Green asparagus intelligent harvesting and transporting integrated equipment

Abstract

The application discloses a kind of green asparagus intelligent picking and transporting integrated equipment, including picking executor, post-harvest transport mechanism, four-axis connecting rod type mechanical arm, picking machine chassis and mobile terminal, wherein, picking machine chassis is equipped with four-axis connecting rod type mechanical arm for installing picking executor and post-harvest transport mechanism for transporting green asparagus, post-harvest transport mechanism is located above picking executor, and the rotation center of post-harvest transport mechanism and the rotation center of four-axis connecting rod type mechanical arm are on the same axis, picking executor includes lifting mechanism, clamping mechanism and cutting mechanism;Mobile terminal is connected with picking executor, post-harvest transport mechanism and four-axis connecting rod type mechanical arm respectively.In the application, picking executor uses pneumatic control flexible gripper to clamp green asparagus in parallel, simultaneously drives cutting knife to cut green asparagus forward, and the efficiency of picking green asparagus is effectively improved;And green asparagus is immediately lifted upward for transport after picking, so as to realize intelligent picking and transporting integration.

Description

Technical Field

[0001] This invention relates to the field of intelligent harvesting and transportation technology, and in particular to an integrated intelligent harvesting and transportation device for green asparagus. Background Technology

[0002] Currently, mechanized harvesting is widely implemented for major field crops such as rice, wheat, and corn. However, for fresh green asparagus, a specialty crop, widespread mechanized harvesting is still not observed. Given that China ranks among the world's largest producers of green asparagus, and its planting area continues to expand, the challenges in the harvesting process are becoming increasingly prominent, including a long harvesting cycle, high labor intensity, harsh working conditions, and high labor costs. Therefore, developing automated harvesting robots to replace manual harvesting and transportation of green asparagus has become an important and urgent issue to be addressed.

[0003] While a small number of automated harvesting robots have been developed, a major bottleneck in their technology lies in the fact that their end effectors generally employ a "harvest once, place once" operation mode, significantly reducing harvesting efficiency and hindering the widespread adoption of these robots in actual production. Therefore, overcoming the limitations of post-harvest placement and focusing instead on the core technological innovation of achieving continuous harvesting and integrated harvesting and transportation is not only a revolution in the design concept of harvesting robots but also crucial for driving the mechanization and intelligent transformation of green asparagus harvesting. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent integrated harvesting and transportation device for green asparagus, which addresses the shortcomings of the existing technology. The present invention can realize the pneumatic clamping and cutting in one action, and can quickly transport the harvested green asparagus, which facilitates continuous harvesting by the harvesting actuator, thereby effectively improving the harvesting efficiency.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A smart harvesting and transportation system for green asparagus includes a harvesting actuator, a post-harvest transfer mechanism, a four-axis linkage robotic arm, a harvesting machine chassis, and a mobile terminal. The harvesting machine chassis houses the four-axis linkage robotic arm for mounting the harvesting actuator and the post-harvest transfer mechanism for transferring the green asparagus. The rotation center of the post-harvest transfer mechanism is collinear with the rotation center of the four-axis linkage robotic arm, and the post-harvest transfer mechanism is located above the harvesting actuator. The harvesting actuator includes a lifting mechanism, a clamping mechanism, and a cutting mechanism. The mobile terminal is connected to the harvesting actuator, the post-harvest transfer mechanism, and the four-axis linkage robotic arm. The specific structures of each part are as follows:

[0007] The lifting mechanism includes a first lifting support plate, a lifting cylinder, a first lifting crank arm, a lower connecting frame, a second lifting support plate, a third lifting support plate, a second lifting crank arm, a fourth lifting support plate, a lifting connecting frame, and an upper connecting frame. The first, second, third, and fourth lifting support plates are fixedly connected to each other and then fixedly connected to the upper connecting frame via the lifting connecting frame, serving as support for the lifting cylinder. The lifting cylinder is hinged between the first and third lifting support plates. The first and second lifting crank arms are fixedly connected to both sides of the lower connecting frame. The lower connecting frame is hinged to the upper connecting frame via the middle sections of the first and second lifting crank arms. The end of the first lifting crank arm is hinged to the lifting cylinder, forming a crank-slider mechanism that causes the lower connecting frame to flip upwards, thereby driving the clamping mechanism mounted on the lower connecting frame to flip upwards for upward transport. The lifting cylinder is connected to a mobile terminal.

