effect:

(1) the utility model provides an autonomous crop harvester has about high adjusting device to should control high adjusting device and use the center of gyration axle to revolve about as the center, be equipped with the altitude mixture control instrument, make autonomous crop harvester possess also can be stable at different topography cutting crops in the expectation position.

(2) The utility model provides an autonomous crop harvester, owing to have cutting blade height adjustment instrument, this cutting blade height adjustment instrument's both ends are connected with middle lower part and the middle upper portion of results thing mobile device respectively through first hinge pin and third hinge shaft, the altitude mixture control of cutting instrument has been realized through the flexible of the oil pressure cylinder in the cutting blade height adjustment instrument, can adjusting device control the height about the longer cutting blade of length on crops cutting instrument easily to deal with various topography factors and manifold environmental factor fast.

(3) Because the utility model discloses bilateral symmetry at the center of gyration axle is provided with maintains balancing unit for the balanced state of high adjusting device when the function about the balance.

(4) The utility model discloses a cutting means is including reciprocating type crops cutting device or band saw type crops cutting device, and the ability of multiple crops of results has been possessed to the installation in turn of two kinds of crops cutting device.

(5) The utility model provides an angle adjusting device through arcuation slot hole and gyration centre bore, has realized the regulation of cutting tool's different angles.

Drawings

Fig. 1 is a side view of an embodiment of the present invention;

FIG. 2 is a schematic view of the cutting edge height adjustment tool of the present invention adjusting the height of the cutting tool;

FIG. 3 is a schematic structural view of the machine body and the left and right height adjusting devices of the present invention;

fig. 4 is a front view of an embodiment of the present invention;

FIG. 5 is a top view of the machine body and the left and right height adjusting devices of the present invention;

FIG. 6 is a front view of the body and the left and right height adjusting devices of the present invention;

fig. 7 is a front view of a reciprocating crop cutting apparatus according to an embodiment of the present invention;

fig. 8 is a side view of a reciprocating crop cutting apparatus with a cutting implement in accordance with an embodiment of the present invention;

fig. 9 is a schematic view illustrating an operation state of a reciprocating type crop cutting apparatus according to an embodiment of the present invention;

FIG. 10 is a front view of another embodiment of the present invention in which the cutting implement is a band saw type crop cutting apparatus;

FIG. 11 is a side view of another embodiment of the present invention in which the cutting tool is a band saw type crop cutting apparatus;

fig. 12 is a schematic view showing that the reciprocating type crop cutting device and the band saw type crop cutting device of the utility model are alternately arranged at the front end of the harvesting moving body system;

reference numerals: 10. the crop cutting machine comprises a machine body, 11. a moving device, 12. a power system, 13. a control part, 20. a left-right height adjusting device, 21. a setting table, 22. a third hinge shaft, 23. a second hinge shaft, 24. a balance setting rod, 25. a first hinge shaft, 30. a rotary central shaft, 40. a height adjusting tool, 50. a harvested material moving device, 60. a transmission piece, 70. a cutting edge height adjusting tool, 80. a cutting tool and 80a reciprocating type crop cutting device; 81. a plurality of holes, 82a rotary center hole, 83 arc-shaped long hole, 81a reciprocating type cutting machine body, 82a first hydraulic motor, 83a power conversion device, 84a cutting blade device, 85a cutter, 85 angle adjusting device, 84 crop guiding table, 86a cutter guiding supporting device, 80b band saw type crop cutting device, 81b band saw type cutting machine body, 82b second hydraulic motor, 83b power transmission device, 84b band saw driving wheel, 85b band saw guiding wheel, 86b band saw type cutting blade, 87b cutting blade tension adjusting device, 90 maintaining balance position, 91 balancing rotating shaft, 92 gear, 93 bearing component, 94 up and down moving shaft, 95 rack groove, 96 up and down moving shaft guiding table, B crop collecting box and C collecting box.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In one embodiment of the present invention, as shown in fig. 1 to 9, the present invention provides an autonomous crop harvester, which comprises a machine body 10, a power system 12 disposed on the upper portion of the machine body 10, a moving device 11 connected to the power system, a control portion 13 disposed behind the machine body 10, a left and right height adjusting device 20 rotating about a rotation center shaft 30 disposed at the center portion of the front end of the machine body 10, a right end disposed at the right end of the machine body 10, and a height adjusting means 40 having one end connected to the left and right height adjusting means 20 and the other end connected to the body 10, and provided at an upper portion of the left and right height adjusting means 20, a cutting tool 80 is arranged at the front end, a harvesting object moving device 50 with a transmission piece 60 and a crop guide table 81 arranged inside and a cutting edge height adjusting tool 70 connected with the harvesting object moving device 50 are arranged inside; the cutting blade height adjusting means 70 includes a setting table 21 to which a sprocket is connected and an oil pressure cylinder having both ends connected to the middle lower portion of the harvested material moving device 50 and one end of the setting table 21 through first and second hinge shafts 25 and 23, respectively, and the other end of the setting table 21 is connected to the middle upper portion of the harvested material moving device 50 through a third hinge shaft 22. The rotation center shaft 30 is preferably connected to both ends of the left and right height adjusting device 20 by a bearing. The left-right height adjusting device 20 is rotated about the rotation center shaft 30 by the height adjusting means 40. The height adjusting means 40 is usually composed of a hydraulic cylinder, is connected to the power system 12, and is driven by the control unit 13.

