[0047] The following description serves to disclose the invention to enable those skilled in the art to practice the invention. The preferred embodiments described below are given by way of example only, and other obvious modifications will occur to those skilled in the art.
[0048] see Figure 1 to Figure 12 , an automatic harvesting device for Chinese medicinal material Solanum nigrum, comprising: a picking trolley 1, an automatic processing mechanism, and a feeding mechanism 6;
[0049] The automatic processing mechanism includes a shearing mechanism 3, a driving arm 2, a cleaning mechanism 4, and a picking mechanism 5;
[0050] The shearing mechanism 3 includes a fixed plate 3a1 and a shearing blade 3c1, the shearing blade 3c1 is arranged in the fixed plate 3a1, and the shearing blade 3c1 shears the whole Solanum nigrum;
[0051] A drive arm 2, the drive arm 2 includes a fixed disk 2a1 and a rotating disk 2a2, and the rotating disk 2a2 controls the rotation of the fixed disk 3a1;
[0052] The cleaning mechanism 4 includes a cleaning box 4a and a cleaning pipeline 4b, the cleaning pipeline 4b is arranged in the cleaning box 4a, and the cleaning box 4a cleans the Solanum nigrum cut by the shearing mechanism 3;
[0053] The picking mechanism 5 includes a picking box and a picking rod 5h, the picking rod 5h rotates in the picking box, and the picking rod 5h separates the fruit on the nightshade;
[0054] The blanking mechanism 6 is arranged on the side of the picking mechanism 5, and is used for receiving the Solanum nigrum fruit after picking from the picking mechanism 5, and completes the blanking work of the Solanum nigrum fruit;
[0055] The shearing mechanism 3 , the fixed plate 2a1 , the cleaning mechanism 4 , the picking mechanism 5 and the unloading mechanism 6 are respectively arranged on the picking trolley 1 .
[0056] A rotating roller is provided at the bottom of the picking trolley 1, so that the movement of the picking trolley can be controlled. The shearing control of nightshade can be cleaned by the cleaning box 4a, and the fruit of nightshade can be separated by the picking rod 5a provided in the picking box, which greatly improves the separation efficiency of nightshade.
[0057] see image 3 and Figure 4 , the shearing mechanism 3 includes a fixed assembly 3a, a movable assembly 3b, a shearing assembly 3c, an electric push rod 3d, a slip screen 3e, a support frame 3f, a conveying pipe 3g and a second feeding pipe 3h, the support frame 3f and the output of the driving arm 2 End connection, the support frame 3f is provided with a fixed component 3a and a leak screen 3e, a movable component 3b is rotatably connected in the fixed component 3a, a number of shear components 3c are rotatably connected on the movable component 3b, and the side of the movable component 3b is provided with a driving movable component. The electric push rod 3d of the component 3b is rotated in the fixed component 3a, the slippery net 3e is located at the bottom of the fixed component 3a, the slippery net 3e is provided with a first feeding pipe 3e1, and the first feeding pipe 3e1 The other end is connected to the second feeding pipe 3h provided on the picking trolley 1 .
[0058] The shearing mechanism 3 has a shearing opening. When the electric push rod 3d works, it drives the movable assembly 3b to rotate in the fixed assembly 3a. At the same time, during the rotation of the movable assembly 3b, each shearing assembly 3c rotates, so that the shearing assembly 3c rotates. The cutting assembly 3c opens or closes the cutting opening, the driving arm 2 lifts the cutting mechanism 3, the driving arm 2 lifts the cutting mechanism 3 to approach the end of the branch of the whole Solanum nigrum with cutting, and the cutting assembly 3c opens the cutting After the opening, the whole nightshade is extended into the cutting opening, the electric push rod 3d is operated to make the cutting component 3c close the cutting opening, and the whole nightshade is cut off by the cutting component 3c, and the nightshade falls off. It enters into the leakage mesh 3e at the bottom of the fixing assembly 3a, and enters the cleaning mechanism 4 along the first feeding pipe 3e1, the conveying pipe 3g, and the second feeding pipe 3h.