[0008] The clamping mechanism includes a clamping mechanism connecting rod, a left gripper, a right gripper, a lower clamping mechanism connecting frame, an upper clamping mechanism connecting frame, a spring, a left clamping lower connecting rod, a left clamping upper connecting rod, a left gripper connecting frame, a right gripper connecting frame, a right clamping upper connecting rod, and a right clamping lower connecting rod. One end of the clamping mechanism connecting rod is connected to the upper clamping mechanism connecting frame, and the other end is connected to the lower clamping mechanism connecting frame. The upper clamping mechanism connecting frame is fixed to the upper end of the lower connecting frame. Four rotating shafts are symmetrically arranged on the lower clamping mechanism connecting frame. Holes at one end of the left clamping lower connecting rod and the left clamping upper connecting rod are hinged to two rotating shafts on the left side of the lower clamping mechanism connecting frame. Holes at the other end of the left clamping lower connecting rod and the left clamping upper connecting rod are hinged to two rotating shafts on the left gripper connecting frame, forming a left-hand parallel four-bar linkage. The mechanism consists of two hinged joints: one end of the right upper clamping link and the other end of the right lower clamping link are hinged to two pivots on the right side of the lower clamping mechanism connecting frame; the other end of the right upper clamping link and the other end of the right lower clamping link are hinged to two pivots on the right jaw connecting frame, forming a right-side parallel four-bar linkage. These two symmetrical parallel four-bar linkages allow the left and right jaw connecting frames to maintain parallel clamping and opening. One end of a spring is connected to the middle of the left lower clamping link, and the other end is connected to the middle of the right lower clamping link, providing clamping force. A groove is provided at the bottom of the left lower clamping link to support the opening of the left jaw, and a groove is provided at the bottom of the right lower clamping link to support the opening of the right jaw. The left jaw is fixedly connected to the left jaw connecting frame, and the right jaw is fixedly connected to the right jaw connecting frame.

[0009] The cutting mechanism includes a picking cylinder, a cutting mechanism connecting frame, a cutting mechanism connecting rod, a slider, a knife holder, and a cutting blade. The picking cylinder is fixedly connected to the lower end of the lower connecting frame, and the front end of the picking cylinder is fixedly connected to the cutting mechanism connecting frame. A cutting mechanism connecting rod is fixedly attached to the front end of the cutting mechanism connecting frame. A slider for cooperating with the lower sliding grooves of the left and right clamping lower connecting rods is fixedly attached to the middle of the cutting mechanism connecting rod. A connecting knife holder is installed at the front end of the cutting mechanism connecting rod, and a cutting blade is installed on the connecting knife holder.

[0010] The post-harvest transfer mechanism includes a lower conveyor pulley, an upper conveyor pulley, a recovery roller, a long conveyor belt, a lower conveyor pulley bracket, a conveyor motor, a guide conveyor baffle, a lower baffle bracket, a lower conveyor shaft, a lower recovery pulley, a recovery transmission belt, an upper recovery pulley, a recovery guide cover, an upper conveyor shaft, an upper conveyor pulley bracket, an upper baffle bracket, a conveyor mechanism support rod, a primary conveyor connecting rod, a secondary conveyor connecting rod, and a conveyor mechanism connecting column. The conveyor motor is fixed to the lower conveyor pulley bracket, and the output shaft of the conveyor motor is connected to the lower conveyor pulley and the upper conveyor pulley. The lower conveyor shaft is mounted on the upper conveyor pulley bracket, and the upper conveyor shaft is located at the front end of the upper conveyor pulley bracket. One end of the long conveyor belt is connected to the lower conveyor pulley, and the other end of the long conveyor belt is connected to the upper conveyor pulley, which works together to realize the backward transfer of green asparagus. The lower recycling pulley is connected to the lower conveyor shaft, and the upper recycling pulley is connected to the upper conveyor shaft. A recycling drive belt is fitted on the lower conveyor shaft and the upper conveyor shaft, forming a second-stage transmission through the recycling drive belt, which transmits the recycling power to the recycling roller connected to the upper conveyor shaft.

[0011] The lower end of the connecting column of the conveying mechanism is installed on the chassis of the harvester. The upper end of the connecting column of the conveying mechanism is vertically hinged to the secondary conveying link, and the secondary conveying link is horizontally hinged to the primary conveying link. One end of the support rod of the conveying mechanism is fixedly connected to the primary conveying link, and the other end of the support rod of the conveying mechanism is fixedly connected to the upper conveyor belt wheel bracket. The upper part of the lower conveyor belt wheel bracket is horizontally hinged with a guide conveying baffle for providing guidance to the end point of the transfer, and the front end of the upper conveyor belt wheel bracket is provided with a recycling guide cover for providing guidance to the starting point of the transfer.

[0012] The mobile terminal includes a main control computer and a control box. The main control computer integrates a control program, and the control box is equipped with a data interface, an I / O interface, and a solenoid valve. The main control computer is connected to the data interface of the control box via a USB data cable for data transmission and interaction. The I / O interface is connected to the conveyor motor, and the solenoid valve is connected to the harvesting cylinder and the lifting cylinder. The control program automatically sends signals to the control box step by step. The control box controls the extension and retraction of the harvesting cylinder and the lifting cylinder, and controls the start and stop of the conveyor motor of the post-harvest transfer mechanism and the movement of the four-axis linkage robotic arm.

[0013] Furthermore, bolt holes are provided at both ends of the clamping mechanism connecting rod for connecting the lower clamping mechanism connecting frame and the upper clamping mechanism connecting frame by bolts.

