An unmanned remote-controlled corn total harvester robot system

Abstract

The present invention relates to an unmanned, remote-controlled, fully robotic corn harvesting system. The system includes a corn stalk clamping and cutting mechanism, a leaf and ear removal mechanism, and a hard knot and husk removal mechanism. This fully electric drive system, energy-efficient and emission-reducing, enables the harvesting of corn, vertical clamping of corn stalks, component separation, and storage in the field.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of unmanned remote control corn full harvesting robot system. BACKGROUND

[0002] In traditional corn harvesting industry, traditional corn harvester is bulky, and only corn fruit and corn stalk can be separated during work, and corn stalk is usually crushed and returned to field or collected to make silage feed, without maximizing the use of corn stalk resources, resulting in waste of many resources.

[0003] The present application combines corn stalk harvesting, corn fruit harvesting, corn stalk leaf, ear and hard node component separation together.

[0004] The present application integrates corn stalk storage and component separation together, and harvests corn in one step in the field, reduces the field consumption required for corn stalk treatment in corn stalk comprehensive utilization industrial park, and saves the land area of industrial park.

[0005] The existing traditional corn harvesting equipment is only limited to harvesting corn fruit on corn stalk in the field, and crushing corn stalk to make silage fermentation feed or crushing and returning to field, which cannot maximize the use of corn stalk resources. SUMMARY

[0006] The present application aims to overcome the shortcomings of the prior art, and proposes an unmanned remote control corn full harvesting robot system. Through corn harvesting, corn stalk recycling and corn stalk component separation, personnel labor can be saved, site can be saved, equipment can be increased, corn harvesting efficiency can be improved, and corn stalk resource utilization can be increased.

[0007] To achieve the above object, the present application adopts the following scheme.

[0008] An unmanned remote control corn full harvesting robot system includes an unmanned remote control robot and a field station, wherein the unmanned remote control robot includes a corn stalk clamping and cutting mechanism, a corn stalk leaf and fruit removing mechanism, a hard node and ear removing mechanism, and the field station includes a component crushing mechanism, an expansion mechanism and a granulation mechanism.

[0009] Further, the unmanned remote control robot is driven by electricity to harvest and separate components of corn stalk in farmland.

[0010] Further, the unmanned remote control robot, when working, the corn stalk leaf and ear device composed of driving rotating rubber roller and driven rotating rubber roller twists and cuts off the leaf and ear of corn stalk by using the friction force of rubber roller after cutting device cuts off corn stalk from root.

[0011] Further, the driven rubber roller of the corn stalk leaf and ear removing device of the unmanned remote control robot is in the shape of a hand, so that the corn ear will not be crushed by the excessive extrusion force of the driven rubber roller when the corn stalk enters the corn stalk leaf and ear removing device.

[0012] Further, the corn stalk leaf and ear removing device of the unmanned remote control robot twists and cuts off the corn stalk leaf and ear, and then the rotated lever pushes the corn stalk with the removed leaf and ear into the hard node and cob separating device.

[0013] Further, the corn stalk leaf and ear removing device of the unmanned remote control robot rotates the twisted leaf and ear upward to the top rotating transmission device by the friction force generated by the rotation of the driving rubber roller and the driven rubber roller.

[0014] Further, the top rotating transmission device of the unmanned remote control robot transmits the corn stalk leaf and ear to the rear and sends them into the filter screen, and the gap of the screen can separate the corn stalk leaf and ear.

[0015] Further, the corn stalk leaf and ear removing mechanism of the unmanned remote control robot sends the corn stalk into the cob and hard node removing mechanism after removing the leaf and ear of the corn stalk.

[0016] Further, the hard node and cob separating device of the unmanned remote control robot is composed of three pairs of transmission wheels, a supporting wheel, a hard node removing cutter and a cob separating and scraping integrated cutter.

[0017] Further, the cob and hard node removing mechanism of the unmanned remote control robot is composed of a scraping and cutting integrated cutter, an elastic self-adaptive device, a double cutter, a limiting device and the like to complete the steps of clamping, hard node removing and cob removing.

[0018] Further, the cob and hard node removing mechanism of the unmanned remote control robot clamps the corn stalk with removed leaf and ear, sends it into the double cutter part of the hard node removing mechanism, and the elastic self-adaptive roller instantaneously deforms when rolling through the hard node of the corn stalk, and the double cutter works to cut off the hard node of the corn stalk.

[0019] Further, the cob and hard node removing mechanism of the unmanned remote control robot cuts off the hard node of the corn stalk by the double cutter, and then sends the corn stalk with cut off hard node into the cob separating mechanism by the transmission wheel, and the scraping and cutting integrated cutter of the cob removing mechanism is connected with the elastic self-adaptive connecting rod, the scraping and cutting integrated cutter cuts from the center line of the corn stalk after hard node removing, and the double plow-shaped blade cuts and scrapes the cob from the corn stalk skin while cutting the corn stalk.

