Automatic water caltrop harvesting boat

Abstract

The application provides an automatic water chestnut picking ship, which comprises a ship body, a cabin body formed by concave in the ship body, the cabin body comprises an operation cabin and a cleaning cabin arranged from front to back, the operation cabin and the cleaning cabin are separated by a partition plate, a control mechanism is arranged on the side of the partition plate facing the operation cabin, picking devices are arranged on both sides of the operation cabin, the picking devices comprise first picking assemblies and second picking assemblies, the first picking assemblies are arranged at the lower ends of the second picking assemblies, the first picking assemblies comprise first rotating mechanisms and first clamping jaw mechanisms, the second picking assemblies comprise second rotating mechanisms, moving mechanisms, recognition units and second clamping jaw mechanisms, the recognition units and the second clamping jaw mechanisms are arranged on the moving mechanisms and are located at the upper ends of the first clamping jaw mechanisms, and the moving mechanisms are movably connected with the second rotating mechanisms, the water chestnut plants are recognized by using the recognition units, the picking of the water chestnuts is completed through the picking devices arranged on both sides of the ship body, and thus the automatic picking of the water chestnuts is realized and the picking efficiency of the water chestnuts is improved.

Description

Technical Field

[0001] This invention relates to the field of water chestnut harvesting technology, and in particular to an automatic water chestnut harvesting vessel. Background Technology

[0002] Water chestnuts are the fruit of the herbaceous aquatic plant water chestnut. They can be harvested six or seven times a year. According to the Compendium of Materia Medica, water chestnuts can nourish the spleen and stomach, strengthen the knees and thighs, and invigorate the body. Water chestnuts not only have medicinal value, but also have a crisp skin and delicious flesh, making them a popular specialty of the water towns.

[0003] Citing Chinese Patent Application No. CN213427067U, one end of the clamping rod is a fixed end that is fixed to the disc surface 21, and the other end of the clamping rod is a free end. The clamping rod can lift the water chestnut plant from the water surface as the disc surface rotates. The harvesting worker sits upright in the harvesting bucket and needs to extend his waist out of the harvesting bucket to work. After harvesting, he pushes the water chestnut plant outward by hand. However, manual and repetitive harvesting is inefficient. In addition, the manual harvesting process is prone to damaging the water chestnut plant. Summary of the Invention

[0004] In view of the above situation, it is necessary to provide an automatic water chestnut harvesting vessel to address the problem of low efficiency in manual harvesting of water chestnuts in the existing technology.

[0005] An automatic water chestnut harvesting vessel includes a hull, one side of which is recessed to form a cabin. The cabin includes an operation cabin and a cleaning cabin arranged from front to back. The operation cabin and the cleaning cabin are separated by a partition. A control mechanism is provided on the side of the partition facing the operation cabin. The control mechanism is used to send and receive control signals and display the working status.

[0006] Harvesting devices are provided on both sides of the operating cabin. Each harvesting device includes a first harvesting component and a second harvesting component. The first harvesting component is located at the lower end of the second harvesting component and is rotatably connected to the hull. The first harvesting component includes a first rotating mechanism and a first gripper mechanism. The first rotating mechanism includes a gear, a rack, a first electromagnetic slider, and a connecting rod. The gear, the rack, and the first electromagnetic slider are located on the inner wall of the operating cabin. The gear is mounted on the rack and meshes with it. The first electromagnetic slider is sleeved on the rack. First limiting blocks are provided at both ends of the rack. The side of the gear facing away from the inner wall of the operating cabin is connected to one end of the connecting rod. The other end of the connecting rod extends out of the hull and is connected to a first base. The first gripper mechanism is located on the first base. The gear is used to change the position of the first gripper mechanism. The first gripper mechanism is used to grip water chestnut plants.