[0059] Specifically, see figure 1 , Figure 4 and Figure 12 , the fixed assembly 3a includes a connecting arm 3a2, a sliding hole 3a3, a movable hole 3a4 and a first shearing port 3a5, and the movable assembly 3b includes a movable disk 3b1, a limit groove 3b2, a second shearing port 3b3 and a movable protrusion 3b4. The cutting assembly 3c includes a pin post 3c2, a limit post 3c3 and a cutting edge 3c4. The central position of the fixed plate 3a1 is provided with a first cutting opening 3a5, and the outer edge of the first cutting opening 3a5 is connected to the fixed plate through several connecting arms 3a2. 3a1 is connected, each connecting arm 3a2 is provided with a sliding hole 3a3, the outer edge of the fixed plate 3a1 is provided with a movable hole 3a4, the movable plate 3b1 rotates in the fixed plate 3a1, and the center position of the movable plate 3b1 is provided with a A movable protrusion 3b4 matched with the cutting opening 3a5, the edge of the fixed plate 3a1 is provided with a movable protrusion 3b4 which slides in the movable hole 3a4, and the electric push rod 3d is arranged on the side of the first cutting opening 3a5 and pushes the electric push rod 3d. The output shaft of the rod 3d is connected with the movable protrusion 3b4 in a driving manner. The movable disc 3b1 is provided with limit slots 3b2 equal in number to the connecting arms 3a2, and the movable disc 3b1 is rotatably connected with shear blades 3c1 equal in number to the limit slots 3b2. The top end of the shearing blade 3c1 is provided with a limit post 3c3 which is slidingly matched with the limiting groove 3b2, the bottom end of the shearing blade 3c1 is provided with a pin 3c2 which is slidingly matched with the sliding hole 3a3, and the edge of the shearing blade 3c1 is provided with a pin 3c2. There is a cutting edge 3c4, and the cutting edge 3c4 between the shearing blades 3c1 is abutted and arranged;
[0060] The fixed plate 2a1 is provided with a first motor 2b for driving the rotation of the rotary plate 2a2, the rotary plate 2a2 is provided with a first support frame 2a3, and the first support frame 2a3 is provided with a first support frame 2a3. Two support frames 2a4, the second support frame 2a4 is provided with a third support frame 2a5, the rotary disk 2a2 is provided with a second motor 2b1 that drives the first support frame 2a3 to swing, the third support frame 2a5 A support frame 2a3 is provided with a third motor 2b2 that drives the second support frame 2a4 to rotate, and the second support frame 2a4 is provided with a fourth motor 2b3 that drives the third support frame 2a5 to rotate , the fixed plate 3a1 is arranged on the third support frame 2a5.
[0061] The first cutout 3a5 and the movable protrusion 3b4 constitute the cutout in this embodiment. When the electric push rod 3d works, the movable protrusion 3b4 is driven to slide in the movable hole 3a4, so that the movable plate 3b1 is in the fixed plate 3a1. Since the top end of the shearing blade 3c1 is provided with a limit post 3c3 which is slidingly matched with the limiting groove 3b2, the bottom end of the shearing blade 3c1 is provided with a pin 3c2 which is slidingly matched with the sliding hole 3a3. Under the guidance of the limiting groove 3b2, the shearing blades 3c1 slide on the movable plate 3b1, so that each shearing blade 3c1 shrinks or opens, so as to block or open the shearing opening. In this embodiment, the tip of the shearing blade 3c1 is The edge is provided with a cutting edge 3c4 for cutting branches, and when the shearing blade 3c1 shrinks, the nightshade of the whole plant can be cut;
[0062] Through the connection between the first support price reduction 2a3, the second support frame 2a4, and the third support frame 2a5, the position of the fixed plate 3a1 can be controlled, and the first motor 2b, the second motor 2b1, the third motor 2b1, and the third motor can be controlled. The coordinated rotation of 2b2 and the fourth motor 2b3 can further control the position of the fixed plate 3a1, so as to be able to harvest Solanum nigrum competitively.
