Automatic low-loss sorting horizontal potato picking machine

Abstract

The invention relates to an automatic low-loss sorting horizontal potato picking machine which comprises a tractor and a picking vehicle connected to the rear end of the tractor. The tractor comprises a tractor frame and caterpillar band chassis connected to the two sides of the lower portion of the tractor frame, and a vehicle-mounted navigation system is installed on the tractor frame. The picking vehicle comprises a vehicle frame body connected with the traction vehicle frame, video input equipment installed at the front end of the vehicle frame body, picking mechanisms installed on the two sides of the video input equipment, a conveying mechanism installed on the lower portion of the vehicle frame body and a bagging assembly arranged at the rear end of the conveying mechanism. The picking mechanism comprises two mechanical arms and mechanical claws connected to the movable ends of the mechanical arms, potatoes meeting the requirements are visually recognized through video input equipment, the mechanical claws complete grabbing and place the potatoes on the conveying mechanism, and then the potatoes are conveyed to the bagging assembly through the conveying mechanism to be bagged. The picking machine is more comprehensive in function, sensitive in action, low in production cost and capable of adapting to most terrains.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery technology, and in particular to an automatic low-loss sorting horizontal potato picker. Background Art

[0002] Potatoes are native to South America and are the world's fourth largest food crop and an important industrial raw material crop. China is the largest potato producer, accounting for 23% of the world's potato production. However, according to 2021 data statistics, the mechanized potato harvesting rate is only 32%. Therefore, potato harvesting equipment is still a shortcoming in the domestic agricultural machinery field.

[0003] At present, potato harvesting in most parts of my country is mainly carried out in sections, that is, first using a seedling-killing machine to kill the seedlings, then using a section harvester to complete the excavation, separation, laying and collection of potato tubers, and finally picking and bagging manually, which is a semi-mechanized state. This method not only has high labor costs and low picking efficiency, but also cannot accurately collect commercial potatoes that meet the requirements, and there are phenomena of damaged and missed potatoes. Secondly, in areas with large slopes such as hills, the mechanized site conditions are poor, and the work of the picker will have great limitations. For example, a potato picker disclosed in the Chinese invention patent application document with patent number CN2014207460779 picks up potatoes with a shovel, which is not only easy to scratch the potatoes, but also cannot be automatically bagged; another example is a self-propelled potato picker and its adaptive picking device disclosed in the Chinese invention patent application document with patent number CN2023218783886. Due to the large and wide body, the choice of terrain is single, and it cannot adapt to sloped areas. Therefore, designing an intelligent, automated, and highly terrain-adaptable potato picker is of great significance for potato harvesting. Summary of the invention

[0004] The purpose of the present application is to provide an automatic low-loss sorting horizontal potato picker which has more comprehensive functions, agile actions, low production costs, and can adapt to most terrains.

[0005] The present application provides an automatic low-loss sorting horizontal potato picking machine that adopts the following technical solutions:

[0006] An automatic low-loss sorting horizontal potato picking machine comprises a tractor and a picking vehicle connected to the rear end of the tractor; the tractor comprises a tractor frame and a crawler chassis connected to both sides of the lower part of the tractor frame, a vehicle-mounted navigation system is installed on the tractor frame, the picking vehicle comprises a frame body connected to the tractor frame, a video input device installed at the front end of the frame body, a picking mechanism installed at both sides of the video input device, a conveying mechanism installed at the lower part of the frame body and a bagging component arranged at the rear end of the conveying mechanism, the picking mechanism comprises two mechanical arms and a mechanical claw connected to the movable end of the mechanical arm, the video input device visually identifies potatoes that meet the requirements, the mechanical claw completes the grabbing and puts them on the conveying mechanism, and then the conveying mechanism conveys them to the bagging component for bagging.

[0007] As a preferred technical solution of the present application, the traction frame includes a load-bearing frame, a hydroelectric battery and a controller fixing box installed on the load-bearing frame, and a three-phase DC brushless motor controller installed in the controller fixing box, the three-phase DC brushless motor controller is connected to the hydroelectric battery, and the hydroelectric battery is electrically connected to the track chassis.

