Intelligent efficient low-loss young garlic shoot harvester

Abstract

The intelligent efficient low-loss young garlic shoot harvester comprises a walking machine base, and a divider, a pretreatment mechanism, a clamping and conveying mechanism and a storage bin are installed on the walking machine base; the pretreatment mechanism comprises a needle seat, needle bodies and a pushing mechanism, and further comprises a strip-shaped plate parallel to the needle seat, and through holes corresponding to the needle bodies are formed in the strip-shaped plate; a guide sliding mechanism and a spring are arranged between the strip-shaped plate and the needle seat, and the spring enables the strip-shaped plate to have a movement trend away from the needle seat; the pretreatment mechanism further comprises a retaining block and a driving component, and the retaining block can enter or leave the position between the needle base and the strip-shaped plate under the action of the driving component. According to the invention, on one hand, different functional states can be determined to be adopted to carry out garlic shoot needle pricking or pinch-off operation according to the characteristics of garlic shoots; on the other hand, the success rate that the needle body is inserted into the young garlic shoots can be effectively increased, it is guaranteed that the needle body can be successfully pulled out of the young garlic shoots, and the situation that the young garlic shoots and garlic leaves are damaged due to the fact that the needle body is not pulled out in time is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural harvesting machinery, and in particular to an intelligent, efficient and low-loss garlic stalk harvester. Background Art

[0002] Garlic sprouts are a popular vegetable with high edible value in China and even in many parts of Asia. They are not only delicious, but also rich in vitamins and minerals, which have a positive effect on promoting human health. In the market, garlic sprouts are loved by consumers for their unique flavor and nutritional value, and are an indispensable ingredient on many family tables. However, despite the large demand and high economic value of garlic sprouts, their harvesting process faces certain challenges. Due to the special growth morphology of garlic sprouts, slender stems that are easy to break, and uneven distribution in the field, it is difficult for existing agricultural machinery to achieve efficient and non-destructive automatic harvesting. Therefore, in most cases, manual harvesting is still required. This labor-intensive working method not only increases production costs, but also limits the further scale development of the garlic sprout industry.

[0003] In the prior art, patent CN107455077A discloses a garlic stalk harvester, which includes a frame, a garlic stalk introduction device, a clamping and lifting device, a garlic stalk cutting device, and a transmission system, wherein the garlic stalk cutting device includes a needle group and a cutting board, and the needle group can slide left and right under the drive of a driving mechanism. This patent has the following disadvantages: (1) This patent can only cut the garlic stalk by needle piercing, while in the actual harvesting process, according to the specific characteristics of the garlic stalk, some garlic stalks are suitable for needle piercing, while some garlic stalks are suitable for harvesting by clipping. In addition, in this patent, since the position of the garlic stalk is not fixed, if the garlic stalk shakes during the needle piercing process, the success rate of the needle piercing will be reduced. After the needle piercing, during the process of pulling out the needle, the garlic stalk and garlic leaves may be difficult to be pulled out in time with the needle, and the movement of the machine will cause damage to the garlic stalk or garlic leaves. (2) The patent adopts a roller-based clamping and lifting device, which is unable or inconvenient to adjust the clamping force according to the thickness of the garlic scapes, resulting in poor adaptability. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent, efficient and low-loss garlic stalk harvester that can effectively improve the success rate of acupuncture and needle removal, and can switch between acupuncture and pinching modes.

[0005] Technical solution: To achieve the above-mentioned purpose, the intelligent, efficient and low-loss garlic stalk harvester of the present invention comprises a walking machine base, on which a straw divider, a pre-processing mechanism, a clamping and conveying mechanism and a storage bin are installed; the pre-processing mechanism is installed on the straw divider, and the pre-processing mechanism comprises a needle seat, a plurality of needle bodies arranged in a linear array on the needle seat, and a pushing mechanism for pushing the needle seat to reciprocate and translate;

[0006] The pre-processing mechanism further comprises a strip plate arranged in parallel with the needle seat, the strip plate having a through hole arranged corresponding to each needle body, and the needle body can pass through the through hole; a guide mechanism and a spring are arranged between the strip plate and the needle seat, and the spring makes the strip plate have a movement tendency away from the needle seat;

[0007] The pre-processing mechanism further comprises a holding block and a driving component, and the holding block can enter or leave between the needle seat and the strip plate under the action of the driving component.

[0008] Furthermore, the pre-treatment mechanisms are arranged in pairs, and the needle tips of the needle bodies of the two groups of pre-treatment mechanisms forming a pair are arranged opposite to each other.