[0014] Furthermore, the left and right grippers are made of flexible silicone material.

[0015] Furthermore, the left gripper is fixedly connected to the left gripper connecting frame via the left gripper back plate, and the right gripper is fixedly connected to the right gripper connecting frame via the right gripper back plate. At the same time, the left and right grippers are respectively provided with barbed teeth that can hug the green asparagus to prevent the green asparagus from falling off the grippers.

[0016] Furthermore, bolt holes are provided on the cylinder body of the harvesting cylinder for fixed connection with the lower end of the lower connecting frame by bolts.

[0017] Furthermore, bolt holes are provided on the lower mounting surface of the connecting column of the conveying mechanism for mounting on the chassis of the harvester by bolts.

[0018] Furthermore, conveyor baffles are installed on both sides of the long conveyor belt to prevent the green asparagus from falling off during transport. At the same time, a lower baffle bracket for installing the conveyor baffles is installed between the primary conveyor link and the conveyor mechanism support rod, and an upper baffle bracket for installing the conveyor baffles is installed between the upper conveyor pulley bracket and the conveyor mechanism support rod.

[0019] Furthermore, a heat dissipation component is provided at the tail of the conveyor motor to provide active heat dissipation and prevent the motor from overheating when the post-harvest transfer mechanism is working.

[0020] Furthermore, the recycling roller is made of flexible silicone material to provide greater recycling friction without damaging the green asparagus, ensuring that the green asparagus smoothly enters the long conveyor belt located at the rear.

[0021] Furthermore, when the picking actuator is in the lifting and flipping state, the lifting cylinder contracts, causing the first lifting crank arm to rotate around the pivot of the upper connecting frame, thereby driving the clamping mechanism connected to the upper connecting frame to lift and flip together.

[0022] Beneficial effects: This invention controls the operation of the harvesting actuator, post-harvest transfer mechanism, and four-axis linkage robotic arm via a mobile terminal. The harvesting actuator uses pneumatically controlled flexible grippers to clamp the green asparagus in parallel, while simultaneously driving the cutting blade to cut the green asparagus forward in one integrated action, effectively improving the efficiency of harvesting green asparagus. Moreover, after harvesting, the green asparagus is immediately lifted upward for transfer, thereby realizing intelligent integrated harvesting and transportation, completing the innovation of the design concept of harvesting robots, and further promoting the transformation of green asparagus harvesting towards mechanization and intelligence. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a preferred embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the picking actuator structure in a preferred embodiment of the present invention.

[0025] Figure 3 This is a side view of the lifting mechanism in a preferred embodiment of the present invention.

[0026] Figure 4 This is a rear view of the lifting mechanism in a preferred embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the lifting mechanism structure in a preferred embodiment of the present invention.

[0028] Figure 6 This is a schematic diagram of the clamping mechanism in a preferred embodiment of the present invention.

[0029] Figure 7 This is a top view schematic diagram of the clamping mechanism in a preferred embodiment of the present invention.

[0030] Figure 8 This is a schematic diagram of the cutting mechanism structure in a preferred embodiment of the present invention.

[0031] Figure 9 This is a schematic diagram of the clamping mechanism and cutting mechanism in a preferred embodiment of the present invention.

[0032] Figure 10 This is a schematic diagram of the post-harvest transfer mechanism in a preferred embodiment of the present invention.

[0033] Figure 11 This is a schematic diagram of the post-harvest transfer mechanism in a preferred embodiment of the present invention.

[0034] Figure 12 This is a schematic diagram of the lifting mechanism of the picking actuator according to a preferred embodiment of the present invention.

[0035] Figure 13 This is a schematic diagram illustrating the clamping principle of a preferred embodiment of the present invention.

[0036] Explanation of reference numerals in the attached drawings: 1. Lifting mechanism; 2. Clamping mechanism; 3. Cutting mechanism; 4. Post-harvest transfer mechanism; 5. Four-axis linkage robotic arm; 6. Harvester chassis; 101. Lifting support plate one; 102. Lifting cylinder; 103. Lifting crank arm one; 104. Lower connecting frame; 105. Lifting support plate two; 106. Lifting support plate three; 107. Lifting crank arm two; 108. Lifting support plate four; 109. Lifting connecting frame; 11. 0. Upper connecting frame; 201. Clamping mechanism connecting rod; 202. Clamping jaw back plate one; 203. Clamping jaw one; 204. Clamping jaw two; 205. Clamping jaw back plate two; 206. Clamping mechanism connecting frame one; 207. Clamping mechanism connecting frame two; 208. Spring; 209. Clamping lower connecting rod one; 210. Clamping upper connecting rod one; 211. Clamping jaw connecting frame one; 212. Clamping jaw connecting frame two; 213. Clamping upper connecting rod two; 214. Clamping lower connecting rod... Linkage 2; 301. Harvesting cylinder; 302. Cutting mechanism connecting frame; 303. Cutting mechanism connecting rod; 304. Slider; 305. Tool holder; 306. Cutting blade; 401. Conveyor pulley 1; 402. Conveyor baffle 1; 403. Conveyor baffle 2; 404. Conveyor pulley 2; 405. Recovery roller; 406. Long conveyor belt; 407. Conveyor pulley bracket 1; 408. Heat dissipation bracket; 409. Conveyor motor; 410. 411. Cooling fan; 412. Conveyor baffle three; 413. Baffle bracket one; 414. Conveyor shaft one; 415. Recycling pulley one; 416. Recycling transmission belt; 417. Recycling guide cover; 418. Conveyor shaft two; 419. Conveyor pulley bracket two; 420. Baffle bracket two; 421. Conveyor mechanism support rod; 422. Conveyor connecting rod one; 423. Conveyor connecting rod two; 424. Conveyor mechanism connecting column. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

