A broccoli picking machine and a broccoli picking method

Abstract

The present invention discloses a broccoli picking machine and a picking method thereof. In the present invention, a fixed plate of a lifting device is fixed to a vehicle body, a lifting mechanism is provided on the fixed plate, and the lifting mechanism drives a support plate 1 of a support and clamping device to rise and fall; a picking manipulator and a cutting tool are provided on a fixed column in the picking device, the picking manipulator is driven by a driving motor 1, and the cutting tool is driven by a driving member; in the pruning device, an arc-shaped rack and an arc-shaped groove provided on an arc-shaped base form a sliding pair, the tool base is fixed on the arc-shaped rack, a tool movable plate and a tool base form a sliding pair, and are connected to the tool base through a spring 2, and the pruning blade is fixed to the tool movable plate. In the present invention, the pruning of the side branches and side buds on the broccoli stems is achieved by the pruning tool, and the broccoli is picked and collected by the cutting tool and the picking manipulator, thereby realizing the integrated automation of broccoli pruning, picking and collecting, and improving work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of broccoli picking, and particularly relates to a broccoli picking machine and a picking method thereof. Background Art

[0002] As living conditions improve, people are paying more and more attention to their personal health. Broccoli, as a common vegetable, is rich in fiber and vitamins and has a high edible value. In recent years, the demand for broccoli and the scale of its cultivation have continued to expand. Most of the existing broccoli picking methods are manual picking and pruning. There are also some automated broccoli picking equipment on the market, but the broccoli picked by machines is not pruned. Manual pruning of the side branches and side buds of the broccoli stems is required, resulting in low processing efficiency, which in turn leads to low picking efficiency and reduced profits for broccoli growers. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a broccoli picking machine and a picking method thereof.

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

[0005] The present invention provides a broccoli picking machine, comprising a vehicle body, a lifting device, a picking device, a pruning device and a supporting and clamping device. The lifting device comprises a fixed plate, a lifting mechanism and a contact mechanism; the fixed plate is vertically fixed to the front end of the vehicle body, and a lifting mechanism is provided on the fixed plate, and the lifting mechanism drives a supporting plate 1 of the supporting and clamping device to rise and fall; the contact mechanism comprises an electric telescopic rod 1 and a soft contact ring, and a horizontally arranged connecting plate is fixed to the upper end of the fixed plate, and the cylinder body of the electric telescopic rod 1 is fixed to the connecting plate, and the piston rod of the electric telescopic rod 1 faces downward and is fixed to the horizontally arranged soft contact ring, and a pressure sensor 1 is provided on the soft contact ring. Among them, a collecting basket is detachably fixed to one side of the lifting device at the front end of the vehicle body.

[0006] The picking device includes a fixed column, a driving motor 1, a driving member, a cutting tool and a picking manipulator; the fixed column is vertically fixed on a supporting plate 1; the cutting tool includes a cutting blade and a gear 1, the gear 1 is set on the fixed column through a circular hole, and is supported on a convex ring formed integrally on the fixed column, the gear 1 and the fixed column form a rotating pair, and are driven by the driving member, and the cutting blade is horizontally fixed on the upper end surface of the gear 1; the picking manipulator is located above the cutting tool, and the picking manipulator includes a pneumatic claw and an electric telescopic rod 2, the output shaft of the driving motor 1 is downward and fixed to the fixed column, the cylinder body of the electric telescopic rod 2 is horizontally fixed on the housing of the driving motor 1, the piston rod of the electric telescopic rod 2 is provided with a pneumatic claw, and the inner side of the clamping jaw 1 of the pneumatic claw is provided with a pressure sensor 2. In the initial state, the pneumatic claw is located above the collection basket.

[0007] The support and clamping device includes a support mechanism and a clamping mechanism; the support mechanism includes support plate 1, support plate 2, guide rails and a spring telescopic rod, support plate 2 is fixed to support plate 1 through a support column, and support plate 1 and support plate 2 are arranged horizontally and parallel, the two guide rails are fixed on support plate 2 at a distance, each guide rail is hinged with a horizontally arranged gear 2, and support plate 1 is provided with a vertically arranged spring telescopic rod.

[0008] The clamping mechanism includes a connecting rod, a movable block and a clamping jaw assembly; the connecting rod is horizontally fixed on the spring telescopic rod, the cylindrical rod integrally formed on the movable block and the hole 1 opened on the connecting rod constitute a sliding pair, and are connected to the connecting rod through a spring 1; the connecting rod is provided with two symmetrically arranged clamping jaw assemblies, the clamping jaw assembly includes a movable pull rod, a connecting rod 1, a connecting rod 2 and a clamping jaw 2, the two ends of the movable pull rod are respectively hinged to the middle part of the connecting rod 1 and the connecting rod, the two ends of the connecting rod 1 are respectively hinged to the movable block and the rear end of the clamping jaw 2, and the two ends of the connecting rod 2 are respectively hinged to the movable block and the middle part of the clamping jaw 2; the front end of the movable block is provided with a pressure sensor 3.