[0063] see image 3 , the top of the fixed plate 3a1 is provided with a guide ring 3a6, the guide ring 3a6 is arranged in an inverted funnel shape, and the guide ring 3a6 is arranged on the periphery of the first cutting opening 3a5, the setting of the guide ring 3a6 plays a guiding role, which can guide the whole plant Nightshade enters the cut.
[0064] see Figure 5 and Image 6 , the cleaning mechanism 4 includes a circulating water tank 4c and a filter plate 4d, the cleaning box 4a is arranged on the picking trolley 1, and is arranged close to the driving arm 2, one end of the second feeding pipe 3h extends into the cleaning box 4a, and the cleaning box 4a is equipped with There are several cleaning pipes 4b, each cleaning pipe 4b is provided with several jet holes, the side of the cleaning tank 4a is provided with a circulating water tank 4c, the input end of the cleaning pipe 4b is connected with the output end of the circulating water tank 4c, and the cleaning pipe 4b The output end is connected to the input end of the circulating water tank 4c, the interior of the cleaning tank 4a is provided with an inclined filter plate 4d, and the interior of the cleaning tank 4a is provided with a return port, which communicates with the circulating water tank 4c.
[0065]When the whole nightshade enters the circulating water tank 4c along the first feeding pipe 3e1, the conveying pipe 3g and the first feeding pipe 3h, the whole nightshade falls on the inclined filter plate 4d, so that the The filter plate 4d continues to fall, the cleaning pipe 4b can clean the nightshade, and the sewage and impurities enter the bottom of the filter plate 4d through the filter holes provided on the filter plate 4d, and flow back into the circulating water tank 4c through the return port. The water tank 4c is filtered and purified for recycling.
[0066] see Figure 5 , Figure 7 , Figure 8 and Figure 9 , the picking mechanism 5 includes a transition pipe 5a, a fan 5b, a protective plate 5c and a picking assembly, the transition pipe 5a is arranged on the picking trolley 1, and is set close to the output end of the cleaning box 4a, and the input end of the transition pipe 5a is connected to the cleaning box 4a. The output end is connected, the bottom end of the transition duct 5a is provided with a fan 5b, the air outlet of the fan 5b is communicated with the interior of the transition duct 5a, and the air outlet of the fan 5b is provided with a protective plate 5c, and the side of the transition duct 5a is provided with picking components , the input end of the picking assembly is connected with the output end of the transition pipe 5a. The picking assembly includes a first motor 5d, a cam 5e, a guide box 5f, a rotating shaft 5g and a second motor 5i. The picking box is arranged on the picking trolley 1 and is set close to the transition duct 5a. The input end of the picking box is connected to the transition duct 5a. The output end is connected, the top of the picking box is symmetrically provided with two chutes, and the top of the picking box is symmetrically provided with two first motors 5d. Correspondingly, and the cam 5e slides in the chute, the bottom of the chute is provided with a guide box 5f, the guide box 5f is located inside the transition pipe 5a, and the guide box 5f is slidably connected with a rotating shaft 5g, and the rotating shaft 5g is vertically installed in the transition In the pipe 5a, two second motors 5i are symmetrically arranged on the inner bottom surface of the transition pipe 5a. The second motors 5i are in one-to-one correspondence with the rotating shaft 5g. The cam 5e is in contact and connected, the bottom end of the rotating shaft 5g is slidably connected with the output end of the second motor 5i, the rotating shaft 5g is provided with several rows of picking rods 5h, and the picking rods 5h of each row are distributed on the rotating shaft 5g in a circle, and Each picking rod 5h is extended along the radial direction of the rotating shaft 5g.