[0038] See Figures 1-2 The illustrated intelligent harvesting and transportation equipment for green asparagus includes a lifting mechanism 1, a clamping mechanism 2, a cutting mechanism 3, a post-harvest transfer mechanism 4, a four-axis linkage robotic arm 5, a harvester chassis 6, and a mobile terminal. The lifting mechanism 1, clamping mechanism 2, and cutting mechanism 3 constitute the harvesting actuator, which is mounted on the four-axis linkage robotic arm 5. The four-axis linkage robotic arm 5 is mounted on the harvester chassis 6. The post-harvest transfer mechanism 4 is mounted on the harvester chassis 6 and positioned above the harvesting actuator. The rotation center of the post-harvest transfer mechanism 4 is on the same axis as the rotation center of the four-axis linkage robotic arm 5. The mobile terminal is connected to the harvesting actuator, the post-harvest transfer mechanism 4, and the four-axis linkage robotic arm 5. The specific structures of each part are as follows:

[0039] like Figures 3-5As shown, the lifting mechanism 1 includes a first lifting support plate 101, a lifting cylinder 102, a first lifting crank arm 103, a lower connecting frame 104, a second lifting support plate 105, a third lifting support plate 106, a second lifting crank arm 107, a fourth lifting support plate 108, a lifting connecting frame 109, and an upper connecting frame 110. The first, second, third, and fourth lifting support plates 101, 105, 106, and 108 are fixedly connected by bolts, and then fixedly connected by the lifting connecting frame 109 and the upper connecting frame 110, serving as support for the lifting cylinder 102. The lifting cylinder 102 is hinged between the first lifting support plate 101 and the third lifting support plate 106. The first lifting crank arm 103 and the second lifting crank arm 107 are fixedly connected to both sides of the lower connecting frame 104. The lower connecting frame 104 is hinged to the upper connecting frame 110 through the middle of the first lifting crank arm 103 and the second lifting crank arm 107. The end of the first lifting crank arm 103 is hinged to the lifting cylinder 102, forming a crank-slider mechanism so that the lower connecting frame 104 flips upward, thereby driving the clamping mechanism 2 installed on the lower connecting frame 104 to flip upward as a whole for upward transport. The lifting cylinder 102 is connected to the mobile terminal.

[0040] like Figures 6-7As shown, the clamping mechanism 2 includes a clamping mechanism connecting rod 201, a left gripper back plate 202, a left gripper 203, a right gripper 204, a right gripper back plate 205, a lower clamping mechanism connecting frame 206, an upper clamping mechanism connecting frame 207, a spring 208, a left clamping lower connecting rod 209 and a left clamping upper connecting rod 210, a left gripper connecting frame 211, a right gripper connecting frame 212, a right clamping upper connecting rod 213, and a right clamping lower connecting rod 214. The clamping mechanism connecting rod 201 has two ends... Bolt holes are provided on each of the clamping mechanism connecting rods 201 and 204. One end of the clamping mechanism connecting rod 201 is connected to the upper clamping mechanism connecting frame 207 by bolts, and the other end of the clamping mechanism connecting rod 201 is connected to the lower clamping mechanism connecting frame 206 by bolts. The upper clamping mechanism connecting frame 207 is fixed to the upper end of the lower connecting frame 104. Four rotating shafts are symmetrically arranged on the lower clamping mechanism connecting frame 206. The holes at one end of the left clamping lower connecting rod 209 and the left clamping upper connecting rod 210 are hinged to the two rotating shafts on the left side of the lower clamping mechanism connecting frame 206. Then, the holes at the other ends of the left clamping lower link 209 and the left clamping upper link 210 are hinged to the two rotating shafts on the left gripper connecting frame 211, forming a left-type parallel four-bar linkage; the holes at one end of the right clamping upper link 213 and the right clamping lower link 214 are hinged to the two rotating shafts on the right side of the lower clamping mechanism connecting frame 206, and the holes at the other ends of the right clamping upper link 213 and the right clamping lower link 214 are hinged to the two rotating shafts on the right gripper connecting frame 212, forming a right-type parallel four-bar linkage; the two The symmetrical parallel four-bar linkage allows the left gripper connecting frame 211 and the right gripper connecting frame 212 to maintain parallel clamping and opening. One end of the spring 208 is connected to the middle of the left gripping lower connecting rod 209, and the other end of the spring 208 is connected to the middle of the right gripping lower connecting rod 214 to provide clamping force. At the same time, a sliding groove is provided at the lower part of the left gripping lower connecting rod 209 to support the opening of the left gripper 203, and a sliding groove is provided at the lower part of the right gripping lower connecting rod 214 to support the opening of the right gripper 204.

