A double row broccoli harvester

Abstract

This invention discloses a double-row broccoli harvester, relating to the technical field of broccoli harvesting devices. It includes a harvesting frame, a traveling device at the lower end of the frame, a harvesting cutterhead above the frame, and a collecting device and a collecting container at the rear end of the frame. The collecting device is located above the collecting container, allowing the broccoli to fall into the container. The harvesting cutterhead includes a cutterhead frame with a conveying device. The front end of the conveying device has a guide frame and a cutting device. The guide frame allows the broccoli to enter the conveying device, and the cutting device cuts the broccoli. The rear end of the cutterhead frame is located above the collecting device, and the conveying device transports the broccoli to the collecting device. This invention enables autonomous broccoli harvesting without manual intervention, thus reducing labor intensity. Furthermore, it offers high harvesting accuracy, thereby improving broccoli harvesting efficiency.

Description

Technical Field

[0001] This invention relates to the field of broccoli harvesting equipment technology, and in particular to a double-row broccoli harvester. Background Technology

[0002] Broccoli's rich nutritional value and high economic value have led to a year-on-year increase in its cultivation area across the country. However, current broccoli harvesting methods primarily rely on manual labor, which is inefficient and requires manpower during peak harvesting periods. Furthermore, while some broccoli harvesting machines are disclosed in existing patents, their manufacturing and operating costs are high, and their harvesting accuracy is low, resulting in low overall efficiency.

[0003] Therefore, there is an urgent need in this field for a double-row broccoli harvester to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a double-row broccoli harvester to solve the technical problems existing in the prior art, which has high harvesting accuracy and can effectively improve harvesting efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention discloses a double-row broccoli harvester, including a harvester frame, a walking device at the lower end of the harvester frame, a harvesting cutting platform at the top of the harvester frame, a collecting device and a collecting container at the rear end of the harvester frame, the collecting device being located above the collecting container, and the broccoli in the collecting device being able to fall into the collecting container.

[0007] The harvesting platform includes a harvesting frame, on which a conveying device is provided. The front end of the conveying device is provided with a guide frame and a cutting device. The guide frame allows broccoli to enter the conveying device, and the cutting device is used to cut the broccoli. The rear end of the harvesting frame is located above the collecting device, and the conveying device can transport the broccoli to the collecting device.

[0008] Preferably, the header frame is mounted on the harvester frame via a telescopic rod, and a linkage mechanism is also connected between the header frame and the harvester frame;

[0009] The front end of the cutting table frame is rotatably connected to a contour wheel frame, the contour wheel frame is provided with contour wheels, and a gas spring is connected between the contour wheel frame and the cutting table frame.

[0010] An angle sensor is provided at the connection between the contour wheel frame and the cutting table frame;

[0011] A servo motor bracket is fixed on the cutting table frame, and a lever servo motor is fixed on the servo motor bracket. An angle lever is fixed on the output shaft of the lever servo motor. Two proximity switches are provided at the end of the angle lever away from the lever servo motor, and the two proximity switches are distributed vertically.

[0012] Preferably, the linkage mechanism includes a fixed base, which is fixed to the harvester frame. A first end of a first link is hinged to the fixed base, a second end of the first link is hinged to the first end of a second link, and a second end of the second link is hinged to the cutting table frame.

[0013] Preferably, there are two harvesting platforms.

[0014] Preferably, the conveying device includes two clamping conveyors and one belt conveyor, with the two clamping conveyors located on both sides of the belt conveyor, and a guide frame fixed to the front end of each clamping conveyor;

[0015] The rear end of the conveying device is provided with a drive shaft, one end of which is connected to a drive motor. The drive roller in the belt conveyor is connected to the drive shaft, and the drive roller in the clamping conveyor is connected to the drive shaft through a gearbox.

[0016] Preferably, each of the conveying devices is provided with two cutting devices at its front end. Each cutting device includes a cutting motor, and a disc cutter is connected to the output shaft of the cutting motor.

[0017] Preferably, the collecting device is mounted on a collecting frame, and the collecting frame is fixed to the harvesting frame. The collecting device includes a longitudinal drive device, a longitudinal slide rail, a transverse drive device, and a transverse slide rail.

[0018] The longitudinal drive device and the longitudinal slide rail are parallel to each other, and a longitudinal sliding bracket is slidably connected between the longitudinal drive device and the longitudinal slide rail;

[0019] The lateral drive device and the lateral slide rail are parallel to each other, and a lateral sliding bracket is slidably connected between the lateral drive device and the lateral slide rail.