[0009] The trimming device includes a trimming tool and a rotating mechanism; the rotating mechanism includes an arc-shaped base, a gear three and an arc-shaped rack, the arc-shaped rack and the arc-shaped groove opened on the horizontally arranged arc-shaped base form a sliding pair, a horizontally arranged U-shaped plate is fixed to the middle part of the outer side of the arc-shaped base, the inner sides of the two arms of the U-shaped plate and the two guide rails respectively form a sliding pair, the outer sides of the two arms of the U-shaped plate are fixed with spur racks, the two spur racks and the two gears two respectively form a gear pair, and the driving motor two drives one of the gears two; the outer side of the arc-shaped base is equidistantly hinged with n gears three set horizontally along the circumferential direction, n≥2, the gear three passes through the notch opened at the corresponding position on the arc-shaped base to form a gear pair with the arc-shaped rack, and the two gears three farthest from each other are respectively driven by a driving motor three.

[0010] The trimming tool comprises a tool base, a tool movable plate, a buffer rod, a trimming blade and a contact wheel; the tool base is vertically fixed on an arc-shaped rack, a cylindrical rod integrally formed on the tool movable plate and a second hole provided on the tool base form a sliding pair, and are connected to the tool base through a second spring; the buffer rod and a third hole provided on the tool movable plate form a sliding pair, and are connected to the tool movable plate through a third spring, two buffer rods are provided horizontally and spaced apart from each other, one of the buffer rods is provided with a pressure sensor fourth, and a contact wheel is provided between the two buffer rods; the trimming blade is fixed to the tool movable plate and is provided at an angle, and a distance sensor is provided at the upper end of the tool movable plate.

[0011] Preferably, the vehicle body comprises wheels and a frame chassis, and wheels are hinged at four corners of the frame chassis; the collecting basket and the fixing plate are fixed to the frame chassis.

[0012] Preferably, the lifting mechanism includes an L-shaped lifting base plate, a connecting roller and a chain transmission mechanism. The two sprockets of the chain transmission mechanism are arranged at an upper and lower interval and both form a rotating pair with the fixed plate. Chain transmission mechanisms are provided at both left and right ends of the fixed plate. The two chain transmission mechanisms are synchronously driven by a driving motor 4. The L-shaped lifting base plate and the fixed plate form a sliding pair and are fixed to the chains in the two chain transmission mechanisms through a horizontally arranged connecting roller; a support plate 1 is fixed on the L-shaped lifting base plate.

[0013] Preferably, the driving member includes a mechanism base and a servo motor, the mechanism base is fixed to the fixing column, the housing of the servo motor is fixed to the mechanism base, and the gear four fixed on the output shaft of the servo motor is meshed with the gear one.

[0014] Preferably, the spring telescopic rod includes a support rod and a straight rod, the support rod is fixed on a support plate one, the straight rod and a hole four opened on the support rod form a sliding pair, and are connected to the support rod through a spring four; the connecting rod is fixed to the straight rod.

[0015] Preferably, the contact wheel includes a hemisphere, a rotating shaft, a mounting ring and a rolling shaft. The two ends of the rotating shaft and the two buffer rods respectively form a rotating pair. Two mounting rings set at a distance are fixed on the rotating shaft. Two rolling shafts set symmetrically and coaxially are fixed on the mounting ring. The rolling shaft and the hemisphere form a rotating pair. Each group of two hemispheres on the same side of the two mounting rings are connected by a contact belt.

[0016] More preferably, the annular protrusion integrally formed on the contact belt is embedded in the annular groove provided on the hemispherical body.

[0017] The present invention provides a broccoli picking method using a broccoli picking machine, which is specifically as follows:

[0018] Step 1: After the lifting mechanism drives the support plate 1 to descend a preset distance 1, the vehicle body moves forward, and the stem of the target broccoli is located between the two clamping claws 2. As the vehicle body moves forward, the movable block contacts the lower end of the stem of the target broccoli and moves backward along the hole 1. The spring 1 is compressed, and the two movable pull rods push the corresponding connecting rod 1 to rotate forward. The connecting rod 1 drives the connecting rod 2 and the clamping claw 2 to rotate forward. The two clamping claws 2 clamp the lower end of the stem of the target broccoli. When the pressure value detected by the pressure sensor 3 is within the preset pressure range 1, the vehicle body stops moving forward, and the contact mechanism is located directly above the broccoli.

[0019] Step 2: The controller controls the piston rod of the electric telescopic rod 1 to extend, and the soft contact ring contacts the top of the broccoli until the pressure value detected by the pressure sensor 1 is within the preset pressure range 2.

[0020] Step three, the controller controls the drive motor two to drive the corresponding gear two to rotate, the two gears two are respectively meshed with the two straight racks on the U-shaped plate, thereby driving the arc-shaped base to move forward, and the contact wheel contacts the middle part of the broccoli stem, thereby pushing the buffer rod and the tool movable plate to move backward along the hole three and the hole two respectively, and the spring three and the spring two are compressed. When the pressure value detected by the pressure sensor four is within the preset pressure range three, the controller controls the drive motor two to stop working.

