Chrysanthemum layered harvesting device and harvesting method

Abstract

The present invention discloses a chrysanthemum layered harvesting device and a harvesting method thereof. In the present invention, the traveling mechanism of the lifting and traveling device drives the lifting mechanism to move horizontally, and the lifting mechanism drives the frame to rise and fall. Two harvesting mechanisms are located at the input end of the conveying mechanism. In the harvesting mechanism, a mounting shaft is horizontally fixed to a first mounting plate. A driven gear and a planetary carrier both form a rotating pair with the mounting shaft, and the driven gear is fixed to the planetary carrier. A first planetary gear train and a second planetary gear train are provided on the mounting shaft. The first planetary gear shaft of the first planetary gear train forms a rotating pair with the planetary carrier and is fixed to the picking arm. The second planetary gear shaft of the second planetary gear train forms a rotating pair with the planetary carrier and is fixed to the collecting arm. The picker baffle is hinged to a position at opening 1 on the comb picker, and the guide plate is hinged to a position at opening 2 on the collector. In the present invention, the picking and collecting of chrysanthemums are respectively achieved by the picking and collecting mechanisms, replacing manual labor and improving picking efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural picking equipment, and in particular relates to a chrysanthemum layered harvesting device and a harvesting method thereof. Background Art

[0002] Chrysanthemum is one of the ten famous flowers in my country. It is a perennial herbaceous plant of the Asteraceae family. It can be used for viewing, daily drinking and Chinese medicinal materials. It has the effects of lowering blood pressure, improving eyesight and refreshing the mind. The existing methods of picking chrysanthemums are mainly manual harvesting and mechanical harvesting. When picking manually, workers need to hold a picker to pick the chrysanthemum flowers and chrysanthemum embryos in batches. The labor intensity is high and the picking efficiency is low. When picking mechanically, the chrysanthemums are picked at one time by a chrysanthemum harvester. However, the chrysanthemum flowers and chrysanthemum embryos are mixed together in the picked chrysanthemums, and there are also many leaves and branches mixed in. The inclusion rate is high and it is not suitable for medicinal or drinking chrysanthemums. In addition, some chrysanthemum picking devices use pneumatics to pick chrysanthemums, but when picking in the chrysanthemum field, an additional air source device needs to be provided, which consumes a lot of energy and is not suitable for picking large-scale chrysanthemums. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a chrysanthemum layered harvesting device and a harvesting method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention discloses a chrysanthemum layered harvesting device, which comprises a lifting and traveling device, a harvesting device and a frame.

[0006] The frame is equipped with lifting and traveling devices at each of its four corners. The lifting and traveling devices include a lifting mechanism and a traveling mechanism. The traveling mechanism drives the lifting mechanism to move horizontally, while the lifting mechanism drives the frame to move up and down. The harvesting device includes a harvesting mechanism and a conveying mechanism. Two harvesting mechanisms are symmetrically arranged on the frame, and the two harvesting mechanisms are located at the input end of the conveying mechanism.

[0007] The harvesting mechanism includes a driving mechanism, a picking mechanism and a collecting mechanism; the driving mechanism includes a mounting plate 1, a mounting shaft, a driven gear, a planetary carrier, a picking arm and a collecting arm; the mounting plate 1 is fixed to the frame through a fixing plate 1, and the mounting shaft is horizontally and vertically fixed to the mounting plate 1, the driven gear and the planetary carrier both form a rotating pair with the mounting shaft, and the driven gear is fixed to the planetary carrier and driven by a driving member 1, a planetary gear train 1 and a planetary gear train 2 are provided on the mounting shaft, the planetary gear shaft 1 of the planetary gear train 1 forms a rotating pair with the planetary carrier and is fixed to the picking arm, the planetary gear shaft 2 of the planetary gear train 2 forms a rotating pair with the planetary carrier and is fixed to the collecting arm.

[0008] The picking mechanism includes a comb picker and a picker baffle; the comb picker is fixed to the picking arm, and an opening 1 is provided on the comb picker. One end of the picker baffle is hinged to a position on the comb picker located at the upper end of the opening 1, and the other end is connected to the comb picker through a spring. The picker baffle is controlled to open by a driving member 2.

[0009] The collecting mechanism includes a collector and a guide plate; the collector is fixed to the collecting arm, and an opening 2 is provided on the collector. One end of the guide plate is hinged to a position on the collector located at the lower end of the opening 2, and the other end is connected to the collector through a spring. The guide plate is controlled to open by another driving member 2.

[0010] Preferably, the lifting and walking device includes a lifting mechanism and a walking mechanism, the lifting mechanism includes a support plate, a servo motor, a screw rod, a second fixed plate, a guide rod, a slider and a nut block, and the walking mechanism includes a wheel frame and a wheel; the two support plates are horizontally arranged with an upper and lower spacing, and are respectively fixed to the two ends of the two vertically arranged linear guide rods, the two sliders and the two linear guide rods respectively constitute a sliding pair, the two ends of the vertically arranged screw rod are supported on the two support plates through bearings, the nut block and the screw rod constitute a spiral pair, the second fixed plate is fixed to the nut block and the two sliders, and is fixed to the frame, the housing of the servo motor is fixed to the support plate located above through the mounting frame one, and the output shaft of the servo motor is fixed to the screw rod through a coupling; the vertically arranged wheel frame is fixed to the support plate located below, the wheel and the wheel frame constitute a rotating pair, and are driven by the hub motor.