[0007] The second harvesting component includes a second rotating mechanism, a moving mechanism, an identification unit, and a second gripper mechanism. Both the identification unit and the second gripper mechanism are mounted on the moving mechanism and are located above the first gripper mechanism. The moving mechanism is movably connected to the second rotating mechanism. The second rotating mechanism includes a second base, a first motor, and a rotating vertical plate. The first motor is located inside the second base, and the rotating vertical plate is mounted on the second base. The output end of the first motor is connected to the rotating vertical plate. The moving mechanism is used to change the positions of the second gripper mechanism and the identification unit. The identification unit is used to identify the water chestnut plant and the water chestnut, and the second gripper mechanism is used to harvest the water chestnut.

[0008] This invention first uses an identification unit to identify water chestnut plants, then controls the boat to approach the plants. Harvesting is then accomplished using harvesting devices located on both sides of the boat. The first and second gripper mechanisms employ a contour-following structure. During harvesting, water chestnuts of the appropriate size are selected. After harvesting, the first gripper mechanism returns the water chestnut plant to its original position, minimizing damage and achieving automatic harvesting, thus improving harvesting efficiency.

[0009] Furthermore, the first gripper mechanism includes a first fixed plate, a first electric cylinder, a plurality of first connecting bracket modules, and a plurality of first grippers. The first electric cylinder is disposed within the first base, and the first fixed plate is disposed above the first base. The push rod of the first electric cylinder passes through the first base and is connected to the first fixed plate. The first connecting bracket module includes a plurality of first fixed brackets and a plurality of first connecting brackets. The plurality of first fixed brackets are spaced apart along the bottom of the first base, and one end of the plurality of first connecting brackets is spaced apart along the side of the first fixed plate. One end of the first gripper is movably connected to the first fixed bracket, and both sides of the first gripper are movably connected to the end of the first connecting bracket facing away from the first base. The first electric cylinder is used to drive the first gripper to open and close.

[0010] Furthermore, an annular support frame is provided between the rotating vertical plate and the second base, and support blocks are symmetrically mounted on the annular support frame. The rotating vertical plate is connected to the support blocks, and several sliders are provided on both sides of the bottom of the support blocks. The inner and outer walls of the annular support frame are recessed to form sliding grooves, and the sliders are adapted to the sliding grooves.

[0011] Furthermore, the moving mechanism includes a vertical moving module and a horizontal moving module. The vertical moving module includes a second motor and a first sliding plate. Slide grooves are provided on opposite sides of the rotating vertical plate. The second motor is located above the rotating vertical plate. The output shaft of the second motor passes through the first sliding plate and extends towards the bottom of the rotating vertical plate. The first sliding plate is slidably connected to the slide grooves. The horizontal moving module includes a slide rail and a third base. One end of the slide rail is connected to the side of the first sliding plate facing away from the rotating vertical plate. The third base is fitted onto the slide rail and slidably connected. A second electromagnetic slider is provided on the side of the third base away from the first sliding plate. The second electromagnetic slider is adapted to the slide rail. A second limiting block is provided on the side of the slide rail away from the first sliding plate.

[0012] Furthermore, the second gripper mechanism includes a second fixed plate, a third fixed plate, a second electric cylinder, a plurality of second connecting bracket modules, and a plurality of second grippers. The second electric cylinder is disposed within the third base, the third fixed plate is fixedly disposed below the third base, and the third fixed plate is disposed below the second fixed plate. The push rod of the second electric cylinder passes through the third base and the second fixed plate and is connected to the third fixed plate. The second electric cylinder is used to drive the second grippers to open and close. The second connecting bracket module includes a plurality of second fixed brackets and a plurality of second connecting brackets. The plurality of second fixed brackets are spaced apart along the bottom of the second fixed plate, and one end of the second connecting bracket is spaced apart along the side of the third fixed plate. One end of the second gripper is movably connected to the second fixed bracket, and both sides of the second gripper are movably connected to the end of the second connecting bracket facing away from the second fixed plate.

[0013] Furthermore, the opening and closing range of the first gripper is greater than that of the second gripper, and both the first gripper and the second gripper are covered with a rubber layer.

