Pepper cultivation and harvesting integrated device

Abstract

The invention relates to the technical field of soilless culture, and discloses a pepper cultivation and harvesting integrated device which comprises a rail assembly, a bottom plate and a back plate, the lower end of the bottom plate is fixedly connected with two supports, the lower ends of the two supports are jointly and fixedly connected with a transverse plate, and the lower end of the bottom plate is provided with a driving mechanism; the driving mechanism is used for driving the bottom plate to move on the track assembly and can adapt to a line of the track assembly, a support is fixedly connected to the upper end of the bottom plate, a supporting bearing is fixedly connected to the upper end of the support, and a circular plate is fixedly connected to an inner ring of the supporting bearing. According to the pepper cultivation and harvesting integrated device, self-adaptive operation can be conducted according to different growth conditions and environmental nutrition parameters of pepper plants, the automatic picking function can be achieved after the plants are mature, the cultivation procedure of pepper planting can be completed by reducing manual operation, the actual use requirement and the practical requirement are effectively met, and the practicability is high. The production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of soilless cultivation, and particularly to an integrated device for pepper cultivation and harvesting. Background Art

[0002] Substrate cultivation is the most widely promoted method in soilless cultivation. It fixes the roots of crops in organic or inorganic substrates and supplies nutrient solutions to the crops by means of drip irrigation or trickle irrigation. The cultivation substrate can be filled into plastic bags or spread in cultivation ditches or troughs. The nutrient solution in substrate cultivation is not recycled, which is called an open circuit system. This can avoid the spread of diseases through the circulation of the nutrient solution. Substrate cultivation has a strong buffering capacity, no contradiction between water and nutrients, and the equipment is simpler than hydroponics and aeroponics. It even does not require power, so the investment is small and the cost is low, and it is widely used in production. Usually, soilless cultivation uses light materials such as peat, forest leaf mold, and vermiculite as seedling cultivation substrates to fix plants, allows the plant roots to directly contact the nutrient solution, and adopts a modern seedling cultivation technology of mechanized precise sowing for one-time seedling formation. The selected seedling trays are divided into compartments, with one seed sown in each compartment and one plant in each compartment. The roots of the formed seedlings are intertwined with the substrate, and the root ball is in the shape of a plug with a large top and a small bottom, generally called plug tray soilless seedling cultivation.

[0003] In traditional technologies, the plants still need to be manually picked during the subsequent mature harvesting process. However, limited by the uncontrollability brought by the plant distribution, its variety, or other planting factors, it is difficult to meet the real-time detection function only by manual judgment of its growth and cultivation effects. At the same time, it is also impossible to meet the requirements of water and fertilizer regulation and cultivation regulation for the current cultivation environment. For the actual use effect, its automation and efficiency functions are still not ideal. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the present invention provides an integrated device for pepper cultivation and harvesting, which solves the problems in traditional technologies that the plants still need to be manually picked during the subsequent mature harvesting process. However, limited by the uncontrollability brought by the plant distribution, its variety, or other planting factors, it is difficult to meet the real-time detection function only by manual judgment of its growth and cultivation effects. At the same time, it is also impossible to meet the requirements of water and fertilizer regulation and cultivation regulation for the current cultivation environment. For the actual use effect, its automation and efficiency functions are still not ideal.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solution: A chili cultivation and harvesting integrated device, including a track assembly, a bottom plate and a back plate. Two brackets are fixedly connected to the lower end of the bottom plate, and a cross plate is fixedly connected to the lower ends of the two brackets. A driving mechanism is arranged at the lower end of the bottom plate, and the driving mechanism is used to drive the bottom plate to move on the track assembly and can adapt to the line of the track assembly;

[0008] A support is fixedly connected to the upper end of the bottom plate, a support bearing is fixedly connected to the upper end of the support, a circular plate is fixedly connected to the inner ring of the support bearing, the upper end of the circular plate is fixedly connected to the lower end of the back plate, a frame is arranged on one side of the back plate, a telescopic arm is installed on one side of the frame, and an adjusting mechanism is installed in the frame. The adjusting mechanism is used to adjust the positions of the frame and the telescopic arm on the back plate to deal with chili plants of different heights;

[0009] One end of the telescopic arm is fixedly connected to a main shaft. A C-shaped frame is rotatably connected to the shaft wall of the main shaft through a rolling bearing. A rectangular sleeve is sleeved on the side wall of the C-shaped frame. One end of the rectangular sleeve is rotatably connected to a rectangular frame. A transmission mechanism is installed in the rectangular frame. Two clamping jaws are installed on the transmission mechanism. The transmission mechanism uses a flexible clamping force to assist in picking and harvesting chili peppers.

