A carrot harvesting robot

Abstract

A carrot harvesting robot comprises a chassis, a machine walking mechanism is provided at the bottom of the chassis, a frame is provided on the chassis, and a main controller, a visual device, ear-picking rollers, a cutting device and a collecting device are installed on the frame; the visual device is a photoelectric sensor, which is used to detect the position of carrots and transmit the detection signal to the main controller; there are two groups of ear-picking rollers, and the ends of the two groups of ear-picking rollers are rotatably installed side by side on the frame; in summary, the present invention gathers carrot buds through a bud-supporting device, so that they enter the ear-picking rollers along the forest, and then the ear-picking rollers pull the carrots out of the ground, and the cutting device cuts the carrot buds, and the cut carrots fall into the collecting device, and finally the collection of carrots in the field is automatically completed. The robot of the present invention operates independently and has the characteristics of strong adaptability, complete functions, high work efficiency and labor saving.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a carrot harvesting robot. Background Art

[0002] At present, my country's carrots lack unified planting standards due to different planting areas, and have differentiated agronomy, resulting in a low level of mechanization for carrot harvesting. Currently, large-scale harvesting machinery is used, and harvesting in small carrot planting areas mainly relies on manual harvesting, which is time-consuming and labor-intensive. Summary of the Invention

[0003] The present invention aims to provide a carrot harvesting robot to solve the technical problems in the prior art that the mechanization level of carrot harvesting is low due to differentiated agriculture and the robot is not suitable for small carrot planting areas.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A carrot harvesting robot comprises a chassis, a machine walking mechanism is arranged at the bottom of the chassis, a frame is arranged on the chassis, and a general controller, a visual device, a picking roller, a cutting device and a collecting device are installed on the frame;

[0006] The visual device is a photoelectric sensor, which is used to detect the position of the carrot and transmit the detection signal to the main controller;

[0007] There are two groups of ear picking rollers, the ends of the two groups of ear picking rollers are rotatably mounted side by side on the frame, the ear picking rollers are of a conical structure, and the frame is also provided with an ear picking motor, which is used to drive the two groups of ear picking rollers to rotate synchronously, and the rotation directions of the two groups of ear picking rollers are opposite;

[0008] The cutting device is used to cut carrots and carrot tops, and the collecting device is used to collect the cut carrots;

[0009] The master controller is respectively controlled and connected with the machine walking mechanism, the visual device, the ear picking roller, the cutting device and the collecting device.

[0010] Furthermore, the cutting device includes a cutting motor, a bracket and a slide, the bracket is installed on the frame, the bracket has a semicircular notch, a color recognition sensor is installed on the frame, a first lever is fixed on the main shaft of the cutting motor, and a turntable is mounted on the main shaft of the cutting motor, the turntable is located at the semicircular notch, the turntable can rotate on the main shaft of the cutting motor, two baffles are fixed on the end surface of the turntable, the two baffles are symmetrically arranged, the first lever is in conflict with one of the baffles, a protrusion is provided at one end of the semicircular notch, the protrusion has an arc transition surface, the end of the first lever is fixed on the main shaft of the cutting motor, and the length of the first lever is greater than the outer diameter of the semicircular notch;

[0011] A slider is provided on the slideway, the slider can move on the slideway, a tool is fixed on the slider, a spring is connected between the slider and the slideway, a first belt is connected between the slider and the turntable, and a belt groove is provided on the outer edge of the turntable for winding and retracting the first belt.

[0012] Furthermore, the collecting device includes a collecting bucket, a conveyor belt and a collecting box. The collecting bucket is fixed at an angle just below the tool. The lower end of the collecting bucket is connected to the lower end of the conveyor belt, and the upper end of the conveyor belt is connected to the top of the collecting box. Several material transport buckets are evenly distributed on the conveyor belt.

[0013] The carrot harvesting robot also includes a carrot supporting drive mechanism, a mounting frame, and two sets of carrot supporting claws. The mounting frame includes two layers of clamping plates. One end of the two sets of carrot supporting claws is hinged between the two layers of clamping plates. Semicircular gears are provided at the ends of the carrot supporting claws.