[0014] Furthermore, a water pump is provided at the stern of the hull, and a high-pressure nozzle and a drain outlet are provided on the inner wall of the cleaning chamber. The water pump is connected to the high-pressure nozzle, and the drain outlet is located below the high-pressure nozzle. A filter screen is provided inside the drain outlet, and the filter holes of the filter screen are smaller than the size of a rhombus. The drain outlet is connected to the outside.

[0015] This invention involves placing harvested water chestnuts in a cleaning chamber and using a high-pressure nozzle to clean them, separating aquatic impurities such as duckweed from the water chestnuts. The wastewater from the cleaning process can be discharged through a drain outlet, facilitating the subsequent collection of the water chestnuts through the operating chamber.

[0016] Furthermore, the chamber is equipped with a turntable mechanism, which includes a third motor, a worm gear, and a turntable. The third motor is located in the operating chamber, while the worm gear and the turntable are located in the cleaning chamber. The third motor is connected to the turntable via the worm gear, and the outer edge of the turntable is provided with worm teeth, which are adapted to each other.

[0017] Furthermore, the control mechanism includes a control box, a locator, a start switch, a wireless receiver, and a display panel. The control box is embedded in the partition, the locator and the wireless receiver are located inside the control box, the display panel is located on the upper side of one side of the control box, and the start switch is located below the display panel. The control box is electrically connected to the locator, the start switch, the wireless receiver, the display panel, the identification unit, the first electromagnetic slider, the first motor, the water pump, the second motor, the second electromagnetic slider, the first electric cylinder, the second electric cylinder, and the third motor.

[0018] Furthermore, a battery pack is provided at the front of the hull, and the battery pack is electrically connected to the control box. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the first harvesting component according to the first embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the second harvesting component according to the first embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the second base, the annular support frame, the support frame, and the slider according to the first embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the second gripper module according to the first embodiment of the present invention;

[0024] Figure 6 for Figure 1 Enlarged view of point A in the middle;

[0025] Figure 7 The turntable mechanism is the first embodiment of the present invention.

[0026] Reference numerals: 1. Hull; 10. Cabin; 100. Operations compartment; 110. Cleaning compartment; 1101. High-pressure nozzle; 1102. Drain outlet; 11. Bulkhead; 12. Control mechanism; 121. Control box; 122. Start switch; 123. Display panel; 13. Water pump; 14. Turntable mechanism; 141. Third motor; 142. Worm gear; 143. Turntable; 1431. Worm gear; 2. Harvesting device; 21. First harvesting component; 211 2111 First rotating mechanism; 2112 Gear; 2113 Rack; 2114 First electromagnetic slider; 2115 First electromagnetic slide rail; 2116 First limiting block; 2117 Connecting rod; 212 First gripper mechanism; 2121 First base; 2122 First fixing plate; 2123 First electric cylinder; 2124 First connecting bracket module; 21241 First fixing bracket; 21242 First connecting bracket; 2125 22. First gripper; 22. Second picking assembly; 221. Second rotating mechanism; 2211. Second base; 2212. First motor; 2213. Rotating vertical plate; 2214. Annular support frame; 22141. Slide groove; 2215. Support block; 2216. Slider; 22131. Slide groove; 222. Moving mechanism; 2221. Vertical moving module; 22211. Second motor; 22212. First sliding plate; 2222. Horizontal moving mechanism. Module; 22221, Second electromagnetic slide rail; 22222, Third base; 22223, Second electromagnetic slider; 22224, Second limit block; 223, Identification unit; 224, Second gripper mechanism; 2241, Second fixing plate; 2242, Third fixing plate; 2243, Second electric cylinder; 2244, Second connecting bracket module; 22441, Second fixing bracket; 22442, Second connecting bracket; 2245, Second gripper. Detailed Implementation

[0027] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0028] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Furthermore, the various embodiments of the invention, the features within those embodiments, and the features of the embodiments may be freely combined without obvious conflict or contradiction.

