A harvesting and packing integrated machine suitable for land chard and a using method thereof

Abstract

The present application relates to the technical field of agricultural machinery equipment, and discloses a harvesting and packaging integrated machine suitable for Lanxi small radish, which comprises a rack, a control module and at least one harvesting and packaging mechanism, the harvesting and packaging mechanism is arranged side by side on the rack and comprises a three-degree-of-freedom guide rail mechanism, a three-fingered gripper mechanism, a film covering mechanism and a leaf removing mechanism; the three-fingered gripper mechanism is arranged on the three-degree-of-freedom guide rail mechanism, the three-degree-of-freedom guide rail mechanism is used to realize three-way movement of the three-fingered gripper mechanism in left-right, front-back and up-down directions, and the film covering mechanism and the leaf removing mechanism are both located at the rear part of the rack; the three-fingered gripper mechanism comprises a gripper stepping motor, the gripper stepping motor is in transmission connection with a lower jaw head through a positive rotation connecting piece to drive the lower jaw head to rotate, and the gripper stepping motor is in transmission connection with the lower jaw head through an inverse rotation connecting piece to drive the lower jaw head to open and close. The present application also discloses a using method thereof. The present application realizes lossless harvesting, leaf removing, film covering and packaging integrated operation of the Lanxi small radish, effectively saves the manpower required for harvesting the small radish, and improves the production efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery equipment, and particularly relates to a harvesting and packaging integrated machine suitable for Lanxi small radish and a use method thereof. BACKGROUND

[0002] Radish belongs to the Umbelliferae annual or biennial herb, including carrot, white radish and other varieties. Radish has a long history of cultivation in China and a wide range. Lanxi small radish is a specialty of Lanxi City, Jinhua City, Zhejiang Province. The flesh root is in the shape of an inverted oval, has a thin and white skin, and is free of root hairs and concave-convex spots. The main producing area of Lanxi small radish is along the banks of the three rivers and five streams in Lanxi. The soil in this area is developed from river sand and has good permeability and a thick plough layer. The previous harvesting method is mainly manual harvesting, which has high labor intensity, low mechanical utilization rate, and high time and money costs.

[0003] Most of the radish harvesting machines in modern agriculture are suitable for harvesting radishes such as carrots and white radishes that are planted in rows, and are not suitable for scattered varieties such as Lanxi small radish. For example, the patent number 202322804835.X “Pulling type white radish harvesting machine” and the patent number 202410084586.8 “Modular white radish harvesting machine” both use a soil loosening device to loosen the soil at the location of the radish before clamping and pulling the radish. The depth and position of the soil loosening are prone to damage the Lanxi small radish. In addition, white radish has a large size and weight, which is not suitable for small radishes such as Lanxi small radish, and requires regular planting of radishes in rows. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a harvesting and packaging integrated machine suitable for small radishes (such as Lanxi small radish) and a use method thereof, which can complete the complete process of radish harvesting, leaf removal and film covering and packaging through the harvesting and packaging integrated machine.

[0005] To solve the above technical problem, the present application provides a harvesting and packaging integrated machine suitable for small radishes (such as Lanxi small radish), which comprises a rack, a control module and at least one harvesting and packaging mechanism, the harvesting and packaging mechanism being arranged side by side on the rack;

[0006] The harvesting and packaging mechanism comprises a three-degree-of-freedom guide rail mechanism, a three-fingered clamping jaw mechanism, a film covering mechanism and a leaf removing mechanism. The three-fingered clamping jaw mechanism is arranged on the three-degree-of-freedom guide rail mechanism, which is used to realize the three-directional movement of the three-fingered clamping jaw mechanism left and right, forward and backward, and up and down. The film covering mechanism and the leaf removing mechanism are both located at the rear part of the rack.

[0007] The three-fingered clamping jaw mechanism comprises a clamping jaw stepping motor, the clamping jaw stepping motor is in transmission connection with the lower jaw head through a positive rotation connecting piece to drive the lower jaw head to rotate, and the clamping jaw stepping motor is in transmission connection with the lower jaw head through a reverse rotation connecting piece to drive the lower jaw head to open and close;

[0008] The three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor, the film covering mechanism and the leaf removing mechanism are all in signal connection with the control module.

[0009] As an improvement of the harvesting and packaging integrated machine suitable for Lanxi small radishes,

[0010] The reverse rotation connecting piece comprises a vertical bevel gear, a threaded tube bevel gear, a threaded tube and an outer connecting frame from top to bottom, the threaded tube bevel gear is in transmission connection with the vertical bevel gear, and the upper part of the threaded tube is fixedly connected with the threaded tube bevel gear;

[0011] The positive rotation connecting piece comprises a horizontal bevel gear, an inner connecting frame transmission shaft and an inner connecting frame from top to bottom, the upper and lower ends of the inner connecting frame transmission shaft are fixedly connected with the horizontal bevel gear and the inner connecting frame respectively, the horizontal bevel gear is located above the vertical bevel gear and is in transmission connection with the vertical bevel gear, the inner connecting frame transmission shaft passes through the threaded tube bevel gear and the threaded tube downwardly and is separated from the threaded tube bevel gear, and the threaded tube and the inner connecting frame transmission shaft are connected through a bearing;

[0012] The motor shaft of the clamping jaw stepping motor is in transmission connection with the horizontal bevel gear, and the rotating shafts of the clamping jaw stepping motor and the vertical bevel gear are fixedly connected with the clamping jaw support.