[0008] As a preferred technical solution of the present application, the track chassis includes two tracks installed on the lower parts of both sides of the carrier frame, track baffles blocking the outside of the tracks, a brushless motor arranged on the inner side of the front end of the track, a driving wheel arranged at the front end of the inner side of the track, a load-bearing wheel arranged in the middle part of the inner side of the track, and a tensioning wheel arranged at the rear end of the inner side of the track. The track baffles, brushless motor, driving wheel, load-bearing wheel and tensioning wheel are all installed on the carrier frame, and the brushless motor is electrically connected to the three-phase DC brushless motor controller and the hydropower bottle.

[0009] As a preferred technical solution of the present application, the video input device includes a fixed ring frame connected to the frame body, a camera support installed on the lower side of the fixed ring frame, and a high-definition camera installed on the camera support. Through the high-definition camera recognition, the picking machine can screen out commercial potatoes that meet the requirements.

[0010] As a preferred technical solution of the present application, the frame body includes a bed board, a steel frame installed on the lower surface of the bed board, wheels installed on the lower part of the steel frame, and a traction connection structure arranged at the front end of the steel frame, and the video input device is connected to the front end of the steel frame.

[0011] As a preferred technical solution of the present application, the picking mechanism also includes two bases, the two bases are fixed at the front end of the bed board, the robotic arms are rotatably connected to the bases, the movable ends of the robotic arms extend into the area between the steel frame and the traction frame, and the two robotic arms are located on both sides of the video input device.

[0012] As a preferred technical solution of the present application, the conveying mechanism includes a partition conveyor belt connected to a steel frame, parallel rollers arranged at the front and rear ends of the partition conveyor belt, curtains arranged on both sides of the partition conveyor belt, four guide pressure wheels arranged on the left and right sides of the middle of the partition conveyor belt, and a driving assembly connected to the parallel rollers at the rear end. The partition conveyor belt is installed on an L-shaped support frame, and the L-shaped support frame is connected to the steel frame. The partition conveyor belt includes a gentle slope section at the front end and a steep slope section at the rear end. The gentle slope section is located under the bed board, and the steep slope section extends upward from the rear end of the bed board.

[0013] As a preferred technical solution of the present application, the driving assembly includes a driving motor and a chain, a driving sprocket is connected to the output shaft of the driving motor, a driven sprocket is connected to the rotating shaft of the parallel roller, the chain is connected to the driving sprocket and the driven sprocket, and the driving motor is connected to the inner side of the L-shaped support frame through a motor plate.

[0014] As a preferred technical solution of the present application, the bagging assembly includes two sets of bagging support rods connected to the rear side of the vertical rods of the L-shaped support frame and a bagging hook bracket arranged on the bagging support rods, and the bagging hook bracket is vertically connected to the vertical rods of the L-shaped support frame.

[0015] In summary, the present application includes at least one of the following beneficial technical effects:

[0016] 1. The picking machine of the present application can realize automatic walking with Beidou planned itinerary navigation. The video input device and the mechanical arm of the horizontal picking machine cooperate with each other to accurately grasp the potatoes, and then transport them to the bagging assembly through the conveyor belt to complete the bagging. With the assistance of the machine, the labor intensity of the workers is reduced, and the commercial potatoes are picked up more efficiently, ensuring that the potatoes will not be damaged, the size meets the requirements, and there are no impurities, thereby reducing labor costs.