[0009] With the above structure, the pre-processing mechanism can switch between two functional states as needed. Specifically, the first functional state is the pinch-off mode, in which the retaining block is placed between the needle seat and the strip plate, so that the relative positions of the needle seat and the strip plate are fixed, and the end of the needle body does not protrude from the strip plate. At this time, when the pushing mechanism moves the needle seat, the strip plate acts on the garlic stalk to pinch off the garlic stalk.

[0010] The second functional state is the acupuncture mode. In this mode, the holding block does not completely fix the relative state of the needle seat and the strip plate. At this time, the holding block can perform translational movement in the direction of approaching and moving away from the needle seat. In the initial state, and the end of the needle body does not expose the strip plate, during operation, when the pushing mechanism moves the needle seat, the strip plates corresponding to the two groups of pre-treatment mechanisms of the same pair pre-tighten the garlic stalks. As the needle seat continues to approach relatively, the spring between the needle seat and the strip plate is compressed, so that the needle tip of the needle body passes through the through hole of the strip plate to pierce the garlic stalk. After the piercing is completed, the pushing mechanism moves the needle seat away from the garlic stalk, the needle body retracts first, and then the strip plate leaves the garlic stalk, so that the needle can be pulled out smoothly.

[0011] Furthermore, the driving component includes a screw portion that forms a spiral pair with the needle seat and a driving portion that can rotate the screw portion; the end of the screw portion is connected to the holding block. By rotating the screw portion, the position of the holding block can be changed, so that the holding block can completely enter between the needle seat and the strip plate, partially enter between the two, or completely leave between the two.

[0012] Furthermore, the driving part is a manual knob or a motor, so that the screw part can be driven to rotate manually or electrically respectively.

[0013] Preferably, the holding block is a wedge with an inclined surface, and the strip plate has an inclined surface. With this structure, by adjusting the position of the holding block relative to the needle seat, the maximum extension length of the needle body can be limited, so that a targeted breaking scheme can be fully implemented according to the characteristics of the garlic scape, forming the optimal control parameters and ensuring the breaking effect.

[0014] Furthermore, it also includes a visual sensor installed on the clamping and conveying mechanism, and the control system can perform image acquisition, preprocessing, feature extraction and classification recognition of the garlic stalk based on the image acquired by the visual sensor to determine the best clamping position of the garlic stalk. The visual sensor can recognize, filter and obtain images and related data within 0.01s to achieve accurate recognition and positioning screening of garlic stalks.

[0015] Furthermore, it also includes a mechanical sensor installed between the pushing mechanism and the needle seat, which is used to collect clamping and breaking forces in real time, and the control system adjusts the thrust applied by the pushing mechanism through feedback regulation.

[0016] Furthermore, it also includes a needle seat position sensor and a ground position sensor, which are used to detect the position of the needle seat and the distance between the crop divider and the ground respectively. In this way, the control system can know the opening distance between the pre-processing mechanisms and the height of the crop divider in real time, so as to ensure accurate harvesting and appropriate harvesting height.

[0017] Furthermore, the clamping and conveying mechanism includes conveyor belts arranged in pairs, and the front end of each conveyor belt is provided with a guide plate, and the guide plate is a cone with a sharp front and a wide rear. The guide plate can conveniently guide the garlic stalks that have been pierced or clamped into between the conveyor belts arranged in pairs. The conveyor belts clamp the garlic stalks and pull the garlic stalks upward, so that the garlic stalks are completely separated from the garlic leaves and conveyed upward.

[0018] Furthermore, the clamping conveying mechanism also includes a belt surface clamping mechanism acting on the belt surface of the conveyor belt, the belt surface clamping mechanism includes a plate body extending forward and backward, and also includes a clamping rod installed on the plate body, the clamping rod presses the inner side of the belt surface; the plate body has a transversely arranged adjustment groove, the end of the clamping rod is placed in the adjustment groove, and the end of the clamping rod can adjust the position along the adjustment groove.

[0019] Furthermore, a flat belt is provided between the clamping and conveying mechanism and the storage bin, and the flat belt can receive all the garlic scapes conveyed by the clamping and conveying mechanism and transport the garlic scapes to the storage bin.

[0020] Beneficial effects: The intelligent, efficient and low-loss garlic stalk harvester of the present invention has the following beneficial effects:

[0021] (1) By improving the pre-treatment mechanism and setting the strip plate and the holding block, on the one hand, it is possible to determine the use of different functional states for the needle piercing or clipping operation of the garlic stalk according to the characteristics of the garlic stalk. On the other hand, it is possible to effectively improve the success rate of the needle body piercing the garlic stalk, ensure that the needle body can be successfully pulled out of the garlic stalk, and prevent the situation where the needle body is not pulled out in time and the garlic stalk and garlic leaves are damaged.