[0041] Preferably, the left gripper 203 and the right gripper 204 are made of flexible silicone material. The left gripper 203 is fixedly connected to the left gripper connecting frame 211 through the left gripper back plate 202, and the right gripper 204 is fixedly connected to the right gripper connecting frame 212 through the right gripper back plate 205. At the same time, the left gripper 203 and the right gripper 204 are respectively provided with barbed teeth that can hug the green asparagus to prevent the green asparagus from falling off the gripper during harvesting.

[0042] like Figures 8-9As shown, the cutting mechanism 3 includes a picking cylinder 301, a cutting mechanism connecting frame 302, a cutting mechanism connecting rod 303, a slider 304, a knife holder 305, and a cutting blade 306. The picking cylinder 301 is fixedly connected to the lower end of the lower connecting frame 104 through bolt holes on the cylinder body. The front end of the picking cylinder 301 is fixedly connected to the cutting mechanism connecting frame 302. The cutting mechanism connecting rod 303 is fixedly attached to the front end of the cutting mechanism connecting frame 302. The connecting knife holder 305 and the cutting blade 306 are installed at the front end of the cutting mechanism connecting rod 303.

[0043] Furthermore, the slider 304 is fixed to the middle of the connecting rod 303 of the cutting mechanism to cooperate with the sliding grooves at the lower part of the left clamping lower connecting rod 209 and the right clamping lower connecting rod 214;

[0044] like Figures 10-11 As shown, the post-harvest transfer mechanism 4 includes a lower conveyor pulley 401, a right conveyor baffle 402, a left conveyor baffle 403, an upper conveyor pulley 404, a recovery roller 405, a long conveyor belt 406, a lower conveyor pulley bracket 407, a heat dissipation bracket 408, a conveyor motor 409, a cooling fan 410, a guide conveyor baffle 411, a lower baffle bracket 412, a lower conveyor shaft 413, a lower recovery pulley 414, a recovery transmission belt 415, an upper recovery pulley 416, a recovery guide cover 417, an upper conveyor shaft 418, an upper conveyor pulley bracket 419, an upper baffle bracket 420, a conveyor mechanism support rod 421, a primary conveyor connecting rod 422, a secondary conveyor connecting rod 423, and a conveyor mechanism connecting column 424. The conveyor motor 409 is fixed on the lower conveyor pulley bracket 407, and the output shaft of the conveyor motor 409 is connected to the lower conveyor pulley 401. The pulley 404 is mounted on the upper conveyor pulley bracket 419 via the lower conveyor shaft 413. The upper conveyor shaft 418 is located at the front end of the upper conveyor pulley bracket 419. One end of the long conveyor belt 406 is connected to the lower conveyor pulley 401, and the other end of the long conveyor belt 406 is connected to the upper conveyor pulley 404, which together realizes the backward transfer of green asparagus. At the same time, a right conveyor baffle 402 and a left conveyor baffle 403 are provided on both sides of the long conveyor belt 406 to prevent the green asparagus from falling during transportation. The lower recovery pulley 414 is connected to the lower conveyor shaft 413, and the upper recovery pulley 416 is connected to the upper conveyor shaft 418. A recovery roller 405 is connected to the upper conveyor shaft 418. The recovery transmission belt 415 is fitted on the lower conveyor shaft 413 and the upper conveyor shaft 418, forming a second-stage transmission through the recovery transmission belt 415, which transmits the recovery power to the recovery roller 405 connected to the upper conveyor shaft 418.

[0045] The lower mounting surface of the connecting column 424 of the conveying mechanism is provided with bolt holes. The upper end of the connecting column 424 is vertically hinged to the secondary conveying link 423, and the secondary conveying link 423 is horizontally hinged to the primary conveying link 422. One end of the support rod 421 of the conveying mechanism is fixedly connected to the primary conveying link 422, and the other end is fixedly connected to the upper conveyor pulley bracket 419. The lower baffle bracket 412 is disposed between the primary conveying link 422 and the support rod 421 of the conveying mechanism, and the upper baffle bracket 420 is disposed between the upper conveyor pulley bracket 419 and the support rod 421 of the conveying mechanism. The upper baffle bracket 420 is used to install the right conveyor baffle 4. 02 and one end of the left conveyor baffle 403, the lower baffle bracket 412 is used to install the other end of the right conveyor baffle 402 and the left conveyor baffle 403; the lower conveyor pulley bracket 407 is set between the heat dissipation bracket 408 and the lower baffle bracket 412, the heat dissipation fan 410 is fixed to the tail of the conveyor motor 409 through the heat dissipation bracket 408, and provides active heat dissipation to prevent the motor from overheating when the post-harvest transfer mechanism is working; the upper part of the lower conveyor pulley bracket 407 is horizontally hinged with a guide conveyor baffle 411, which is used to provide guidance for the transfer end point, and the recycling guide cover 417 is fixed to the front end of the upper conveyor pulley bracket 419, which is used to provide guidance for the transfer start point;

[0046] Preferably, the recycling roller 405 is made of flexible silicone material to provide greater recycling friction without damaging the green asparagus, ensuring that the green asparagus smoothly enters the long conveyor belt 406 located at the rear.