[0013] As a further improvement of the harvesting and packaging integrated machine suitable for Lanxi small radishes,

[0014] The outer connecting frame comprises an outer disc, a plurality of outer connecting rods are arranged around the circumference of the outer disc, and the upper part of the outer connecting rod is fixedly connected with the outer disc; the outer disc is sleeved outside the threaded tube and is in threaded connection with the threaded tube;

[0015] The inner connecting frame is located in the outer connecting frame and comprises an inner disc, the top of the inner disc is fixedly connected with the lower end of the inner connecting frame transmission shaft, a plurality of inner connecting rods are arranged around the circumference of the inner disc, and the upper part of the inner connecting rod is fixedly connected with the inner disc; the number of the inner connecting rods is consistent with that of the outer connecting rods.

[0016] As a further improvement of the harvesting and packaging integrated machine suitable for Lanxi small radishes,

[0017] A lower jaw head is connected to the lower part of each outer connecting rod, the outer side of the upper part of the lower jaw head is hinged to the lower part of the outer connecting rod; the inner side of the upper part of the lower jaw head is connected to the lower part of the inner connecting rod through a finger connecting rod, and the two ends of the finger connecting rod are hinged to the lower jaw head and the inner connecting rod;

[0018] The lower end of each lower claw head is provided with a first guide vane and a second guide vane; the first guide vane is installed towards the center on the same horizontal plane and is fixedly connected with the bottom surface of the lower claw head at one end; and the second guide vane is installed in a circular shape and is fixedly connected with the side surface of the lower claw head at one end.

[0019] As a further improvement of the application, a harvesting and packaging integrated machine suitable for Lanxi small radishes is provided.

[0020] The frame is of a frame structure, and one walking driving device is arranged on each of the front and rear vertical columns, the walking driving device comprising a walking wheel, a motor support and a straight-head DC motor, the shell of the straight-head DC motor being fixedly connected with the bottom of the frame vertical column through the motor support, and the motor shaft of the straight-head DC motor being in transmission connection with the walking wheel.

[0021] As a further improvement of the application, a harvesting and packaging integrated machine suitable for Lanxi small radishes is provided.

[0022] The three-degree-of-freedom guide rail mechanism comprises a main guide rail, a horizontal guide rail, a vertical guide rail and a supporting slide rail, the main guide rail and the supporting slide rail being arranged on the top of the frame in the longitudinal direction and being fixedly connected with the frame; the horizontal guide rail is arranged on the main guide rail and the supporting slide rail in the transverse direction and is fixedly connected with the slide table of the main guide rail and the supporting slide rail at two sides; the vertical guide rail is fixedly connected with the slide table of the horizontal guide rail; and the clamping jaw support is fixedly connected with the slide table of the vertical guide rail.

[0023] As a further improvement of the application, a harvesting and packaging integrated machine suitable for Lanxi small radishes is provided.

[0024] The film covering mechanism is located in the rear half stroke of the main guide rail and comprises a DC motor, one receiving box, a swing rod and a preservative film roller are symmetrically arranged on the front and rear sides of the DC motor, the preservative film roller is located above the receiving box, the DC motor is in transmission connection with the preservative film roller through a shaft coupling and the swing rod to drive the preservative film roller to rotate around the receiving box, the DC motor is fixedly connected with the frame, and the receiving box is detachably connected with the frame.

[0025] The leaf removing mechanism comprises a rudder and a rudder shears claw, the rudder is fixedly connected with the top prismatic surface of the frame, the rudder shears claw is in transmission connection with the motor shaft of the rudder, and the rudder shears claw is located above the receiving box.

[0026] As a further improvement of the application, a harvesting and packaging integrated machine suitable for Lanxi small radishes is provided.

[0027] The control module comprises a single-chip microcomputer STM, the single-chip microcomputer STM is in signal connection with the straight-head DC motor, the stepping motor of the three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor, the DC motor and the rudder, and is used for controlling the start-stop operation of the straight-head DC motor, the stepping motor of the three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor, the DC motor and the rudder.

[0028] The application also simultaneously provides a use method of the harvesting and packaging integrated machine.