[0022] (2) By providing a belt surface clamping mechanism for the conveyor belt of the clamping conveying mechanism, the clamping force of the conveyor belt on the garlic stalks can be ensured, and the position of the clamping rod can be adjusted laterally as needed to meet the clamping and conveying needs of garlic stalks of different thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a side view of the intelligent, efficient and low-loss garlic stalk harvester;

[0024] Figure 2 This is a top view of the structure of the intelligent, efficient and low-loss garlic stalk harvester;

[0025] Figure 3 This is a first-person perspective stereoscopic structure diagram of the intelligent, efficient and low-loss garlic stalk harvester;

[0026] Figure 4 This is a second-perspective stereoscopic structural diagram of the intelligent, efficient and low-loss garlic stalk harvester;

[0027] Figure 5 is the structural diagram of the pre-processing mechanism, that is, Figure 3 The enlarged structure diagram of part A in the middle;

[0028] Figure 6 It is a structural diagram of the pre-processing mechanism in the pinch-off mode;

[0029] Figure 7 is a structural diagram of the first state of the pre-treatment mechanism in the acupuncture mode;

[0030] Figure 8 is a structural diagram of the second state of the pre-treatment mechanism in the acupuncture mode;

[0031] Fig. 9 It is the structural diagram of the clamping and conveying mechanism.

[0032] In the figure: 1-travel machine base; 2-pre-processing mechanism; 21-needle seat; 22-needle body; 23-pushing mechanism; 24-strip plate; 25-spring; 26-holding block; 27-driving component; 271-screw part; 272-driving part; 3-clamping and conveying mechanism; 31-conveyor belt; 32-grain guide plate; 33-plate body; 33a-adjusting groove; 34-pressing rod; 4-storage bin; 5-flat belt. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figures 1 to 4 The intelligent, efficient and low-loss garlic stalk harvester shown in the figure comprises a walking machine base 1, on which a straw divider 6, a pre-processing mechanism 2, a clamping and conveying mechanism 3 and a storage bin 4 are installed; the pre-processing mechanism 2 is installed on the straw divider 6. Figure 5 As shown, the pre-processing mechanism 2 includes a needle seat 21, a plurality of needle bodies 22 arranged in a linear array on the needle seat 21, and a driving mechanism 23 for driving the needle seat 21 to reciprocate.

[0035] The pre-processing mechanism 2 also includes a strip plate 24 arranged parallel to the needle seat 21, and the strip plate 24 has a through hole arranged corresponding to each needle body 22, and the needle body 22 can pass through the through hole; a guide sliding mechanism and a spring 25 are arranged between the strip plate 24 and the needle seat 21, and the spring 25 makes the strip plate 24 have a tendency to move away from the needle seat 21.

[0036] The pre-processing mechanism 2 further includes a holding block 26 and a driving component 27. The holding block 26 can enter or leave between the needle seat 21 and the strip plate 24 under the action of the driving component 27. A flexible sheath (not shown in the figure) can be connected between the strip plate 24 and the needle seat 21, and the sheath wraps the holding block 26 and the driving component 27, and wraps the gap between the strip plate 24 and the needle seat 21 to prevent foreign matter from entering.

[0037] Preferably, the pre-processing mechanisms 2 are arranged in pairs, and the needle tips of the needle bodies 22 of the two groups of pre-processing mechanisms 2 forming a pair are arranged opposite to each other.

[0038] With the above structure, the pre-processing mechanism 2 can switch between the two functional states as needed. Specifically, the first functional state is the pinch-off mode, such as Figure 6 As shown, in this mode, the retaining block 26 is placed between the needle seat 21 and the strip plate 24, so that the relative positions of the needle seat 21 and the strip plate 24 are fixed, and the end of the needle body 22 does not protrude from the strip plate 24. At this time, when the pushing mechanism 23 moves the needle seat 21, the strip plate 24 acts on the garlic stem to clamp the garlic stem off.

