CN115500147B - Harvesting robot for industrial planting - Google Patents
Harvesting robot for industrial planting Download PDFInfo
- Publication number
- CN115500147B CN115500147B CN202211258741.0A CN202211258741A CN115500147B CN 115500147 B CN115500147 B CN 115500147B CN 202211258741 A CN202211258741 A CN 202211258741A CN 115500147 B CN115500147 B CN 115500147B
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- CN
- China
- Prior art keywords
- collecting barrel
- motor
- cutting knife
- outer cover
- lifting device
- 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.)
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- 238000003306 harvesting Methods 0.000 title claims abstract description 25
- 238000005520 cutting process Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 3
- 238000009966 trimming Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 6
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a harvesting robot for industrial planting, which comprises a guide vehicle, a lifting device, a collecting barrel device and a cutting knife device, wherein the guide vehicle is arranged on the collecting barrel device; the lifting device is arranged on the guide vehicle, the cutting knife device is arranged on one side of the lifting device, the cutting knife device is arranged above the collecting barrel device, and the cutting knife device is used for cutting crops. The harvesting device is used for harvesting crops, is suitable for harvesting the crops with the high planting frames, walks according to a set line through the guide vehicle, changes the height of the cutting knife device through the lifting device, meets the requirements of harvesting the crops with the planting frames at different heights, and places the harvested crops in the storage tank of the recovery tank.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a harvesting robot for industrial planting.
Background
Along with the shortage of land and the situation that crops cannot be planted in some severe environments, the environment is manually set and planted in a closed space, and nutrients, water, illumination and proper carbon dioxide required by the crops are independently supplied to the space, so that the method has become a development trend of modern planting industry; the method can isolate the influence of outdoor adverse environment, is convenient to control and manage, adopts a planting frame layer superposition structure, greatly saves land use area and realizes large-scale production.
Although the stacked planting of the planting frame layers can provide the planting quantity, the planting frame is usually up to several meters, so that the planting frame is inconvenient to plant or harvest by manpower, and the labor capacity is large, so that the development of automatic equipment for automatic harvesting is also important.
Disclosure of Invention
In view of the above, the application aims to overcome the defects in the prior art, and provides a harvesting robot for industrial planting, which comprises the following technical scheme:
a harvesting robot for industrialized planting comprises a guide vehicle, a lifting device, a collecting barrel device and a cutting knife device;
The lifting device is arranged on the guide vehicle, the cutting knife device is arranged on one side of the lifting device, the cutting knife device is arranged above the collecting barrel device, and the cutting knife device is used for cutting crops.
In one possible embodiment, the lifting device comprises a guide rail frame, a motor, a turbine screw lifter and a sliding table, wherein the bottom of the guide rail frame is arranged on the guide vehicle, the motor is arranged at the top of the guide rail frame and used for driving the turbine screw lifter, the turbine screw lifter is connected with the sliding table through a nut seat, two sides of the sliding table are respectively and slidably connected with two sides of the corresponding guide rail frame, and one side of the sliding table is connected with the cutting knife device.
In one possible embodiment, the collecting tank device comprises a bottom frame, a collecting tank and a bottom plate, wherein the bottom frame is arranged on the guide vehicle, the top and the bottom of the collecting tank are both open, the bottom of the collecting tank is arranged on the bottom frame, two sides of the bottom plate are in sliding connection with the inner side of the bottom frame, the bottom plate is used for sealing the bottom opening of the collecting tank, and one side of the bottom plate is further provided with a screw device which is used for driving the bottom plate to slide along the bottom frame.
In one possible embodiment, the cutter device comprises a rotation mechanism, a housing, a trimmer and a screw conveyor, one side of the rotation mechanism is connected with the lifting device, the other side of the rotation mechanism is connected with one end of the housing, the other end of the housing is provided with the trimmer, and the screw conveyor is arranged inside the housing.
In one possible embodiment, the swing mechanism includes a fixing seat, a swing motor, a swing seat and a rotating motor, one side of the fixing seat is connected with the lifting device, the other side of the fixing seat is provided with the swing motor, the swing motor is rotationally connected with the swing seat, two sides of the swing seat are respectively provided with the rotating motor and the outer cover, and the rotating motor is rotationally connected with the outer cover.
In one possible embodiment, the lead vehicle is a GAV cart.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
The harvesting device is used for harvesting crops, is suitable for harvesting the crops with the high planting frames, walks according to a set line through the guide vehicle, changes the height of the cutting knife device through the lifting device, meets the requirements of harvesting the crops with the planting frames at different heights, and places the harvested crops in the storage tank of the recovery tank.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic side view of the present invention.