[0021] Step 4: The controller controls two drive motors 3 to synchronously drive corresponding gears 3 to mesh with the arc-shaped rack, and the arc-shaped rack rotates around the stalk of the broccoli along the arc-shaped groove, thereby driving the pruning tool to rotate around the stalk of the broccoli, and at the same time, the lifting mechanism drives the support plate 1 to rise, thereby driving the pruning tool to rise, and the pruning tool performs a spiral upward motion, and the pruning blade cuts the side branches and side flower buds on the broccoli stalk; wherein, when the support plate 1 moves up, the spring telescopic rod shortens, and the height of the clamping mechanism remains unchanged; when the distance sensor detects that the distance between the upper end of the tool movable plate and the connecting plate reaches the preset When the distance is two, the lifting mechanism stops working, and the controller controls the two driving motors three to continue working until the arc-shaped rack and the pruning tool rotate to the initial position. The controller controls the piston rod of the electric telescopic rod one to shorten to the initial position, and controls the driving motor two to drive the corresponding gear two, so that the U-shaped plate drives the arc-shaped base to move backward to the initial position, and the contact wheel is separated from the broccoli stem. At the same time, due to the restoring force of spring three and spring two, the buffer rod and the tool movable plate move forward along hole three and hole two to the initial state respectively, thereby completing the pruning of the side branches and side buds on the broccoli stem.

[0022] Step 5. The controller controls the drive motor 1 to drive the picking robot to rotate 180° forward; then the controller controls the piston rod of the electric telescopic rod 2 to extend until the stalk of the broccoli is located between the two clamping jaws 1 of the pneumatic claw, and controls the two clamping jaws 1 of the pneumatic claw to move toward each other to clamp the stalk of the broccoli until the pressure value detected by the pressure sensor 2 is within the preset pressure range 4; then the drive member drives the gear 1 to drive the cutting blade to rotate 360°, and the cutting blade cuts the broccoli, and the controller controls the drive motor 1 to drive the picking robot to reverse 180°, and the picking robot drives the broccoli to move above the collecting basket, the pneumatic claw releases the broccoli, and the broccoli falls into the collecting basket, completing the picking and collection of the broccoli, and the controller controls the piston rod of the electric telescopic rod 2 to shorten to the initial state.

[0023] Step 6. The vehicle body moves backward, and the movable block is separated from the bottom of the target broccoli stalk. Due to the restoring force of spring 1, the movable block moves forward along hole 1, and the two movable pull rods pull the corresponding connecting rod 1 to rotate backward. Connecting rod 1 drives connecting rod 2 and clamping claw 2 to rotate backward to the initial state. At the same time, the spring telescopic rod extends and returns to the initial state, and the lifting mechanism drives the support plate to drop to the initial height.

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

[0025] 1. In the present invention, a pruning tool is driven by a rotating mechanism and a lifting mechanism to perform a spiral upward motion around the broccoli stem, and the pruning blade of the pruning tool prunes the side branches and side flower buds on the broccoli stem, without manual pruning, thereby improving processing efficiency; when the distance between the upper end of the tool movable plate and the connecting plate reaches a preset distance two, the lifting mechanism stops working, and after the pruning tool completes pruning, a picking robot clamps the broccoli stem and drives the cutting blade to rotate 360° through a driving member to cut the broccoli, and then the broccoli is put into a collecting basket through the picking robot, thereby completing the picking and collection of the broccoli, without manual picking and collection, thereby improving the picking efficiency and ensuring that the height of the picked broccoli is basically the same; the present invention realizes the integrated automation of pruning, picking and collecting broccoli, thereby improving work efficiency and liberating labor.

[0026] 2. The present invention is provided with a contact wheel, which is used for the pruning tool to stabilize the broccoli stalks during the pruning process. At the same time, the friction between the contact belt and the broccoli stalks drives the hemispheres and the rotating shaft to rotate around the central axis of the rotating shaft, and drives each hemisphere to rotate around the central axis of the corresponding rolling shaft, thereby reducing the friction between the pruning tool and the broccoli stalks and preventing the pruning tool from being affected by the side branches and side buds on the broccoli stalks and being unable to prune the broccoli. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the vehicle body, the lifting device and the collection basket in the present invention;

[0029] Figure 3 It is a schematic diagram of the structures of the picking device, the pruning device and the supporting and clamping device in the present invention;

[0030] Figure 4 It is a structural schematic diagram of the picking device in the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the picking device and the supporting and clamping device in the present invention;

[0032] Figure 6 It is a structural schematic diagram of the clamping mechanism in the present invention;

[0033] Figure 7 is a top view of the trimming device of the present invention;

[0034] Figure 8 is a cross-sectional view of the pruning tool in the present invention;

[0035] Fig. 9 It is a schematic diagram of the structure of the contact wheel in the present invention;

[0036] Fig.10 A partial cross-sectional view of the contact wheel of the present invention;

[0037] Fig.11 for Fig.10 Enlarged view of part A. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, a broccoli picking machine of the present invention includes a vehicle body 1, a lifting device 2, a picking device 3, a pruning device 4 and a supporting and clamping device 5.