[0014] A guide groove is also provided between the two layers of plywood, and a power push rod is provided in the guide groove, which can move along the guide groove. The tassel driving mechanism is used to drive the power push rod to reciprocate along the guide groove. A first gear and a second gear are rotatably installed between the two layers of plywood, and half of the power push rod is provided with a left rack and a right rack, and the left rack and the right rack are symmetrically arranged, wherein a fourth gear is provided between the left rack and the semicircular gear at the end of one group of tassel claws, the right rack is meshed with the first gear, the first gear is meshed with the second gear, and the second gear is meshed with the semicircular gear at the end of another group of tassel claws.

[0015] Furthermore, the fuying drive mechanism includes a fuying motor and a clutch box;

[0016] A driving gear, a left bevel gear and a right bevel gear are provided in the clutch box. A mounting shaft is fixed to the gear surface of the driving gear. The mounting shaft is rotatably installed in the clutch box. The cross-section of the mounting shaft is cross-shaped. The left bevel gear and the right bevel gear are provided at both ends of the mounting shaft, and the left bevel gear and the right bevel gear can rotate freely on the mounting shaft. A power rack is provided at one end of the power push rod, and the driving gear is meshed with the power rack; the Fuying motor is installed on the clutch box, and a main bevel gear is installed on the main shaft of the Fuying motor, and the main bevel gear is meshed with the left bevel gear and the right bevel gear respectively;

[0017] The mounting shaft is provided with a transmission sleeve and a clutch sleeve. The transmission sleeve is provided with a cross-shaped hole along the axial direction. The transmission sleeve is sleeved on the mounting shaft through the cross-shaped hole. The outer wall of the transmission sleeve is provided with two key grooves. The inner wall of the clutch sleeve is provided with two inner keys. The clutch sleeve is sleeved on the transmission sleeve, and the two inner keys match the two key grooves. The outer wall of the clutch sleeve is also provided with four ridges. The clutch sleeve can move on the transmission sleeve.

[0018] An annular groove is formed on the gear surfaces of the left bevel gear and the right bevel gear, and four stoppers are provided on the inner wall of the annular groove. When the clutch sleeve moves to one end of the transmission sleeve, the end of the clutch sleeve extends into the annular groove, and the four ridges on the clutch sleeve abut against the four stoppers.

[0019] A reciprocating drive member is also provided in the clutch box, and the reciprocating drive member is used to drive the clutch sleeve to move back and forth on the transmission sleeve.

[0020] Furthermore, an annular groove is provided on the clutch sleeve, and the reciprocating drive member includes a pulley and a second lever, wherein the pulley is rotatably installed in the clutch box through the pulley shaft, and the main shaft of the Fuying motor is connected to the pulley through a second belt transmission, and a rocker is fixed to the end of the pulley shaft, and the rocker and the pulley shaft are perpendicular to each other, and the middle part of the second lever is hinged in the clutch box through a short shaft, and the second lever can swing around the short shaft, and one end of the second lever is connected to the end of the rocker through an intermediate rod, and the intermediate rod is respectively hinged to the end of the rocker and the end of the second lever, and the other end of the second lever is provided with a cylindrical toggle block, which is located in the annular groove.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention gathers carrot buds through the bud-supporting device, so that they enter the bud-picking roller along the forest, and then the bud-picking roller pulls the carrots out of the ground, and the cutting device cuts the carrot buds, and the cut carrots fall into the collecting device, and finally the collection of carrots in the field is automatically completed. The robot of the present invention operates independently, has the characteristics of strong adaptability, complete functions, high work efficiency and labor saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a structural schematic diagram of a carrot harvesting robot according to the present invention;

[0024] Figure 2 It is a structural diagram of the ear picking roller;

[0025] Figure 3 is a schematic structural diagram of a cutting device;

[0026] Figure 4 It is a structural schematic diagram of the collection device;