[0029] S1, the walking driving device drives the harvesting and packaging integrated machine to walk, and stops every half meter to harvest radishes;

[0030] S2, the three-degree-of-freedom guide rail mechanism drives the three-fingered gripper mechanism to move above the radishes to be pulled out;

[0031] S3, the gripper stepping motor drives the lower gripper head to rotate forward and open;

[0032] S4, the three-fingered gripper mechanism moves downward to below the vertical guide rail, the gripper stepping motor drives the lower gripper head to rotate reversely and close, the radish leaves are gathered and grabbed, then the three-fingered gripper mechanism moves upward to pull out the radishes;

[0033] S5, the three-degree-of-freedom guide rail mechanism drives the three-fingered gripper mechanism to move above the storage box, the rudder shears the leaves from the radish roots, and the radishes fall into the lower storage box; the three-fingered gripper mechanism moves to the position between the storage boxes, and the leaves fall into the field;

[0034] S6, steps S1-S5 are repeated until the storage box is filled with radishes, one end of the preservative film is attached to the storage box manually, and the direct current motor drives the preservative film roller to rotate around the storage box to cover the preservative film on the storage box, completing the packaging of the small radishes.

[0035] The beneficial effects of the application mainly include:

[0036] 1, the application does not need to loosen the soil first, adopts the double-mechanical three-fingered gripper mechanism to directly grab the radish leaves and pull out the radishes, and simultaneously adds the radish leaf removal and film covering functions to realize the lossless harvesting, leaf removal, film covering and packaging integrated operation of the radishes, effectively saving the manpower required for harvesting the small radishes and improving the production efficiency.

[0037] 2, the three-fingered gripper mechanism of the application simultaneously realizes the rotation and opening and closing of the gripper through one motor and mechanical structure, while the existing intelligent gripper products on the market mostly use an electrical system to realize the grabbing action of the fingers, and the use of the mechanical structure instead of the electrical system has higher reliability and convenience in maintenance, and is more suitable for field work; the three-fingered gripper mechanism directly grabs the radish leaves and pulls out the radishes, which is more suitable for the miniaturized Lanxi small radishes.

[0038] 3, the positive rotation connecting piece and the reverse rotation connecting piece of the application can make the threaded pipe become a driving part, effectively avoid the deformation caused by the cooperation of the outer disc and the threaded pipe during the movement, and reduce the number of turns required for the complete opening and closing of the gripper, so as to avoid the mechanism from being stuck or the leaves from being separated from the radishes, which may cause the radishes to be pulled out. BRIEF DESCRIPTION OF DRAWINGS

[0039] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0040] Figure 1 It is a whole schematic diagram of an intelligent harvesting and packaging all-in-one machine suitable for Lanxi small radish of the present application;

[0041] Figure 2 It is a lateral schematic diagram of an intelligent harvesting and packaging all-in-one machine suitable for Lanxi small radish of the present application;

[0042] Figure 3 It is a structure schematic diagram of a three-fingered claw mechanism in Figure 1

[0043] Figure 4 It is an enlarged schematic diagram of a lower grabbing head in Figure 3 Specific embodiments

[0044] The present application will be further described below in combination with specific embodiments, but the protection scope of the present application is not limited to this:

[0045] Example 1, an intelligent harvesting and packaging all-in-one machine suitable for small radish (such as Lanxi small radish), as shown in Figures 1-2 suitable for harvesting work of white radish planted in Lanxi, mainly including a walking mechanism, a control module, a battery pack and two sets of harvesting and packaging mechanisms placed side by side on the walking mechanism, the harvesting and packaging mechanism including a three-degree-of-freedom guide rail mechanism, a three-fingered claw mechanism, a visual recognition camera 29, a mulching mechanism and a leaf removing mechanism. When running, the harvesting and packaging all-in-one machine can walk along the field ridge, stop picking radish every time it walks a picking area (about 1x0.5m), put the picked radish into different transfer boxes after removing the leaves, and remind the user to assist in mulching operation after the transfer boxes are full. Each harvesting and packaging mechanism can operate independently, that is, the left and right harvesting and packaging mechanisms respectively perform harvesting, leaf removing and mulching packaging operations. After the harvesting in this area is completed, it continues to go to the next area. This product is committed to providing an efficient small radish picking solution to reduce the labor burden of the grower.

[0046] ​​The walking mechanism comprises a frame 1 of a frame structure, two vertical columns are arranged at the front and back of the frame 1 respectively to mount a walking driving device respectively, a motor shaft of a motor 18 is in transmission connection with a walking wheel 100 to drive the walking wheel 100 to move and walk. The four straight DC walking driving devices comprise the walking wheel 100, a motor support 17 and the motor 18, the shell of the motor 18 is fixedly connected with the bottom of the vertical column of the frame 1 through the motor support 17, the motor 18 is in signal connection with a control module, the control module is used to control the start-stop or running speed of the motor 18 to realize the movement of the frame 1, and the steering is realized by controlling the speed difference of the two motors 18.

[0047] The front half of the frame 1 is a radish harvesting area, the back half is a radish leaf removing area and a film covering and packaging area, two longitudinal beams 102 are arranged in the front-to-back direction of the front part of the frame 1 to mount a three-degree-of-freedom guide rail mechanism, three cross beams 104 are arranged in the left-to-right direction of the back part of the frame 1 to mount a film covering mechanism (in this example, the depth direction of the frame 1 is the longitudinal direction or the front-to-back direction, the left-to-right direction is the transverse direction, and the height direction is the vertical direction or the up-to-down direction), the longitudinal beam 102 is located at the top of the frame 1, the cross beam 104 is located at the bottom of the frame 1, and the longitudinal beam 102 and the cross beam 104 are fixedly connected with the edges of the frame 1 at both ends. Two three-degree-of-freedom guide rail mechanisms included in two harvesting and packaging mechanisms arranged side by side can cover the left and right half positions of the frame 1 respectively, so that the three-fingered claw mechanism mounted on the three-degree-of-freedom guide rail mechanism moves forward and backward, moves to the front part of the frame 1 to be the radish harvesting area, moves to the back part to be the radish leaf removing area and the film covering and packaging area, and completes the complete process of radish harvesting, leaf removing and film covering and packaging.