[0040] like Figure 2 As shown, the lifting device 2 includes a lifting mechanism, a fixing plate 24 and a contact mechanism 25; the fixing plate 24 is vertically fixed to the front end of the vehicle body 1, and a lifting mechanism is provided on the fixing plate 24, and the lifting mechanism drives the support plate 1 511 of the support and clamping device 5 to lift and lower; the contact mechanism 25 includes an electric telescopic rod 1 and a soft contact ring, and a horizontally arranged connecting plate is fixed to the upper end of the fixing plate 24, and the cylinder of the electric telescopic rod 1 is fixed to the connecting plate, and the piston rod of the electric telescopic rod 1 faces downward and is fixed to the horizontally arranged soft contact ring, and a pressure sensor 1 is provided on the soft contact ring. Among them, the front end of the vehicle body 1 is located on one side of the lifting device 2 and is detachably fixed with a collection basket 13.

[0041] like Figure 3 and Figure 4 As shown, the picking device 3 includes a fixed column, a driving motor 1, a driving member 31, a cutting tool 32 and a picking manipulator 33; the fixed column is vertically fixed on the support plate 1 511; the cutting tool 32 includes a cutting blade 321 and a gear 1 322, the gear 1 322 is sleeved on the fixed column through a circular hole, and is supported on a convex ring integrally formed on the fixed column, the gear 1 322 and the fixed column form a rotating pair, and are driven by the driving member 31, and the cutting blade 321 is horizontally fixed on the upper end surface of the gear 1 322; the picking manipulator 33 is located above the cutting tool 32, the picking manipulator 33 includes a pneumatic claw 331 and an electric telescopic rod 2 332, the output shaft of the driving motor 1 faces downward and is fixed to the fixed column, the cylinder body of the electric telescopic rod 2 332 is horizontally fixed on the housing of the driving motor 1, the piston rod of the electric telescopic rod 2 332 is provided with a pneumatic claw 331, and the inner side of the clamping jaw 1 of the pneumatic claw 331 is provided with a pressure sensor 2. In the initial state, the pneumatic claw 331 is located above the collecting basket 13 .

[0042] like Figure 3 and Figure 5As shown, the support and clamping device 5 includes a support mechanism 51 and a clamping mechanism 52; the support mechanism 51 includes a support plate 1 511, a support plate 2 512, a guide rail 513, a gear 2 514 and a spring telescopic rod 515; the support plate 2 512 is fixed to the support plate 1 511 through a support column, the support plate 1 511 and the support plate 2 512 are horizontally parallel, the two guide rails 513 are fixed on the support plate 2 512 at a distance, and each guide rail 513 is hinged with a horizontally arranged gear 2 514; the support plate 1 511 is provided with a vertically arranged spring telescopic rod 515.

[0043] like Figure 6 As shown, the clamping mechanism 52 includes a connecting rod 521, a movable block 523 and a clamping jaw assembly; the connecting rod 521 is horizontally fixed on the spring telescopic rod 515, the cylindrical rod integrally formed on the movable block 523 and the hole 1 opened on the connecting rod 521 constitute a sliding pair, and are connected to the connecting rod 521 through a spring 1 522; the connecting rod 521 is provided with two symmetrically arranged clamping jaw assemblies, the clamping jaw assembly includes a movable pull rod 524, a connecting rod 1 525, a connecting rod 2 526 and a clamping jaw 2 527, the two ends of the movable pull rod 524 are hinged to the middle part of the connecting rod 1 525 and the connecting rod 521 respectively, the two ends of the connecting rod 1 525 are hinged to the movable block 523 and the rear end of the clamping jaw 2 527 respectively, and the two ends of the connecting rod 2 526 are hinged to the middle part of the movable block 523 and the clamping jaw 2 527 respectively; the front end of the movable block 523 is provided with a pressure sensor 3 528.

[0044] like Figure 3 and Figure 7 As shown, the trimming device 4 includes a trimming tool 41 and a rotating mechanism 42; the rotating mechanism 42 includes an arc-shaped base 421, a gear three 422 and an arc-shaped rack 423; the arc-shaped rack 423 and the arc-shaped groove opened on the horizontally arranged arc-shaped base 421 form a sliding pair; a horizontally arranged U-shaped plate is fixed to the middle part of the outer side of the arc-shaped base 421, the inner sides of the two arms of the U-shaped plate and the two guide rails 513 respectively form a sliding pair, and the outer sides of the two arms of the U-shaped plate are fixed with spur racks, and the two spur racks and two gears 514 respectively form a gear pair, and the driving motor 2 drives one of the gears 514 to drive the U-shaped plate forward and backward; three gears 422 set horizontally are hinged equidistantly along the circumferential direction on the outer side of the arc-shaped base 421, and the gears 422 pass through the notches opened at corresponding positions on the arc-shaped base 421 to form a gear pair with the arc-shaped rack 423, and the two gears 422 with the farthest distance are driven by a driving motor 3 respectively.