[0027] Figure 5 Schematic diagram of the structure of the Fuying device;

[0028] Figure 6 It is a structural diagram of the driving gear and the mounting shaft;

[0029] Figure 7 It is the structural diagram of the transmission sleeve;

[0030] Figure 8 This is the axonometric drawing of the clutch sleeve;

[0031] Figure 9 This is the end view of the clutch sleeve;

[0032] Figure 10 It is the structural diagram of the left bevel gear;

[0033] Figure 11 It is a schematic diagram of the assembly of the clutch sleeve, transmission sleeve and mounting shaft;

[0034] Figure 12 This is a schematic diagram of the assembly of the reciprocating drive components. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] The present invention is described in further detail below with reference to the examples.

[0037] like Figure 1-12 As shown, a specific embodiment 1 of a carrot harvesting robot provided by the present invention:

[0038] A carrot harvesting robot comprises a chassis 1, a machine walking mechanism 2 is provided at the bottom of the chassis 1, a frame 3 is provided on the chassis 1, and a general controller, a visual device 4, a tassel-supporting device 5, an ear-picking roller 6, a cutting device 7 and a collecting device are installed on the frame 3;

[0039] The visual device 4 is a photoelectric sensor for detecting the position of the carrots and transmitting the detection signal to the main controller, which controls the machine travel mechanism 2 to automatically adjust the rows according to the position of the carrots and then start the harvesting operation;

[0040] There are two groups of ear picking rollers 6. The ends of the two groups of ear picking rollers 6 are rotatably mounted side by side on the frame 3. The ear picking rollers 6 are of a conical structure. The frame 3 is also provided with an ear picking motor. The ear picking motor is used to drive the two groups of ear picking rollers 6 to rotate synchronously, and the rotation directions of the two groups of ear picking rollers 6 are opposite.

[0041] The cutting device 7 is used to cut carrots and carrot tops, and the collecting device is used to collect the cut carrots;

[0042] The master controller is respectively connected to the machine walking mechanism 2, the visual device 4, the ear picking roller 6, the cutting device 7 and the collecting device.

[0043] During operation, the machine walking mechanism 2 drives the walking operation, the visual device 4 is used to realize automatic alignment to ensure that the center line of the robot is aligned with the carrot, and the tassel-supporting device 5 gathers the carrot tassels, and the gathered carrot tassels enter the ear-picking rollers 6. As the two sets of ear-picking rollers 6 rotate, the ear-picking rollers 6 pull the carrots out of the ground. When the carrots are lifted to a certain height, the cutting device 7 performs the cutting operation, and the cut carrots fall into the collecting device, which collects the carrots.

[0044] The above-mentioned cutting device 7 includes a cutting motor 9, a bracket 10 and a slide 11, the bracket 10 is installed on the frame 3, the bracket 10 has a semicircular notch 12, a color recognition sensor is installed on the frame 3, a first lever 13 is fixed to the main shaft of the cutting motor 9, and a turntable 14 is mounted on the main shaft of the cutting motor 9, the turntable 14 is located at the semicircular notch 12, the turntable 14 can rotate on the main shaft of the cutting motor 9, two baffles 15 are fixed on the end face of the turntable 14, the two baffles 15 are symmetrically arranged, the first lever 13 conflicts with one of the baffles 15, a protrusion 16 is provided at one end of the semicircular notch 12, the protrusion 16 has an arc transition surface, the end of the first lever 13 is fixed to the main shaft of the cutting motor 9, and the length of the first lever 13 is greater than the outer diameter of the semicircular notch 12;

[0045] A slider 17 is provided on the slide 11 and can move on the slide 11. A tool 18 is fixed on the slider 17. A spring 19 is connected between the slider 17 and the slide 11. A first belt 20 is connected between the slider 17 and the turntable 14. A belt groove 21 is provided on the outer edge of the turntable 14. The belt groove 21 is used to wind and retract the first belt 20.