[0048] The three-degree-of-freedom guide rail mechanism adopts a synchronous belt module to realize movement in three directions of x, y and z axes in a three-dimensional coordinate system. The three-degree-of-freedom guide rail mechanism comprises a main guide rail 3, a horizontal guide rail 5, a vertical guide rail 7 and a support slide rail 103. The main guide rail 3 and the support slide rail 103 are arranged on the top of the rack 1 in the longitudinal direction and are parallel to each other. The main guide rail 3 is fixedly connected to the top of the rack 1 through a main guide rail connecting piece 2, and the support slide rail 103 is fixedly connected to the longitudinal beam 102. The main guide rail 3 and the support slide rail 103 are used for sliding support of the horizontal guide rail 5. The horizontal guide rail 5 is arranged on the main guide rail 3 and the support slide rail 103 in the transverse direction and is fixedly connected to the slide table of the main guide rail 3 and the support slide rail 103 through a horizontal guide rail connecting piece 4 on both sides, and can move forward and backward. The vertical guide rail 7 is fixedly connected to the slide table of the horizontal guide rail 5 through a vertical guide rail connecting piece 6 and can move transversely along the horizontal guide rail 5. The three-fingered gripper mechanism is arranged on the vertical guide rail 7 and is fixedly connected to the slide table of the vertical guide rail 7 through a gripper connecting piece 8 and can move up and down along the vertical guide rail 7. In the present application, the TDS30 series linear module of Dongguan Tongdasheng Automation Equipment Co., Ltd. is adopted, and the linear modules with strokes of 1000 mm, 600 mm and 400 mm are used as the main guide rail 3, the horizontal guide rail 5 and the vertical guide rail 7, respectively. The HG15 linear guide rail of Wuxi Ruida Hengke Machinery and Electronics Co., Ltd. is used as the support slide rail 103. The TDS30 series linear module is adapted to a stepping motor, and the stepping motors of the main guide rail 3, the horizontal guide rail 5 and the vertical guide rail 7 are signal-connected to a control module to control the start-stop and operation of the stepping motors, so as to realize the left-right, forward-backward and up-down movement of the three-fingered gripper mechanism in the three-dimensional space.

[0049] The three-fingered gripper mechanism, as shown in Figure 3 Fig. 2, comprises a gripper support 28, one side of which is fixedly connected to the gripper connecting piece 8 through screws or the like, and the other side is provided with a gripper stepping motor 19, a positive rotation connecting piece, a reverse rotation connecting piece and a lower jaw head 25. The gripper stepping motor 19 is drivingly connected to the lower jaw head 25 through the positive rotation connecting piece to drive the lower jaw head 25 to rotate around the axis of the motor shaft of the gripper stepping motor 19, and the gripper stepping motor 19 is drivingly connected to the lower jaw head 25 through the reverse rotation connecting piece to drive the lower jaw head 25 to open and close.

[0050] From top to bottom, the positive rotation connecting piece comprises a horizontal bevel gear 20, an inner connecting frame transmission shaft 30, an inner connecting frame and a finger connecting rod 26. From top to bottom, the reverse rotation connecting piece comprises a vertical bevel gear 21, a threaded tube bevel gear 22, a threaded tube 23 and an outer connecting frame.

[0051] The housing of the clamping jaw stepping motor 19 is fixedly connected with the clamping jaw support 28, the motor shaft is in transmission connection with the horizontal bevel gear 20, the horizontal bevel gear 20 is located above the vertical bevel gear 21 and is in meshing transmission connection with the vertical bevel gear 21, the rotating shaft of the vertical bevel gear 21 is fixedly connected with the clamping jaw support 28, so that the vertical bevel gear 21 rotates in the vertical plane. The threaded tube bevel gear 22 is below the vertical bevel gear 21 and is in meshing transmission connection with the vertical bevel gear 21, so as to realize the mutual reverse rotation of the horizontal bevel gear 20 and the threaded tube bevel gear 22 in the horizontal plane.

[0052] The horizontal bevel gear 20 is connected with the inner connecting frame through the inner connecting frame transmission shaft 30, the upper and lower ends of the inner connecting frame transmission shaft 30 are fixedly connected with the horizontal bevel gear 20 and the inner connecting frame respectively, so that the inner connecting frame rotates along with the rotation of the horizontal bevel gear 20. The shaft rod of the inner connecting frame transmission shaft 30 penetrates downward through the threaded tube bevel gear 22 and the threaded tube 23, and is separated from the threaded tube bevel gear 22 and is not connected.