[0045] like Figure 8As shown, the trimming tool 41 includes a tool base 411, a tool movable plate 412, a buffer rod 413, a contact wheel 414 and a trimming blade 415; the tool base 411 is vertically fixed on the arc-shaped rack 423, the cylindrical rod integrally formed on the tool movable plate 412 and the second hole opened on the tool base 411 form a sliding pair, and are connected to the tool base 411 through a second spring; the buffer rod 413 and the third hole opened on the tool movable plate 412 form a sliding pair, and are connected to the tool movable plate 412 through a third spring, and the buffer rod 413 There are two buffer rods 413 arranged horizontally and spaced apart from each other, one of which is provided with a pressure sensor 413, and a contact wheel 414 is arranged between the two buffer rods 413. The contact wheel 414 is used for stabilizing the broccoli stalks while reducing the friction with the broccoli stalks during the pruning process of the pruning tool 41, so as to prevent the pruning tool 41 from being affected by the side branches and side buds on the broccoli stalks and being unable to prune the broccoli; the pruning blade 415 is fixed to the tool movable plate 412 and is arranged at an angle, and a distance sensor 416 is arranged at the upper end of the tool movable plate 412.

[0046] As a preferred embodiment, the vehicle body 1 includes wheels 11 and a frame chassis 12 , the wheels 11 are hinged at the four corners of the frame chassis 12 , and the wheels 11 can be driven by a hub motor; the collecting basket 13 and the fixing plate 24 are both fixed to the frame chassis 12 .

[0047] As a preferred embodiment, the lifting mechanism includes a connecting roller 21, an L-shaped lifting base plate 22 and a chain transmission mechanism 23. The two sprockets of the chain transmission mechanism 23 are arranged at an upper and lower interval and both form a rotating pair with the fixed plate 24. Chain transmission mechanisms 23 are provided at both left and right ends of the fixed plate 24. The two chain transmission mechanisms 23 are synchronously driven by a driving motor 4. The L-shaped lifting base plate 22 and the fixed plate 24 form a sliding pair and are fixed to the chains in the two chain transmission mechanisms through the horizontally arranged connecting roller 21; the support plate 1 511 is fixed on the L-shaped lifting base plate 22.

[0048] As a preferred embodiment, the driving member 31 includes a mechanism base 311 and a servo motor 312, the mechanism base 311 is fixed to the fixed column, the housing of the servo motor 312 is fixed to the mechanism base 311, and the gear four fixed on the output shaft of the servo motor 312 is meshed with the gear one 322.

[0049] As a preferred embodiment, the spring telescopic rod 515 includes a support rod and a straight rod. The support rod is vertically fixed on the support plate 511. The straight rod and the hole four opened on the support rod form a sliding pair and are connected to the support rod through spring four; the connecting rod 521 is fixed to the straight rod.

[0050] As a preferred embodiment, Fig. 9 , Fig.10 and Fig.11As shown, the contact wheel 414 includes a contact belt 4141, a hemisphere 4142, a rotating shaft 4143, a mounting ring 4144 and a rolling shaft 4145; the two ends of the rotating shaft 4143 and the two buffer rods 413 respectively form a rotating pair, two mounting rings 4144 arranged at a distance are fixed on the rotating shaft 4143, two rolling shafts 4145 arranged symmetrically and coaxially are fixed on the mounting ring 4144, the rolling shaft 4145 and the hemisphere 4142 form a rotating pair, and each group of two hemispheres 4142 located on the same side of the two mounting rings 4144 are connected by a contact belt 4141.

[0051] More preferably, the annular protrusion integrally formed on the contact belt 4141 is embedded in the annular groove provided on the hemispherical body 4142 .

[0052] Among them, drive motor 1, drive motor 2, drive motor 3, drive motor 4, servo motor 312, electric telescopic rod 1, electric telescopic rod 2 332 and the hub motor of the driving wheel are all controlled by the controller, the signal output ends of pressure sensor 1, pressure sensor 2, pressure sensor 3 528, pressure sensor 4 and distance sensor 416 are all connected to the controller, the pneumatic claw 331 is connected to the air pump through the electromagnetic reversing valve, and the electromagnetic reversing valve is controlled by the controller.

[0053] The present invention provides a broccoli picking method using a broccoli picking machine, which is specifically as follows:

[0054] Step 1: After the lifting mechanism drives the support plate 1 511 to descend a preset distance 1, the vehicle body 1 moves forward and makes the stem of the target broccoli located between the two clamping claws 2 527. As the vehicle body 1 moves forward, the movable block 523 contacts the lower end of the stem of the target broccoli and moves backward along the hole 1. The spring 1 522 is compressed, and the two movable pull rods 524 push the corresponding connecting rod 1 525 to rotate forward. The connecting rod 1 525 drives the connecting rod 2 526 and the clamping claw 2 527 to rotate forward. The two clamping claws 2 527 clamp the lower end of the stem of the target broccoli. When the pressure value detected by the pressure sensor 3 528 is within the preset pressure range 1, the vehicle body 1 stops moving forward, and the contact mechanism 25 is located directly above the broccoli.

[0055] Step 2: The controller controls the piston rod of the electric telescopic rod 1 to extend, and the soft contact ring contacts the top of the broccoli until the pressure value detected by the pressure sensor 1 is within the preset pressure range 2.

[0056] Step three, the controller controls the drive motor two to drive the corresponding gear two 514 to rotate, and the two gear twos 514 are respectively meshed with the two straight racks on the U-shaped plate, thereby driving the arc-shaped base 421 to move forward, and the contact wheel 414 contacts the middle part of the broccoli stem, thereby pushing the buffer rod 413 and the tool movable plate 412 to move backward along the hole three and the hole two respectively, and the spring three and the spring two are compressed. When the pressure value detected by the pressure sensor four is within the preset pressure range three, the controller controls the drive motor two to stop working.