[0020] A telescopic buffer cylinder is slidably connected to one of the transverse sliding supports and one of the longitudinal sliding supports.

[0021] Preferably, the telescopic buffer cylinder has a corrugated pipe structure.

[0022] Preferably, the collection device is a collection box.

[0023] Preferably, the harvester frame is also equipped with a shooting device, which is a depth camera.

[0024] The present invention achieves the following technical effects compared to the prior art:

[0025] This invention uses a guide frame to accurately guide broccoli into the conveying device. Furthermore, through an angle sensor and telescopic rod, the position of the harvesting platform can be adjusted to align with the height of the broccoli, facilitating the cutting device's cutting action. The conveying device transports the broccoli to a collecting device, where a telescopic buffer cylinder accurately transfers the broccoli into a collection container.

[0026] The entire harvesting process operates with precision, which can effectively improve the harvesting efficiency of broccoli. No workers are required, which can effectively reduce the labor intensity of staff. In addition, two conveyor devices are set up, which can further improve the harvesting efficiency of broccoli. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of the double-row broccoli harvester according to an embodiment of the present invention;

[0029] Figure 2 This is a partial side view of the harvesting platform in a double-row broccoli harvester according to an embodiment of the present invention;

[0030] Figure 3 This is a partial frontal view of the harvesting platform in the double-row broccoli harvester according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the collecting device in the double-row broccoli harvester according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the linkage mechanism in the double-row broccoli harvester according to an embodiment of the present invention;

[0033] In the diagram: 1-Harvesting frame; 2-Traveling device; 3-Harvesting header; 301-Header frame; 302-Following wheel frame; 303-Following wheel; 304-Angle sensor; 305-Servo bracket; 306-Toggle servo; 307-Angle lever; 308-Proximity switch; 309-Gas spring; 310-Disc cutter; 311-Guide frame; 312-Clamping conveyor; 313-Belt conveyor; 314-Driver 315-Drive motor; 316-Gearbox; 317-Fixed base; 318-First connecting rod; 319-Second connecting rod; 320-Telescopic rod; 4-Shooting device; 5-Collection device; 501-Longitudinal drive device; 502-Longitudinal slide rail; 503-Longitudinal sliding bracket; 504-Transverse drive device; 505-Transverse slide rail; 506-Transverse sliding bracket; 507-Telescopic buffer cylinder; 6-Collection container. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The purpose of this invention is to provide a double-row broccoli harvester to solve the technical problems existing in the prior art, which has high harvesting accuracy and can effectively improve harvesting efficiency.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1-5 As shown, this embodiment provides a double-row broccoli harvester, including a harvesting frame 1, which is a supporting main body. A walking device 2 is provided at the lower end of the harvesting frame 1. The walking device 2 can use an existing tracked chassis, thus ensuring stable movement of the main body of the device in the field. A harvesting cutter 3 is provided above the harvesting frame 1, and the function of the harvesting cutter 3 is to harvest the broccoli. A collecting device 5 and a collecting container 6 are provided at the rear end of the harvesting frame 1. The collecting device 5 is located above the collecting container 6, and the broccoli in the collecting device 5 can fall into the collecting container 6.

[0038] Regarding the specific structure of the harvesting platform 3, the harvesting platform 3 includes a platform frame 301, a conveying device is provided on the platform frame 301, a guide frame 311 and a cutting device are provided at the front end of the conveying device, the guide frame 311 allows the broccoli to enter the conveying device, the cutting device is used to cut the broccoli, the rear end of the platform frame 301 is located above the collecting device 5, and the conveying device can transport the broccoli to the collecting device 5.

[0039] In actual use, the walking device 2 drives the main body of the device to move in the field. When it moves to the location of the broccoli to be harvested, the guide frame 311 at the front end of the conveying device is aligned with the broccoli to ensure that the broccoli can move towards the conveying device. Then, the cutting device is used to cut the broccoli. The cut broccoli is finally transported from the front end of the conveying device to the rear end of the conveying device and then falls into the collection device 5, and finally falls into the collection container 6 below for temporary storage.