[0039] The second functional state is the acupuncture mode, such as Figure 7 As shown, in this mode, the holding block 26 does not completely fix the relative state of the needle seat 21 and the strip plate 24. At this time, the holding block 26 can perform translational movement in the direction of approaching and moving away from the needle seat 21. Figure 7 As shown, the end of the needle body 22 does not protrude from the strip plate 24. During operation, when the pushing mechanism 23 moves the needle seat 21, the strip plates 24 corresponding to the two groups of pre-treatment mechanisms 2 of the same pair pre-tighten the garlic stalks. As the needle seat 21 continues to approach relatively, the spring 25 between the needle seat 21 and the strip plate 24 is compressed, so that the needle tip of the needle body 22 passes through the through hole of the strip plate 24 to pierce the garlic stalks. Figure 8 After the pricking is completed, the pushing mechanism 23 makes the needle holder 21 away from the garlic stalk, the needle body 22 retracts first, and then the strip plate 24 leaves the garlic stalk, so that the needle can be pulled out smoothly.

[0040] It can be seen that the above structure, by providing the strip plate 24 and the retaining block 26, can, on the one hand, determine the use of different functional states for the needle piercing or clipping operation of the garlic stalk according to the characteristics of the garlic stalk. On the other hand, it can effectively improve the success rate of the needle body 22 piercing the garlic stalk, ensure that the needle body 22 can be successfully pulled out of the garlic stalk, and prevent the situation where the needle body 22 is not pulled out in time and the garlic stalk and garlic leaves are damaged.

[0041] Preferably, the driving component 27 includes a screw portion 271 that is screw-matched with the needle seat 21 and a driving portion 272 that can rotate the screw portion 271; the end of the screw portion 271 is connected to the holding block 26. By rotating the screw portion 271, the position of the holding block 26 can be changed, so that the holding block 26 can completely enter between the needle seat 21 and the strip plate 24, partially enter between the two, or completely leave between the two.

[0042] Preferably, the driving portion 272 is a manual knob or a motor, so that the screw portion 271 can be driven to rotate manually or electrically.

[0043] Preferably, the holding block 26 is wedge-shaped with an inclined surface, and the strip plate 24 has an inclined surface. With this structure, by adjusting the position of the holding block 26 relative to the needle seat 21, the maximum extension length of the needle body 22 can be limited, so that a targeted breaking scheme can be fully implemented according to the characteristics of the garlic scape, forming the optimal control parameters and ensuring the breaking effect.

[0044] Preferably, the garlic stalk harvester of the present invention further includes a sensor group. Based on the data collected by the sensor group, the control system can obtain the status of each component in the garlic stalk harvester, and can make adaptive adjustments accordingly to achieve a better harvesting effect. Specifically, the garlic stalk harvester has the following sensors:

[0045] (1) Visual sensor. The control system can perform image acquisition, preprocessing, feature extraction and classification recognition of the garlic stalk based on the image acquired by the visual sensor to determine the optimal clamping position of the garlic stalk. The visual sensor can recognize, filter and obtain images and related data within 0.01s, thereby achieving accurate recognition and positioning screening of the garlic stalk.

[0046] (2) A mechanical sensor installed between the pushing mechanism 23 and the needle seat 21 is used to collect clamping and breaking forces in real time. The control system adjusts the thrust applied by the pushing mechanism 23 through feedback regulation.

[0047] (3) The needle seat position sensor and the ground position sensor are used to detect the position of the needle seat 21 and the distance between the crop divider 6 and the ground, respectively. In this way, the control system can know the opening distance between the pre-processing mechanism 2 and the height of the crop divider 6 in real time, so as to ensure accurate harvesting and appropriate harvesting height.

[0048] (4) GPS positioning module, used to obtain the real-time location of the machine.

[0049] Based on the above sensor group, sensor data fusion can be carried out, and multi-sensor data sources can be integrated to form a multi-sensor fusion collaborative control strategy. Each execution component uses multiple sensors to obtain parameters in real time, compare and analyze detection errors, and select the optimal parameters. The Android smart display and control terminal is used to realize parameter input and real-time display, and the CAN bus communication method is used to realize the algorithm design of each main parameter. The performance of the intelligent control system is evaluated using indoor and field test analysis.

[0050] Preferably, if Fig. 9 As shown, the clamping and conveying mechanism 3 includes conveyor belts 31 arranged in pairs, and each of the conveyor belts 31 has a guide plate 32 at the front end. The guide plate 32 is a cone with a sharp front and a wide rear. The garlic stalks that have been pierced or clamped can be easily guided between the conveyor belts 31 arranged in pairs through the guide plate 32. The conveyor belts 31 clamp the garlic stalks and pull the garlic stalks upward, so that the garlic stalks are completely separated from the garlic leaves and conveyed upward.