[0057] Step 4: The controller controls the two driving motors 3 to synchronously drive the corresponding gear 3 422 to mesh with the arc-shaped rack 423. The arc-shaped rack 423 rotates around the broccoli stem along the arc-shaped groove, thereby driving the pruning tool 41 to rotate around the broccoli stem. At the same time, the lifting mechanism drives the support plate 1 511 to rise, thereby driving the pruning tool 41 to rise. The pruning tool 41 performs a spiral upward motion, and the pruning blade 415 cuts the side branches and side flower buds on the broccoli stem. In the process of the spiral upward motion of the pruning tool 41, the friction between the contact belt 4141 in the contact wheel 414 and the broccoli stem drives the hemisphere 4142 and the rotating shaft 4143 to rotate around the central axis of the rotating shaft 4143, and drives each hemisphere 4142 to rotate around the central axis of the corresponding rolling shaft 4145, so that the contact wheel 414 reduces the friction between the pruning tool 41 and the broccoli stem while stabilizing the broccoli stem. When the support plate 1 511 moves upward, the spring telescopic rod 515 shortens because the clamping mechanism 52 clamps the target broccoli stem, so that the height of the clamping mechanism 52 remains unchanged; when the distance sensor 416 detects that the distance between the upper end of the tool movable plate 412 and the connecting plate reaches the preset distance 2, the lifting mechanism stops working, and the controller controls the two drive motors 3 to continue working until the arc-shaped rack 423 and the pruning tool 41 are rotated to the initial position. The controller controls the piston rod of the electric telescopic rod 1 to shorten to the initial position, and controls the drive motor 2 to drive the corresponding gear 2 514, so that the U-shaped plate drives the arc-shaped base 421 to move backward to the initial position, and the contact wheel 414 is separated from the broccoli stem. At the same time, due to the restoring force of the spring 3 and the spring 2, the buffer rod 413 and the tool movable plate move forward along the hole 3 and the hole 2 to the initial state respectively, completing the pruning of the side branches and side buds on the broccoli stem.

[0058] Step 5, the controller controls the driving motor 1 to drive the picking robot 33 to rotate 180° forward; then the controller controls the piston rod of the electric telescopic rod 2 332 to extend until the stalk of the broccoli is located between the two clamping jaws 1 of the pneumatic claw 331, and controls the two clamping jaws 1 of the pneumatic claw 331 to move towards each other to clamp the stalk of the broccoli until the pressure value detected by the pressure sensor 2 is within the preset pressure range 4; then the driving member 31 drives the gear 1 322 to drive the cutting blade 321 to rotate 360°, and the cutting blade 321 cuts the broccoli, and the controller controls the driving motor 1 to drive the picking robot 33 to reverse 180°, and the picking robot 33 drives the broccoli to move above the collecting basket 13, and the pneumatic claw 331 releases the broccoli, and the broccoli falls into the collecting basket 13, completing the picking and collection of the broccoli, and the controller controls the piston rod of the electric telescopic rod 2 332 to shorten to the initial state.

[0059] Step 6, the vehicle body 1 moves backward, and the movable block 523 is separated from the bottom of the target broccoli stem. Due to the restoring force of the spring 1 522, the movable block 523 moves forward along the hole 1, and the two movable pull rods 524 pull the corresponding connecting rod 1 525 to rotate backward. The connecting rod 1 525 drives the connecting rod 2 526 and the clamping claw 2 527 to rotate backward to the initial state. At the same time, the spring telescopic rod 515 extends and returns to the initial state, and the lifting mechanism drives the support plate 1 511 to descend to the initial height, which is higher than the height of the broccoli stem after picking, so that the vehicle body 1 can pass over the broccoli stem after picking when it continues to move forward. In step 1, the support plate 1 511 is first lowered by a preset distance 1 so that the clamping mechanism 52 can clamp on the broccoli stem that does not need to be picked.