[0010] Preferably, the driving mechanism includes two differentials. Output shafts are fixedly connected to the output ends of the two differentials. Driving wheels are fixedly connected to the shaft walls of the two output shafts. The driving wheels are in contact with the upper end of the track assembly. An installation frame is fixedly connected to the lower end of the bottom plate. A driving motor is fixedly connected to one side of the installation frame. The output end of the driving motor is fixedly connected to a first worm. A first worm gear is meshed with the rod wall of the first worm. A cross shaft is fixedly connected to the center of the first worm gear. The shaft wall of the cross shaft is rotatably connected to the lower end of the bottom plate through a first bearing seat. A transmission shaft is arranged at the lower end of the bottom plate. Ball cage universal joints are installed at both ends of the transmission shaft. One of the ball cage universal joints is fixedly connected to the power input end of the differential, and the other ball cage universal joint is fixed to one end of the cross shaft;

[0011] A truss is fixedly connected to the upper end of the differential. The center of the truss is rotatably connected to the lower end of the bottom plate through a pin shaft. The output shaft is rotatably connected to the lower end of the truss through a second bearing seat.

[0012] Preferably, one side of the bracket is rotatably connected to an arm through a pin. A pressure roller is rotatably connected to one side of the arm through a rotating shaft. The pressure roller is in contact with the lower side of the track assembly. A tension spring is fixedly connected to one side of the arm. The lower end of the tension spring is fixedly connected to the upper end of the cross plate. A limiting roller is rotatably connected to one side of the bracket through a third bearing seat. The limiting roller is in contact with one side of the track assembly.

[0013] Preferably, the adjusting mechanism includes two side plates which are respectively fixed on opposite sides of the frame and rotatably connected with two driving shafts through ball bearings. Two spur gears are fixedly connected to the shaft walls of the driving shafts. A rack is meshed with one side of each of the two spur gears. The rack is fixed on one side of the back plate. A first reduction motor is fixedly connected to one side of one of the side plates, and an output end of the first reduction motor is fixedly connected to one end of one of the driving shafts;

[0014] One side of the side plate contacts the edge of the side plate. A limiting strip is slidably connected to one side of the back plate. The limiting strip is fixed on one side of the side plate and forms a sliding groove with the frame, and the sliding groove is matched with the edge of the back plate of the frame.

[0015] Preferably, a support block is rotatably connected to the frame through a support shaft. An arc-shaped rack is fixedly connected to one side of the support block. The arc-shaped rack is coaxial with the support shaft and meshed with a gear shaft. The gear shaft is rotatably connected to the frame through a rolling bearing. A second reduction motor is fixedly connected to one side of the frame, and an output end of the second reduction motor is fixedly connected to one end of the gear shaft.

[0016] Preferably, the telescopic arm includes two rectangular tubes. One ends of the two rectangular tubes are fixedly connected through a bent portion. Two rectangular rods are fixedly connected to one end of the support block. A connecting block is fixedly connected between the rod walls of the two support rods. One end of the connecting block is fixedly connected to a first electric push rod. An output end of the first electric push rod is fixed between the two rectangular tubes through a rectangular strip, and the rectangular rods are sleeved in the rectangular tubes.

[0017] Preferably, a second worm is rotatably connected to the C-shaped frame through a sealed bearing. A second worm gear is meshed with one side of the second worm. The second worm gear is coaxially fixed on the shaft wall of the main shaft. A first motor is fixedly connected to the C-shaped frame, and an output end of the first motor is fixedly connected to one end of the second worm. A second electric push rod is fixedly connected to the C-shaped frame. An output end of the second electric push rod is fixedly connected to a rectangular plate. The rectangular plate is fixed at an opening on one side of the rectangular sleeve. A steering gear is fixedly connected to one side of the rectangular plate. An output end of the steering gear penetrates through one side of the rectangular plate and is fixedly connected to one side of the rectangular frame.

[0018] Preferably, the transmission mechanism includes a bidirectional lead screw, which is rotatably connected to the rectangular frame through a ball bearing. Two threaded sleeves are threadedly connected to the rod wall of the bidirectional lead screw. One side of each of the two threaded sleeves is fixedly connected to a connecting piece, and one side of the connecting piece is fixedly connected to a rubber belt. A first gear is fixedly connected to the rod wall of the bidirectional lead screw, and a second gear is meshed with one side of the first gear. A second motor is fixedly connected to the inside of the rectangular frame, and the output end of the second motor is fixedly connected to one side of the second gear;

[0019] One side of the rectangular frame is hinged to one side of two clamping jaws through a pin. A groove is provided on one side of the clamping jaw, and a rectangular opening is provided on one side of the rectangular frame. One side of the rubber belt passes through the rectangular opening and extends into the groove, and one end of the rubber belt is fixedly connected to one side of the groove.

[0020] Preferably, a guide post is fixedly connected to the inside of the rectangular frame. The connecting piece is sleeved on the side wall of the guide post through a guide hole. Two guide sleeves are sleeved on the side wall of the guide post. One end of a pull rod is rotatably connected to one side of the clamping jaw through a connecting shaft after passing through the rectangular opening. A spring is sleeved on the side wall of the guide post. One end of the spring is fixedly connected to one side of the guide sleeve, and the other end of the spring is fixedly connected to the inner side of the rectangular frame;

[0021] A first support roller is rotatably connected to the groove on the clamping jaw, and a second support roller is rotatably connected to the rectangular opening. Both the first support roller and the second support roller are located on one side of the rubber belt. A plurality of protrusions are provided on the other side of the rubber belt. A push rod is fixedly connected to one side of the connecting piece, and the push rod is located on one side of the guide sleeve.