[0051] The clamping conveying mechanism 3 also includes a belt surface clamping mechanism acting on the belt surface of the conveyor belt 31, and the belt surface clamping mechanism includes a plate body 33 extending forward and backward, and also includes a clamping rod 34 installed on the plate body 33, and the clamping rod 34 presses the inner side of the belt surface; the plate body 33 has a transversely arranged adjustment groove 33a, and the end of the clamping rod 34 is placed in the adjustment groove 33a, and the end of the clamping rod 34 can adjust the position along the adjustment groove 33a.

[0052] By providing a belt surface clamping mechanism for the conveyor belt 31 of the clamping conveying mechanism 3, the clamping force of the conveyor belt 31 on the garlic scapes can be ensured, and the position of the clamping rod 34 can be adjusted laterally as needed to meet the clamping and conveying needs of garlic scapes of different thicknesses.

[0053] A flat belt 5 is provided between the clamping and conveying mechanism 3 and the storage bin 4 , and the flat belt 5 can receive all the garlic scapes conveyed by the clamping and conveying mechanism 3 and transport the garlic scapes to the storage bin 4 .

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent, efficient and low-loss garlic stalk harvester, comprising a walking machine base (1), on which a straw divider (6), a pre-processing mechanism (2), a clamping and conveying mechanism (3) and a storage bin (4) are installed; the pre-processing mechanism (2) is installed on the straw divider (6), and the pre-processing mechanism (2) comprises a needle seat (21), a plurality of needle bodies (22) arranged in a linear array on the needle seat (21), and a pushing mechanism (23) for pushing the needle seat (21) to reciprocate and translate; characterized in that: The pre-processing mechanism (2) further comprises a strip plate (24) arranged in parallel with the needle seat (21), the strip plate (24) having a through hole arranged corresponding to each of the needle bodies (22), and the needle bodies (22) can pass through the through holes; a guide mechanism and a spring (25) are arranged between the strip plate (24) and the needle seat (21), and the spring (25) enables the strip plate (24) to have a movement tendency away from the needle seat (21); The pre-processing mechanism (2) further comprises a retaining block (26) and a driving component (27), wherein the retaining block (26) can enter or leave between the needle seat (21) and the strip plate (24) under the action of the driving component (27).

2. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: The pre-treatment mechanisms (2) are arranged in pairs, and the needle tips of the needle bodies (22) of the two groups of pre-treatment mechanisms (2) forming a pair are arranged opposite to each other.

3. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: The driving component (27) comprises a screw portion (271) that is screw-matched with the needle seat (21) and a driving portion (272) that can rotate the screw portion (271); the end of the screw portion (271) is connected to the retaining block (26).

4. The intelligent, efficient and low-loss garlic stalk harvester according to claim 3 is characterized in that: The driving part (272) is a manual knob or a motor.

5. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: It also includes a visual sensor installed on the clamping and conveying mechanism. The control system can perform image acquisition, preprocessing, feature extraction and classification recognition on the garlic stems based on the images acquired by the visual sensor to determine the optimal clamping position of the garlic stems.

6. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: It also includes a mechanical sensor installed between the pushing mechanism (23) and the needle seat (21) for collecting clamping and breaking forces in real time. The control system adjusts the thrust applied by the pushing mechanism (23) through feedback regulation.

7. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: It also comprises a needle seat position sensor and a ground position sensor, both of which are used to detect the position of the needle seat (21) and the distance between the crop divider (6) and the ground respectively.

8. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1 is characterized in that: The clamping conveying mechanism (3) comprises conveying belts (31) arranged in pairs, each of the conveying belts (31) having a guide plate (32) at the front end, and the guide plate (32) is in a conical shape with a sharp front and a wide rear.

9. The intelligent, efficient and low-loss garlic stalk harvester according to claim 8, characterized in that: The clamping conveying mechanism (3) also includes a belt surface clamping mechanism acting on the belt surface of the conveying belt (31), the belt surface clamping mechanism includes a plate body (33) extending forward and backward, and also includes a clamping rod (34) installed on the plate body (33), the clamping rod (34) presses the inner side of the belt surface; the plate body (33) has a transversely arranged adjustment groove (33a), the end of the clamping rod (34) is placed in the adjustment groove (33a), and the end of the clamping rod (34) can adjust the position along the adjustment groove (33a).

10. The intelligent, efficient and low-loss garlic stalk harvester according to claim 1, characterized in that: A flat belt (5) is provided between the clamping and conveying mechanism (3) and the storage bin (4), and the flat belt (5) is capable of receiving all the garlic stalks conveyed by the clamping and conveying mechanism (3) and transporting the garlic stalks to the storage bin (4).

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