[0053] The upper part of the threaded tube 23 is fixedly connected with the threaded tube bevel gear 22, so as to rotate along with the rotation of the threaded tube bevel gear 22 (in the opposite direction of the rotation of the inner connecting frame transmission shaft 30). A bearing is arranged between the threaded tube 23 and the inner connecting frame transmission shaft 30, that is, the inner connecting frame transmission shaft 30 penetrates the inner ring of the bearing and is in interference fit, the threaded tube 23 is in interference fit with the outer ring of the bearing, and the bearing is used to support the mutual reverse rotation between the threaded tube 23 and the inner connecting frame transmission shaft 30.

[0054] The outer connecting frame includes an outer disc 241, three outer connecting rods 242 are uniformly and equidistantly arranged around the circumference of the outer disc 241, the outer connecting rods 242 are vertically arranged and the upper parts are fixedly connected with the outer disc 241, that is, the outer disc 241 and the three outer connecting rods 242 form a cylindrical shape. The tube body of the threaded tube 23 is externally threaded, penetrates downward through the outer disc 241 and is in threaded connection with the outer disc 241, that is, the rotation of the threaded tube 23 can drive the outer connecting frame to move up and down. The inner connecting frame is located in the outer connecting frame (in the space enclosed by the outer disc 241 and the outer connecting rods 242), has a similar shape to the outer connecting frame, includes an inner disc 271, and the top of the inner disc 271 is fixedly connected with the lower end of the inner connecting frame transmission shaft 30, that is, the rotation of the threaded tube bevel gear 22 can drive the inner connecting frame to rotate together but keep the height of the inner connecting frame unchanged. Three inner connecting rods 272 are uniformly and equidistantly arranged around the circumference of the inner disc 271, the inner connecting rods 272 are vertically arranged and the upper parts are fixedly connected with the inner disc 271.

[0055] The lower claw head 25 is provided below each outer connecting rod 242 and has an inward curvature to better simulate the gripping action of the fingers. The outer side of the upper part of the lower claw head 25 is hinged to the lower part of the outer connecting rod 242, and the inner side of the upper part of the lower claw head 25 is connected to the lower part of the inner connecting rod 272 through the finger connecting rod 26, and the two ends of the finger connecting rod 26 are hinged to the lower claw head 25 and the inner connecting rod 272. When the threaded tube 23 rotates forward, the outer connecting frame moves downward, while the inner connecting frame remains unchanged, driving the lower end of the lower claw head 25 to tighten inward, simulating the gripping action of the fingers. After the radish is gripped, the slide table of the vertical guide rail 7 moves upward to simulate the action of pulling out the radish, thereby realizing the picking of the radish. When the threaded tube 23 rotates reversely, the outer connecting frame moves upward, while the inner connecting frame remains unchanged, driving the lower end of the lower claw head 25 to open outward, simulating the action of releasing the fingers. Thus, the clamping jaw stepping motor 19 drives the horizontal bevel gear 20, the inner connecting frame transmission shaft 30, the inner connecting frame, the vertical bevel gear 21, the threaded tube bevel gear 22, the threaded tube 23 and the outer connecting frame to rotate around the central axis (i.e. the axis of the motor shaft of the clamping jaw stepping motor 19), realizing the up-down movement and opening-closing action of the lower claw head 25.

[0056] The lower end of each lower claw head 25 is provided with a first flow guide piece 251 and a second flow guide piece 252, both of which include two teeth and have an inward curvature. The first flow guide piece 251 is horizontally installed on the bottom surface of the lower claw head 25, and three first flow guide pieces 251 are installed towards the center on the same horizontal plane, one end of which is fixedly connected to the lower claw head 25, and the other end points inward to the central axis. When rotating and clamping, the radish leaves can be clamped between the two teeth of the first flow guide piece 251, and with the closing of the lower claw head 25, the radish leaves are clamped on the first flow guide piece 251, so that the radish can be effectively gripped. The second flow guide piece 252 is installed around the central axis (i.e. the three second flow guide pieces 252 are mutually embraced to form a circular shape), one end of which is fixedly connected to the inner side of the bottom of the lower claw head 25, and is used to gather the radish leaves together inward when rotating and clamping, to avoid breaking the leaves when clamping.

[0057] The three-fingered clamping jaw mechanism of the present application simultaneously realizes the rotating and opening-closing movements of the clamping jaw through one motor (clamping jaw stepping motor 19) and mechanical structure (forward rotation connecting piece and reverse rotation connecting piece), while most of the existing commercially available intelligent clamping jaw products use electrical systems to realize the gripping action of the fingers. The present application uses mechanical structure instead of electrical system to improve the reliability of the design. The reverser composed of the horizontal bevel gear 20, the vertical bevel gear 21 and the threaded tube bevel gear 22 can make the threaded tube 23 become the driving part, effectively avoiding the deformation that may be caused by the cooperation between the outer disc 241 and the threaded tube 23, and can also reduce the number of turns required for the complete opening and closing of the clamping jaw, avoiding the mechanism from being stuck or the leaves from being separated from the radish, which may cause the radish to be unable to be pulled up.