[0030] An automated water chestnut harvesting vessel, such as Figures 1 to 7 As shown, the vessel includes a hull 1, one side of which is recessed to form a cabin 10. The cabin 10 includes an operation cabin 100 and a cleaning cabin 110 arranged from front to back. The operation cabin 100 and the cleaning cabin 110 are separated by a partition 11. A control mechanism 12 is provided on the side of the partition 11 facing the operation cabin 100. The control mechanism 12 is used to send and receive control signals and display the working status.

[0031] Specifically, the operating cabin 100 is equipped with harvesting devices 2 on both sides. Each harvesting device 2 includes a first harvesting component 21 and a second harvesting component 22. The first harvesting component 21 is located at the lower end of the second harvesting component 22 and is rotatably connected to the hull 1. The first harvesting component 21 includes a first rotating mechanism 211 and a first gripper mechanism 212, which are connected. The first rotating mechanism 211 includes a gear 2111, a rack 2112, a first electromagnetic slider 2113, a first electromagnetic rail 2114, and a connecting rod 2116. The gear 2111... The rack 2112, the first electromagnetic slider 2113, and the first electromagnetic slide rail 2114 are disposed on the inner wall of the operating cabin 100. The gear 2111 is disposed on the rack 2112 and meshes with it. The rack 2112 is disposed on the first electromagnetic slide rail 2114. The first electromagnetic slider 2113 is sleeved on the first electromagnetic slide rail 2114. The rack 2112 has first limiting blocks 2115 at both ends, which limit the movement range of the gear 2111 and ensure that the gear 2111 moves on the rack 2112. The side of the gear 2111 facing away from the inner wall of the operating cabin 100 is connected to the rack 2112. One end of the connecting rod 2116 is connected, and the other end of the connecting rod 2116 extends out of the hull 1 and is connected to the first base 2121. The first gripper mechanism is disposed on the first base 2121. The first gripper mechanism 212 includes a first fixing plate 2122, a first electric cylinder 2123, a plurality of first connecting bracket modules 2124, and a plurality of first grippers 2125. The first electric cylinder 2123 is disposed inside the first base 2121, and the first fixing plate 2122 is disposed below the first base 2121. The push rod of the first electric cylinder 2123 passes through the first base 2121 and is connected to the first fixing plate 2125. 22 connection, the first connecting bracket module 2124 includes a first fixed bracket 21241 and a first connecting bracket 21242, a plurality of first fixed brackets 21241 are spaced apart along the bottom of the first base 2121, the first connecting brackets 21242 are spaced apart along the side of the first fixed plate 2122, one end of the first gripper 2125 is movably connected to the first fixed bracket 21241, and both sides of the first gripper 2125 are movably connected to the ends of the first connecting bracket 21242 facing away from the first base 2121, and the first electric cylinder 2123 is used to drive the first gripper 2125 to open and close.