[0017] 2. The pick-up machine of the present application can work in more terrain areas, such as hilly areas with steep slopes, has high adaptability, and compared with the existing technology, has comprehensive functions, practicality and advancement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0019] Figure 2 is a schematic structural diagram of a tractor in an embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of the tensioner wheel of the crawler chassis in the embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the structure of a video input device in an embodiment of the present application;

[0022] Figure 5 It is a structural schematic diagram of the picking mechanism in the embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram of the conveying mechanism in the embodiment of the present application;

[0024] In the figure, 1, traction frame; 11, load-bearing frame; 12, hydroelectric battery; 13, three-phase DC brushless motor controller; 14, controller fixing box; 2, crawler track; 21, crawler track baffle; 22, brushless motor; 23, driving wheel; 24, load-bearing wheel; 25, tensioner wheel; 251, tensioner wheel baffle; 3, video input device; 31, high-definition camera; 32, camera support; 33, fixed ring frame; 4, picking mechanism; 41, mechanical arm; 42. Mechanical claw; 43. Base; 5. Conveying mechanism; 50. L-shaped support frame; 51. Partition conveyor belt; 52. Parallel rollers; 53. Curtain; 54. Guide pressure wheel; 55. Chain; 551. Driving sprocket; 552. Driven sprocket; 56. Driving motor; 561. Motor plate; 6. Bagging assembly; 61. Bagging support rod; 62. Bagging hook bracket; 7. Frame body; 71. Bed board; 72. Wheel; 73. Steel frame. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1 -Attached Figure 6 , further details of this application are given.

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0027] Embodiment: This application proposes an automatic low-loss sorting horizontal potato picking machine, referring to Figure 1-6 The equipment includes a tractor and a picking vehicle connected to the rear end of the tractor. The tractor serves as the power to control the driving speed and direction. The picking vehicle moves forward following the tractor to pick up potatoes that meet the picking requirements and pack them into bags.

[0028] The tractor comprises a tractor frame 1 and a crawler chassis connected to both sides of the lower part of the tractor frame. The tractor frame 1 is equipped with a vehicle navigation system, which can guide the tractor to automatically walk according to the planned itinerary navigation. The vehicle navigation system can adopt the Beidou navigation system. The tractor frame comprises a load-bearing frame 11, a hydropower battery 12, a three-phase DC brushless motor controller 13 and a controller fixing box 14.

[0029] The carrier frame 11 includes an upper planar rectangular frame and a lower support structure. The support structure includes left and right parts, and the two parts are symmetrically arranged. There is a space between the two support structures. The hydroelectric bottle 12 is installed between the left and right support structures. In order to make the hydroelectric bottle 12 firmly installed, the hydroelectric bottle 12 can be fixed on the planar rectangular frame and the support structure at the same time. The hydroelectric bottle 12 is electrically connected to the crawler chassis, and the hydroelectric bottle 12 can provide a longer endurance for the whole machine. The controller fixing box 14 is installed at the front end of the hydroelectric bottle 12, the upper part is connected to the planar rectangular frame of the carrier frame 11, and the lower part is supported by the support structure of the carrier frame 11. The three-phase DC brushless motor controller 13 is installed in the controller fixing box 14, and the three-phase DC brushless motor controller 13 is connected to the hydroelectric bottle 12. The three-phase DC brushless motor controller 13 controls the tractor.

[0030] The track chassis includes two tracks 2 and a track baffle 21 connected to each track 2, a brushless motor 22, a driving wheel 23, a load-bearing wheel 24 and a tensioning wheel 25. The driving wheel 23 is installed on the outer side of the front end of the lower part of the supporting structure of the carrier frame 11 and is located at the inner front end of the track 2. The brushless motor 22 is connected to the main shaft of the driving wheel 23. The brushless motor 22 is installed on the front end of the lower part of the supporting structure of the carrier frame 11. There are multiple load-bearing wheels 24 arranged in the horizontal direction. The load-bearing wheel 24 is installed on the outer side of the middle position of the lower part of the supporting structure of the carrier frame 11 and is located in the inner middle part of the track 2. The tensioning wheel 25 is installed on the outer side of the rear end of the lower part of the supporting structure of the carrier frame 11 and is located at the inner rear end of the track 2. The track baffle 21 blocks the outer side of the track 2 and is installed on the main shaft of the driving wheel 23 and the load-bearing wheel 24 and the lower part of the supporting structure of the carrier frame 11. In this embodiment, the brushless motor 22 is electrically connected to the three-phase DC brushless motor controller 13 and the hydroelectric bottle 12. The hydroelectric bottle 12 provides power for the brushless motor 22, and the three-phase DC brushless motor controller 13 controls the operation of the brushless motor 22. Tensioner baffles 251 are provided on the inner and outer sides of the tensioner 25 to prevent the tensioner 25 from moving left and right, and to facilitate adjusting the position of the tensioner 25 to tighten the track 2.