Claims

1. A broccoli picking machine, comprising a vehicle body, a lifting device and a picking device, characterized in that: It also includes a trimming device and a supporting and clamping device; the lifting device includes a fixed plate, a lifting mechanism and a contact mechanism; the fixed plate is vertically fixed to the front end of the vehicle body, and a lifting mechanism is provided on the fixed plate, and the lifting mechanism drives the support plate 1 of the supporting and clamping device to rise and fall; the contact mechanism includes an electric telescopic rod 1 and a soft contact ring, and a horizontally arranged connecting plate is fixed to the upper end of the fixed plate, and the cylinder body of the electric telescopic rod 1 is fixed to the connecting plate, and the piston rod of the electric telescopic rod 1 faces downward and is fixed to the horizontally arranged soft contact ring, and a pressure sensor 1 is provided on the soft contact ring; wherein, a collecting basket is detachably fixed to one side of the lifting device at the front end of the vehicle body; The picking device comprises a fixed column, a driving motor 1, a driving member, a cutting tool and a picking manipulator; the fixed column is vertically fixed on a supporting plate 1; the cutting tool comprises a cutting blade and a gear 1, the gear 1 is sleeved on the fixed column through a circular hole and supported on a convex ring integrally formed on the fixed column, the gear 1 and the fixed column form a rotating pair and are driven by the driving member, and the cutting blade is horizontally fixed on the upper end surface of the gear 1; the picking manipulator is located above the cutting tool, and the picking manipulator comprises a pneumatic claw and an electric telescopic rod 2, the output shaft of the driving motor 1 faces downward and is fixed to the fixed column, the cylinder body of the electric telescopic rod 2 is horizontally fixed to the housing of the driving motor 1, the piston rod of the electric telescopic rod 2 is provided with a pneumatic claw, and the inner side of the clamping jaw 1 of the pneumatic claw is provided with a pressure sensor 2; in the initial state, the pneumatic claw is located above the collection basket; The support and clamping device comprises a support mechanism and a clamping mechanism; the support mechanism comprises a support plate 1, a support plate 2, a guide rail and a spring telescopic rod, the support plate 2 is fixed to the support plate 1 through a support column, and the support plate 1 and the support plate 2 are arranged horizontally and parallel, the two guide rails are fixed on the support plate 2 at a distance, each guide rail is hinged with a horizontally arranged gear 2, and a vertically arranged spring telescopic rod is provided on the support plate 1; The clamping mechanism includes a connecting rod, a movable block and a clamping claw assembly; the connecting rod is horizontally fixed on the spring telescopic rod, the cylindrical rod integrally formed on the movable block and the hole 1 opened on the connecting rod form a sliding pair, and are connected to the connecting rod through a spring 1; the connecting rod is provided with two symmetrically arranged clamping claw assemblies, the clamping claw assembly includes a movable pull rod, a connecting rod 1, a connecting rod 2 and a clamping claw 2, the two ends of the movable pull rod are respectively hinged to the middle part of the connecting rod 1 and the connecting rod, the two ends of the connecting rod 1 are respectively hinged to the movable block and the rear end of the clamping claw 2, and the two ends of the connecting rod 2 are respectively hinged to the movable block and the middle part of the clamping claw 2; the front end of the movable block is provided with a pressure sensor 3; The trimming device comprises a trimming tool and a rotating mechanism; the rotating mechanism comprises an arc-shaped base, a gear three and an arc-shaped rack, the arc-shaped rack and the arc-shaped groove provided on the horizontally arranged arc-shaped base form a sliding pair, a horizontally arranged U-shaped plate is fixed to the middle part of the outer side of the arc-shaped base, the inner sides of the two arms of the U-shaped plate and the two guide rails respectively form a sliding pair, the outer sides of the two arms of the U-shaped plate are fixed with spur racks, the two spur racks and the two gears two respectively form a gear pair, and the driving motor two drives one of the gears two; the outer side of the arc-shaped base is equidistantly hinged with n gears three provided horizontally, n≥2, the gear three passes through the notches provided at the corresponding positions on the arc-shaped base to form a gear pair with the arc-shaped rack, and the two gears three with the farthest distance are respectively driven by a driving motor three; The trimming tool comprises a tool base, a tool movable plate, a buffer rod, a trimming blade and a contact wheel; the tool base is vertically fixed on an arc-shaped rack, a cylindrical rod integrally formed on the tool movable plate and a second hole provided on the tool base form a sliding pair, and are connected to the tool base through a second spring; the buffer rod and a third hole provided on the tool movable plate form a sliding pair, and are connected to the tool movable plate through a third spring, two buffer rods are provided horizontally and spaced apart from each other, one of the buffer rods is provided with a pressure sensor fourth, and a contact wheel is provided between the two buffer rods; the trimming blade is fixed to the tool movable plate and is provided at an angle, and a distance sensor is provided at the upper end of the tool movable plate.

2. The broccoli picking machine according to claim 1, characterized in that: The vehicle body comprises wheels and a frame chassis, wherein wheels are hinged at four corners of the frame chassis; and the collecting basket and the fixing plate are fixed to the frame chassis.

3. The broccoli picking machine according to claim 1, characterized in that: The lifting mechanism includes an L-shaped lifting base plate, a connecting roller and a chain transmission mechanism. The two sprockets of the chain transmission mechanism are arranged at an upper and lower interval and both form a rotating pair with the fixed plate. Chain transmission mechanisms are arranged at both left and right ends of the fixed plate. The two chain transmission mechanisms are synchronously driven by a driving motor 4. The L-shaped lifting base plate and the fixed plate form a sliding pair and are fixed to the chains in the two chain transmission mechanisms through a horizontally arranged connecting roller; a supporting plate 1 is fixed on the L-shaped lifting base plate.

4. The broccoli picking machine according to claim 1, characterized in that: The driving member includes a mechanism base and a servo motor. The mechanism base is fixed to a fixing column, a housing of the servo motor is fixed to the mechanism base, and a gear four fixed on an output shaft of the servo motor is meshed with a gear one.