[0067] When the first motor 5d works, the cam 5e of the cam structure is driven to slide in the chute, and the cam 5e will be squeezed to the rotating shaft 5g, so that the rotating shaft 5g is guided in the vertical direction under the guidance of the guide box 5f, and drives the rotating shaft The 5g and the picking rod 5h are used for picking up and down floating toggle mode together to pick the nightshade. The guiding box 5f has a limiting effect on the rotating shaft 5g, so that the rotating shaft 5g can only move up and down in the preset vertical plane, which can avoid the rotating shaft. 5g produces movement in the horizontal direction, and the work is reliable and stable. Through the high-frequency up and down movement of the rotating shaft 5g and the picking rod 5h, the branches of nightshade are driven to move up and down. There are obvious differences in picking methods, the work is more reliable, and the stability is good, which can reduce the breakage rate of nightshade, and ensure the picking efficiency and the quality of the obtained fruit.
[0068] see Figure 10 and Figure 11 , in this embodiment, the output shaft of the second motor 5i is connected with an installation sleeve 5j, the installation sleeve 5j is provided with a slot 5k, and the bottom end of the rotating shaft 5g is provided with a plug board 5g1 that slides with the slot 5k , through the sliding fit between the insert plate 5g1 and the slot 5k on the mounting sleeve 5j, the rotating shaft 5g and the mounting sleeve 5j are always slidingly matched, and the rotating shaft 5g can also be prevented from moving in the horizontal direction, and the work is reliable and stable.
[0069] see Figure 5 and Figure 8 , the blanking mechanism 6 includes a buffer plate 6a, a blanking plate 6b, a mounting frame 6c, a spring 6d and a blanking pipe 6e, the inner bottom surface of the picking box is provided with a drop hole, and the drop hole is arranged in the center of the inner bottom surface of the transition pipe 5a Position, the rotating shaft 5g is symmetrically arranged on both sides of the drop hole, two buffer plates 6a are symmetrically arranged on both sides of the drop hole, the buffer plates 6a are arranged obliquely and are arranged in the transition pipe 5a, and the bottom end of the drop hole is provided with a harvester. The bottom of the drop hole is provided with a number of mounting brackets 6c, the mounting brackets 6c are symmetrically arranged on both sides of the drop hole, and a number of blanking plates 6b are hinged at the drop holes. 6b is in one-to-one correspondence with the mounting bracket 6c, the mounting bracket 6c is located at the top of the blanking plate 6b, at least one spring 6d is installed on the mounting bracket 6c, one end of the spring 6d is connected to the mounting bracket 6c, and the other end of the spring 6d is connected to the blanking plate 6b. Connecting, the blanking plate 6b is inclined, the upper part of the blanking plate 6b is hinged with the drop hole, the lower part of the blanking plate 6b is provided with a blanking pipe 6e, and the blanking pipe 6e is inclined and connected to the blanking plate 6b. The inclination direction is opposite, and there are several blanking slides 6e1 with arc-shaped longitudinal cross-sections on the blanking pipe 6e.
[0070] When the rotating shaft 5g and several rows of picking rods 5h installed on it continue to rotate, after the picking of the nightshade fruit is completed, the nightshade fruit will enter the blanking plate 6b installed at the drop hole along the buffer plate 6a , because the blanking plate 6b is installed on the spring 6d through the mounting frame 6c, and at the same time the blanking plate 6b is hinged with the drop hole, the blanking plate 6b can play a buffering role in the falling process of the solanum nigrum fruit. It falls into the unloading chute 6e1 of the unloading pipeline 6e, and falls to the harvesting port of the harvesting box along each unloading chute 6e1.
[0071] see figure 2 , the two sides of the harvest box are symmetrical with two harvest ports, and there are several hanging rods 6f at the harvest port. A harvest bag can be hung at the hanging rod 6f, which is used to hold the Solanum nigrum fruit that slips from the harvest port to complete full automation. harvesting work.