[0058] The film covering mechanism is arranged in the rear area of the frame 1 and within the stroke range of the main guide rail 3, and includes a pair of receiving boxes 12, a pair of swing rods 13 and a pair of plastic film rollers 15. The receiving boxes 12 are arranged side by side in front and back, and are located in the bottom area of the frame 1, and are used to receive the leaf-removed Lanxi small radishes. The plastic film rollers 15 are arranged directly above the receiving boxes 12. The receiving boxes 12 are connected to the cross beam 104 of the frame 1 through the receiving box connecting frame 11, the receiving box connecting frame 11 is fixedly connected to the cross beam 104, and the receiving box connecting frame 11 is connected to the receiving box 12 through buckling to facilitate replacement.

[0059] A direct current motor 14 is arranged between the two receiving boxes 12. The housing of the direct current motor 14 is fixedly connected to the cross beam 104 of the frame 1, and the motor shaft of the direct current motor 14 is drivingly connected to the plastic film roller 15 and the swing rod 13 through a shaft coupling, so that the plastic film roller 15 can rotate around the receiving box 12. When the receiving box 12 is covered, the plastic film on the plastic film roller 15 is first adhered to the receiving box 12 by hand, then the direct current motor 14 is started to drive the plastic film roller 15 to rotate around the receiving box 12 for multiple turns, so that the plastic film is wound and covered on the receiving box 12, and the packaging of the small radishes is completed.

[0060] The leaf removing mechanism includes a combination of two sets of rudders 10 and rudder shears 101, which are arranged above the two receiving boxes 12 in front and back, respectively. The rudders 10 are fixedly connected to the prisms on the top of the frame 1, and the rudder shears 101 are drivingly connected to the rotating shafts of the rudders 10. The rudder shears 101 are located above the receiving boxes 12, and the rudder shears 101 are repeatedly opened and closed by the rudders 10 to separate the leaves from the roots of the radishes. The separated radish root and stem parts fall into the receiving boxes 12.

[0061] The visual recognition camera 29 is installed in the front area of the frame 1 and is fixedly connected to the frame 1, and is signal-connected to the control module, so as to transmit the collected image information to the control module.

[0062] The control module comprises a single-chip microcomputer STM32, the single-chip microcomputer STM32 is signal connected with the straight-head direct current motor 18, the stepping motor of the TDS30 series linear module of the three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor 19, the direct current motor 14 and the rudder 10, and is used for controlling the start-stop operation of the straight-head direct current motor 18, the stepping motor of the TDS30 series linear module, the clamping jaw stepping motor 19, the direct current motor 14 and the rudder 10. The control of the single-chip microcomputer on the servo motor is realized in the prior art, for example, “Fengtao, Li, Yehang, Duan, Wang. STM32 single-chip microcomputer control system design for servo motor [J]. Mechanical and Electrical Engineering Technology, 2015, 44(11): 65-72” and “Chao, Wu, Chen, Shao, Huang. PMSM servo system design based on STM32 single-chip microcomputer [J]. Mechanical and Electrical Engineering Technology, 2021, 50(06): 165-168.”

[0063] The rack 1 is also fixedly provided with a battery pack, and the battery pack is electrically connected with the visual identification camera 29, the control module, the straight-head direct current motor 18, the stepping motor of the TDS30 series linear module, the clamping jaw stepping motor 19, the direct current motor 14 and the rudder 10.

[0064] The use method of the intelligent harvesting and packaging all-in-one machine suitable for Lanxi small radishes provided by the application is specifically as follows:

[0065] Step 1, the walking mechanism automatically walks along the field ridge and stops every half meter to harvest the Lanxi small radishes in the field (the radishes to be harvested are located in the area covered by the front half of the rack 1);

[0066] Step 2, the main guide rail 3 drives the horizontal guide rail 5 to move forward and backward, and the horizontal guide rail 5 drives the vertical guide rail 7 to move left and right, so as to move the three-fingered clamping jaw mechanism to the directly above the radishes to be pulled out;

[0067] Step 3, the clamping jaw stepping motor 19 drives the lower jaw head 25 to rotate forward through the positive rotation connecting piece and drives the lower jaw head 25 to open through the reverse rotation connecting piece, specifically as follows:

[0068] The clamping jaw stepping motor 19 drives the horizontal bevel gear 20 to rotate forward, drives the inner connecting frame to rotate forward through the inner connecting frame transmission shaft 30, so as to drive the three lower jaw heads 25 to rotate forward;

[0069] The horizontal bevel gear 20 drives the vertical bevel gear 21 to rotate reversely, drives the threaded pipe bevel gear 22 to rotate reversely, drives the threaded pipe 23 to rotate reversely, and drives the outer connecting frame to move upward, so as to drive the three lower jaw heads 25 to open.