[0032] Specifically, the second picking component 22 includes a second rotating mechanism 221, a moving mechanism 222, an identification unit 223, and a second gripper mechanism 224. The identification unit 223 and the second gripper mechanism 224 are both mounted on the moving mechanism 222 and located above the first gripper 2125. The moving mechanism 222 is movably connected to the second rotating mechanism 221. The second rotating mechanism 221 includes a second base 2211, a first motor 2212, and a rotating vertical plate 2213. The first motor 2212 is mounted on the second base 2211. Inside 11, the output shaft of the first motor 2212 passes through the top of the second base 2211 and is connected to the rotating vertical plate 2213. The second base 2211 is provided with an annular support frame 2214, and support blocks 2215 are symmetrically mounted on the annular support frame 2214. The rotating vertical plate 2213 is connected to the support blocks 2215. Multiple sliders 2216 are provided on both sides of the bottom of the support blocks 2215. The inner and outer walls of the annular support frame 2214 are recessed to form grooves 2216. The sliders 2216 are adapted to the grooves 2214.The moving mechanism 222 includes a vertical moving module 2221 and a horizontal moving module 2222. The vertical moving module 2221 includes a second motor 22211 and a first sliding plate 22212. Slide grooves 22131 are provided on opposite sides of the rotating vertical plate 2213. The second motor 22211 is located above the rotating vertical plate 2213. The output shaft of the second motor 22211 passes through the first sliding plate 22212 and extends towards the bottom of the rotating vertical plate 2213. The first sliding plate 22212 is slidably connected to the slide grooves 22131. The horizontal moving module 2222 includes a second electromagnetic slide rail 22. 221 and a third base 22222, one end of the second electromagnetic slide rail 22221 is connected to one side of the first slide plate 22212, the third base 22222 is sleeved on the second electromagnetic slide rail 22221 and slidably connected, a second electromagnetic slider 22223 is provided on the side of the third base 22222 away from the first slide plate 22212, the second electromagnetic slider 22223 is adapted to the second electromagnetic slide rail 22221, a second limiting block 22224 is provided on the end of the second electromagnetic slide rail 22221 away from the first slide plate 22212, the second limiting block 22224 ensures that the third base 22222 does not... The second gripper mechanism 224, which moves away from the second electromagnetic slide rail 22221, includes a second fixed plate 2241, a third fixed plate 2242, a second electric cylinder 2243, multiple second connecting bracket modules 2244, and multiple second grippers 2245. The second electric cylinder 2243 is located within the third base 22222. The third fixed plate is fixed below the third base 22222 and below the second fixed plate 2241. The push rod of the second electric cylinder passes through the third base 22222 and the second fixed plate 2241, and is connected to the third fixed plate 2242. The second electric cylinder 2243 is used to drive the second gripper to open and close. The second connecting bracket module 2244 includes a second fixed bracket 22441 and a second connecting bracket 22442. Multiple second fixed brackets 22441 are spaced apart along the bottom of the second fixed plate 2241, and the second connecting brackets 22442 are spaced apart along the sides of the third fixed plate 2242. One end of the second gripper 2245 is movably connected to the second fixed bracket 22441, and both sides of the second gripper 2245 are movably connected to the ends of the second connecting bracket 22442 facing away from the second fixed plate 2241.

[0033] Specifically, the identification unit 223 is located at the bottom of the first fixing plate 2122, and the identification unit 223 is adjacent to the first connecting bracket 21242.

[0034] Specifically, the opening and closing range of the first gripper 2125 is greater than that of the second gripper 2245, and both the first gripper 2125 and the second gripper 2245 are covered with a rubber layer.

[0035] It should be noted that the first gripper mechanism 212 is used to grip the water chestnut plant, and the second gripper mechanism 224 is used to pick the water chestnut. Since the water chestnut plant is larger in volume than the water chestnut, the opening and closing range of the first gripper 2125 is larger than that of the second gripper 2245. Both the first gripper 2125 and the second gripper 2245 are covered with a rubber layer, which is more beneficial to protect the water chestnut plant and the picked water chestnut.

[0036] Specifically, a water pump 13 is provided at the stern of the hull 1, and a high-pressure nozzle 1101 and a drain outlet 1102 are provided on the inner wall of the cleaning chamber 110. The water pump 13 is connected to the high-pressure nozzle 1101, and the drain outlet 1102 is located below the high-pressure nozzle 1101. A filter screen (not shown) is provided inside the drain outlet 1102. The filter holes of the filter screen are smaller than the size of a rhombus. The drain outlet 1102 is connected to the outside.

[0037] Specifically, the cabin 10 is equipped with a turntable mechanism 14, which includes a third motor 141, a worm gear 142, and a turntable 143. The third motor 141 is located in the operating cabin, while the worm gear 142 and the turntable 143 are located in the cleaning cabin. The third motor 141 is connected to the turntable 143 through the worm gear 142. The outer edge of the turntable 143 is provided with worm teeth 1431, and the worm gear 142 and the worm teeth 1431 are adapted to each other.

[0038] Specifically, the control mechanism 12 includes a control box 121, a locator (not shown), a start switch 122, a wireless receiver (not shown), and a display panel 123. The control box 121 is embedded in the partition 11. The locator and the wireless receiver are located inside the control box 121. The display panel 123 is located above one side of the control box 121, and the start switch 122 is located below the display panel 123. The control box 121 is electrically connected to the locator, the start switch 122, the wireless receiver, the display panel 123, the identification unit 223, the first electromagnetic slider 2113, the first motor 2212, the water pump 13, the second motor 22211, the second electromagnetic slider 22221, the first electric cylinder 2123, the second electric cylinder 2243, and the third motor 141.