[0022] Preferably, an internal gear ring is fixedly connected to the inner ring of the support bearing. A third gear is meshed in the internal gear ring. A third reduction motor is fixedly connected to the upper end of the circular plate, and the output end of the third reduction motor penetrates through the side wall of the circular plate and is fixedly connected to the upper end of the third gear.

[0023] (III) Beneficial effects

[0024] Compared with the prior art, the present invention provides a chili cultivation and harvesting integrated device, which has the following beneficial effects:

[0025] 1. Assemble the track components according to the site. The track consists of a straight section and a curved section. After assembly, install the planting box, and then install the driving mechanism on the track components. When in use, the driving mechanism can drive the backboard, as well as the adjusting mechanism and telescopic arm installed on the backboard, to move on the track components. By means of the adjusting component, the positions of the frame and the telescopic arm can be adjusted to perform operations such as fertilizing, spraying pesticides, and watering pepper plants at different heights. By starting the first electric push rod, the rectangular tube can be directly pushed to slide on the rectangular rod. After the rectangular tube slides, the position of the clamping jaw can be adjusted to pick peppers at different positions. By starting the first motor to drive the second worm to rotate, when the second worm rotates, it rolls on the side wall of the second worm gear. At this time, the first worm can drive the C-shaped frame to rotate around the main shaft in the reverse direction, and the angle of the clamping jaw can be adjusted. At the same time, by starting the second electric push rod, the rectangular plate can be directly pushed to make the rectangular sleeve slide on the C-shaped frame, and the position of the clamping jaw can be adjusted. In addition, by starting the servo motor to rotate and drive the rectangular frame to rotate, when the rectangular frame rotates, it can drive the clamping jaw to rotate on the axis of the output shaft of the servo motor, so that the clamping jaw can operate at different heights and angles.

[0026] 2. The driving mechanism provided in the present invention, by starting the driving motor to drive the first worm to make the first worm gear rotate, the first worm gear rotates to drive the cross shaft to make the differential rotate through the ball cage universal joint and the transmission shaft. When the differential rotates, it drives the output shaft to make the driving wheel rotate. When the driving wheel rotates, it drives the bottom plate to move. At the same time, the tension spring pulls the support arm to swing so that the pressure roller contacts the track components, enabling the driving wheel to closely contact the track components. In addition, when moving to the curved section, the axis of the pin shaft is perpendicular to the axis of the output shaft and is located at the center of the track components. Therefore, when the truss swings around the pin shaft, the axis of the pin shaft is at the center of the curved section, enabling the driving mechanism to smoothly move on the track components.

[0027] 3. The adjusting mechanism provided in the present invention, when in use, start the first reduction motor to drive the drive shaft to make the spur gear rotate. The spur gear rotates to drive the side plate to make the frame move. The frame moves to drive the telescopic rod and the clamping jaw to move vertically. In this way, the position of the clamping jaw in the vertical direction can be adjusted. Start the second reduction motor to drive the gear shaft to rotate. The gear shaft rotates to drive the arc rack to rotate. The arc rack rotates to drive the telescopic arm and the clamping jaw to move. In this way, the clamping jaw can be retracted when the use is completed, and the height and angle of the clamping jaw can be assisted in adjusting. By starting the third reduction motor to drive the third gear to roll on the internal gear ring, at this time, the third gear and the output shaft of the third reduction motor can be used to drive the circular plate to make the inner ring of the support bearing rotate. In this way, the item clamped by the clamping jaw can be moved above the bottom plate and directly dropped into the storage basket.

[0028] 4. The transmission mechanism provided in the present invention, when in use, starts the second motor to drive the second gear to rotate the first gear. The rotation of the first gear drives the bidirectional screw to rotate. The rotation of the bidirectional screw drives the two threaded sleeves to move relatively. At this time, the movement of the threaded sleeve drives the rubber belt to move. Since the claw is connected by the ejector rod, and due to the spring pushing the guide sleeve to always maintain a tension on the ejector rod, when the rubber belt moves, it first tightens and straightens, and then overcomes the elastic force of the spring and continues to pull the claw to contract until the rubber belt first clamps the item. At this time, the effect of flexible clamping can be achieved. When the screw sleeve moves, it drives the ejector rod to squeeze the guide sleeve. When the guide sleeve receives the rigid thrust, it drives the pull rod to continue to pull the claw to increase the clamping force. At this time, the claw can provide a rigid clamping force for clamping heavy objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0030] Figure 2 is a schematic structural diagram of the driving mechanism, adjusting mechanism, telescopic arm and claw in an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0031] Figure 3 is a schematic structural diagram of the driving mechanism in an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0032] Figure 4 is a schematic structural diagram of the third reduction motor, support bearing, internal gear ring and third gear in an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0033] Figure 5 is a schematic structural diagram of the adjusting mechanism in an integrated device for pepper cultivation and harvesting proposed by the present invention Figure 1 ;