[0011] Preferably, the driving member 1 includes a driving motor 1 and a driving gear, the housing of the driving motor 1 is fixed to the fixing plate 1, and the driving gear fixed on the output shaft of the driving motor 1 is meshed with the driven gear.

[0012] Preferably, the planet carrier includes planet carrier housing 1, planet carrier housing 2 and planet carrier housing 3, planet carrier housing 1 and planet carrier housing 3 are both fixed to planet carrier housing 2, and planet carrier housing 1 and planet carrier housing 2 form inner cavity 1, planet carrier housing 3 and planet carrier housing 2 form inner cavity 2, and planet carrier housing 1 and planet carrier housing 2 both constitute a rotating pair with the mounting shaft.

[0013] More preferably, the planetary gear train 1 includes a sun gear 1, an intermediate gear 1, an intermediate gear 2, a planetary gear 1, a planetary gear shaft 1 and an intermediate gear shaft 1, the sun gear 1 is fixed on the mounting shaft, the two ends of the intermediate gear shaft 1 form a rotating pair with the planetary carrier housing 1 and the planetary carrier housing 2 respectively, the intermediate gear 1 and the intermediate gear 2 are fixed on the intermediate gear shaft 1 at a distance, one end of the planetary gear shaft 1 forms a rotating pair with the planetary carrier housing 1, and the other end passes through a hole 1 opened on the planetary carrier housing 2 and is fixed to the picking arm, and the planetary gear 1 is fixed on the planetary gear shaft 1; wherein, the sun gear 1, the intermediate gear 1, the intermediate gear 2 and the planetary gear 1 are all located in the inner cavity 1, the sun gear 1 is meshed with the intermediate gear 1, and the intermediate gear 2 is meshed with the planetary gear 1.

[0014] More preferably, the planetary gear system 2 includes a sun gear 2, an intermediate gear 3, an intermediate gear 4, a planet gear 2, a planet gear shaft 2 and an intermediate gear shaft 2, the sun gear 2 is fixed on the mounting shaft, the two ends of the intermediate gear shaft 2 form a rotating pair with the planet carrier housing 3 and the planet carrier housing 2 respectively, the intermediate gear 3 and the intermediate gear 4 are fixed on the intermediate gear shaft 2 at a distance, one end of the planet gear shaft 2 forms a rotating pair with the planet carrier housing 2, and the other end passes through the hole 2 opened on the planet carrier housing 3 and is fixed to the collecting arm, and the planet gear 2 is fixed on the planet gear shaft 2; wherein, the sun gear 2, the intermediate gear 3, the intermediate gear 4 and the planet gear 2 are all located in the inner cavity 2, the sun gear 2 is meshed with the intermediate gear 3, and the intermediate gear 4 is meshed with the planet gear 2.

[0015] More preferably, the mounting shaft, intermediate gear shaft 1 and planet gear shaft 1 are all supported on planet carrier housing 1 and planet carrier housing 2 through bearings; planet gear shaft 2 and intermediate gear shaft 2 are all supported on planet carrier housing 2 and planet carrier housing 3 through bearings.

[0016] Preferably, the second driving component includes a second driving motor, a second mounting frame, a rotating shaft and a pull rope. The shell of the second driving motor is fixed to the comb picker or collector through the second mounting frame, the output shaft of the second driving motor is fixed to the rotating shaft, one end of the pull rope is fixed to the rotating shaft, and the other end is fixed to the picker baffle or guide plate.

[0017] Preferably, the conveying mechanism includes a bevel gear pair, a drive motor three, a conveyor belt, a conveying baffle, a mounting plate two and a rotating shaft. The two mounting plates two are fixed on the frame at intervals. The two ends of the rotating shaft and the two mounting plates two respectively constitute a rotating pair. The rotating shaft is provided with two rotating shafts set at intervals, and the two rotating shafts are connected by a conveyor belt. The housing of the drive motor three is fixed to one of the mounting plates two through the mounting frame three. The output shaft of the drive motor three is connected to one of the rotating shafts through the bevel gear pair. The two mounting plates two are fixed with conveying baffles.

[0018] The present invention provides a harvesting method for a chrysanthemum layered harvesting device, which is specifically as follows:

[0019] Step 1: Each lifting mechanism synchronously drives the frame to rise and fall to the picking height of the target chrysanthemum, and then each walking mechanism drives the corresponding lifting mechanism to drive the frame forward.

[0020] Step 2. When the frame moves forward, each driving member drives the corresponding driven gear to drive the planetary frame to rotate around the mounting axis, so that the picking arm, comb picker, collecting arm and collector move in a circular motion around the mounting axis together with the planetary frame. At the same time, the planetary frame drives the picking arm to rotate relative to the planetary frame around the central axis of the planetary gear shaft 1 through the planetary gear train 1, thereby driving the comb picker to move along the motion trajectory 1. The planetary frame also drives the collecting arm to rotate relative to the planetary frame around the central axis of the planetary gear shaft 2 through the planetary gear train 2, thereby driving the collector to move along the motion trajectory 2.