[0040] In this embodiment, as Figure 5 As shown, the header frame 301 is mounted on the harvester frame 1 via a telescopic rod 320, with both ends of the telescopic rod 320 connected to the header frame 301 and the harvester frame 1, respectively. A linkage mechanism also connects the header frame 301 and the harvester frame 1. The linkage mechanism enables the rotational connection between the header frame 301 and the harvester frame 1. The telescopic rod 320 is used to adjust the angle of the header frame 301, or more precisely, to adjust the height of the front end of the header frame 301 above the ground, so that the front end of the conveying device matches the height of the broccoli, enabling it to harvest broccoli of different terrains and heights. Regarding the specific structure of the telescopic rod 320, an existing electric cylinder device is used; however, those skilled in the art can replace it with a hydraulic cylinder or other devices with telescopic capabilities.

[0041] like Figure 2As shown, a contour wheel frame 302 is rotatably connected to the front end of the cutting table frame 301. Contouring wheels 303 are mounted on the contour wheel frame 302. Specifically, the upper end of the contour wheel frame 302 is rotatably connected to a mounting bracket inherent on the cutting table frame 301 via bearings. Regarding the mounting brackets, multiple U-shaped mounting brackets are fixed to the front end of the cutting table frame 301 to facilitate connection between the cutting table frame 301 and other equipment. A cylindrical protrusion is provided on each of the upper ends of the contour wheel frame 302, and corresponding through holes are provided on both sides of the mounting brackets. Bearings are installed within these through holes, and the cylindrical protrusions pass through the inner ring of the bearings, thus achieving the rotatable connection of the contour wheel frame 302. Two contour wheels 303 are provided at the lower end of each contour wheel frame 302. A gas spring 309 is connected between the middle of the contour wheel frame 302 and the mounting bracket at the front end of the cutting table frame 301. The gas spring 309 serves to buffer and reset the contour wheels 303.

[0042] An angle sensor 304 is installed at the connection between the contour wheel frame 302 and the cutting table frame 301 (i.e., on the aforementioned cylindrical protrusion). A servo controller electrically connected to the angle sensor 304 is also provided; an existing microcontroller controller can be used. The angle sensor 304 monitors the angle of the contour wheel frame 302 in real time and transmits the relevant data to the servo controller. The servo controller is also electrically connected to the lever servo 306, thereby controlling the lever servo 306 to rotate.

[0043] A servo motor bracket 305 is fixed on the cutting table frame 301. A lever servo motor 306 is fixed on the servo motor bracket 305. An angle lever 307 is fixed on the output shaft of the lever servo motor 306. The angle lever 307 and the output shaft of the lever servo motor 306 are arranged perpendicularly to each other. Two proximity switches 308 are provided at the end of the angle lever 307 away from the lever servo motor 306. The proximity switches 308 are fixed on the corresponding mounting brackets on the cutting table frame 301, and the two proximity switches 308 are distributed vertically. The two proximity switches 308 and the telescopic rod 320 (i.e., electric cylinder) are all electrically connected to the electric cylinder controller. That is, after the proximity switch 308 detects the corresponding signal, it will transmit it to the electric cylinder controller, and then the electric cylinder controller will control the electric cylinder to perform the corresponding telescopic movement.

[0044] by Figure 2Taking the direction of the broccoli as an example, in actual use, when the ground shape and height change, the contour wheel 303 will always be in contact with the ground, forcing the contour wheel frame 302 to rotate clockwise or counterclockwise accordingly. When the contour wheel frame 302 rotates, the angle sensor 304 detects the rotation signal of the contour wheel frame 302 and converts it into an electrical signal, which is transmitted to the servo controller. The servo controller controls the lever servo 306 to rotate, thereby driving the angle lever 307 to rotate clockwise or counterclockwise. When the angle lever 307 rotates clockwise, it triggers the proximity switch 308 located above; when the angle lever 307 rotates counterclockwise, it triggers the proximity switch 308 located below. Then, the electric cylinder controller will perform corresponding extension and retraction actions according to the transmission signal from the proximity switch 308, thereby raising or lowering the front end of the cutting table frame 301 to accurately position it with the broccoli.

[0045] In this embodiment, the linkage mechanism includes a fixed base 317, which is fixed to the harvester frame 1. A first end of a first connecting rod 318 is hinged to the fixed base 317. The second end of the first connecting rod 318 is hinged to the first end of a second connecting rod 319, and the second end of the second connecting rod 319 is hinged to the header frame 301. The linkage mechanism maintains the connection between the header frame 301 and the harvester frame 1, reducing the support burden on the telescopic rod 320.

[0046] In this embodiment, there are two harvesting platforms 3, arranged side by side. Correspondingly, there are also two of each of the following devices: the conveying device, the collecting device 5, and the collecting container 6. This arrangement improves the efficiency of broccoli collection.