The utility model discloses in, because be provided with on the organism 10 driving system 12, the event the utility model provides an autonomous crop harvester possesses the ability of traveling.

The utility model provides an among the autonomous crop harvester harvest thing mobile device 50's rear still is provided with the crops of installing on collecting box installation department C and collects box B for to autonomous crop harvester operation on one side, the root of cutting crops such as spinach or the stem portion of other crops etc. collect on one side. Roots of crops such as spinach or stems of other crops cut by the autonomous crop harvester are transferred to the crop collecting box B by means of a chain through the driving member 60 connected to the crop guide table 84.

The transmission member 60 formed of a chain or a chain system includes a driving sprocket that rotates upon receiving power from the harvested product moving device 50, a driven sprocket provided for guiding, a pair of moving chains that rotate by coupling the driving sprocket and the driven sprocket, and a chain conveyor that transports harvested products by being provided on the pair of moving chains. The harvest transmission member 60 of this type is not described in detail in the present invention as a prior art.

In the present invention, the moving device 11 is generally in the form of a crawler belt, and the power system 12 is generally an engine device provided with a combustion fuel, and an oil pressure device connected to the engine device and serving as an oil pressure pump for generating and supplying oil pressure. The power system 12 supplies power for traveling and power for cutting work and work for harvesting cut crops and the like.

In the present invention, the upper support of the connecting installation table 21 is provided with a plurality of connecting members, each of the connecting members is provided with a connecting member, and each of the connecting.

In the present invention, the balance maintaining device 90 is symmetrically disposed on both sides of the rotation center shaft 30, and the balance maintaining device 90 includes a balance rotating shaft 90 whose both ends are disposed on the machine body 10 through a bearing member 93, and an up-down moving shaft guide table 96 disposed on the machine body 10 and engaged with the up-down moving shaft 94; the gears 92 arranged on both sides of the balance rotating shaft 91 are matched with the rack grooves 95 arranged on the up-and-down moving shaft 91; one end of the up-down moving shaft 94 is connected to the left-right height adjusting device 20, and the other end is slidably connected to the up-down moving shaft guide 96. The utility model discloses in, through maintain balancing unit 90 with autonomous crop harvester when reaping crops such as spinach, will rock the influence minimizing of phenomenon.

In the present invention, one end of the up-down movement shaft 94 is connected to the balance setting rod 24 provided inside the left-right height adjusting device 20.

In the present invention, the cutting tool 80 includes a reciprocating type crop cutting device 80a or a band saw type crop cutting device 80b.

In the present invention, the return movement type crop cutting device 80a includes a return movement type cutting body 81a provided at the front end of the harvest moving device 50, a first hydraulic motor 82a provided on the return movement type cutting body 81a, and a power conversion device 83a provided on a cutting edge device 84a and converting a rotary force of the first hydraulic motor 82a into a linear return movement; the cutting edge device 84a includes a blade 85a provided on the lower side of the cutting edge device 84a. The utility model discloses a cutting knife 85a, control round trip movement, cut off crops.

In the present invention, the power conversion device 83a is connected to the first hydraulic motor 82a through a cam, and is configured to convert the rotary force of the first hydraulic motor 82a into a linear reciprocating motion.

The utility model discloses in, still include one end set up in harvest thing mobile device 50, the tail end set up in on the come and go removal type cutting organism 81a, the angle adjusting device 85 of constituteing by the screw rod, angle adjusting device 85 through set up in at least one arcuation slot hole 83 and the gyration centre bore 82 of come and go removal type cutting organism 81a one side, it is right cutting means carries out angle modulation.

In another embodiment of the present invention, as shown in fig. 10-12, the band saw type crop cutting device 80b comprises a band saw type cutting machine body 81b disposed at the front end of the harvested material moving device 50, a second oil pressure motor 82b disposed on the band saw type cutting machine body 81b, a power transmission device 83b connected to the second oil pressure motor 82b and a driving wheel 84b for band saw disposed on the band saw type cutting machine body 81b, a guide wheel 85b disposed on the band saw type cutting machine body 81b and a band saw type cutting blade 86b disposed on the band saw type cutting machine body 84b and having an annular structure on the guide wheel 85b. In the present invention, the second hydraulic motor 82b is connected to the power system 12, and the control unit 13 performs driving operation. The power transmission device 83b is generally configured to transmit power to the second hydraulic motor 82b by a chain method.

The utility model discloses in, still including set up respectively in drive wheel 84b one side for the band saw with cutting edge pulling force adjusting device 87b of leading wheel 85b one side for the band saw is used for adjusting power transmission device 83b with the pulling force of band saw type cutting edge 86b.

The utility model discloses in, still include one end set up in harvest thing mobile device 50, the tail end set up in on the band saw type cutting organism 81b, the angle adjusting device 85 of constituteing by the screw rod, angle adjusting device 85 through set up in at least one arcuation slot hole and the gyration centre bore of band saw type cutting organism 81b one side, it is right cutting means carries out angle modulation.