[0039] Specifically, a battery pack (not shown) is provided at the front of the hull 1. The battery pack is electrically connected to the control box 121 and provides energy to the hull 1.

[0040] The process of implementing this invention is as follows:

[0041] When the start switch 122 is turned on, a remote control signal is received via the wireless receiver. The boat 1 moves in the water chestnut pond. Initially, the first gripper 2125 is above the water surface and facing the second electromagnetic slide rail 22221. The second gripper 2245 approaches the second limit block 22224. The identification unit 223 identifies the water chestnut plant and determines its position. The identification unit 223 then sends feedback to the control box 121. The control box 121 uses a locator to approach the water chestnut plant. At this time, the control box 121 controls the first electromagnetic slider 2213 to move on the rack 2112, driving the gear 2111 to rotate, thereby rotating the connecting rod 2116, which in turn causes the first base 2121 to rotate. The first gripper 2125 faces the water chestnut plant. Then, the push rod of the first electric cylinder 2123 retracts, moving the first fixing plate 2122. The first connecting bracket 21242 then rotates, causing the three first grippers 2125 to grasp the water chestnut plant. Next, the control box 121 controls the first electromagnetic slider 2213 to move in the opposite direction on the rack 2112, causing the three first grippers 2125 to flip upwards, turning the water chestnut plant out of the water and exposing the water chestnuts. The control box 121 then controls the identification unit 223 to screen and locate the water chestnuts by size to determine the positions of those meeting harvesting requirements. The identification unit 223 transmits the screened signals to the control box 121. 21 controls the second electromagnetic slider 22223, driving the third base 22222 to move along the second electromagnetic slide rail 22221. When the second gripper 2245 is directly above the first gripper 2125, the control box 121 controls the second motor 22211 to rotate. At this time, the first slide plate 22212 descends along the slide groove 22131, relying on the recognition unit 223 to identify the rhombus. Then, the push rod of the second electric cylinder 2243 retracts, driving the third fixed plate 2242 to move. The second connecting bracket 22442 drives the second gripper 2245 to grip, thereby grabbing the rhombus. At this time, the first motor 2212 is started, driving the rotating vertical plate 2213 to rotate along the annular support frame 2214, so that the rotating vertical plate... Plate 2213 changes its relative position on the second base 2211, and the second electromagnetic slider 22223 and the third base 22222 also rotate together, driving the second gripper 2245 to rotate. When the second gripper 2245 rotates to face the cleaning chamber 110, the push rod of the second electric cylinder 2243 extends, driving the third fixed plate 2242 to move. The second connecting bracket 22442 drives the second gripper 2245 to release, and the picked water chestnuts fall into the cleaning chamber 110, completing the collection. Because the distribution position of the water chestnuts is different, the position of the second gripper 2245 needs to be adjusted according to the actual situation. By repeating the above steps, the water chestnuts can be automatically picked without the need for manual picking by boat.

[0042] When the water chestnuts enter the cleaning chamber 110, the control box 121 controls the water pump 13 to start, and the high-pressure nozzle 1101 washes the water chestnuts. Then, the third motor 141 drives the worm gear 142, which drives the worm teeth to make the turntable 143 rotate. The rotation of the turntable 143 prevents the water chestnuts from piling up and causing blockage. When blockage occurs, the third motor 141 can reverse and work with the high-pressure nozzle 1101 to disperse the piled water chestnuts. After rinsing, the wastewater is discharged through the drain outlet 1102. The drain outlet 1102 is equipped with a filter screen. The mesh size of the filter screen is smaller than that of the water chestnuts, so that the duckweed and other aquatic impurities on the surface of the water chestnuts are removed after rinsing.

[0043] During the harvesting process, the display panel 123 displays the working status in real time and transmits it to the remote control terminal, thereby keeping track of the dynamics of the harvesting process and ensuring the smooth progress of the harvesting work.