[0020] Furthermore, the corn stalk leaf and fruit removal mechanism and the corn stalk husk and hard knot removal mechanism of the unmanned remote-controlled robot separate the various components of the corn stalk, store the various components in transportation equipment, and send them to the workstation at the end of the field.

[0021] Furthermore, the field workstation of the unmanned remote-controlled robot system includes an expanding granulator, a crusher and a briquetting machine.

[0022] Furthermore, the field workstation of the unmanned remote control system crushes and expands the various components of the harvested corn stalks and then granulates them, which facilitates the transportation and processing of the corn stalks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of the main body of the unmanned remote-controlled robot for field operation of the present invention.

[0024] Figure 2 It is a schematic diagram of the leaf and fruit removal mechanism of the unmanned remote-controlled robot of the present invention.

[0025] Figure 3 It is a schematic diagram of the double-knife hard knot removal mechanism structure and the scraping and splitting integrated tool of the unmanned remote-controlled robot of the present invention.

[0026] Figure 4 It is a schematic structural diagram of the main rotating roller and the slave rotating roller of the unmanned remote-controlled robot of the present invention.

[0027] Figure 1 1- clamping and cutting device; 2- leaf and ear removal device; 3- supporting claws; 4- positioning sensor; 5- transmission belt; 6- double-knife de-knotting device; 7- integrated splitting and scraping tool; 8- transmission roller; 9- control module; 10- rotating lever; 11- screen.

[0028] Figure 2 In the middle, 12 is the main rotating rubber roller; 13 is the driven rubber roller; 14 is the transmission chain; 15 is the elastic self-adaptive device.

[0029] Figure 3 16 - cutting edge; 17 - plow-shaped edge; 18 - elastic adaptive rod; 19 - cutter; 20 - linkage mechanism; 21 - deformation sensor; 22 - main rotating roller; 23 - slave rotating roller; 24 - supporting wheel.

[0030] Figure 4 Middle 25-main rotating roller; 26-slave rotating roller; 27-anti-skid groove. DETAILED DESCRIPTION

[0031] To make the work scheme and the innovative technology of the present application clearer, the technical scheme of the present application will be described in detail below. The described examples are only some of the embodiments of the various embodiments of the present application, but not all the embodiments. Based on the above description of the disclosed embodiments in the present application, those skilled in the art can implement or use the present application. Various modifications of the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the examples shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0032] As Figure 1As shown, the present application provides a brand new unmanned remote control corn harvesting robot, the working process is as follows, first, the unmanned remote control corn harvesting robot in the farmland, positioning sensor device 4 scans the location of each corn stalk plant node, support claw 3 will be corn straw back to support, cutting device 1 from the bottom of the corn stalk plant cutting. With cutting device 1 cutting corn stalk after cutting, corn stalk harvesting robot forward movement, corn straw through the support claw 3 into the leaf and fruit device 2, the main rotating rubber roller 12 and driven rubber roller 13 of leaf and fruit device 2 into the corn straw, main rotating rubber roller 12 by the top transmission chain 14, the main rotating rubber roller 12 and driven rubber roller 13 of leaf and fruit device 2 into the corn straw twist, elastic self adaptive device 15 according to the thickness of the corn straw driven rubber roller 13 compression, for twisting corn straw leaf and fruit increase friction, main rotating rubber roller 12 and driven rubber roller 13 after the corn straw leaf and ear twist, the removed leaf and fruit in the rotation of the rubber roller to the top of the transmission belt 5, the top of the transmission belt 5 will be corn straw leaf and ear transmission to the screen 11 and separate, through the leaf and ear of corn straw is rotated by the lever 10 into the rotating roller 8 after being clamped, each group of three pairs of main rotating roller 22, from rotating roller 23 and supporting wheel 24 under the action of elastic self adaptive device 9 will be clamped, from rotating roller 23 and deformation sensor 21 connected, main rotating roller 22 rotating driving corn straw upward movement, in the from rotating roller 23 rolling over the corn straw hard node deformation sensor 21 to identify the corn straw hard node, cutting knife 19 pop out will be corn straw hard node cutting, supporting wheel 24 in cutting knife 19 cutting hard node when the corn straw support, after cutting knife 19 cutting hard node, the removal of hard node of corn straw in the driving of main rotating roller 22 upward movement, in the next into the stem node and profiled mechanism, from rotating roller 23 deformation sensor is triggered, control profiled scraping integrated cutter 7 pop out, the removal of stem node of corn straw from top to bottom movement, profiled scraping integrated cutter 7 cutting into the corn straw, profiled blade 16 in the middle of the corn straw cross section into the knife, plow shaped blade 17 along the corn straw skin ear joint cutting and corn straw skin ear separation, elastic self adaptive rod 18 associated with profiled scraping integrated cutter 7, can make profiled scraping integrated cutter 7 can always cut into the middle of different diameter of corn straw, separated corn straw leaf, fruit, hard node, ear and straw in each step after the end of the storage, respectively, robot remote control and robot controller through wireless module communication, remote control robot work, video monitoring system real-time monitoring of robot working environment.