In the present invention, the crop cutting tool 80 disposed in front of the harvester moving device 50, as shown in fig. 12, is composed of a reciprocating type crop cutting device 80a composed of a cutter 85a and a band saw type crop cutting device 80b composed of a band saw type cutting edge 86b of an annular structure, and can be alternately installed in the harvester moving system.

At the front end of the crop moving means 50, a plurality of holes are formed in order to enable alternate installation of the crop cutting tools 80. In order to mount the reciprocating cutting body 81a of the reciprocating crop cutting device 80a of the crop cutting implement 80 and the band saw type cutting body 81b of the band saw type crop cutting device 80b alternately, a plurality of holes 81 may be provided to be engaged with a hole provided in the harvest mover 50 by bolts, and the plurality of holes 81 may be formed by a hole 82 for a rotation center and at least one arc-shaped long hole 83 centering on the hole 82 for the rotation center so that the reciprocating cutting body 81a and the band saw type cutting body 81b are rotated at a predetermined angle to adjust the position of the cutting blade.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The autonomous crop harvester is characterized by comprising a machine body, a power system arranged on the upper part of the machine body, a moving device connected with the power system, a control part arranged behind the machine body, a left-right height adjusting device which rotates by a rotation central shaft arranged at the central part of the front end of the machine body, a height adjusting tool arranged at the right end of the machine body, a harvested product moving device arranged on the upper part of the left-right height adjusting device, and a cutting blade height adjusting tool arranged at the front end of the machine body, wherein one end of the height adjusting tool is connected with the left-right height adjusting device, the other end of the height adjusting tool is connected with the machine body, the harvested product moving device is arranged on the upper part; the cutting blade height adjusting tool comprises a setting table connected with a chain wheel and an oil pressure cylinder, wherein two ends of the oil pressure cylinder are respectively connected with the middle lower part of the harvesting object moving device and one end of the setting table through a first hinge shaft and a second hinge shaft, and the other end of the setting table is connected with the middle upper part of the harvesting object moving device through a third hinge shaft.

2. The autonomous crop harvester of claim 1, further comprising a balance maintaining device symmetrically disposed at both sides of the center axis of rotation, the balance maintaining device comprising a balance rotating shaft having both ends disposed on the body through a bearing member and an up-down moving shaft guide table disposed on the body and engaged with the up-down moving shaft; gears arranged on two sides of the balance rotating shaft are matched with rack grooves arranged on the up-and-down moving shaft; one end of the up-down moving shaft is connected with the left-right height adjusting device, and the other end of the up-down moving shaft is connected with the up-down moving shaft guide table in a sliding manner.

3. The autonomous crop harvester as claimed in claim 2, wherein one end of the up-down moving shaft is connected to a plurality of balance setting bars provided inside the left-right height adjusting means.

4. The autonomous crop harvester of any one of claims 1-3, wherein the cutting tool comprises a reciprocating or band saw type crop cutting device.

5. The autonomous crop harvester as claimed in claim 4, wherein the reciprocating crop cutting device includes a reciprocating cutting body provided at a front end of the crop moving device, a first hydraulic motor provided on the reciprocating cutting body, and a power conversion device provided on the cutting blade device and converting a rotary force of the first hydraulic motor into a linear reciprocating motion; the cutting edge device comprises a cutting knife arranged on the lower side of the cutting edge device.

6. The autonomous crop harvester of claim 5, wherein the power conversion device is connected to the first hydraulic motor by a cam for converting the rotary force of the first hydraulic motor into a linear reciprocating motion.

7. The autonomous harvester as claimed in claim 5 or 6, further comprising an angle adjusting means having one end provided to the harvest mover and a rear end provided to the reciprocating type cutter body, the angle adjusting means being composed of a screw, the angle adjusting means performing angle adjustment of the cutting means through at least one arc-shaped long hole and a rotary center hole provided to one side of the reciprocating type cutter body.

8. The autonomous crop harvester of claim 4, wherein the band saw type crop cutting device comprises a band saw type cutting body disposed at the front end of the harvested material moving device, a second oil pressure motor disposed on the band saw type cutting body, a power transmission device connected to the second oil pressure motor and a driving wheel for a band saw disposed on the band saw type cutting body, at least one guiding wheel for a band saw disposed on the band saw type cutting body, and a band saw type cutting blade of an annular structure disposed on the driving wheel for a band saw and the guiding wheel for a band saw.

9. The autonomous crop harvester of claim 8, further comprising a cutting edge tension adjustment device disposed on one side of the drive wheel for the band saw and one side of the guide wheel for the band saw, respectively, for adjusting tension of the power transmission device and the cutting edge of the band saw type.

10. The autonomous crop harvester according to claim 8 or 9, further comprising an angle adjusting device having one end disposed on the harvester moving device and a tail end disposed on the band saw type cutting machine body, the angle adjusting device being composed of a screw, the angle adjusting device adjusting the angle of the cutting tool through at least one arc-shaped long hole and a rotary center hole disposed on one side of the band saw type cutting machine body.