[0031] The picking vehicle includes a video input device 3, a picking mechanism 4, a conveying mechanism 5, a bagging assembly 6 and a frame body 7. The frame body 7 is connected to the traction frame 1, and the video input device 3, the picking mechanism 4, the conveying mechanism 5, and the bagging assembly 6 are all installed on the frame body 7.

[0032] The frame body 7 includes a bed plate 71, wheels 72 and a steel frame 73. The bed plate 71 is fixed on the upper part of the steel frame 73, and the wheels 72 are installed on both sides of the lower part of the steel frame 73. The bed plate 71 is set as a rectangular plane plate, and an opening space is set at the rear end of the bed plate 71 for installing the conveying mechanism 5, and a space is set at the front end of the bed plate 71 for installing the video input device 3 and the picking mechanism 4. There are two wheels 72 at the front and rear, respectively, installed on the steel frame 73. A traction connection structure is set at the front end of the steel frame 73 for connecting with the carrier frame 11 of the tractor, and the connection method adopts a movable connection method, such as a pin shaft, so that the tractor and the picking vehicle can rotate relative to each other.

[0033] The video input device 3 is connected to the front end of the steel frame 73. The video input device 3 includes a high-definition camera 31, a camera support 32 and a fixed ring frame 33. The fixed ring frame 33 is a circular plate, parallel to the bed plate 71 and fixed in the middle position of the front end of the steel frame 73. The camera support 32 is installed on the lower side of the fixed ring frame 33, and the high-definition camera 31 is installed on the camera support 32. In this embodiment, the high-definition camera 31 is used to automatically identify potatoes and screen out commercial potatoes that meet the picking requirements.

[0034] The picking mechanism 4 includes two groups of working arms distributed on the left and right sides of the video input device 3, each group of working arms includes a mechanical arm 41, a mechanical claw 42 and a base 43, the two bases 43 are fixed to the front end of the upper surface of the bed board 71, the mechanical arm 41 is rotatably connected to the base 43, the movable end of the mechanical arm 41 extends into the area between the steel frame 73 and the carrier frame 11, the mechanical claw 42 is installed at the movable end of the mechanical arm 41, and is used to grab potatoes on the ground. Through the flexible cooperation between the mechanical arm 41 and the mechanical claw 42, the mechanical claw 42 can accurately grab the potatoes.