[0044] In this invention, the identification unit 223 first identifies the water chestnut plant, and the hull 1 is controlled to approach the water chestnut plant. The water chestnuts are harvested by the harvesting devices 2 set on both sides of the hull 1. The first gripper mechanism 212 and the second gripper mechanism 224 adopt a contour-following structure. During the harvesting process, water chestnuts that meet the size requirements are selected. After harvesting, the water chestnut plant is returned to its original position. The rubber layer on the first gripper 2125 and the second gripper 2245 reduces damage to the water chestnut plant. The harvested water chestnuts are placed in the cleaning chamber 110 and cleaned using a high-pressure nozzle 1101 to separate aquatic impurities such as duckweed from the water chestnuts. The wastewater from the cleaning can be discharged through the drain outlet 1102, thereby realizing automatic harvesting of water chestnuts, improving the efficiency of harvesting water chestnuts, and performing preliminary cleaning, which facilitates the subsequent collection of water chestnuts through the operation chamber 100.

[0045] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An automatic water chestnut harvesting vessel, comprising a hull, characterized in that: One side of the hull is recessed to form a cabin, which includes an operation cabin and a cleaning cabin arranged from front to back. The operation cabin and the cleaning cabin are separated by a partition. A control mechanism is provided on the side of the partition facing the operation cabin. The control mechanism is used to send and receive control signals and display the working status. Harvesting devices are provided on both sides of the operating cabin. Each harvesting device includes a first harvesting component and a second harvesting component. The first harvesting component is located at the lower end of the second harvesting component and is rotatably connected to the hull. The first harvesting component includes a first rotating mechanism and a first gripper mechanism. The first rotating mechanism includes a gear, a rack, a first electromagnetic slider, a first electromagnetic slide rail, and a connecting rod. The gear, rack, first electromagnetic slider, and first electromagnetic slide rail are located on the inner wall of the operating cabin. The gear is located on the rack and meshes with it. The rack is located on the first electromagnetic slide rail. The first electromagnetic slider is sleeved on the first electromagnetic slide rail. First limiting blocks are provided at both ends of the rack. The side of the gear facing away from the inner wall of the operating cabin is connected to one end of the connecting rod. The other end of the connecting rod extends out of the hull and is connected to a first base. The first gripper mechanism is located on the first base. The gear is used to change the position of the first gripper mechanism. The first gripper mechanism is used to grip the water chestnut plant, flip it out of the water, and expose the water chestnut. The second harvesting component includes a second rotating mechanism, a moving mechanism, an identification unit, and a second gripper mechanism. The identification unit and the second gripper mechanism are both mounted on the moving mechanism and are located above the first gripper mechanism. The moving mechanism is movably connected to the second rotating mechanism. The second rotating mechanism includes a second base, a first motor, and a rotating vertical plate. The first motor is located inside the second base, and the rotating vertical plate is located on the second base. The output end of the first motor is connected to the rotating vertical plate. The moving mechanism is used to change the position of the second gripper mechanism and the identification unit. The identification unit is used to identify water chestnut plants and water chestnuts, and the second gripper mechanism is used to harvest water chestnuts.

2. The automatic water chestnut harvesting vessel according to claim 1, characterized in that: The first gripper mechanism includes a first fixed plate, a first electric cylinder, a plurality of first connecting bracket modules, and a plurality of first grippers. The first electric cylinder is disposed within the first base, and the first fixed plate is disposed above the first base. The push rod of the first electric cylinder passes through the first base and is connected to the first fixed plate. The first connecting bracket module includes a plurality of first fixed brackets and a plurality of first connecting brackets. The plurality of first fixed brackets are spaced apart along the bottom of the first base, and the plurality of first connecting brackets are spaced apart along the side of the first fixed plate. One end of the first gripper is movably connected to the first fixed bracket, and both sides of the first gripper are movably connected to the ends of the first connecting brackets facing away from the first base. The first electric cylinder is used to drive the first gripper to open and close.