[0021] Step three, as the planetary frame rotates, when the comb-tooth picker moves to the picking starting point in motion trajectory one, the comb-tooth picker enters the harvesting stage, the comb-tooth picker moves below the chrysanthemum canopy, and the branches below the chrysanthemum are embedded in the comb teeth of the comb-tooth picker; when the comb-tooth picker moves to the picking end point in motion trajectory one, the comb-tooth picker moves upward, pulls the chrysanthemum off the branch, completes the picking of a chrysanthemum, and enters the branch pushing stage, the comb-tooth picker pushes the chrysanthemum branches in front forward; when the comb-tooth picker moves to the dumping point in motion trajectory one, the collector moves to the collecting point in motion trajectory two and is located below the comb-tooth picker. At the same time, the driving part two of the picking mechanism drives the picker baffle to open outward, the corresponding spring is stretched, and the chrysanthemum slides out of opening one due to its own gravity and falls into the collector, and then the comb-tooth picker enters During the return stage, the driving part 2 of the picking mechanism stops working after reversing, and the picking device baffle returns to its initial position under the restoring force of the corresponding spring; when the comb picker moves to the preparation point in the motion trajectory 1, the comb picker enters the preparation stage, and the collector has not moved to the conveying point in the motion trajectory 2 at this time; when the collector moves to the conveying point, the comb picker is in the harvesting stage, and at the same time, the driving part 2 of the collecting mechanism drives the guide plate to open outward, and the corresponding spring is stretched. The chrysanthemum slides from the opening 2 to the guide plate due to its own gravity, and slides to the conveyor belt of the conveying mechanism under the guidance of the guide plate, and then the driving part 2 of the collecting mechanism stops working after reversing, and the guide plate returns to its initial position under the restoring force of the corresponding spring; the conveying mechanism drives the chrysanthemum to be transported backward until it falls into the collection basket placed on the frame and located at the output end of the conveying mechanism.

[0022] Step 4: As the frame moves forward, repeat steps 2 and 3 until all chrysanthemums are harvested, and each walking mechanism stops working.

[0023] Step 5: Each lifting mechanism synchronously drives the frame down to the picking height of chrysanthemum, and then each walking mechanism drives the corresponding lifting mechanism to drive the frame forward. Repeat steps 2 and 3 until all chrysanthemums are harvested, and each walking mechanism stops working.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. In the present invention, the driving member 1 drives the driving mechanism to drive the picking mechanism to achieve the picking of chrysanthemums, and drives the collecting mechanism to achieve the collection and transportation of chrysanthemums; in the present invention, the driving member 1 drives the driven gear to drive the planetary frame to make a circular motion, and the planetary frame drives the comb picker and the collector to make a circular motion together through the picking arm and the collecting arm respectively, and at the same time, the planetary frame drives the picking arm and the comb picker to rotate relative to the planetary frame through the planetary gear train 1, and drives the collecting arm and the collector to rotate relative to the planetary frame through the planetary gear train 2, thereby making the comb picker move according to the motion trajectory 1 to achieve the picking of chrysanthemums, and making the collector move according to the motion trajectory 2 to achieve the collection and transportation of chrysanthemums. The present invention replaces manual work, reduces manual labor intensity, and improves picking efficiency.

[0026] 2. The present invention is provided with a lifting and traveling device. The lifting mechanism in the lifting and traveling device drives the frame to rise and fall according to the different growth heights of the chrysanthemum flowers and chrysanthemum tires, thereby adjusting the frame height, and then adjusting the picking height of the comb picker, thereby realizing layered picking and collection of the chrysanthemum flowers and chrysanthemum tires, reducing the inclusion rate of chrysanthemum picking, and also protecting the chrysanthemums growing below that do not meet the picking requirements (i.e., unopened chrysanthemum buds).

[0027] 3. The power sources of the picking mechanism and the collecting mechanism of the harvesting mechanism of the present invention are the same power source, both of which are driven by the driving member of the harvesting mechanism - the driving mechanism, with low energy consumption, and are suitable for picking chrysanthemums planted over a large area.

[0028] 4. The motion trajectory of the comb picker in the present invention is obtained by testing different picking trajectories through motion capture equipment, and the optimal picking trajectory and posture are selected according to the picking effect. According to the motion trajectory of the comb picker, the frame height and frame movement speed are reasonably adjusted, so that the comb picker can cover a part of the previous harvesting area each time it picks, thereby realizing continuous harvesting of chrysanthemums and avoiding the phenomenon of missed chrysanthemums. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the lifting and traveling device in the present invention;

[0031] Figure 3It is a structural schematic diagram of the harvesting device and the frame in the present invention;

[0032] Figure 4 It is a structural schematic diagram of the harvesting mechanism in the present invention;

[0033] Figure 5 Schematic diagram of the structure of the driving mechanism of the present invention;

[0034] Figure 6 It is a structural diagram of the picking mechanism in the present invention;

[0035] Figure 7 It is a structural diagram of the collecting mechanism in the present invention;

[0036] Figure 8 Schematic diagram of the structure of the driving member 2 in the present invention;

[0037] Figure 9 It is a structural schematic diagram of the conveying mechanism in the present invention;

[0038] Figure 10 It is the motion trajectory diagram of the picking mechanism in the present invention;

[0039] Figure 11 It is the motion trajectory diagram of the collection mechanism in the present invention;

[0040] Figure 12 It is the motion trajectory diagram of the picking mechanism and the collecting mechanism in the present invention;

[0041] Figure 13 This is a structural diagram of the harvesting device and the frame when the picking mechanism is located at the picking starting point in the present invention;

[0042] Figure 14 This is a structural diagram of the harvesting device and the frame when the harvesting mechanism is located at the harvesting end point in the present invention;

[0043] Figure 15 This is a structural diagram of the harvesting device and the frame when the picking mechanism is located at the dumping point in the present invention;

[0044] Figure 16 This is a structural diagram of the harvesting device and the frame when the picking mechanism is located at the preparation point in the present invention;

[0045] Figure 17 This is a structural diagram of the harvesting device and the frame when the collecting mechanism is located at the conveying point in the present invention;

[0046] Figure 18 It is the motion trajectory diagram of the picking mechanism in the present invention. DETAILED DESCRIPTION

[0047] The present invention will be further described below with reference to the accompanying drawings.