[0035] The conveying mechanism 5 is installed at the lower part of the frame body 7, and the rear end of the conveying mechanism 5 extends upward through the opening space at the rear end of the bed board 71. The conveying mechanism 5 includes an L-shaped support frame 50, a partition conveyor belt 51, parallel rollers 52, a curtain 53, a guide pressure wheel 54 and a drive assembly. Two L-shaped support frames 50 are arranged opposite to each other on the left and right, and the cross bar of the L-shaped support frame 50 is at the bottom facing the front end, and the vertical bar is at the top at the rear end. The partition conveyor belt 51 adopts a large-angle transverse partition, and the partition conveyor belt 51 includes a gentle slope section at the front end and a steep slope section at the rear end. The gentle slope section is located below the bed board 71 and the front end protrudes forward, which is convenient for the mechanical claw 42 to place the grabbed potatoes on the partition conveyor belt 51. The steep slope section of the partition conveyor belt 51 extends upward from the opening space at the rear end of the bed board 71. There are two parallel rollers 52, which are respectively located at the front and rear ends of the partition conveyor belt 51. The rear end is a driving roller, which is connected to the upper ends of the vertical rods of the two L-shaped support frames 50, and the front end parallel rollers 52 are installed on the steel frame 73; the curtain 53 is installed at the lower part of the crossbar of the L-shaped support frame 50 and blocks the two sides of the gentle slope section of the partition conveyor belt 51 to prevent potatoes from falling. Four guide rollers 54 are set on the left and right sides of the middle of the partition conveyor belt 51, and each side is divided into upper and lower layers, the upper layer is pressed on the upper half of the partition conveyor belt 51, and the lower layer is pressed on the lower half of the partition conveyor belt 51. The guide rollers 54 are connected to the steel frame 73 through connecting rods. The driving assembly is connected to the parallel rollers 52 at the rear end, and the driving assembly includes a driving motor 56 and a chain 55. The output shaft of the driving motor 56 is connected to a driving sprocket 551, and the rotating shaft of the parallel rollers 52 is connected to a driven sprocket 552. The chain 55 is connected to the driving sprocket 551 and the driven sprocket 552. The driving motor 56 is connected between the cross bars of the two L-shaped support frames 50 through a motor plate 561. The partition conveyor belt 51 is driven by the driving motor 56 to convey the potatoes backward to the highest end.

[0036] The bagging assembly 6 is arranged at the rear end of the conveying mechanism 5, and the bagging assembly 6 includes two sets of bagging support rods 61 and bagging hook brackets 62. One end of the bagging support rod 61 is connected to the rear side of the vertical rod of the L-shaped support frame 50, and the other end is inclined rearward and upward. The bagging hook bracket 62 includes a cross bar and a hook. The cross bar is vertically connected to the vertical rod of the L-shaped support frame 50 and is located above the bagging support rod 61. The rear end of the bagging support rod 61 is fixed on the cross bar of the bagging hook bracket 62. A plurality of hooks are arranged along the cross bar of the bagging hook bracket 62 for hanging packaging bags.

[0037] The implementation principle of the embodiment of the present application is as follows: a tractor drives the whole machine to move, and the high-definition camera 31 automatically identifies potatoes, and screens out commercial potatoes that meet the picking requirements. The mechanical arm 41 then controls the mechanical claw 42 to accurately grab the potatoes that meet the requirements, and put the potatoes onto the partition conveyor belt 51. The driving motor 56 drives the partition conveyor belt 51 to transport the potatoes, and the potatoes are sent to the end of the partition conveyor belt 51 and fall down, and finally fall into the packaging bag hung on the bagging assembly 6.

[0038] In practice, rubber can be installed at locations that are prone to bumping, so as to reduce the peeling of potatoes and thus improve the harvest quality.

[0039] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic low-loss sorting horizontal potato picking machine, characterized in that: The invention comprises a tractor and a picking vehicle connected to the rear end of the tractor; the tractor comprises a tractor frame (1) and a crawler chassis connected to both sides of the lower part of the tractor frame (1); the tractor frame (1) is provided with a vehicle navigation system; the picking vehicle comprises a frame body (7) connected to the tractor frame (1); a video input device (3) installed at the front end of the frame body (7); a picking mechanism (4) installed at both sides of the video input device (3); a conveying mechanism (5) installed at the lower part of the frame body (7); and a bagging assembly (6) arranged at the rear end of the conveying mechanism (5); the picking mechanism (4) comprises two mechanical arms (41) and a mechanical claw (42) connected to the movable end of the mechanical arm (41); the mechanical claw (42) completes the grabbing of potatoes that meet the requirements through visual recognition of the video input device (3) and places the potatoes on the conveying mechanism (5); the potatoes are then conveyed to the bagging assembly (6) by the conveying mechanism (5) for bagging.