Fig. 3 is an enlarged schematic view at a of fig. 1.
Fig. 4 is an enlarged schematic view at B of fig. 1.
Fig. 5 is a schematic structural view of the cutter device of the present invention.
Fig. 6 is a schematic structural view of the collecting barrel device of the present invention.
Reference numerals: 1-a guide vehicle; 2-lifting device; 3-a collecting barrel device; 4-a cutter device; 20-a guide rail frame; 21-a lifting motor; 22-turbine screw elevator; 23-sliding table; 30-a bottom frame; 31-a collection barrel; 32-a bottom plate; 40-fixing seat; 41-swinging motor; 42-swinging seat; 43-a rotating electric machine; 44-a housing; 45-pruning machine; 46-screw conveyor.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Example 1
Referring to fig. 1 to 4, a harvesting robot for industrialized planting according to a first embodiment includes a guiding vehicle 1, a lifting device 2, a collecting barrel device 3 and a cutter device 4; the lifting device 2 is arranged on the guide vehicle 1, the collecting barrel device 3 is arranged on one side of the lifting device 2, the cutting knife device 4 is arranged above the collecting barrel device 3, and the cutting knife device 4 is used for cutting crops; the lifting device 2 comprises a guide rail frame 20, a lifting motor 21, a turbine screw rod lifter 22 and a sliding table 23, wherein the bottom of the guide rail frame 20 is arranged on the guide vehicle 1, the lifting motor 21 is arranged at the top of the guide rail frame 20, the lifting motor 21 is used for driving the turbine screw rod lifter 22, the turbine screw rod lifter 22 is connected with the sliding table 23 through a nut seat, two sides of the sliding table 23 are respectively and slidably connected with two sides of the corresponding guide rail frame 20, and one side of the sliding table 23 is connected with the cutting knife device 4; the guide vehicle 1 is a GAV trolley.
In particular, the crop harvesting device of the invention can harvest pasture, rice, vegetables and the like, and consists of a guide vehicle 1, a lifting device 2, a collecting barrel device 3, a cutting knife device 4 and an electric control system, wherein the guide vehicle 1 selects an AGV trolley which is an automatic guide device and can run along a specified guide path to play a role of bearing and transferring equipment, the guide vehicle 1 is sequentially provided with the lifting device 2, the collecting barrel device 3, the cutting knife device 4 and the electric control system, the electric control system consists of a power supply and a control system, the power supply and the control system respectively provide power supply for each part, the lifting device 2 is arranged in the middle of the guide vehicle 1 and consists of a guide rail frame 20, a motor, a turbine screw lifter 22 and a sliding table 23, the guide rail frame 20 is of a rectangular frame structure, the bottom of the device is fixed on the guide car 1, sliding rails are arranged on two sides of the interior of the guide rail frame 20, rolling wheels are arranged on two sides of the sliding table 23 and are in sliding connection with the sliding rails on two sides of the interior of the guide rail frame 20, namely the sliding table 23 can slide up and down along the guide rail frame 20, a device for driving the sliding table 23 to slide up and down is composed of a lifting motor 21 and a turbine screw lifter 22, the turbine screw lifter 22 is a mature product in the prior art, the device is arranged on the top of the guide rail frame 20, a driving shaft of the turbine screw lifter 22 is connected with the lifting motor 21, the lifting motor 21 rotates to drive a turbine worm to rotate, torque is transmitted to a screw, the screw is connected with the sliding table 23 through a nut seat, the screw rotates to drive the sliding table 23 to slide up and down, the turbine screw lifter 22 has the characteristic of stable and accurate transmission, one side of the sliding table 23 in the embodiment is connected with the turbine screw lifter 22 through the nut seat, the other side is connected with a cutter device 4.
In an alternative scheme of the embodiment, the cutter device 4 comprises a revolving mechanism, a housing 44, a trimmer 45 and a screw conveyor 46, wherein one side of the revolving mechanism is connected with the lifting device 2, the other side of the revolving mechanism is connected with one end of the housing 44, the other end of the housing 44 is provided with the trimmer 45, and the screw conveyor 46 is arranged inside the housing 44; the swing mechanism comprises a fixed seat 40, a swing motor 41, a swing seat 42 and a rotating motor 43, one side of the fixed seat 40 is connected with the lifting device 2, the other side of the fixed seat 40 is provided with the swing motor 41, the swing motor 41 is rotationally connected with the swing seat 42, two sides of the swing seat 42 are respectively provided with the rotating motor 43 and an outer cover 44, and the rotating motor 43 is rotationally connected with the outer cover 44.