[0048] like Figure 1 As shown, the present invention provides a chrysanthemum layered harvesting device, comprising a lifting and traveling device 1, a harvesting device 4, and a frame 5. The lifting and traveling device 1 is provided at each of the four corners of the frame 5. The lifting and traveling device 1 comprises a lifting mechanism and a traveling mechanism. The traveling mechanism drives the lifting mechanism to translate, and the lifting mechanism drives the frame 5 to rise and fall.

[0049] like Figure 3 As shown, the harvesting device 4 includes a harvesting mechanism 17 and a conveying mechanism 18 , and two harvesting mechanisms 17 are symmetrically arranged on the frame 5 , and the two harvesting mechanisms 17 are located at the input end of the conveying mechanism 18 .

[0050] like Figure 4 As shown, the harvesting mechanism 17 includes a driving mechanism 23, a picking mechanism 24 and a collecting mechanism 25. Figure 5 As shown, the driving mechanism 23 includes a mounting shaft 32, a mounting plate 33, a driven gear 34, a planetary carrier, a picking arm 42 and a collecting arm 46; the mounting plate 33 is fixed to the frame 5 through the fixing plate 20, and the mounting shaft 32 is fixed horizontally and vertically on the mounting plate 33; the driven gear 34 and the planetary carrier both form a rotating pair with the mounting shaft 32, and the driven gear 34 is fixed to the planetary carrier and driven by the driving member 1, and a planetary gear train 1 and a planetary gear train 2 are provided on the mounting shaft 32, the planetary gear shaft 1 40 of the planetary gear train 1 forms a rotating pair with the planetary carrier and is fixed to the picking arm 42, and the planetary gear shaft 2 28 of the planetary gear train 2 forms a rotating pair with the planetary carrier and is fixed to the collecting arm 46.

[0051] like Figure 6 As shown, the picking mechanism 24 includes a comb picker 47 and a picker baffle 51; the comb picker 47 is fixed to the picking arm 42, and an opening 1 is provided on the comb picker 47. One end of the picker baffle 51 is hinged to a position on the comb picker 47 at the upper end of the opening 1, and the other end is connected to the comb picker 47 through a spring 48. The picker baffle 51 is controlled to open by a driving member 2 50.

[0052] like Figure 7 As shown, the collecting mechanism 25 includes a collector 53 and a guide plate 54. The collector 53 is fixed to the collecting arm 46, and an opening 2 is provided on the collector 53. One end of the guide plate 54 is hinged to a position on the collector 53 at the lower end of the opening 2, and the other end is connected to the collector 53 through a spring 48. The guide plate 54 is controlled to open by another driving member 2 50.

[0053] As a preferred embodiment, Figure 2As shown, the lifting mechanism includes a support plate, a servo motor 6, a screw rod 8, a fixed plate 2 9, a guide rod 13, a slider 14 and a nut block 15, and the walking mechanism includes a wheel frame 10 and a wheel 11; the two support plates are horizontally arranged with an upper and lower spacing, and are respectively fixed to the two ends of the two vertically arranged linear guide rods 13, and the two sliders 14 and the two linear guide rods 13 respectively constitute a sliding pair, and the two ends of the vertically arranged screw rod 8 are supported on the two support plates by bearings 12, and the nut block 15 and the screw rod 8 constitute a spiral pair, the fixed plate 2 9 is fixed to the nut block 15 and the two sliders 14, and is fixed to the frame 5, the housing of the servo motor 6 is fixed to the support plate located above through the mounting frame 16, and the output shaft of the servo motor 6 is fixed to the screw rod 8 through the coupling 7; the vertically arranged wheel frame 10 is fixed to the support plate located below, and the wheel 11 and the wheel frame 10 constitute a rotating pair and are driven by the hub motor.

[0054] As a preferred embodiment, the driving member 1 includes a driving motor 21 and a driving gear 22. The housing of the driving motor 21 is fixed to the fixing plate 20. The driving gear 22 fixed on the output shaft of the driving motor 21 is engaged with the driven gear 34.

[0055] As a preferred embodiment, the planet carrier includes a planet carrier housing 1 39, a planet carrier housing 2 43 and a planet carrier housing 3 44. The planet carrier housing 1 39 and the planet carrier housing 3 44 are both fixed to the planet carrier housing 2 43, and the planet carrier housing 1 39 and the planet carrier housing 2 43 form an inner cavity 1, and the planet carrier housing 34 and the planet carrier housing 2 43 form an inner cavity 2. The planet carrier housing 1 39 and the planet carrier housing 2 43 both constitute a rotating pair with the mounting shaft 32.