2. The automatic low-loss sorting horizontal potato picker according to claim 1, characterized in that: The traction frame (1) comprises a load-bearing frame (11), a hydroelectric battery (12) and a controller fixing box (14) mounted on the load-bearing frame (11), and a three-phase DC brushless motor controller (13) mounted in the controller fixing box (14); the three-phase DC brushless motor controller (13) is connected to the hydroelectric battery (12), and the hydroelectric battery (12) is electrically connected to the crawler chassis.

3. The automatic low-loss sorting horizontal potato picker according to claim 2, characterized in that: The crawler chassis comprises two crawlers (2) mounted on the lower parts of both sides of a carrier frame (11), a crawler baffle (21) blocking the outer side of the crawler (2), a brushless motor (22) arranged on the inner side of the front end of the crawler (2), a driving wheel (23) arranged at the inner front end of the crawler (2), a load-bearing wheel (24) arranged at the inner middle part of the crawler (2) and a tensioning wheel (25) arranged at the inner rear end of the crawler (2); the crawler baffle (21), the brushless motor (22), the driving wheel (23), the load-bearing wheel (24) and the tensioning wheel (25) are all mounted on the carrier frame (11); the brushless motor (22) is electrically connected to a three-phase DC brushless motor controller (13) and a hydroelectric battery (12).

4. The automatic low-loss sorting horizontal potato picker according to claim 1, characterized in that: The video input device (3) comprises a fixed ring frame (33) connected to the frame body (7), a camera support (32) installed on the lower side of the fixed ring frame (33), and a high-definition camera (31) installed on the camera support (32). The high-definition camera (31) identifies and enables the picking machine to select commercial potatoes that meet the requirements.

5. The automatic low-loss sorting horizontal potato picker according to claim 1, characterized in that: The frame body (7) comprises a bed plate (71), a steel frame (73) mounted on the lower surface of the bed plate (71), wheels (72) mounted on the lower part of the steel frame (73), and a traction connection structure arranged at the front end of the steel frame (73); the video input device (3) is connected to the front end of the steel frame (73).

6. The automatic low-loss sorting horizontal potato picker according to claim 5, characterized in that: The picking mechanism (4) further comprises two bases (43), the two bases (43) are fixed to the front end of the bed plate (71), the mechanical arms (41) are rotatably connected to the bases (43), the movable ends of the mechanical arms (41) extend into the area between the steel frame (73) and the traction frame (1), and the two mechanical arms (41) are located on both sides of the video input device (3).

7. The automatic low-loss sorting horizontal potato picker according to claim 5, characterized in that: The conveying mechanism (5) comprises a partition conveyor belt (51) connected to a steel frame (73), parallel rollers (52) arranged at the front and rear ends of the partition conveyor belt (51), curtains (53) arranged at both sides of the partition conveyor belt (51), four guide pressure wheels (54) arranged at the left and right sides of the middle of the partition conveyor belt (51), and a driving assembly connected to the parallel rollers (52) at the rear end. The partition conveyor belt (51) is installed on an L-shaped support frame (50), and the L-shaped support frame (50) is connected to the steel frame (73). The partition conveyor belt (51) comprises a gentle slope section at the front end and a steep slope section at the rear end. The gentle slope section is located below the bed plate (71), and the steep slope section extends upward from the rear end of the bed plate (71).

8. The automatic low-loss sorting horizontal potato picker according to claim 7, characterized in that: The driving assembly comprises a driving motor (56) and a chain (55); a driving sprocket (551) is connected to the output shaft of the driving motor (56); a driven sprocket (552) is connected to the rotating shaft of the parallel roller (52); the chain (55) is connected to the driving sprocket (551) and the driven sprocket (552); the driving motor (56) is connected to the inner side of the L-shaped support frame (50) via a motor plate (561).

9. The automatic low-loss sorting horizontal potato picker according to claim 7, characterized in that: The bagging assembly (6) comprises two groups of bagging support rods (61) connected to the rear side of the vertical rods of the L-shaped support frame (50) and bagging hook brackets (62) arranged on the bagging support rods (61), and the bagging hook brackets (62) are vertically connected to the vertical rods of the L-shaped support frame (50).

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