[0070] Step 4, after the lower jaw head 25 is completely opened, the vertical guide rail 7 drives the three-fingered clamping jaw mechanism to move downward to the end below the vertical guide rail 7;

[0071] The clamping jaw stepping motor 19 rotates reversely, drives the lower jaw head 25 to rotate reversely through the positive rotation connecting member, and drives the lower jaw head 25 to close through the reverse rotation connecting member, so that the lower jaw head 25 rotates reversely while closing, and the radish leaves are gathered and grabbed.

[0072] Then the clamping jaw stepping motor 19 stops rotating, the vertical guide rail 7 drives the three-finger clamping jaw mechanism to move upwards, the radish is pulled out and moved upwards to the horizontal plane where the rudder shears jaw 101 is located;

[0073] Step 5, the main guide rail 3 drives the horizontal guide rail 5 to move, and the radish is sent to the upper side of the storage box 12; then the horizontal guide rail drives the vertical guide rail 7 to move and approach the rudder shears jaw 101;

[0074] Step 6, the rudder shears jaw 101 is opened and closed to cut the radish leaves from the radish root, the radish falls into the lower storage box 12, and the leaves remain in the lower jaw head 25 and do not fall off, the main guide rail 3 drives the horizontal guide rail 5 to move, and the lower jaw head 25 is moved to the position between the front and rear storage boxes 12, then the lower jaw head 25 is loosened, and the leaves fall to the ground;

[0075] Step 7, repeat steps 1-6, when the storage box 12 is filled with radishes, manually attach one end of the preservative film to the storage box 12, and the direct current motor 14 drives the preservative film roller 15 to rotate around the storage box 12 to cover the preservative film on the storage box 12, completing the packaging of the small radishes;

[0076] Step 8, the storage box 12 filled with radishes is taken off from the rack 1 for subsequent loading operation, and then the empty storage box 12 is put in for radish harvesting, leaf removal and film covering and packaging operation.

[0077] Finally, it should be noted that the above enumeration is only several specific embodiments of the present application. Apparently, the present application is not limited to the above embodiments, and there are many variations. All variations that can be directly derived or inferred by those skilled in the art from the content disclosed by the present application should be considered as the protection scope of the present application.

Claims

1. A harvesting and packing integrated machine suitable for Lanxi small radish, characterized in that: The machine comprises a rack (1), a control module and at least one harvesting and packaging mechanism arranged side by side on the rack (1); The harvesting and packaging mechanism comprises a three-degree-of-freedom guide rail mechanism, a three-fingered gripper mechanism, a film covering mechanism and a leaf removing mechanism; the three-fingered gripper mechanism is arranged on the three-degree-of-freedom guide rail mechanism, which is used to realize the three-way movement of the three-fingered gripper mechanism left and right, forward and backward and up and down; the film covering mechanism and the leaf removing mechanism are both located at the rear part of the rack (1); The three-fingered gripper mechanism comprises a gripper stepping motor (19), which is in transmission connection with the lower gripper head (25) through a positive rotation connecting piece to drive the lower gripper head (25) to rotate and in transmission connection with the lower gripper head (25) through an inverse rotation connecting piece to drive the lower gripper head (25) to open and close; The three-degree-of-freedom guide rail mechanism, the gripper stepping motor (19), the film covering mechanism and the leaf removing mechanism are all in signal connection with the control module; The inverse rotation connecting piece comprises a vertical bevel gear (21), a threaded tube bevel gear (22), a threaded tube (23) and an outer connecting frame from top to bottom in sequence; the threaded tube bevel gear (22) is in meshing transmission connection with the vertical bevel gear (21); the upper part of the threaded tube (23) is fixedly connected with the threaded tube bevel gear (22); The positive rotation connecting piece comprises a horizontal bevel gear (20), an inner connecting frame transmission shaft (30) and an inner connecting frame from top to bottom in sequence; the upper and lower ends of the inner connecting frame transmission shaft (30) are fixedly connected with the horizontal bevel gear (20) and the inner connecting frame respectively; the horizontal bevel gear (20) is located above the vertical bevel gear (21) and is in meshing transmission connection with the vertical bevel gear (21); the inner connecting frame transmission shaft (30) passes through the threaded tube bevel gear (22) and the threaded tube (23) downward and is separated from the threaded tube bevel gear (22); the threaded tube (23) and the inner connecting frame transmission shaft (30) are connected through a bearing; The motor shaft of the gripper stepping motor (19) is in transmission connection with the horizontal bevel gear (20); the rotating shafts of the gripper stepping motor (19) and the vertical bevel gear (21) are both fixedly connected with a gripper support (28); The outer connecting frame comprises an outer disc (241), a group of outer connecting rods (242) are arranged around the circumference of the outer disc (241), and the upper part of the outer connecting rod (242) is fixedly connected with the outer disc (241); the outer disc (241) is sleeved outside the threaded pipe (23) ， and is in threaded connection with the threaded pipe (23); The inner connecting frame is located in the outer connecting frame and comprises an inner disc (271), the top of which is fixedly connected with the lower end of the inner connecting frame transmission shaft (30); a group of inner connecting rods (272) are arranged around the circumference of the inner disc (271), the upper parts of which are fixedly connected with the inner disc (271); the number of the inner connecting rods (272) is consistent with that of the outer connecting rods (242); The lower part of each outer connecting rod (242) is connected with a lower gripper head (25); the outer side of the upper part of the lower gripper head (25) is hinged with the lower part of the outer connecting rod (242); the inner side of the upper part of the lower gripper head (25) is connected with the lower part of the inner connecting rod (272) through a finger connecting rod (26); the two ends of the finger connecting rod (26) are both hinged with the lower gripper head (25) and the inner connecting rod (272). The lower end of each lower claw head (25) is provided with a first guide vane (251) and a second guide vane (252); the first guide vane (251) is installed towards the center in the same horizontal plane and is fixedly connected to the bottom surface of the lower claw head (25) at one end; the second guide vane (252) is installed in a circular shape and is fixedly connected to the side surface of the lower claw head (25) at one end.