Claims

1. An unmanned remote-controlled corn harvesting robot system, characterized by: include: An unmanned remote-controlled full-harvesting robot, a ground workstation, and a transport unit. The unmanned remote-controlled full-harvesting robot is used for harvesting multiple components of corn and its straw in the field. The ground workstation is used for further processing the harvested different components of the corn and its straw. The transport unit is used for transporting the various components of the corn straw between the field and the field. The unmanned remote-controlled full-harvesting robot includes a corn stalk clamping and cutting device, a leaf and ear removing device, a hard node and husk removing device; In the corn stalk clamping and cutting device, a corn stalk supporting claw and a hand-shaped corn stalk shifting lever are provided at the front end of the corn stalk harvesting robot. The corn stalk supporting claw can gather upright corn stalks and fallen corn stalks, and the hand-shaped corn stalk shifting lever can straighten and position fallen corn stalks. In the corn stalk clamping and cutting device, a clamping belt, a corn stalk positioning sensor device and a saw blade cutting device are arranged inside the corn stalk supporting claw. The clamping belt can clamp the vertical corn stalk along the root, the corn stalk positioning sensor can identify the position of the corn stalk, and the saw blade cutting device can cut the root of the straightened corn stalk. In the corn leaf and ear removing device, each group of corn leaf and ear removing devices is composed of two rows of main rotating rubber rollers and driven rubber rollers. The main rotating rubber rollers are distributed with protrusions, and the driven rubber rollers are provided with threads. The driven rubber rollers are connected to the main rotating rubber rollers by an elastic adaptive device and pressed tightly against the main rotating rubber rollers. The main rotating rubber rollers are driven by a top transmission chain to rotate. In the leaf and ear removing device, under the rotation of the main rotating rubber roller and the rotation and twisting action of the driven rubber roller, the leaves are discharged from the gap between the movable rod and the fixed rod, and the corn ears are squeezed out from the upper end of the fixed rod and the upper end of the movable rod; Each set of the hard knot and ridge removal device has three pairs of rotating rollers and one supporting roller; In the hard knot and husk removing device, three main rotating rollers and driven rollers are installed in an interlaced manner relative to each other. The main rotating rollers provide upward transmission force to the corn stalks, and the driven rollers are connected to the elastic adaptive device and the deformation sensor. In the hard node and husk removing device, a deformation sensor is connected to a driven roller. When the driven roller rolls over a corn stalk node, a sudden change in shape occurs. The deformation sensor transmits a signal to the double-knife node removing device, which pops out to remove the corn stalk node. In the hard knot and husk removing device, the splitting and scraping integrated tool of the skin and husk separating device is directly opposite to the supporting roller, and the splitting and scraping integrated tool has a cutting edge and a plow-shaped edge.

2. The unmanned remote-controlled corn harvesting robot system according to claim 1, characterized in that: The ground workstation includes a corn husk removing mechanism, component crushing mechanisms, a puffing mechanism, and a granulating mechanism. The component crushing mechanisms can crush the leaves, stem nodes, skins, and pith of corn stalks respectively and store them separately; the puffing mechanism can heat and pressurize the crushed corn stalk components to achieve puffing, making the crushed corn stalk components fluffy, which is conducive to subsequent processing; the granulating mechanism presses the puffed corn stalk components into blocks and granulates them, and adds different substances to achieve corresponding effects. The pressed corn stalk components are convenient for storage and long-distance transportation.

3. The unmanned remote-controlled corn harvesting robot system according to claim 1, characterized in that: It also includes a remote control and video monitoring system, which includes a robot remote control system and a video monitoring system. The robot remote control system remotely controls the operation of the robot, and the video monitoring system monitors the robot's working environment in real time.

4. The unmanned remote-controlled corn harvesting robot system according to claim 1, characterized in that: In the leaf and ear removal device, the main rotating rubber roller is a rotatable rubber roller that is hand-shaped and protrudes outward. After the corn stalks are pushed into the leaf and ear removal device, the hand-shaped rubber roller can reserve the position of the corn ear and will not damage the ear under excessive pressure.

5. The unmanned remote-controlled corn harvesting robot system according to claim 1, characterized in that: In the de-leafing and de-cobbing device, the cut corn stalks are driven into the de-leafing and de-cobbing device by a rotating lever. Under the action of the rotation of the main rotating rubber roller and the clamping of the driven rubber roller, the protrusion of the main rotating rubber roller provides friction and radial transmission torque, so that the corn stalk leaves are twisted down by the friction force, and the twisted corn stalk leaves can be rotated and transmitted upward to the conveyor belt at the top from the thread of the rotating rubber roller.

6. The unmanned remote-controlled corn harvesting robot system according to claim 1, characterized in that: In the transport unit, each field unmanned remote-controlled corn harvesting robot is equipped with 3 transport units, and each transport unit has five storage bins, which respectively store the corn stalk leaves, ears, stem nodes, skins and husks separated by the unmanned remote-controlled corn harvesting robot. When a transport unit is full and returns to the field workstation, the next transport unit continues to travel synchronously with the harvesting robot and receive the various components of the corn stalks.

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