[0056] More preferably, the planetary gear train 1 includes a sun gear 1 35, an intermediate gear 1 36, an intermediate gear 2 37, a planetary gear 1 38, a planetary gear shaft 1 40 and an intermediate gear shaft 1 41, the sun gear 1 35 is fixed on the mounting shaft 32, the two ends of the intermediate gear shaft 1 41 form a rotating pair with the planetary carrier housing 1 39 and the planetary carrier housing 2 43 respectively, the intermediate gear 1 36 and the intermediate gear 2 37 are fixed on the intermediate gear shaft 1 41 at a distance, one end of the planetary gear shaft 1 40 forms a rotating pair with the planetary carrier housing 1 39, and the other end passes through a hole 1 opened on the planetary carrier housing 2 43 and is fixed to the picking arm 42, and the planetary gear 1 38 is fixed on the planetary gear shaft 1 40; wherein, the sun gear 1 35, the intermediate gear 1 36, the intermediate gear 2 37 and the planetary gear 1 38 are all located in the inner cavity 1, the sun gear 1 35 is meshed with the intermediate gear 1 36, and the intermediate gear 2 37 is meshed with the planetary gear 1 38.

[0057] More preferably, the planetary gear system 2 includes a sun gear 2 31, an intermediate gear 30, an intermediate gear 4 27, a planet gear 2 26, a planet gear shaft 2 28 and an intermediate gear shaft 2 45, wherein the sun gear 2 31 is fixed on the mounting shaft 32, and the two ends of the intermediate gear shaft 2 45 respectively form a rotating pair with the planet carrier housing 3 44 and the planet carrier housing 2 43, the intermediate gear 30 and the intermediate gear 4 27 are fixed on the intermediate gear shaft 2 45 at a distance, one end of the planet gear shaft 2 28 forms a rotating pair with the planet carrier housing 2 43, and the other end passes through the hole 2 opened on the planet carrier housing 3 44 and is fixed to the collecting arm 46, and the planet gear 2 26 is fixed on the planet gear shaft 2 28; wherein, the sun gear 2 31, the intermediate gear 30, the intermediate gear 4 27 and the planet gear 2 26 are all located in the inner cavity 2, the sun gear 2 31 is meshed with the intermediate gear 3 30, and the intermediate gear 4 27 is meshed with the planet gear 2 26.

[0058] More preferably, the mounting shaft 32, the intermediate gear shaft 1 41 and the planet gear shaft 1 40 are all supported on the planet carrier housing 1 39 and the planet carrier housing 2 43 through bearings 29; the planet gear shaft 2 28 and the intermediate gear shaft 2 45 are all supported on the planet carrier housing 2 43 and the planet carrier housing 3 44 through bearings 29.

[0059] As a preferred embodiment, the picker baffle 51 is hinged to the comb picker 47 through a hinge 49, and spring fixing frames 52 are fixed on both sides of the picker baffle 51 and the comb picker 47. The two spring fixing frames 52 on the same side of each group are respectively fixed to the two ends of a spring 48.

[0060] More preferably, the guide plate 54 is hinged to the collector 53 via a hinge 49 , and spring fixing frames 52 are fixed on both sides of the guide plate 54 and the collector 53 , and each group of two spring fixing frames 52 on the same side are fixed to both ends of a spring 48 respectively.

[0061] More preferably, if Figure 8 As shown, the driving member 50 includes a driving motor 55, a mounting frame 56, a rotating shaft 57 and a pull rope 58. The shell of the driving motor 55 is fixed to the comb picker 47 or the collector 53 through the mounting frame 56. The output shaft of the driving motor 55 is fixed to the rotating shaft 57. One end of the pull rope 58 is fixed to the rotating shaft 57, and the other end is fixed to the picker baffle 51 or the guide plate 54.

[0062] As a preferred embodiment, Figure 9As shown, the conveying mechanism 18 includes a bevel gear pair 59, a drive motor three 61, a conveyor belt 62, a conveying baffle 63, a mounting plate two 64 and a rotating shaft 65. The two mounting plates two 64 are fixed on the frame 5 at a distance. The two ends of the rotating shaft 65 and the two mounting plates two 64 respectively constitute a rotating pair. The rotating shaft 65 is provided with two rotating shafts 65 set at a distance, and the two rotating shafts 65 are connected by a conveyor belt 62. The shell of the drive motor three 61 is fixed to one of the mounting plates two 64 through the mounting frame three 60. The output shaft of the drive motor three 61 is connected to one of the rotating shafts 65 through the bevel gear pair 59. The conveying baffle 63 is fixed to the two mounting plates two 64.

[0063] Among them, the servo motor 6, the hub motor, the drive motor 1 21, the drive motor 2 55 and the drive motor 3 61 are all controlled by the controller 3 arranged on the frame 5, and are powered by the electric box 2 arranged on the frame 5.

[0064] The present invention provides a harvesting method for a chrysanthemum layered harvesting device, which is specifically as follows:

[0065] Step 1: Each lifting mechanism synchronously drives the frame 5 to rise and fall to the height for picking chrysanthemums, and then each walking mechanism drives the corresponding lifting mechanism to drive the frame 5 forward.