[0046] The cutting principle of the cutting device 7 is as follows: in the initial state, the baffle rod 15 is in contact with one of the baffle rods 15, and the first belt 20 is in a tensioned state, and the spring 19 is in a compressed state; when the carrots are extracted to a certain height by the ear-picking roller 6, the color recognition sensor detects the red color of the carrot fruit part, and then transmits the recognition signal to the main controller, the main controller instructs the cutting motor 9 to rotate, the cutting motor 9 drives the first lever 13 to rotate, the first lever 13 pushes the baffle rod 15 to make the turntable 14 rotate, and when the first lever 13 passes through the protrusion 16, the first lever 13 will be deformed along the protrusion 16 and move outward, so that the first lever 13 After passing the blocking rod 15, the blocking rod 15 is not blocked by the first lever 13, and the compressed spring 19 recovers its deformation and quickly pushes the slider 17. The slider 17 drives the tool 18 to move, and the carrot tops can be cut by the tool 18. The cut carrots fall into the collection device. During the movement of the slider 17, the slider 17 pulls the turntable 14 to rotate through the first belt 20, and the cutting motor 9 continues to drive the first lever 13 to rotate. The first lever 13 again contacts another blocking rod 15. The first lever 13 pushes the turntable 14 to rotate by contacting the blocking rod 15, so that the turntable 14 pulls the slider 17 through the first belt 20 again, and the spring 19 is compressed again to the initial state.

[0047] The collecting device of this embodiment includes a collecting hopper 22, a conveyor belt 23 and a collecting box 24. The collecting hopper 22 is fixed at an angle just below the cutter 18. The lower end of the collecting hopper 22 is connected to the lower end of the conveyor belt 23, and the upper end of the conveyor belt 23 is connected to the top of the collecting box 24. Several material transport hoppers 25 are evenly distributed on the conveyor belt 23.

[0048] The carrots cut by the cutter 18 fall into the collecting hopper 22, which is inclined at a certain angle. The carrots fall into the transport hopper 25 along the inclined surface. As the carrots are transported by the conveyor belt 23, they finally fall from the transport hopper 25 into the collecting box 24, completing the harvest of the carrots.

[0049] The tassel-supporting device 5 of this embodiment includes a tassel-supporting drive mechanism, a mounting frame, and two sets of tassel-supporting claws 26. The mounting frame includes two layers of plywood 27. One end of the two sets of tassel-supporting claws 26 is hinged between the two layers of plywood 27. A semicircular gear 28 is provided at the end of the tassel-supporting claws 26.

[0050] A guide groove is also provided between the two layers of splints 27, and a power push rod 29 is provided in the guide groove. The power push rod 29 can move along the guide groove. The tassel driving mechanism is used to drive the power push rod 29 to reciprocate along the guide groove. A first gear 30 and a second gear 31 are rotatably installed between the two layers of splints 27, and a left rack 32 and a right rack 33 are provided on one half of the power push rod 29. The left rack 32 and the right rack 33 are symmetrically arranged, and a fourth gear 100 is provided between the left rack 32 and the semicircular gear 28 at the end of one group of tassel claws 26, the right rack 33 is meshed with the first gear 30, the first gear 30 is meshed with the second gear 31, and the second gear 31 is meshed with the semicircular gear 28 at the end of another group of tassel claws 26.

[0051] The Fuying drive mechanism includes a Fuying motor 34 and a clutch box; a driving gear 35, a left bevel gear 36 and a right bevel gear 37 are provided in the clutch box, and a mounting shaft 38 is fixed to the gear surface of the driving gear 35, and the mounting shaft 38 is rotatably mounted in the clutch box, and the cross-section of the mounting shaft 38 is cross-shaped, and the left bevel gear 36 and the right bevel gear 37 are arranged at both ends of the mounting shaft 38, and the left bevel gear 36 and the right bevel gear 37 can rotate freely on the mounting shaft 38, and a power rack 39 is provided at one end of the power push rod 29, and the driving gear 35 is meshed with the power rack 39; the Fuying motor 34 is installed on the clutch box, and a main bevel gear 40 is installed on the main shaft of the Fuying motor 34, and the main bevel gear 40 is meshed with the left bevel gear 36 and the right bevel gear 37 respectively;