[0034] Figure 6 is a schematic structural diagram of the adjusting mechanism in an integrated device for pepper cultivation and harvesting proposed by the present invention Figure 2 ;

[0035] Figure 7 is a schematic structural diagram of the adjusting mechanism in an integrated device for pepper cultivation and harvesting proposed by the present invention Figure 3 ;

[0036] Figure 8 is a schematic structural diagram of the transmission mechanism and claw in an integrated device for pepper cultivation and harvesting proposed by the present invention Figure 1 ;

[0037] Figure 9 is a schematic structural diagram of the transmission mechanism and claw in an integrated device for pepper cultivation and harvesting proposed by the present invention Figure 2 ;

[0038] Figure 10 Schematic structural diagrams of the clamping jaws, transmission mechanism, C-shaped frame and rectangular sleeve in an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0039] Figure 11 Schematic structural diagrams of the track assembly and planting box in an integrated device for pepper cultivation and harvesting proposed by the present invention;

[0040] Figure 12 Schematic structural diagram of the track assembly in an integrated device for pepper cultivation and harvesting proposed by the present invention.

[0041] In the figure: 1, back plate; 2, frame; 3, second reduction motor; 4, rectangular rod; 5, rectangular tube; 6, rectangular sleeve; 7, clamping jaw; 8, third reduction motor; 9, support; 10, circular plate; 11, bottom plate; 12, cross plate; 13, pressure roller; 14, driving wheel; 15, track assembly; 16, first reduction motor; 17, first electric push rod; 18, side plate; 19, truss; 20, differential; 21, first worm gear; 22, driving motor; 23, first worm; 24, support; 25, limiting roller; 26, support arm; 27, tension spring; 28, support bearing; 29, third gear; 30, internal gear ring; 31, gear shaft; 32, arc rack; 33, rack bar; 34, spur gear; 35, limiting strip; 36, rubber belt; 37, second support roller; 38, guide sleeve; 39, bidirectional lead screw; 40, threaded sleeve; 41, second motor; 42, second gear; 43, first gear; 44, spring; 45, rectangular frame; 46, guide post; 47, first support roller; 48, pull rod; 49, ejector rod; 50, second electric push rod; 51, steering gear; 52, first motor; 53, second worm; 54, second worm gear; 55, C-shaped frame. Specific embodiments

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Embodiment 1: Refer to the attached Figures 1 to 12 , an integrated device for pepper cultivation and harvesting, including a track assembly 15, a bottom plate 11 and a back plate 1. Two supports 24 are fixedly connected to the lower end of the bottom plate 11, and a cross plate 12 is fixedly connected to the lower ends of the two supports 24. A driving mechanism is arranged at the lower end of the bottom plate 11, and the driving mechanism is used to drive the bottom plate 11 to move on the track assembly 15 and can adapt to the line of the track assembly 15;

[0044] A support 9 is fixedly connected to the upper end of the bottom plate 11. A support bearing 28 is fixedly connected to the upper end of the support 9. The inner ring of the support bearing 28 is fixedly connected with a circular plate 10. The upper end of the circular plate 10 is fixedly connected with the lower end of the back plate 1. One side of the back plate 1 is provided with a frame 2. A telescopic arm is installed on one side of the frame 2. An adjusting mechanism is installed in the frame 2. The adjusting mechanism is used to adjust the positions of the frame 2 and the telescopic arm on the back plate 1 to deal with pepper plants of different heights.

[0045] One end of the telescopic arm is fixedly connected with a main shaft. A C-shaped frame 55 is rotatably connected to the shaft wall of the main shaft through a rolling bearing. A rectangular sleeve 6 is sleeved on the side wall of the C-shaped frame 55. The telescopic arm includes two rectangular tubes 5. One ends of the two rectangular tubes 5 are fixedly connected through a bending part. One end of the support block is fixedly connected with two rectangular rods 4. A connecting block is fixedly connected between the rod walls of the two support rods. One end of the connecting block is fixedly connected with a first electric push rod 17. The output end of the first electric push rod 17 is fixed between the two rectangular tubes 5 through a rectangular strip. The rectangular rod 4 is sleeved in the rectangular tube 5. A second worm 53 is rotatably connected to the C-shaped frame 55 through a sealed bearing. A second worm gear 54 is engaged with one side of the second worm 53. The second worm gear 54 is coaxially fixed on the shaft wall of the main shaft. A first motor 52 is fixedly connected in the C-shaped frame 55. The output end of the first motor 52 is fixedly connected with one end of the second worm 53. A second electric push rod 50 is fixedly connected in the C-shaped frame 55. The output end of the second electric push rod 50 is fixedly connected with a rectangular plate. The rectangular plate is fixed at the opening on one side of the rectangular sleeve 6. A steering gear 51 is fixedly connected to one side of the rectangular plate. The output end of the steering gear 51 penetrates through one side of the rectangular plate and is fixedly connected with one side of the rectangular frame 45.