[0047] The mobile terminal includes a main control computer and a control box. The main control computer integrates a control program, and the control box is equipped with a data interface, an I / O interface, and a solenoid valve. The main control computer is connected to the data interface of the control box via a USB data cable for data transmission and interaction. The I / O interface is connected to the transmission motor 409 of the post-harvest transfer mechanism 4, and the solenoid valve is connected to the harvesting cylinder 301 of the cutting mechanism 3 and the lifting cylinder 102 of the lifting mechanism 1. The control program automatically sends signals to the control box step by step, and the control box controls the extension and retraction of the harvesting cylinder 301 and the lifting cylinder 102, controls the start and stop of the transmission motor 409 of the post-harvest transfer mechanism 4, and controls the movement of the four-axis linkage robotic arm 5.

[0048] In this embodiment, as Figure 12As shown, when the harvesting actuator is in the lifting and flipping state, the lifting cylinder 102 retracts, causing the first lifting crank arm 103 to rotate around the pivot position of the upper connecting frame 110, thereby driving the clamping mechanism 2 connected to the upper connecting frame 110 to lift and flip together. The clamping action principle is shown in Figure 13. When the harvesting cylinder 301 retracts, the cutting mechanism connecting frame 302 drives the cutting mechanism connecting rod 303 to retract, and the slider 304 installed on the cutting mechanism connecting rod 303 slides into the groove of the left clamping lower connecting rod 209 and the right clamping lower connecting rod 214 to overcome the tension of the spring 208 and cause the left gripper 203 and the right gripper 204 to open. When the harvesting cylinder 301 extends, the slider 304 slides out of the groove of the left clamping lower connecting rod 209 and the right clamping lower connecting rod 214, causing the left gripper 203 and the right gripper 204 to clamp the green asparagus. At the same time, the cutting blade 306 continues to extend forward to cut the green asparagus. During the cutting of green asparagus, F s This indicates the tension force of spring 208 when it is in the open state. F s ， This indicates the tension force of spring 208 when it is in the clamping state. F p This indicates the clamping force applied to the green asparagus. The specific operating steps are as follows:

[0049] (1) In the initial state, the picking cylinder 301 is in the retracted state, the lifting cylinder 102 is in the extended state, and the conveying motor 409 is kept on.

[0050] (2) The mobile terminal controls the four-axis linkage robotic arm 5 to move the harvesting actuator to the location of the green asparagus, so that the harvested green asparagus is located between the left gripper 203 and the right gripper 204; during the movement, since the rotation axis of the four-axis linkage robotic arm 5 coincides with that of the post-harvest transfer mechanism 4, the four-axis linkage robotic arm 5 can drive the post-harvest transfer mechanism 4 to follow the movement, so that the post-harvest transfer mechanism 4 is kept above the harvesting actuator;

[0051] (3) The harvesting cylinder 301 is extended by the mobile terminal, which drives the slider 304 to slide out of the groove of the left clamping lower connecting rod 209 and the right clamping lower connecting rod 214, so that the open left clamping claw 203 and right clamping claw 204 lose their support force and clamp the green asparagus under the action of the spring 208. At the same time, the harvesting cylinder 301 continues to extend, and the cutting blade 306 set at the front end of the harvesting cylinder 301 cuts the green asparagus by the thrust of the harvesting cylinder 301.

[0052] (4) The lifting cylinder 102 is controlled by the mobile terminal to retract, thereby driving the first lifting arm 103 and the lower connecting frame 104 to flip upward, thereby lifting the clamped green asparagus upward and placing the green asparagus at the entrance of the post-harvest transfer mechanism 4.

[0053] (5) The picking cylinder 301 is controlled by the mobile terminal to retract, which drives the slider 304 to slide into the groove of the left clamping lower connecting rod 209 and the right clamping lower connecting rod 214, and the left clamp 203 and the right clamp 204 are supported again, so that the green asparagus loses the clamping force and falls onto the long conveyor belt 406.

[0054] (6) The green asparagus is recycled under the transmission of the long conveyor belt 406, and the four-axis linkage robotic arm 5 does not need to spend time doing other actions to transfer it.

[0055] (7) The lifting cylinder 102 is extended by the mobile terminal, which drives the first lifting arm 103 and the lower connecting frame 104 to flip downward and return to the initial state;

[0056] (8) Repeat steps (2) to (7) to harvest the next green asparagus.