[0047] In this embodiment, as Figures 2-3 As shown, the conveying device includes two clamping conveyors 312 and one belt conveyor 313. The clamping conveyors 312 and the belt conveyor 313 have basically the same structure, both including a driving roller and a driven roller. The difference is that the driving roller and the driven roller in the belt conveyor 313 are connected by a common drive belt, while the driving roller and the driven roller in the clamping conveyor 312 are connected by a corrugated conveyor belt. The two clamping conveyors 312 are located on both sides above the belt conveyor 313. Each clamping conveyor 312 has a guide frame 311 fixed at its front end. It should be noted that the guide frame 311 is set on the fixed support of the clamping conveyor 312 and does not rotate itself.

[0048] A drive shaft 315 is located at the rear end of the conveying device. Both ends of the drive shaft 315 are fixed to the cutting table frame 301 via bearing seats. One end of the drive shaft 315 is connected to a drive motor 314, which can drive the drive shaft 315 to rotate. The drive roller in the belt conveyor 313 is connected to the drive shaft 315. Specifically, the drive shaft 315 passes through the center of the drive roller and is fixedly connected to it. When the drive shaft 315 rotates, it drives the drive roller to rotate. The drive roller in the clamping conveyor 312 is connected to the drive shaft 315 via a gearbox 316. The gearbox 316 can be an existing three-output shaft gearbox 316, which has several meshing bevel gears inside. Two of the output shafts are collinear and can be considered as part of the drive shaft 315. The third output shaft is perpendicular to the first two (this is a common structure of the existing gearbox 316, so its specific meshing relationship will not be elaborated here). The third output shaft can be connected to the drive roller in the clamping conveyor 312.

[0049] Thus, when the drive motor 314 drives the transmission shaft 315 to rotate, the transmission shaft 315 will drive the belt conveyor 313 and the clamping conveyor 312 to run together, thereby effectively and accurately conveying the broccoli from the front end of the conveying device to the rear end of the conveying device.

[0050] In this embodiment, each conveying device is equipped with two cutting devices at its front end. Each cutting device includes a cutting motor, and a disc cutter 310 is connected to the output shaft of the cutting motor. The two disc cutters 310 are arranged side by side, which can effectively improve the accuracy of cutting broccoli.

[0051] In this embodiment, as Figure 4 As shown in the figure, there are two sets of identical collection devices 5. The collection devices 5 are set on the collection frame, which is fixed on the harvesting frame 1. The collection device 5 includes a longitudinal drive device 501, a longitudinal slide rail 502, a transverse drive device 504 and a transverse slide rail 505 set on the upper end of the collection frame.

[0052] The longitudinal drive device 501 and the longitudinal slide rail 502 are parallel to each other, and a longitudinal sliding bracket 503 is slidably connected between the longitudinal drive device 501 and the longitudinal slide rail 502; the transverse drive device 504 and the transverse slide rail 505 are parallel to each other, and a transverse sliding bracket 506 is slidably connected between the transverse drive device 504 and the transverse slide rail 505.

[0053] It should be noted that the longitudinal sliding bracket 503 is provided with a groove corresponding to the longitudinal slide rail 502, and the transverse sliding bracket 506 is provided with a groove corresponding to the transverse slide rail 505.

[0054] The longitudinal drive device 501 and the transverse drive device 504 have the same structure, both including a rotary motor. A lead screw is driven to the output shaft of the rotary motor, and a slider is threaded onto the lead screw. The slider is fixedly connected to the corresponding longitudinal sliding bracket 503 or transverse sliding bracket 506. When the rotary motor is started, the lead screw rotates accordingly. Because the slider is fixedly connected to the longitudinal sliding bracket 503 or transverse sliding bracket 506, the slider itself does not rotate, allowing it to move linearly with the rotation of the lead screw, thereby providing the driving force for the longitudinal sliding bracket 503 or transverse sliding bracket 506. The longitudinal slide rail 502 and the transverse slide rail 505 provide guidance for the longitudinal sliding bracket 503 and the transverse sliding bracket 506.

[0055] Furthermore, a telescopic buffer cylinder 507 is slidably connected to both a transverse sliding bracket 506 and a longitudinal sliding bracket 503. The telescopic buffer cylinder 507 has a sliding frame in each of the four directions: up, down, left, and right. The two upper and lower sliding frames are slidably connected to the upper and lower sides of the longitudinal sliding bracket 503, respectively, and the two left and right sliding frames are slidably connected to the left and right sides of the transverse sliding bracket 506, respectively. The sliding connection method of the sliding frames can be either by setting corresponding slide rail and slide groove structures between the sliding frame and the longitudinal sliding bracket 503 or the transverse sliding bracket 506, or by directly placing the sliding frame on the longitudinal sliding bracket 503 or the transverse sliding bracket 506.