[0046] One end of the rectangular sleeve 6 is rotatably connected with a rectangular frame 45. A transmission mechanism is installed in the rectangular frame 45. The transmission mechanism is provided with two clamping claws 7. The transmission mechanism uses a flexible clamping force to assist in picking and harvesting peppers.

[0047] This device adopts an intelligent control system including a control host, a video collector, a position sensor, a torque sensor, an infrared ranging sensor, etc. This technology has been widely used in life and is already known to those skilled in the art, so no more details will be given.

[0048] Refer to Figure 11 and Figure 12, the track assembly 15 can be assembled according to the site. The track is composed of a straight part and a curved part. After assembly, the planting box is installed, and then the driving mechanism is installed on the track assembly 15. During use, the driving mechanism can drive the back plate 1 and the adjusting mechanism and telescopic arm installed on the back plate 1 to move on the track assembly 15. The positions of the frame 2 and the telescopic arm are adjusted through the adjusting assembly to perform operations such as fertilizing, spraying pesticides, and watering pepper plants at different heights. By starting the first electric push rod 17, the rectangular tube 5 can be directly pushed to slide on the rectangular rod 4. After the rectangular tube 5 slides, the position of the clamping jaw 7 can be adjusted to pick peppers at different positions. By starting the first motor 52 to drive the second worm 53 to rotate, when the second worm 53 rotates, it rolls on the side wall of the second worm gear 54. At this time, the first worm 23 can drive the C-shaped frame 55 to rotate around the main shaft in the reverse direction. At this time, the angle of the clamping jaw 7 can be adjusted. At the same time, by starting the second electric push rod 50, the rectangular plate can be directly pushed to make the rectangular sleeve 6 slide on the C-shaped frame 55. At this time, the position of the clamping jaw 7 can be adjusted. In addition, by starting the servo motor 51 to rotate and drive the rectangular frame 45 to rotate, when the rectangular frame 45 rotates, it can drive the clamping jaw 7 to rotate on the axis of the output shaft of the servo motor 51, so that the clamping jaw 7 can operate at different heights and different angles.

[0049] Embodiment 2: Different from Embodiment 1;

[0050] Refer to the appendix Figure 2 and Figure 3 , the driving mechanism includes two differentials 20. The output ends of the two differentials 20 are fixedly connected with output shafts. Driving wheels 14 are fixedly connected to the shaft walls of the two output shafts. The driving wheels 14 are in contact with the upper end of the track assembly 15. The lower end of the bottom plate 11 is fixedly connected with a mounting frame. One side of the mounting frame is fixedly connected with a driving motor 22. The output end of the driving motor 22 is fixedly connected with a first worm 23. A first worm gear 21 is meshed on the rod wall of the first worm 23. A cross shaft is fixedly connected to the center of the first worm gear 21. The shaft wall of the cross shaft is rotationally connected to the lower end of the bottom plate 11 through a first bearing seat. A transmission shaft is arranged at the lower end of the bottom plate 11. Constant velocity joints are installed at both ends of the transmission shaft. One of the constant velocity joints is fixedly connected to the power input end of the differential 20, and the other constant velocity joint is fixed to one end of the cross shaft;

[0051] The upper end of the differential 20 is fixedly connected with a truss 19. The center of the truss 19 is rotatably connected to the lower end of the bottom plate 11 through a pin shaft. The output shaft is rotatably connected to the lower end of the truss 19 through a second bearing block. One side of the bracket 24 is rotatably connected with an arm 26 through a pin. One side of the arm 26 is rotatably connected with a pressure roller 13 through a rotating shaft. The pressure roller 13 contacts the lower side of the track assembly 15. One side of the arm 26 is fixedly connected with a tension spring 27. The lower end of the tension spring 27 is fixedly connected with the upper end of the cross plate 12. One side of the bracket 24 is rotatably connected with a limiting roller 25 through a third bearing block. The limiting roller 25 contacts one side of the track assembly 15.

[0052] The driving mechanism provided in the present invention starts the driving motor 22 to drive the first worm 23 to rotate the first worm gear 21. The rotation of the first worm gear 21 drives the horizontal shaft to rotate the differential 20 through a constant velocity joint and a transmission shaft. When the differential 20 rotates, it drives the output shaft to rotate the driving wheel 14. When the driving wheel 14 rotates, it drives the bottom plate 11 to move. At the same time, the tension spring 4427 pulls the arm 26 to swing so that the pressure roller 13 contacts the track assembly 15, enabling the driving wheel 14 to closely contact the track assembly 15. In addition, when moving to the curved section, the axis of the pin shaft is perpendicular to the axis of the output shaft and is located at the center of the track assembly 15. Therefore, when the truss 19 swings around the pin shaft, the axis of the pin shaft is at the center of the curved section, enabling the driving mechanism to smoothly move on the track assembly 15.