[0066] Step 2: When the frame 5 is moving forward, each driving member drives the corresponding driven gear 34 to drive the planetary frame to rotate around the mounting shaft 32, so that the picking arm 42, the comb picker 47, the collecting arm 46 and the collector 53 move in a circular motion around the mounting shaft 32 along with the planetary frame. At the same time, the planetary frame drives the picking arm 42 to rotate relative to the planetary frame around the central axis of the planetary gear shaft 40 through the planetary gear train 1, thereby driving the comb picker 47 to move along the motion trajectory 1. Figure 10 As shown, the planet carrier also drives the collecting arm 46 to rotate relative to the planet carrier around the central axis of the planet gear shaft 28 through the planet gear train 2, thereby driving the collector 53 to move along the motion trajectory 2, as shown in FIG. Figure 11 As shown, the x-axis is the horizontal axis and the y-axis is the vertical axis.

[0067] Step 3: As the planetary frame rotates, when the comb picker 47 moves to the picking starting point P1 in the motion trajectory 1, as shown in FIG. Figure 13 As shown, the comb picker 47 enters the harvesting stage and picks the chrysanthemums. The comb picker 47 moves below the chrysanthemum canopy, and the branches below the chrysanthemums are embedded in the comb teeth of the comb picker 47. When the comb picker 47 moves to the picking end point P2 in the motion trajectory 1, as shown in FIG. Figure 14As shown, the comb picker 47 moves upward, pulls the chrysanthemum off the branch, completes the picking of the chrysanthemum, and enters the branch pushing stage. The comb picker 47 pushes the chrysanthemum branch in front to move forward, so that the collecting arm 46 drives the collector 53 to move to the bottom of the comb picker 47; when the comb picker 47 moves to the dumping point P3 in the motion trajectory 1, as shown in FIG. Figure 15 As shown, at this time, the collector 53 moves to the collection point E1 in the motion trajectory 2 and is located below the comb picker 47. At the same time, the driving member 2 of the picking mechanism 24 drives the picker baffle 51 to open outward, and the corresponding spring 48 is stretched. The chrysanthemum slides out of the opening 1 due to its own gravity and falls into the collector 53. Then the comb picker 47 enters the return stage. At the same time, the driving member 2 of the picking mechanism 24 stops working after reversing, and the picker baffle 51 returns to its initial position under the restoring force of the corresponding spring 48. When the comb picker 47 moves to the preparation point P4 in the motion trajectory 1, as shown in FIG. Figure 16 As shown, the comb picker 47 enters the preparation stage, at which time the collector 53 has not moved to the delivery point E2 in the motion trajectory 2; when the collector 53 moves to the delivery point E2, as shown in FIG. Figure 17 As shown, the comb picker 47 is in the harvesting stage, the driving member 2 of the collecting mechanism 25 drives the guide plate 54 to open outward, the corresponding spring 48 is stretched, and the chrysanthemum slides from the opening 2 to the guide plate 54 due to its own gravity, and slides onto the conveyor belt 62 of the conveying mechanism 18 through the guidance of the guide plate 54, and then the driving member 2 of the collecting mechanism 25 reverses and stops working, and the guide plate 54 returns to its initial position under the restoring force of the corresponding spring 48; the conveying mechanism 18 drives the chrysanthemum to be transported backward until it falls into the collecting basket 19 placed on the frame 5 and located at the output end of the conveying mechanism 18.

[0068] Step 4: As the frame 5 moves forward, repeat steps 2 and 3 until all chrysanthemums are harvested, and each traveling mechanism stops working.

[0069] Step 5. Each lifting mechanism synchronously drives the frame 5 down to the picking height of chrysanthemum (due to factors such as light, the growth height of the flower chrysanthemum is higher than the growth height of the fetal chrysanthemum, and the growth height of the fetal chrysanthemum is higher than the growth height of the unopened chrysanthemum buds), and then each walking mechanism drives the corresponding lifting mechanism to drive the frame 5 forward, repeating steps 2 and 3 until all the chrysanthemums are harvested, and each walking mechanism stops working.

[0070] Among them, the motion trajectory of the comb picker 47 is tested by using motion capture equipment to conduct a picking trajectory test, and the picking trajectory and posture of the picking worker holding the comb picker 47 when picking chrysanthemums on the chrysanthemum canopy are tested, mainly including the posture points (position and posture) when the comb picker 47 enters the chrysanthemum canopy, the posture points of the comb picker 47 under the chrysanthemum canopy, the posture points when the comb picker 47 leaves the chrysanthemum canopy and the posture points when the comb picker 47 dumps the chrysanthemums. By trying different picking trajectories and comb picker postures, a trajectory optimization model is established, and the influence of parameter changes on trajectory shape changes is summarized. The optimal picking trajectory and posture of the comb picker 47 are determined according to the picking effect, and the optimal collection trajectory of the collector 53 is selected without interfering with the movement of the comb picker 47. Figure 12 As shown, in the motion trajectory 1 of the comb picker 47, the P1P2 section is the harvesting stage, the P2P3 section is the branch pushing stage, the P3P4 section is the return stage, and the P4P1 section is the preparation stage. Point P1 is the starting point of picking, point P2 is the end point of picking, point P3 is the dumping point, and point P4 is the preparation point. In the motion trajectory 2 of the collector 53, point E1 is the collecting point, and point E2 is the conveying point.