[0052] The mounting shaft 38 is provided with a transmission sleeve 41 and a clutch sleeve 42. The transmission sleeve 41 is provided with a cross-shaped hole 43 along the axial direction. The transmission sleeve 41 is sleeved on the mounting shaft 38 through the cross-shaped hole 43. The outer wall of the transmission sleeve 41 is provided with two key grooves 44. The inner wall of the clutch sleeve 42 is provided with two inner keys 45. The clutch sleeve 42 is sleeved on the transmission sleeve 41, and the two inner keys 45 cooperate with the two key grooves 44. The outer wall of the clutch sleeve 42 is also provided with four ridges 46. The clutch sleeve 42 can move on the transmission sleeve 41.

[0053] An annular groove 47 is formed on the gear surfaces of the left bevel gear 36 and the right bevel gear 37. Four stoppers 48 are provided on the inner wall of the annular groove 47. When the clutch sleeve 42 moves to one end of the transmission sleeve 41, the end of the clutch sleeve 42 extends into the annular groove 47, and the four ridges 46 on the clutch sleeve 42 abut against the four stoppers 48.

[0054] A reciprocating drive member is further provided in the clutch box, and the reciprocating drive member is used to drive the clutch sleeve 42 to move back and forth on the transmission sleeve 41.

[0055] An annular groove 49 is provided on the clutch sleeve 42, and the reciprocating drive member includes a pulley 50 and a second lever 51, wherein the pulley 50 is rotatably installed in the clutch box through the pulley shaft 52, and the main shaft of the Fuying motor 34 is connected to the pulley 50 through a second belt 53. A rocker 54 is fixed to the end of the pulley shaft 52, and the rocker 54 and the pulley shaft 52 are perpendicular to each other. The middle part of the second lever 51 is hinged in the clutch box through a short shaft 55, and the second lever 51 can swing around the short shaft 55. One end of the second lever 51 is connected to the end of the rocker 54 through an intermediate rod 56, and the intermediate rod 56 is respectively mounted on the end of the rocker 54 and the end of the second lever 51 in a hinged manner. The other end of the second lever 51 is provided with a cylindrical toggle block 57, and the cylindrical toggle block 57 is located in the annular groove 49.

[0056] The working process of the carrot tops gathering device 5 is as follows: the carrot tops gathering device 5 can ensure that the carrot tops can be opened and closed when the direction of the carrot top motor 34 remains unchanged; first, the left bevel gear 36, the right bevel gear 37 and the transmission sleeve 41 are all mounted on the mounting shaft 38, and the clutch sleeve 42 is mounted on the transmission sleeve 41 and can slide on the transmission sleeve 41; first, the carrot top motor 34 drives the main bevel gear 40 to rotate, and the rotation of the main bevel gear 40 will drive the left bevel gear 36 and the right bevel gear 37 to rotate in different directions respectively. At this time, the left bevel gear 36 and the right bevel gear 37 rotate freely on the mounting shaft 38 without affecting the driving gear 35, and when the clutch sleeve 42 slides to the right end, the end face of the clutch sleeve 42 enters the annular groove 47 of the right bevel gear 37, and as the right bevel gear 37 rotates, the four block members 48 conflict with the four ridges 46, and the block members 48 and the ridges 46 form torque transmission, so that the right bevel gear 37 drives the clutch When the clutch sleeve 42 rotates, preferably, the end of the stopper 48 adopts a rounded corner design to prevent the stopper 48 from contacting the ridge 46 and failing to enter the annular groove 47 smoothly when the clutch sleeve 42 moves into the annular groove 47 of the right bevel gear 37; as the clutch sleeve 42 rotates, the clutch sleeve 42 drives the transmission sleeve 41 to rotate through the internal key 45, and the transmission sleeve 41 drives the mounting shaft 38 to rotate through the cross hole 43, and the rotation direction is the same as that of the right bevel gear 37, and the driving gear 35 is arranged at the end of the mounting shaft 38, and finally drives the driving gear 35 to rotate, and the driving gear 35 can drive the power rack 39 to transmit, and when the clutch sleeve 42 moves to the left end, it will cooperate with the left bevel gear 36, and finally realize that the driving gear 35 and the left bevel gear 36 rotate in the same direction, and the driving gear 35 can drive the power rack 39 to transmit in the other direction; as the driving gear 35 rotates in different directions, the power rack 39 can be moved forward or backward;