[0056] In actual use, the position of the longitudinal sliding bracket 503 and the transverse sliding bracket 506 is adjusted by controlling the controller of the rotating motor, thereby adjusting the position of the telescopic buffer cylinder 507. The purpose is to allow the broccoli in the telescopic buffer cylinder 507 to be regularly placed into the collection container 6.

[0057] In this embodiment, the telescopic buffer cylinder 507 has a corrugated structure, that is, the inner wall of the telescopic buffer cylinder 507 is provided with a corrugated structure. The purpose of this setting is to reduce the falling speed of the broccoli and reduce the damage rate of the broccoli.

[0058] In this embodiment, the collection device 5 can be a common collection box.

[0059] In this embodiment, the harvesting frame 1 is also equipped with a shooting device 4, which is a depth camera. The depth camera is used to take pictures of the entire device, so that the staff can understand the working status of the device.

[0060] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A double-row broccoli harvester, characterized in that: The device includes a harvesting frame, a walking device at the lower end of the harvesting frame, a harvesting cutting platform at the top of the harvesting frame, a collecting device and a collecting container at the rear end of the harvesting frame, the collecting device being located above the collecting container, and broccoli in the collecting device being able to fall into the collecting container. The harvesting platform includes a harvesting frame, on which a conveying device is provided. The front end of the conveying device is provided with a guide frame and a cutting device. The guide frame allows broccoli to enter the conveying device, and the cutting device is used to cut the broccoli. The rear end of the harvesting frame is located above the collecting device, and the conveying device can transport the broccoli to the collecting device. The header frame is mounted on the harvester frame via a telescopic rod, and a linkage mechanism connects the header frame and the harvester frame. A contour wheel frame is rotatably connected to the front end of the header frame, and a contour wheel is mounted on the contour wheel frame. A gas spring connects the contour wheel frame and the header frame. An angle sensor is installed at the connection between the contour wheel frame and the header frame. A servo bracket is fixed on the header frame, and a lever servo is fixed on the servo bracket. An angle lever is fixed on the output shaft of the lever servo. Two proximity switches are located at the end of the angle lever away from the lever servo, and the two proximity switches are distributed vertically. The collecting device is mounted on a collecting frame, which is fixed to the harvesting frame. The collecting device includes a longitudinal drive device, a longitudinal slide rail, a transverse drive device, and a transverse slide rail. The longitudinal drive device and the longitudinal slide rail are parallel to each other, and a longitudinal sliding bracket is slidably connected between them. The transverse drive device and the transverse slide rail are parallel to each other, and a transverse sliding bracket is slidably connected between them. A telescopic buffer cylinder is slidably connected to one transverse sliding bracket and one longitudinal sliding bracket. The telescopic buffer cylinder has a corrugated pipe structure.

2. The double-row broccoli harvester according to claim 1, characterized in that: The linkage mechanism includes a fixed base, which is fixed to the harvester frame. A first end of a first link is hinged to the fixed base. The second end of the first link is hinged to the first end of a second link, and the second end of the second link is hinged to the cutting table frame.

3. The double-row broccoli harvester according to claim 1, characterized in that: There are two harvesting platforms.

4. The double-row broccoli harvester according to claim 1, characterized in that: The conveying device includes two clamping conveyors and one belt conveyor. The two clamping conveyors are located on both sides of the belt conveyor, and a guide frame is fixed at the front end of each clamping conveyor. The rear end of the conveying device is provided with a drive shaft, one end of which is connected to a drive motor. The drive roller in the belt conveyor is connected to the drive shaft, and the drive roller in the clamping conveyor is connected to the drive shaft through a gearbox.

5. The double-row broccoli harvester according to claim 1, characterized in that: Each of the conveying devices is provided with two cutting devices at its front end. Each cutting device includes a cutting motor, and a disc cutter is connected to the output shaft of the cutting motor.

6. The double-row broccoli harvester according to claim 1, characterized in that: The collection device is a collection box.

7. The double-row broccoli harvester according to claim 1, characterized in that: The harvesting machine frame is also equipped with a shooting device, which is a depth camera.

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