[0071] According to the design of the picking trajectory of the comb picker 47 and the forward speed of the frame 5, the moving trajectory of the comb picker 47 picking chrysanthemums can be obtained, as shown in FIG. Figure 18 As shown, the comb picker 47 picks the intersection of the trajectories ( Figure 18 The height of the triangular mark shown in the figure should be lower than the height of the chrysanthemum canopy surface line. The height of the frame 5 is adjusted by the lifting mechanism so that the intersection of the picking trajectory of the comb picker 47 is located below the chrysanthemum canopy surface line, thereby ensuring that the comb picker 47 can cover a part of the last harvesting area each time it picks, thereby achieving continuous harvesting of chrysanthemums and avoiding missing chrysanthemums.

Claims

1. A chrysanthemum layered harvesting device, comprising a lifting and walking device, a harvesting device, and a frame, characterized in that: The four corners of the frame are provided with lifting and traveling devices, which include a lifting mechanism and a traveling mechanism. The traveling mechanism drives the lifting mechanism to move horizontally, and the lifting mechanism drives the frame to move up and down. The harvesting device includes a harvesting mechanism and a conveying mechanism, and two harvesting mechanisms are symmetrically arranged on the frame, and the two harvesting mechanisms are located at the input end of the conveying mechanism. The harvesting mechanism includes a driving mechanism, a picking mechanism and a collecting mechanism; the driving mechanism includes a mounting plate 1, a mounting shaft, a driven gear, a planetary carrier, a picking arm and a collecting arm; the mounting plate 1 is fixed to the frame through a fixing plate 1, the mounting shaft is horizontally and vertically fixed to the mounting plate 1, the driven gear and the planetary carrier both form a rotating pair with the mounting shaft, and the driven gear is fixed to the planetary carrier and driven by a driving member 1, a planetary gear train 1 and a planetary gear train 2 are provided on the mounting shaft, the planetary gear shaft 1 of the planetary gear train 1 forms a rotating pair with the planetary carrier and is fixed to the picking arm, the planetary gear shaft 2 of the planetary gear train 2 forms a rotating pair with the planetary carrier and is fixed to the collecting arm; The picking mechanism includes a comb picker and a picker baffle; the comb picker is fixed to the picking arm, and an opening 1 is formed on the comb picker; one end of the picker baffle is hinged to a position on the comb picker located at the upper end of the opening 1, and the other end is connected to the comb picker via a spring; the picker baffle is opened by a driving member 2; The collecting mechanism includes a collector and a guide plate; the collector is fixed to the collecting arm, and a second opening is formed on the collector. One end of the guide plate is hinged to a position below the second opening on the collector, and the other end is connected to the collector via a spring. The guide plate is opened by another second driving member; The planet carrier includes a planet carrier housing 1, a planet carrier housing 2 and a planet carrier housing 3. The planet carrier housing 1 and the planet carrier housing 3 are both fixed to the planet carrier housing 2. The planet carrier housing 1 and the planet carrier housing 2 form an inner cavity 1, and the planet carrier housing 3 and the planet carrier housing 2 form an inner cavity 2. The planet carrier housing 1 and the planet carrier housing 2 form a revolving pair with the mounting shaft. The planetary gear train 1 includes a sun gear 1, an intermediate gear 1, an intermediate gear 2, a planet gear 1, a planet gear shaft 1 and an intermediate gear shaft 1. The sun gear 1 is fixed to the mounting shaft. The two ends of the intermediate gear shaft 1 form a rotating pair with the planet carrier housing 1 and the planet carrier housing 2 respectively. The intermediate gear 1 and the intermediate gear 2 are fixed to the intermediate gear shaft 1 at a distance. One end of the planet gear shaft 1 forms a rotating pair with the planet carrier housing 1, and the other end passes through a hole 1 provided in the planet carrier housing 2 and is fixed to the picking arm. The planet gear 1 is fixed to the planet gear shaft 1. The sun gear 1, the intermediate gear 1, the intermediate gear 2 and the planet gear 1 are all located in the inner cavity 1. The sun gear 1 is meshed with the intermediate gear 1, and the intermediate gear 2 is meshed with the planet gear 1. The planetary gear system 2 includes a sun gear 2, an intermediate gear 3, an intermediate gear 4, a planet gear 2, a planet gear shaft 2 and an intermediate gear shaft 2. The sun gear 2 is fixed to the mounting shaft. The two ends of the intermediate gear shaft 2 form a rotating pair with the planet carrier housing 3 and the planet carrier housing 2 respectively. The intermediate gear 3 and the intermediate gear 4 are fixed on the intermediate gear shaft 2 at a distance. One end of the planet gear shaft 2 forms a rotating pair with the planet carrier housing 2, and the other end passes through the hole 2 opened in the planet carrier housing 3 and is fixed to the collecting arm. The planet gear 2 is fixed to the planet gear shaft 2. Among them, the sun gear 2, the intermediate gear 3, the intermediate gear 4 and the planet gear 2 are all located in the inner cavity 2. The sun gear 2 is meshed with the intermediate gear 3, and the intermediate gear 4 is meshed with the planet gear 2.

2. The chrysanthemum layered harvesting device according to claim 1, characterized in that: The lifting mechanism includes a support plate, a servo motor, a screw rod, a second fixed plate, a guide rod, a slider and a nut block, and the walking mechanism includes a wheel frame and a wheel; the two support plates are horizontally arranged with an upper and lower spacing, and are respectively fixed to the two ends of the two vertically arranged linear guide rods, the two sliders and the two linear guide rods respectively constitute a sliding pair, the two ends of the vertically arranged screw rod are supported on the two support plates through bearings, the nut block and the screw rod constitute a spiral pair, the second fixed plate is fixed to the nut block and the two sliders, and is fixed to the frame, the housing of the servo motor is fixed to the support plate located above through the mounting frame one, and the output shaft of the servo motor is fixed to the screw rod through a coupling; the vertically arranged wheel frame is fixed to the support plate located below, the wheel and the wheel frame constitute a rotating pair, and are driven by the hub motor.