[0072] The working principle of the present invention: the overall structure of the automatic harvesting device is reasonable in design and simple in operation. The shearing mechanism 3 is driven by the driving arm 2 to carry out lifting movement to solve the problem of Solanum nigrum, and then the shearing port on the automatic harvesting device is switched and closed by the shearing mechanism 3. , to complete the shearing of the whole Solanum nigrum, and then the whole Solanum nigrum enters the cleaning mechanism 4 along the first feeding pipe 3e1, the conveying pipe 3g and the second feeding pipe 3h, and then attaches to the surface of the Solanum nigrum through the cleaning pipe 4b. Under the blowing of the fan 5b, the whole Solanum nigrum enters the picking box. When the first motor 5d works, the cam 5e of the cam structure is driven to slide in the chute, and the cam 5e will be squeezed to the rotating shaft 5g. , so that the rotating shaft 5g is guided by the guide box 5f to move in a vertical position, and the rotating shaft 5g and the picking rod 5h are driven to carry out the up and down floating toggle mode to pick Solanum nigrum, through the rotating shaft 5g and the picking rod 5h high The frequency moves up and down, which drives the branches of nightshade to move up and down. Due to the inertial force, the fruit of nightshade will break away from the branches and stalks. The picking method of vertical up and down vibration is obviously different from the traditional tapping method, and the work is more efficient. Reliable and stable, it can reduce the breakage rate of nightshade and ensure the picking efficiency and the quality of the obtained fruit.
[0073] This device/device/method realizes the function of the present invention through the following steps, and then solves the technical problem proposed by the present invention:
[0074] Step 1, operate the picking trolley 1 to drive the entire device to move, to assist the drive arm 2 to approach the nightshade to be cut;
[0075] Step 2, then operate the drive arm 2, drive the shearing mechanism 3 to be close to the nightshade, and the driving arm 2 is mainly used to lift and lower the shearing mechanism 3, so that the shearing mechanism 3 can be close to the nightshade;
[0076] Step 3, start the electric push rod 3d of the shearing mechanism 3. When the electric push rod 3d works, it drives the movable protrusion 3b4 to slide in the movable hole 3a4, so that the movable plate 3b1 rotates in the fixed plate 3a1, and the sliding hole 3a3 and the limit plate 3a1. Under the guidance of the position slot 3b2, the shearing blades 3c1 slide on the movable plate 3b1, so that each shearing blade 3c1 shrinks or opens, so as to block or open the shearing opening. The cutting edge 3c4 of cutting branches, when the cutting blade 3c1 shrinks, can cut off the whole nightshade.
[0077] Step 4, Solanum nigrum falls into the slippery net 3e at the bottom of the fixed assembly 3a, and enters the cleaning mechanism 4 along the first feeding pipe 3e1, the conveying pipe 3g, and the second feeding pipe 3h, and the whole Solanum nigrum falls into the cleaning mechanism 4. On the inclined filter plate 4d, the cleaning pipeline 4b can clean the nightshade, clean the nightshade, and remove the impurities on the surface of the nightshade;
[0078] Step 5, the whole Solanum nigrum after cleaning enters the picking box from the transition pipe 5a under the blowing of the fan 5b, the first motor 5d drives the cam 5e to slide in the chute, and the cam 5e will be squeezed to the rotating shaft 5g. , so that the rotating shaft 5g is guided by the guide box 5f to move in a vertical position, and the rotating shaft 5g and the picking rod 5h are driven to carry out the up and down floating toggle mode to pick Solanum nigrum, through the rotating shaft 5g and the picking rod 5h high The frequency moves up and down, which drives the branches of nightshade to move up and down, and the fruit of nightshade will break away from the branches and stems due to inertial force;
[0079] In step 6, the Solanum nigrum fruit will enter the blanking plate 6b installed at the drop hole along the buffer plate 6a, and the Solanum nigrum fruit will fall into the blanking chute 6e1 of the blanking pipe 6e, and follow each path. The unloading chute 6e1 is dropped to the harvesting port of the harvesting box, and the harvesting bag can be hung at the hanging rod 6f to complete the unloading of the Solanum nigrum fruit.
[0080] The foregoing has shown and described the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions describe only the principles of the present invention. Without departing from the spirit and scope of the present invention, there will be various Variations and improvements are intended to fall within the scope of the claimed invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.