[0057] The clutch sleeve 42 of this embodiment is driven to reciprocate on the transmission sleeve 41 by a reciprocating drive member. Specifically, the fuying motor 34 drives the pulley 50 to rotate through the second belt 53, and the pulley 50 drives the intermediate rod 56 to move through the rocker 54. During the movement of the intermediate rod 56, the intermediate rod 56 pulls the second shift rod 51 to swing around the short axis 55, and the cylindrical shift block 57 at the end of the second shift rod 51 is located in the annular groove 49 of the clutch sleeve 42. Therefore, the second shift rod 51 drives the clutch sleeve 42 to reciprocate on the transmission sleeve 41 during the swinging process.

[0058] The left rack 32 and the right rack 33 of the power push rod 29 are respectively meshed with the semicircular gears 28 at the ends of the two tassel-supporting claws 26, so the power push rod 29 moves under the drive of the driving gear 35, which will drive the two semicircular gears 28 to rotate. One of the semicircular gears 28 drives one tassel-supporting claw 26 to swing, and the other semicircular gear 28 is transmitted through the first gear 30 and the second gear 31 to drive the other tassel-supporting claw 26 to swing. The two tassel-supporting claws 26 swing in opposite directions, forming an action of one tassel-supporting claw 26 opening and the other tassel-supporting claw 26 pulling back. The opening and pulling back actions of the tassel-supporting claws 26 are performed alternately to achieve continuous tassel support, so that the carrot tassels can smoothly enter the picking roller 6, which is convenient for the carrot pulling operation.

[0059] It should be noted that, in this document, terms such as "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or apparatus.

[0060] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A carrot harvesting robot, characterized by: The machine comprises a chassis, a machine travel mechanism is arranged at the bottom of the chassis, a frame is arranged on the chassis, and a general controller, a visual device, an ear picking roller, a cutting device and a collecting device are installed on the frame; The visual device is a photoelectric sensor for detecting the position of the carrot, and the photoelectric sensor transmits a detection signal to the main controller; There are two groups of ear picking rollers, the ends of the two groups of ear picking rollers are rotatably mounted side by side on the frame, the ear picking rollers are of a conical structure, and the frame is also provided with an ear picking motor, which is used to drive the two groups of ear picking rollers to rotate synchronously, and the rotation directions of the two groups of ear picking rollers are opposite; The cutting device is used to cut carrots and carrot tops, and the collecting device is used to collect the cut carrots; The master controller is respectively connected to the machine travel mechanism, the visual device, the ear picking roller, the cutting device and the collecting device; The cutting device includes a cutting motor, a bracket and a slide, the bracket is installed on the frame, the bracket has a semicircular notch, the frame is installed with a color recognition sensor, a first lever is fixed on the main shaft of the cutting motor, and a turntable is set on the main shaft of the cutting motor, the turntable is located at the semicircular notch, the turntable can rotate on the main shaft of the cutting motor, two blocking rods are fixed on the end surface of the turntable, the two blocking rods are symmetrically arranged, the first blocking rod is in conflict with one of the blocking rods, a protrusion is provided at one end of the semicircular notch, the protrusion has an arc transition surface, the end of the first blocking rod is fixed on the main shaft of the cutting motor, and the length of the first blocking rod is greater than the outer diameter of the semicircular notch; A slider is provided on the slideway, the slider can move on the slideway, a tool is fixed on the slider, a spring is connected between the slider and the slideway, a first belt is connected between the slider and the turntable, and a belt groove is provided on the outer edge of the turntable for winding and retracting the first belt.