[0053] Embodiment 3: Different from Embodiment 1;

[0054] Refer to the appendix Figures 5 to 7 , the adjusting mechanism includes two side plates 18. The two side plates 18 are respectively fixed on the opposite sides of the frame 2 and rotatably connected with two driving shafts through ball bearings. Two spur gears 34 are fixedly connected to the shaft walls of the driving shafts. One side of each of the two spur gears 34 meshes with a rack 33. The rack 33 is fixed on one side of the back plate 1. One side of one of the side plates 18 is fixedly connected with a first reduction motor 16. The output end of the first reduction motor 16 is fixedly connected with one end of one of the driving shafts. One side of the side plate 18 contacts the edge of the side plate 18. One side of the back plate 1 is slidably connected with a limiting strip 35. The limiting strip 35 is fixed on one side of the side plate 18 and forms a sliding groove with the frame 2. The sliding groove cooperates with the edge of the back plate 1 of the frame 2.

[0055] A support block is rotatably connected within a frame 2 through a support shaft. A curved rack 32 is fixedly connected to one side of the support block. The curved rack 32 is coaxial with the support shaft and meshes with a gear shaft 31. The gear shaft 31 is rotatably connected within the frame 2 through a rolling bearing. A second reduction motor 3 is fixedly connected to one side of the frame 2. The output end of the second reduction motor 3 is fixedly connected to one end of the gear shaft 31. The inner ring of a support bearing 28 is fixedly connected with an internal gear ring 30. A third gear 29 meshes within the internal gear ring 30. The upper end of a circular plate 10 is fixedly connected with a third reduction motor 8. The output end of the third reduction motor 8 penetrates through the side wall of the circular plate 10 and is fixedly connected to the upper end of the third gear 29.

[0056] The adjustment mechanism provided in the present invention, when in use, starts the first reduction motor 16 to drive the drive shaft to rotate the spur gear 34. The rotation of the spur gear 34 drives the side plate 18 to move the frame 2. The movement of the frame 2 drives the telescopic rod and the jaw 7 to move vertically. In this way, the vertical position of the jaw 7 can be adjusted. Start the second reduction motor 3 to drive the gear shaft 31 to rotate. The rotation of the gear shaft 31 drives the curved rack 32 to rotate. The rotation of the curved rack 32 drives the telescopic arm and the jaw 7 to move. In this way, the jaw 7 can be retracted when the use is completed, and the height and angle of the jaw 7 can be assisted in adjusting. By starting the third reduction motor 8 to drive the third gear 29 to roll on the internal gear ring 30, at this time, the circular plate 10 can be driven by the third gear 29 and the output shaft of the third reduction motor 8 to rotate the inner ring of the support bearing 28. In this way, the item clamped by the jaw 7 can be moved above the bottom plate 11 and directly dropped into a storage basket (not shown in the figure).

[0057] Example 4: Different from Example 1;

[0058] Refer to the appendix Figures 8 to 10 , the transmission mechanism includes a bidirectional lead screw 39. The bidirectional lead screw 39 is rotatably connected within a rectangular frame 45 through a ball bearing. Two threaded sleeves 40 are threadedly connected to the rod wall of the bidirectional lead screw 39. A connecting piece is fixedly connected to one side of each of the two threaded sleeves 40. A rubber belt 36 is fixedly connected to one side of the connecting piece. A first gear 43 is fixedly connected to the rod wall of the bidirectional lead screw 39. A second gear 42 meshes with one side of the first gear 43. A second motor 41 is fixedly connected within the rectangular frame 45. The output end of the second motor 41 is fixedly connected to one side of the second gear 42;

[0059] One side of the rectangular frame 45 is hinged to one side of two clamping jaws 7 through a shaft pin. A groove is provided on one side of the clamping jaw 7, and a rectangular opening is formed on one side of the rectangular frame 45. One side of the rubber belt 36 passes through the rectangular opening and extends into the groove. One end of the rubber belt 36 is fixedly connected to one side of the groove. A guide post 46 is fixedly connected inside the rectangular frame 45. The connecting piece is sleeved on the side wall of the guide post 46 through a guide hole. Two guide sleeves 38 are sleeved on the side wall of the guide post 46. One end of a pull rod 48 is rotatably connected to the side wall of each of the two guide sleeves 38 through a connecting pin. One end of the pull rod 48 passes through the rectangular opening and is rotatably connected to one side of the clamping jaw 7 through a connecting shaft. A spring 44 is sleeved on the side wall of the guide post 46. One end of the spring 44 is fixedly connected to one side of the guide sleeve 38, and the other end of the spring 44 is fixedly connected to the inner side of the rectangular frame 45. A first support roller 47 is rotatably connected in the groove on the clamping jaw 7, and a second support roller 37 is rotatably connected in the rectangular opening. Both the first support roller 47 and the second support roller 37 are located on one side of the rubber belt 36. A plurality of protrusions are provided on the other side of the rubber belt 36. A push rod 49 is fixedly connected to one side of the connecting piece. The push rod 49 is located on one side of the guide sleeve 38.