[0057] In the description of this embodiment, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front end," and "tail end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "a," "b," and "c" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this embodiment, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A smart harvesting and transportation integrated device for green asparagus, comprising a harvesting actuator, a post-harvest transfer mechanism, a four-axis linkage robotic arm, a harvesting machine chassis, and a mobile terminal, characterized in that, The harvester chassis is equipped with a four-axis linkage-type robotic arm for mounting the harvesting actuator and a post-harvest transfer mechanism for transporting green asparagus. The post-harvest transfer mechanism is located above the harvesting actuator, and its rotation center is on the same axis as that of the four-axis linkage-type robotic arm. The harvesting actuator includes a lifting mechanism, a clamping mechanism, and a cutting mechanism. The mobile terminal is connected to the harvesting actuator, the post-harvest transfer mechanism, and the four-axis linkage-type robotic arm. The specific structure of each part is as follows: The lifting mechanism includes a first lifting support plate, a lifting cylinder, a first lifting crank arm, a lower connecting frame, a second lifting support plate, a third lifting support plate, a second lifting crank arm, a fourth lifting support plate, a lifting connecting frame, and an upper connecting frame. The first, second, third, and fourth lifting support plates are fixedly connected to each other and then fixedly connected to the upper connecting frame via the lifting connecting frame, serving as support for the lifting cylinder. The lifting cylinder is hinged between the first and third lifting support plates. The first and second lifting crank arms are fixedly connected to both sides of the lower connecting frame. The lower connecting frame is hinged to the upper connecting frame via the middle sections of the first and second lifting crank arms. The end of the first lifting crank arm is hinged to the lifting cylinder, forming a crank-slider mechanism that causes the lower connecting frame to flip upwards, thereby driving the clamping mechanism mounted on the lower connecting frame to flip upwards for upward transport. The lifting cylinder is connected to a mobile terminal. The clamping mechanism includes a clamping mechanism connecting rod, a left jaw, a right jaw, a lower clamping mechanism connecting frame, an upper clamping mechanism connecting frame, a spring, a left clamping lower connecting rod, a left clamping upper connecting rod, a left jaw connecting frame, a right jaw connecting frame, a right clamping upper connecting rod, and a right clamping lower connecting rod. One end of the clamping mechanism connecting rod is connected to the upper clamping mechanism connecting frame, and the other end is connected to the lower clamping mechanism connecting frame. The upper clamping mechanism connecting frame is fixed to the upper end of the lower connecting frame. Four rotating shafts are symmetrically arranged on the lower clamping mechanism connecting frame. The holes at one end of the left clamping lower connecting rod and the left clamping upper connecting rod are hinged to two rotating shafts on the left side of the lower clamping mechanism connecting frame. The holes at the other end of the left clamping lower connecting rod and the left clamping upper connecting rod are hinged to... Two pivots on the left gripper connecting frame are hinged to form a left-type parallel four-bar linkage. Holes at one end of the right upper gripper link and the right lower gripper link are hinged to two pivots on the right side of the lower gripper connecting frame. Holes at the other end of the right upper gripper link and the right lower gripper link are hinged to two pivots on the right gripper connecting frame, forming a right-type parallel four-bar linkage. One end of a spring is connected to the middle of the left lower gripper link, and the other end of the spring is connected to the middle of the right lower gripper link. A groove for supporting the opening of the left gripper is provided at the bottom of the left lower gripper link, and a groove for supporting the opening of the right gripper is provided at the bottom of the right lower gripper link. The left gripper is fixedly connected to the left gripper connecting frame, and the right gripper is fixedly connected to the right gripper connecting frame. The cutting mechanism includes a picking cylinder, a cutting mechanism connecting frame, a cutting mechanism connecting rod, a slider, a knife holder, and a cutting blade. The picking cylinder is fixedly connected to the lower end of the lower connecting frame, and the front end of the picking cylinder is fixedly connected to the cutting mechanism connecting frame. A cutting mechanism connecting rod is fixedly attached to the front end of the cutting mechanism connecting frame. A slider for cooperating with the lower sliding grooves of the left and right clamping lower connecting rods is fixedly attached to the middle of the cutting mechanism connecting rod. A connecting knife holder is installed at the front end of the cutting mechanism connecting rod, and a cutting blade is installed on the connecting knife holder. The post-harvest transfer mechanism includes a lower conveyor pulley, an upper conveyor pulley, a recovery roller, a long conveyor belt, a lower conveyor pulley bracket, a conveyor motor, a guide conveyor baffle, a lower baffle bracket, a lower conveyor shaft, a lower recovery pulley, a recovery transmission belt, an upper recovery pulley, a recovery guide cover, an upper conveyor shaft, an upper conveyor pulley bracket, an upper baffle bracket, a conveyor mechanism support rod, a primary conveyor connecting rod, a secondary conveyor connecting rod, and a conveyor mechanism connecting column. The conveyor motor is fixed to the lower conveyor pulley bracket, and its output shaft is connected to the lower conveyor pulley. The upper conveyor pulley is mounted on the upper conveyor pulley bracket via the lower conveyor shaft. The upper conveyor shaft is located at the front end of the upper conveyor pulley bracket. One end of the long conveyor belt is connected to the lower conveyor pulley, and the other end is connected to the upper conveyor pulley. The lower recovery pulley is connected to the lower conveyor shaft, and the upper recovery pulley is connected to the upper conveyor shaft. A recovery roller is connected to the upper conveyor shaft. The recovery transmission belt is fitted onto both the lower and upper conveyor shafts, forming a second-stage transmission that transmits recovery power to the recovery roller connected to the upper conveyor shaft. The lower end of the connecting column of the conveying mechanism is installed on the chassis of the harvester. The upper end of the connecting column is vertically hinged to the secondary conveying link, and the secondary conveying link is horizontally hinged to the primary conveying link. One end of the support rod of the conveying mechanism is fixedly connected to the primary conveying link, and the other end of the support rod is fixedly connected to the upper conveyor belt wheel bracket. A guide conveying baffle for providing guidance to the end point of the transfer is horizontally hinged on the upper part of the lower conveyor belt wheel bracket, and a recycling guide cover for providing guidance to the starting point of the transfer is set at the front end of the upper conveyor belt wheel bracket.

2. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, The left and right grippers are made of flexible silicone.

3. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, The left gripper is fixedly connected to the left gripper connecting frame via the left gripper back plate, and the right gripper is fixedly connected to the right gripper connecting frame via the right gripper back plate. At the same time, the left and right grippers are respectively provided with barbed teeth that can hug the green asparagus.

4. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, Conveyor baffles are provided on both sides of the long conveyor belt. A lower baffle bracket for installing the conveyor baffles is provided between the primary conveyor link and the conveyor mechanism support rod. An upper baffle bracket for installing the conveyor baffles is provided between the upper conveyor pulley bracket and the conveyor mechanism support rod.

5. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, A heat dissipation component is installed at the tail of the transmission motor.

6. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, The recycling roller is made of flexible silicone.

7. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, When the harvesting actuator is in the lifting and flipping state, the lifting cylinder contracts, causing the first lifting crank arm to rotate around the pivot of the upper connecting frame, which in turn drives the clamping mechanism connected to the upper connecting frame to lift and flip together.

8. The intelligent harvesting and transportation equipment for green asparagus according to claim 1, characterized in that, The mobile terminal includes a main control computer and a control box. The main control computer integrates a control program, and the control box is equipped with a data interface for data transmission and interaction with the main control computer, an I / O interface for connecting to the conveyor motor, and a solenoid valve for connecting to the harvesting cylinder and the lifting cylinder. The control program automatically sends signals to the control box step by step, and the control box controls the extension and retraction of the harvesting cylinder and the lifting cylinder, controls the start and stop of the conveyor motor of the post-harvest transfer mechanism, and controls the movement of the four-axis linkage robotic arm.

9. A smart harvesting and transportation integrated device for green asparagus according to any one of claims 1 to 8, characterized in that, The specific operating steps are as follows: (1) In the initial state of the equipment, the picking cylinder is in the retracted state, the lifting cylinder is in the extended state, and the conveyor motor is kept on. (2) The mobile terminal controls the four-axis linkage robotic arm to move the picking actuator to the location of the green asparagus, so that the green asparagus to be picked is located between the left and right grippers; during the movement, since the rotation axis of the four-axis linkage robotic arm coincides with that of the post-harvest transfer mechanism, the four-axis linkage robotic arm can drive the post-harvest transfer mechanism to follow the movement, so that the post-harvest transfer mechanism remains above the picking actuator. (3) The picking cylinder is extended by the mobile terminal, which drives the slider to slide out of the groove of the left clamping lower connecting rod and the right clamping lower connecting rod, so that the open left and right clamping claws lose their support force and clamp the green asparagus under the action of the spring. At the same time, the picking cylinder continues to extend, and the cutting blade set at the front end of the picking cylinder cuts the green asparagus by the thrust of the picking cylinder. (4) The lifting cylinder is controlled by the mobile terminal to retract, thereby driving the No. 1 lifting arm and the lower connecting frame to flip upward, thereby lifting the clamped green asparagus upward and placing the green asparagus at the entrance of the post-harvest transfer mechanism. (5) The harvesting cylinder is controlled by the mobile terminal to retract, which drives the slider to slide into the groove of the left clamping lower connecting rod and the right clamping lower connecting rod, and the left and right clamps are supported again, so that the green asparagus loses the clamping force and falls onto the long conveyor belt. (6) Green asparagus is recycled under the transmission of the long conveyor belt, and the four-axis linkage robotic arm does not need to spend time doing other actions to transfer it. (7) The lifting cylinder is extended by the mobile terminal, which drives the No. 1 lifting arm and the lower connecting frame to flip downward and return to the initial state; (8) Repeat steps (2) to (7) to harvest the next green asparagus.

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