3. The chrysanthemum layered harvesting device according to claim 1, characterized in that: The driving member 1 includes a driving motor 1 and a driving gear. The housing of the driving motor 1 is fixed to the fixing plate 1. The driving gear fixed on the output shaft of the driving motor 1 is meshed with the driven gear.

4. The chrysanthemum layered harvesting device according to claim 1, characterized in that: The mounting shaft, intermediate gear shaft 1 and planet gear shaft 1 are all supported on planet carrier housing 1 and planet carrier housing 2 through bearings; planet gear shaft 2 and intermediate gear shaft 2 are all supported on planet carrier housing 2 and planet carrier housing 3 through bearings.

5. The chrysanthemum layered harvesting device according to claim 1, characterized in that: The second driving component includes a second driving motor, a second mounting frame, a rotating shaft and a pull rope. The shell of the second driving motor is fixed to the comb picker or collector through the second mounting frame. The output shaft of the second driving motor is fixed to the rotating shaft. One end of the pull rope is fixed to the rotating shaft, and the other end is fixed to the picker baffle or guide plate.

6. The chrysanthemum layered harvesting device according to claim 1, characterized in that: The conveying mechanism includes a bevel gear pair, a driving motor three, a conveyor belt, a conveying baffle, a mounting plate two and a rotating shaft. The two mounting plates two are fixed on the frame at intervals. The two ends of the rotating shaft and the two mounting plates two respectively constitute a rotating pair. The rotating shaft is provided with two rotating shafts set at intervals, and the two rotating shafts are connected by a conveyor belt. The shell of the driving motor three is fixed to one of the mounting plates two through the mounting frame three. The output shaft of the driving motor three is connected to one of the rotating shafts through the bevel gear pair. The two mounting plates two are fixed with conveying baffles.

7. A chrysanthemum layered harvesting device according to any one of claims 1 to 6, characterized in that: The details are as follows: Step 1: Each lifting mechanism synchronously drives the frame to rise and fall to the picking height of the target chrysanthemum, and then each walking mechanism drives the corresponding lifting mechanism to drive the frame forward; Step 2: When the frame is moving forward, each driving member 1 drives the corresponding driven gear to drive the planetary frame to rotate around the mounting axis, so that the picking arm, comb picker, collecting arm and collector move in a circular motion around the mounting axis together with the planetary frame. At the same time, the planetary frame drives the picking arm to rotate relative to the planetary frame around the central axis of the planetary gear shaft 1 through the planetary gear train 1, thereby driving the comb picker to move along the motion trajectory 1. The planetary frame also drives the collecting arm to rotate relative to the planetary frame around the central axis of the planetary gear shaft 2 through the planetary gear train 2, thereby driving the collector to move along the motion trajectory 2. Step three, as the planetary frame rotates, when the comb-tooth picker moves to the picking starting point in motion trajectory one, the comb-tooth picker enters the harvesting stage, the comb-tooth picker moves below the chrysanthemum canopy, and the branches below the chrysanthemum are embedded in the comb teeth of the comb-tooth picker; when the comb-tooth picker moves to the picking end point in motion trajectory one, the comb-tooth picker moves upward, pulls the chrysanthemum off the branch, completes the picking of a chrysanthemum, and enters the branch pushing stage, the comb-tooth picker pushes the chrysanthemum branches in front forward; when the comb-tooth picker moves to the dumping point in motion trajectory one, the collector moves to the collecting point in motion trajectory two and is located below the comb-tooth picker. At the same time, the driving part two of the picking mechanism drives the picker baffle to open outward, the corresponding spring is stretched, and the chrysanthemum slides out of opening one due to its own gravity and falls into the collector, and then the comb-tooth picker enters During the return stage, the driving part 2 of the picking mechanism stops working after reversing, and the picking device baffle returns to its initial position under the action of the restoring force of the corresponding spring; when the comb picker moves to the preparation point in the motion trajectory 1, the comb picker enters the preparation stage, and the collector has not moved to the delivery point in the motion trajectory 2 at this time; when the collector moves to the delivery point, the comb picker is in the harvesting stage, and at the same time, the driving part 2 of the collecting mechanism drives the guide plate to open outward, and the corresponding spring is stretched. The chrysanthemum slides from the second opening to the guide plate due to its own gravity, and slides onto the conveyor belt of the conveying mechanism under the guidance of the guide plate, and then the driving part 2 of the collecting mechanism stops working after reversing, and the guide plate returns to its initial position under the action of the restoring force of the corresponding spring; the conveying mechanism drives the chrysanthemum to be transported backward until it falls into the collection basket placed on the frame and located at the output end of the conveying mechanism; Step 4: As the frame moves forward, repeat steps 2 and 3 until all chrysanthemums are harvested, and each walking mechanism stops working; Step 5: Each lifting mechanism synchronously drives the frame down to the picking height of chrysanthemum, and then each walking mechanism drives the corresponding lifting mechanism to drive the frame forward. Repeat steps 2 and 3 until all chrysanthemums are harvested, and each walking mechanism stops working.

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