[0060] The transmission mechanism provided in the present invention, when in use, starts the second motor 41 to drive the second gear 42 to rotate the first gear 43. The rotation of the first gear 43 drives the bidirectional lead screw to rotate. The rotation of the bidirectional lead screw 39 drives the two threaded sleeves 40 to move relatively. At this time, the movement of the threaded sleeve 40 drives the rubber belt 36 to move. Since the clamping jaw is connected by the push rod 49, and since the spring 44 pushes the guide sleeve 38 to always maintain a tension on the push rod 49, when the rubber belt 36 moves, it first tightens and straightens, and then overcomes the elastic force of the spring 44 and continues to pull the clamping jaw 7 to contract until the rubber belt 36 first clamps the article. At this time, the effect of flexible clamping can be achieved. When the screw sleeve moves, it drives the push rod 49 to squeeze the guide sleeve 38. When the guide sleeve 38 receives a rigid thrust, it drives the pull rod 48 to continue to pull the clamping jaw 7 to increase the clamping force. At this time, the clamping jaw 7 can provide a rigid clamping force for clamping heavy objects.

[0061] It should be noted that the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0062] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pepper cultivation and harvesting integrated device, comprising a track assembly (15), a bottom plate (11) and a back plate (1), characterized in that: The lower end of the base plate (11) is fixedly connected to two brackets (24), the lower ends of the two brackets (24) are commonly fixedly connected to a transverse plate (12), and the lower end of the base plate (11) is provided with a driving mechanism, which is used to drive the base plate (11) to move on the track assembly (15) and can adapt to the line of the track assembly (15); The upper end of the bottom plate (11) is fixedly connected to a support (9), the upper end of the support (9) is fixedly connected to a support bearing (28), the inner ring of the support bearing (28) is fixedly connected to a circular plate (10), the upper end of the circular plate (10) is fixedly connected to the lower end of the back plate (1), a frame (2) is provided on one side of the back plate (1), a telescopic arm is installed on one side of the frame (2), an adjustment mechanism is installed in the frame (2), and the adjustment mechanism is used to adjust the position of the frame (2) and the telescopic arm on the back plate (1) to cope with pepper plants of different heights; One end of the telescopic arm is fixedly connected to a main shaft, a C-shaped frame (55) is rotatably connected to the shaft wall of the main shaft via a rolling bearing, a rectangular sleeve (6) is sleeved on the side wall of the C-shaped frame (55), one end of the rectangular sleeve (6) is rotatably connected to a rectangular frame (45), a transmission mechanism is installed in the rectangular frame (45), the transmission mechanism is installed with two clamping claws (7), and the transmission mechanism is used to assist in picking and harvesting peppers through a flexible clamping force.

2. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: The driving mechanism comprises two differentials (20), the output ends of the two differentials (20) are fixedly connected to output shafts, the shaft walls of the two output shafts are fixedly connected to driving wheels (14), the driving wheels (14) are in contact with the upper end of the track assembly (15), the lower end of the base plate (11) is fixedly connected to a mounting frame, one side of the mounting frame is fixedly connected to a driving motor (22), the output end of the driving motor (22) is fixedly connected to a first worm (23), and the A first worm wheel (21) is meshed with the rod wall of the first worm gear (23), a transverse axis is fixedly connected to the center of the first worm wheel (21), the axis wall of the transverse axis is rotatably connected to the lower end of the base plate (11) through a first bearing seat, a transmission shaft is arranged at the lower end of the base plate (11), both ends of the transmission shaft are equipped with ball cage type universal joints, one of the ball cage type universal joints is fixedly connected to the power input end of the differential (20), and the other ball cage type universal joint is fixed to one end of the transverse axis; The upper end of the differential (20) is fixedly connected to a truss (19), the center of the truss (19) is rotatably connected to the lower end of the base plate (11) via a pin, and the output shaft is rotatably connected to the lower end of the truss (19) via a second bearing seat.

3. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: One side of the bracket (24) is rotatably connected to a support arm (26) via a pin, and one side of the support arm (26) is rotatably connected to a pressure roller (13) via a rotating shaft, and the pressure roller (13) contacts the lower side of the track assembly (15). One side of the support arm (26) is fixedly connected to a tension spring (27), and the lower end of the tension spring (27) is fixedly connected to the upper end of the cross plate (12). One side of the bracket (24) is rotatably connected to a limiting roller (25) via a third bearing seat, and the limiting roller (25) contacts one side of the track assembly (15).

4. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: The adjustment mechanism comprises two side plates (18), the two side plates (18) are respectively fixed on opposite sides of the frame (2) and are rotatably connected to two drive shafts via ball bearings, two spur gears (34) are fixedly connected to the shaft walls of the drive shafts, one side of the two spur gears (34) is meshed with a gear rod (33), the gear rod (33) is fixed to one side of the back plate (1), one side of one of the side plates (18) is fixedly connected to a first reduction motor (16), and the output end of the first reduction motor (16) is fixedly connected to one end of one of the drive shafts; One side of the side panel (18) contacts the edge of the side panel (18), and one side of the back panel (1) is slidably connected to a limit strip (35). The limit strip (35) is fixed to one side of the side panel (18) and forms a slide groove with the frame (2). The slide groove cooperates with the edge of the back panel (1) of the frame (2).

5. The integrated pepper cultivation and harvesting device according to claim 4, characterized in that: A support block is rotatably connected to the frame (2) via a support shaft, an arc-shaped rack (32) is fixedly connected to one side of the support block, the arc-shaped rack (32) is coaxial with the support shaft and meshes with a gear shaft (31), the gear shaft (31) is rotatably connected to the frame (2) via a rolling bearing, a second reduction motor (3) is fixedly connected to one side of the frame (2), and an output end of the second reduction motor (3) is fixedly connected to one end of the gear shaft (31).

6. The integrated pepper cultivation and harvesting device according to claim 5, characterized in that: The telescopic arm comprises two rectangular tubes (5), one end of the two rectangular tubes (5) are fixedly connected via a bending portion, one end of the support block is fixedly connected to two rectangular rods (4), a connecting block is fixedly connected between the rod walls of the two support rods, one end of the connecting block is fixedly connected to a first electric push rod (17), an output end of the first electric push rod (17) is fixed between the two rectangular tubes (5) via a rectangular bar, and the rectangular rod (4) is sleeved in the rectangular tube (5).

7. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: A second worm (53) is rotatably connected in the C-shaped frame (55) via a sealed bearing, a second worm wheel (54) is meshed on one side of the second worm (53), and the second worm wheel (54) is coaxially fixed on the shaft wall of the main shaft. A first motor (52) is fixedly connected in the C-shaped frame (55), and an output end of the first motor (52) is fixedly connected to one end of the second worm (53). A second electric push rod (50) is fixedly connected in the C-shaped frame (55), and an output end of the second electric push rod (50) is fixedly connected to a rectangular plate, and the rectangular plate is fixed at an opening on one side of the rectangular sleeve (6). A steering gear (51) is fixedly connected to one side of the rectangular plate, and an output end of the steering gear (51) passes through one side of the rectangular plate and is fixedly connected to one side of the rectangular frame (45).

8. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: The transmission mechanism comprises a bidirectional screw rod (39), the bidirectional screw rod (39) is rotatably connected in a rectangular frame (45) via a ball bearing, two threaded sleeves (40) are threadedly connected on the rod wall of the bidirectional screw rod (39), one side of the two threaded sleeves (40) are fixedly connected with a connecting piece, one side of the connecting piece is fixedly connected with a rubber belt (36), a first gear (43) is fixedly connected to the rod wall of the bidirectional screw rod (39), one side of the first gear (43) is meshed with a second gear (42), a second motor (41) is fixedly connected in the rectangular frame (45), and an output end of the second motor (41) is fixedly connected to one side of the second gear (42); One side of the rectangular frame (45) is hinged to one side of two clamping jaws (7) via an axle pin, one side of the clamping jaw (7) is provided with a groove, one side of the rectangular frame (45) is provided with a rectangular opening, one side of the rubber belt (36) passes through the rectangular opening and extends into the groove, and one end of the rubber belt (36) is fixedly connected to one side of the groove.

9. The integrated pepper cultivation and harvesting device according to claim 8, characterized in that: A guide column (46) is fixedly connected inside the rectangular frame (45), and the connecting piece is sleeved with the side wall of the guide column (46) through a guide hole. Two guide sleeves (38) are sleeved on the side wall of the guide column (46), and the side walls of the two guide sleeves (38) are rotatably connected with a pull rod (48) through a connecting pin. One end of the pull rod (48) passes through the rectangular opening and is rotatably connected to one side of the clamp (7) through a connecting shaft. A spring (44) is sleeved on the side wall of the guide column (46), and one end of the spring (44) is fixedly connected to one side of the guide sleeve (38), and the other end of the spring (44) is fixedly connected to the inner side of the rectangular frame (45); A first support roller (47) is rotatably connected in the groove on the clamping jaw (7), and a second support roller (37) is rotatably connected in the rectangular opening. The first support roller (47) and the second support roller (37) are both located on one side of the rubber belt (36), and a plurality of protrusions are provided on the other side of the rubber belt (36). A push rod (49) is fixedly connected to one side of the connecting piece, and the push rod (49) is located on one side of the guide sleeve (38).

10. The integrated pepper cultivation and harvesting device according to claim 1, characterized in that: The inner ring of the support bearing (28) is fixedly connected to an inner gear ring (30), a third gear (29) is meshed in the inner gear ring (30), the upper end of the circular plate (10) is fixedly connected to a third reduction motor (8), and the output end of the third reduction motor (8) passes through the side wall of the circular plate (10) and is fixedly connected to the upper end of the third gear (29).

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