In specific implementation, referring to fig. 1-5, the cutter device 4 is composed of a revolving structure, an outer cover 44, a trimmer 45 and a screw conveyor 46, wherein the revolving structure plays a role in adjusting the position of the whole cutter device 4, and is used for collecting and releasing the cutter device 4, the revolving structure is composed of a fixed seat 40, a swinging motor 41, a swinging seat 42 and a rotating motor 43, one side of the fixed seat 40 is fixedly connected with the sliding table 23, the fixed seat 40 extends outwards away from the sliding table 23, the swinging motor 41 is arranged in the vertical direction of the extending direction of the fixed seat 40, namely, an output shaft of the swinging motor 41 is perpendicular to the fixed seat 40, the swinging seat 42 is sleeved on an output seat of the swinging motor 41, namely, when the swinging motor 41 rotates, the swinging seat 42 can do swinging motion along the vertical plane of the fixed seat 40, the rotating motor 43 and the outer cover 44 are respectively arranged at two sides of the top of the swinging seat 42, the rotating motor 43 is rotationally connected with the outer cover 44 through a rotary table, when the rotating motor 43 rotates, the outer cover 44 is driven to rotate, so that the overall direction of the outer cover 44 is changed, therefore, the outer cover 44, namely the position of the cutter device 4, can be integrally driven to change through the rotation of the swinging motor 41 and the rotating motor 43, the outer cover 44 is of a cylindrical hollow cylinder structure, when the outer cover 44 stands up, one side surface of the outer cover 44 is connected with a rotary structure, the other side is provided with a material dropping opening, a screw conveyor 46 is arranged along the height direction of the outer cover 44, namely the inside of the outer cover 44, the top of the outer cover 44 is provided with a square collecting opening, a trimmer 45 is arranged in the collecting opening, the trimmer 45 is also arranged along the height direction of the outer cover 44, the trimmer 45 is a mature product in the prior art, is composed of a motor and a serrated knife, the serrated knife is driven to move back and forth through the motor, realizing the cutting, screw conveyer 46 comprises screw conveyer pole and motor and broach that runs through the inside setting of dustcoat 44 and square material collecting port, the motor is installed in the bottom of dustcoat 44 to rotate with screw conveyer pole and be connected, be provided with the broach on the screw conveyer pole, when cutting knife device 4 during operation, adjust the cutting knife from vertical direction to the horizontal direction through revolution mechanic adjustment, when trimming machine 45 cuts off crops, crops drop in material collecting port department, screw conveyer 46 starts, the broach rotates along with the rotation, send the crops to the other end along dustcoat 44 inside from the tip of dustcoat 44, and hang to the collecting drum device 3 inside below cutting knife device 4 from the material drop port department on the dustcoat 44.
In an alternative scheme of this embodiment, the collecting tank device 3 includes a bottom frame 30, a collecting tank 31 and a bottom plate 32, the bottom frame 30 is disposed on the guiding vehicle 1, the top and the bottom of the collecting tank 31 are both opened, the bottom of the collecting tank 31 is disposed on the bottom frame 30, two sides of the bottom plate 32 are slidably connected with the inner side of the bottom frame 30, the bottom plate 32 is used for sealing the bottom opening of the collecting tank 31, and a screw device is further disposed on one side of the bottom plate 32 and is used for driving the bottom plate 32 to slide along the bottom frame 30.
In specific implementation, please refer to fig. 6, the collecting vessel 31 is composed of a bottom frame 30, a collecting vessel 31 and a bottom plate 32, the bottom frame 30 is fixedly mounted on the guiding vehicle 1, two sides of the inside of the bottom frame 30 are provided with sliding rails, two sides of the bottom plate 32 are respectively matched with the sliding rails on two sides, the sliding rails can slide along the bottom frame 30, the collecting vessel 31 is of a cuboid box structure, the bottom and the top are opened, the bottom is fixed on the bottom frame 30, the opening of the bottom is closed by the bottom plate 32, when the collecting vessel 31 is fully filled with materials, the guiding vehicle 1 is guided to a storage tank, the sliding bottom plate 32 can discharge the materials from the bottom of the collecting vessel 31, a driving piece for driving the bottom plate 32 to slide is a screw device, the screw device is composed of a motor, a screw and a nut seat, the motor is fixed at the bottom of the guiding vehicle 1, and the nut seat is fixed on the bottom plate 32 and connected with the screw through a coupling, so that the bottom plate 32 can be driven to slide relative to the bottom frame 30 through the screw device.