2. The harvesting and packing integrated machine suitable for Lanxi small radishes according to claim 1, characterized in that: The frame (1) is of a frame structure, and each of the front and rear vertical columns is provided with a walking driving device, the walking driving device comprising a walking wheel (100), a motor support (17) and a straight-head direct current motor (18), the shell of the straight-head direct current motor (18) being fixedly connected to the bottom of the vertical column of the frame (1) through the motor support (17), and the motor shaft of the straight-head direct current motor (18) being in transmission connection with the walking wheel (100).

3. The harvesting and packing integrated machine suitable for Lanxi small radishes according to claim 2, characterized in that: The three-degree-of-freedom guide rail mechanism comprises a main guide rail (3), a horizontal guide rail (5), a vertical guide rail (7) and a supporting slide rail (103), the main guide rail (3) and the supporting slide rail (103) being longitudinally arranged on the top of the frame (1) and being fixedly connected to the frame (1); the horizontal guide rail (5) is transversely arranged on the main guide rail (3) and the supporting slide rail (103) and is fixedly connected to the slide table of the main guide rail (3) and the supporting slide rail (103) at both sides; the vertical guide rail (7) is fixedly connected to the slide table of the horizontal guide rail (5); and the clamping jaw support (28) is fixedly connected to the slide table of the vertical guide rail (7).

4. The harvesting and packing integrated machine suitable for Lanxi small radishes according to claim 3, characterized in that: The film covering mechanism is located in the rear half stroke of the main guide rail (3) and comprises a direct current motor (14), each of the front and rear sides of the direct current motor (14) is symmetrically provided with a storage box (12), a swing lever (13) and a preservative film roller (15), the preservative film roller (15) is located above the storage box (12), the direct current motor (14) is in transmission connection with the preservative film roller (15) through a shaft coupling and the swing lever (13) to drive the preservative film roller (15) to rotate around the storage box (12); the direct current motor (14) is fixedly connected to the frame (1), and the storage box (12) is detachably connected to the frame (1); The leaf removing mechanism comprises a rudder motor (10) and a rudder motor shears claw (101), the rudder motor (10) is fixedly connected to the top prismatic of the frame (1), the rudder motor shears claw (101) is in transmission connection with the motor shaft of the rudder motor (10), and the rudder motor shears claw (101) is located above the storage box (12).

5. The harvesting and packing integrated machine suitable for Lanxi small radishes according to claim 4, characterized in that: The control module comprises a single-chip microcomputer STM, which is in signal connection with the straight-head DC motor (18), the stepping motor of the three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor (19), the DC motor (14) and the rudder (10), and is used for controlling the start-stop operation of the straight-head DC motor (18), the stepping motor of the three-degree-of-freedom guide rail mechanism, the clamping jaw stepping motor (19), the DC motor (14) and the rudder (10).

6. The use method of the harvesting and packaging all-in-one machine according to any one of claims 1-5, characterized in that: The harvesting, leaf removing and film covering and packaging process of the radish is as follows: S1, the walking driving device drives the harvesting and packaging all-in-one machine to walk, and stops every half meter to perform the harvesting operation on the radish; S2, the three-degree-of-freedom guide rail mechanism drives the three-fingered clamping jaw mechanism to move to above the radish to be pulled out; S3, the clamping jaw stepping motor (19) drives the lower jaw head (25) to rotate forward and open; S4, the three-fingered clamping jaw mechanism moves downward to below the vertical guide rail (7), the clamping jaw stepping motor (19) drives the lower jaw head (25) to rotate reversely and close, and the radish leaves are gathered and grabbed, and then the three-fingered clamping jaw mechanism moves upward to pull out the radish; S5, the three-degree-of-freedom guide rail mechanism drives the three-fingered clamping jaw mechanism to move to above the storage box (12), the rudder shears jaw (101) opens and closes to cut the radish leaves from the radish roots, and the radish falls into the lower storage box (12); the three-fingered clamping jaw mechanism moves to the position between the storage boxes (12), and the radish leaves are dropped to the field; S6, the steps S1-S5 are repeated until the storage box (12) is filled with radishes, one end of the preservative film is attached to the storage box (12) manually, the DC motor (14) drives the preservative film roller (15) to rotate around the storage box (12) to cover the preservative film on the storage box (12), and the packaging of the small radish is completed.

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