2. The carrot harvesting robot according to claim 1, characterized in that: The collecting device includes a collecting bucket, a conveyor belt and a collecting box. The collecting bucket is fixed obliquely just below the cutter. The lower end of the collecting bucket is connected to the lower end of the conveyor belt, and the upper end of the conveyor belt is connected to the top of the collecting box. Several material transport buckets are evenly distributed on the conveyor belt.

3. The carrot harvesting robot according to claim 2, characterized in that: It also includes a tassel-supporting driving mechanism, a mounting frame, and two sets of tassel-supporting claws. The mounting frame includes two layers of plywood. One end of the two sets of tassel-supporting claws is hinged between the two layers of plywood. A semicircular gear is provided at the end of the tassel-supporting claw. A guide groove is also provided between the two layers of plywood, and a power push rod is provided in the guide groove, which can move along the guide groove. The tassel driving mechanism is used to drive the power push rod to reciprocate along the guide groove. A first gear and a second gear are rotatably installed between the two layers of plywood, and half of the power push rod is provided with a left rack and a right rack, and the left rack and the right rack are symmetrically arranged, wherein a fourth gear is provided between the left rack and the semicircular gear at the end of one group of tassel claws, the right rack is meshed with the first gear, the first gear is meshed with the second gear, and the second gear is meshed with the semicircular gear at the end of another group of tassel claws.

4. The carrot harvesting robot according to claim 3, characterized in that: The Fuying drive mechanism includes a Fuying motor and a clutch box; A driving gear, a left bevel gear and a right bevel gear are provided in the clutch box. A mounting shaft is fixed to the gear surface of the driving gear. The mounting shaft is rotatably installed in the clutch box. The cross-section of the mounting shaft is cross-shaped. The left bevel gear and the right bevel gear are provided at both ends of the mounting shaft, and the left bevel gear and the right bevel gear can rotate freely on the mounting shaft. A power rack is provided at one end of the power push rod, and the driving gear is meshed with the power rack; the Fuying motor is installed on the clutch box, and a main bevel gear is installed on the main shaft of the Fuying motor, and the main bevel gear is meshed with the left bevel gear and the right bevel gear respectively; The mounting shaft is provided with a transmission sleeve and a clutch sleeve. The transmission sleeve is provided with a cross-shaped hole along the axial direction. The transmission sleeve is sleeved on the mounting shaft through the cross-shaped hole. The outer wall of the transmission sleeve is provided with two key grooves. The inner wall of the clutch sleeve is provided with two inner keys. The clutch sleeve is sleeved on the transmission sleeve, and the two inner keys match the two key grooves. The outer wall of the clutch sleeve is also provided with four ridges. The clutch sleeve can move on the transmission sleeve. An annular groove is provided on the gear surface of the left bevel gear and the right bevel gear, and four stop blocks are provided on the inner wall of the annular groove. When the clutch sleeve moves to one end of the transmission sleeve, the end of the clutch sleeve extends into the annular groove, and the four ridges on the clutch sleeve conflict with the four stop blocks. A reciprocating drive member is also provided in the clutch box, and the reciprocating drive member is used to drive the clutch sleeve to move back and forth on the transmission sleeve.

5. The carrot harvesting robot according to claim 4, characterized in that: The clutch sleeve is provided with an annular groove, and the reciprocating drive member includes a pulley and a second lever, wherein the pulley is rotatably installed in the clutch box through the pulley shaft, and the main shaft of the Fuying motor is connected to the pulley through a second belt transmission. A rocker is fixed to the end of the pulley shaft, and the rocker and the pulley shaft are perpendicular to each other. The middle part of the second lever is hinged in the clutch box through a short shaft, and the second lever can swing around the short shaft. One end of the second lever is connected to the end of the rocker through an intermediate rod, and the intermediate rod is respectively mounted on the end of the rocker and the second lever by a hinged manner. The other end of the second lever is provided with a cylindrical toggle block, and the cylindrical toggle block is located in the annular groove.

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