3. The automatic water chestnut harvesting vessel according to claim 1, characterized in that: An annular support frame is provided between the rotating vertical plate and the second base. Support blocks are symmetrically mounted on the annular support frame. The rotating vertical plate is connected to the support blocks. Several sliders are provided on both sides of the bottom of the support blocks. The inner and outer walls of the annular support frame are recessed to form sliding grooves. The sliders are adapted to the sliding grooves.

4. The automatic water chestnut harvesting vessel according to claim 2, characterized in that: The moving mechanism includes a vertical moving module and a horizontal moving module. The vertical moving module includes a second motor and a first sliding plate. Slide grooves are provided on opposite sides of the rotating vertical plate. The second motor is located above the rotating vertical plate. The output shaft of the second motor passes through the first sliding plate and extends towards the bottom of the rotating vertical plate. The first sliding plate is slidably connected to the slide grooves. The horizontal moving module includes a slide rail and a third base. One end of the slide rail is connected to the side of the first sliding plate facing away from the rotating vertical plate. The third base is fitted onto the slide rail and slidably connected. A second electromagnetic slider is provided on the side of the third base away from the first sliding plate. The second electromagnetic slider is adapted to the slide rail. A second limiting block is provided on the side of the slide rail away from the first sliding plate.

5. The automatic water chestnut harvesting vessel according to claim 4, characterized in that: The second gripper mechanism includes a second fixed plate, a third fixed plate, a second electric cylinder, a plurality of second connecting bracket modules, and a plurality of second grippers. The second electric cylinder is disposed within the third base. The third fixed plate is fixedly disposed below the third base and below the second fixed plate. The push rod of the second electric cylinder passes through the third base and the second fixed plate and is connected to the third fixed plate. The second electric cylinder is used to drive the second grippers to open and close. The second connecting bracket module includes a plurality of second fixed brackets and a plurality of second connecting brackets. The plurality of second fixed brackets are spaced apart along the bottom of the second fixed plate. One end of the second connecting bracket is spaced apart along the side of the third fixed plate. One end of the second gripper is movably connected to the second fixed bracket. The two sides of the second gripper are movably connected to the end of the second connecting bracket facing away from the second fixed plate.

6. The automatic water chestnut harvesting vessel according to claim 5, characterized in that: The opening and closing range of the first gripper is greater than that of the second gripper, and both the first gripper and the second gripper are covered with a rubber layer.

7. The automatic water chestnut harvesting vessel according to claim 6, characterized in that: A water pump is installed at the stern of the hull, and a high-pressure nozzle and a drain outlet are installed on the inner wall of the cleaning chamber. The water pump is connected to the high-pressure nozzle, and the drain outlet is located below the high-pressure nozzle. A filter screen is installed inside the drain outlet, and the filter holes of the filter screen are smaller than the size of a rhombus. The drain outlet is connected to the outside.

8. The automatic water chestnut harvesting vessel according to claim 7, characterized in that: The chamber is equipped with a turntable mechanism, which includes a third motor, a worm gear, and a turntable. The third motor is located in the operating chamber, while the worm gear and the turntable are located in the cleaning chamber. The third motor is connected to the turntable via the worm gear. The outer edge of the turntable is provided with worm teeth, and the worm gear and the worm teeth are adapted to each other.

9. The automatic water chestnut harvesting vessel according to claim 8, characterized in that: The control mechanism includes a control box, a locator, a start switch, a wireless receiver, and a display panel. The control box is embedded in the partition. The locator and the wireless receiver are located inside the control box. The display panel is located on the upper side of one side of the control box, and the start switch is located below the display panel. The control box is electrically connected to the locator, the start switch, the wireless receiver, the display panel, the identification unit, the first electromagnetic slider, the first motor, the water pump, the second motor, the second electromagnetic slider, the first electric cylinder, the second electric cylinder, and the third motor.

10. The automatic water chestnut harvesting vessel according to claim 9, characterized in that: A battery pack is located at the front of the hull, and the battery pack is electrically connected to the control box.

Images