It is worth to say that the application also relates to the related sensor, camera and control device for realizing the automatic harvesting of the harvesting device, the structure and working principle thereof belong to the mature products in the prior art, and the application is not specifically described.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (4)
1. A harvesting robot for industrialization is planted, its characterized in that: comprises a guide vehicle (1), a lifting device (2), a collecting barrel device (3) and a cutter device (4);
The lifting device (2) and the collecting barrel device (3) are arranged on the guide vehicle (1), the cutting knife device (4) is arranged on one side of the lifting device (2), the cutting knife device (4) is positioned above the collecting barrel device (3), and the cutting knife device (4) is used for cutting crops;
the cutting knife device (4) comprises a rotation mechanism, an outer cover (44), a trimming machine (45) and a screw conveyor (46), one side of the rotation mechanism is connected with the lifting device (2), the other side of the rotation mechanism is connected with one end of the outer cover (44), the trimming machine (45) is arranged at the other end of the outer cover (44), and the screw conveyor (46) is arranged inside the outer cover (44);
The swing mechanism comprises a fixed seat (40), a swing motor (41), a swing seat (42) and a rotating motor (43), wherein one side of the fixed seat (40) is connected with the lifting device (2), the other side of the fixed seat (40) is provided with the swing motor (41), the swing motor (41) is rotationally connected with the swing seat (42), the rotating motor (43) and an outer cover (44) are respectively arranged on two sides of the swing seat (42), and the rotating motor (43) is rotationally connected with the outer cover (44).
2. A harvesting robot for industrial planting as defined by claim 1, wherein: lifting device (2) are including guide rail frame (20), promotion motor (21), turbine lead screw lift (22) and slip table (23), the bottom of guide rail frame (20) sets up on guide car (1), the top of guide rail frame (20) sets up promotion motor (21), promotion motor (21) are used for the drive turbine lead screw lift (22), turbine lead screw lift (22) pass through the nut seat with slip table (23) are connected, the both sides of slip table (23) respectively with the both sides sliding connection of corresponding guide rail frame (20), one side of slip table (23) with cutting knife device (4) are connected.
3. A harvesting robot for industrial planting as defined by claim 1, wherein: the collecting barrel device (3) comprises a bottom frame (30), a collecting barrel (31) and a bottom plate (32), wherein the bottom frame (30) is arranged on the guide vehicle (1), the top and the bottom of the collecting barrel (31) are both open, the bottom of the collecting barrel (31) is arranged on the bottom frame (30), two sides of the bottom plate (32) are in sliding connection with the inner side of the bottom frame (30), the bottom plate (32) is used for sealing the bottom opening of the collecting barrel (31), and one side of the bottom plate (32) is also provided with a screw device which is used for driving the bottom plate (32) to slide along the bottom frame (30).
4. A harvesting robot for industrial planting as defined by claim 1, wherein: the guide vehicle (1) is a GAV trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211258741.0A CN115500147B (en) | 2022-10-14 | 2022-10-14 | Harvesting robot for industrial planting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211258741.0A CN115500147B (en) | 2022-10-14 | 2022-10-14 | Harvesting robot for industrial planting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115500147A CN115500147A (en) | 2022-12-23 |
| CN115500147B true CN115500147B (en) | 2024-07-02 |
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ID=84510407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211258741.0A Active CN115500147B (en) | 2022-10-14 | 2022-10-14 | Harvesting robot for industrial planting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115500147B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679283A (en) * | 2019-09-25 | 2020-01-14 | 南京浦口科学城建设发展有限公司 | Efficient intelligent harvesting robot and application method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160100524A1 (en) * | 2014-10-08 | 2016-04-14 | Young Living Essential Oils, Lc | Harvester |
| CN212696780U (en) * | 2020-07-30 | 2021-03-16 | 李智军 | Vehicle-mounted hedge trimmer |
| CN215500507U (en) * | 2021-07-09 | 2022-01-14 | 扬州木森机电工程有限公司 | Plant harvesting device and plant harvesting device |
| CN215648351U (en) * | 2021-09-08 | 2022-01-28 | 山东奥唯克智能科技有限公司 | Multi-shaft multidirectional adjustable hedge trimmer |
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2022
- 2022-10-14 CN CN202211258741.0A patent/CN115500147B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679283A (en) * | 2019-09-25 | 2020-01-14 | 南京浦口科学城建设发展有限公司 | Efficient intelligent harvesting robot and application method thereof |
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| CN115500147A (en) | 2022-12-23 |
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