5. The broccoli picking machine according to claim 1, characterized in that: The spring telescopic rod comprises a support rod and a straight rod, the support rod is fixed on a support plate 1, the straight rod and a hole 4 opened on the support rod form a sliding pair, and are connected to the support rod through a spring 4; the connecting rod is fixed to the straight rod.

6. The broccoli picking machine according to claim 1, characterized in that: The contact wheel includes a hemisphere, a rotating shaft, a mounting ring and a rolling shaft. The two ends of the rotating shaft and the two buffer rods respectively form a rotating pair. Two mounting rings set at a distance are fixed on the rotating shaft. Two rolling shafts set symmetrically and coaxially are fixed on the mounting ring. The rolling shaft and the hemisphere form a rotating pair. Each group of two hemispheres located on the same side of the two mounting rings are connected by a contact belt.

7. The broccoli picking machine according to claim 6, characterized in that: The annular protrusion integrally formed on the contact belt is embedded in the annular groove formed on the hemispherical body.

8. A broccoli picking method according to any one of claims 1 to 7, characterized in that: The details are as follows: Step 1: After the lifting mechanism drives the support plate 1 to descend a preset distance 1, the vehicle body moves forward, and the stem of the target broccoli is located between the two clamping claws 2. As the vehicle body moves forward, the movable block contacts the lower end of the stem of the target broccoli and moves backward along the hole 1. The spring 1 is compressed, and the two movable pull rods push the corresponding connecting rod 1 to rotate forward. The connecting rod 1 drives the connecting rod 2 and the clamping claw 2 to rotate forward. The two clamping claws 2 clamp the lower end of the stem of the target broccoli. When the pressure value detected by the pressure sensor 3 is within the preset pressure range 1, the vehicle body stops moving forward, and the contact mechanism is located directly above the broccoli. Step 2: The controller controls the piston rod of the electric telescopic rod 1 to extend, and the soft contact ring contacts the top of the broccoli until the pressure value detected by the pressure sensor 1 is within the preset pressure range 2; Step 3: The controller controls the driving motor 2 to drive the corresponding gear 2 to rotate, and the two gears 2 are respectively meshed with the two spur racks on the U-shaped plate, thereby driving the arc-shaped base to move forward, and the contact wheel contacts the middle of the stalk of the broccoli, thereby pushing the buffer rod and the tool movable plate to move backward along the hole 3 and the hole 2 respectively, and the spring 3 and the spring 2 are compressed. When the pressure value detected by the pressure sensor 4 is within the preset pressure range 3, the controller controls the driving motor 2 to stop working; Step 4: The controller controls two drive motors 3 to synchronously drive corresponding gears 3 to mesh with the arc-shaped rack, and the arc-shaped rack rotates around the stalk of the broccoli along the arc-shaped groove, thereby driving the pruning tool to rotate around the stalk of the broccoli, and at the same time, the lifting mechanism drives the support plate 1 to rise, thereby driving the pruning tool to rise, and the pruning tool performs a spiral upward motion, and the pruning blade cuts the side branches and side flower buds on the broccoli stalk; wherein, when the support plate 1 moves upward, the spring telescopic rod shortens, and the height of the clamping mechanism remains unchanged; when the distance sensor detects that the distance between the upper end of the tool movable plate and the connecting plate reaches the preset distance When the distance is set to two, the lifting mechanism stops working, and the controller controls the two driving motors three to continue working until the arc-shaped rack and the pruning tool are turned to the initial position. The controller controls the piston rod of the electric telescopic rod one to shorten to the initial position, and controls the driving motor two to drive the corresponding gear two, so that the U-shaped plate drives the arc-shaped base to move backward to the initial position, and the contact wheel is separated from the stalk of the broccoli. At the same time, due to the restoring force of the spring three and the spring two, the buffer rod and the tool movable plate move forward along the hole three and the hole two to the initial state respectively, thereby completing the pruning of the side branches and side buds on the stalk of the broccoli; Step 5, the controller controls the driving motor 1 to drive the picking manipulator to rotate 180° forward; then the controller controls the piston rod of the electric telescopic rod 2 to extend until the stalk of the broccoli is located between the two clamping jaws 1 of the pneumatic claw, and controls the two clamping jaws 1 of the pneumatic claw to move towards each other to clamp the stalk of the broccoli until the pressure value detected by the pressure sensor 2 is within the preset pressure range 4; then the driving member drives the gear 1 to drive the cutting blade to rotate 360°, and the cutting blade cuts the broccoli, and the controller controls the driving motor 1 to drive the picking manipulator to reverse 180°, and the picking manipulator drives the broccoli to move above the collecting basket, and the pneumatic claw releases the broccoli, and the broccoli falls into the collecting basket, completing the picking and collection of the broccoli, and the controller controls the piston rod of the electric telescopic rod 2 to shorten to the initial state; Step 6. The vehicle body moves backward, and the movable block is separated from the bottom of the target broccoli stalk. Due to the restoring force of spring 1, the movable block moves forward along hole 1, and the two movable pull rods pull the corresponding connecting rod 1 to rotate backward. Connecting rod 1 drives connecting rod 2 and clamping claw 2 to rotate backward to the initial state. At the same time, the spring telescopic rod extends and returns to the initial state, and the lifting mechanism drives the support plate to drop to the initial height.

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