Radish harvesting robot

Abstract

The invention provides a radish harvesting robot, which comprises an upper rack, a lower rack, a controller, a walking mechanism, a dredging mechanism, a pulling mechanism, a transmission mechanism and a leaf cutting mechanism, and is characterized in that the upper rack is fixedly connected with the lower rack; the controller is used for controlling the robot to automatically walk among radish rows and simultaneously carrying out coordination control on each working part; the walking mechanism is used for providing driving force and support needed by walking of the radish harvesting robot. The dredging mechanism is used for dredging the radishes and correcting the postures of the radishes, and the pulling mechanism pulls the radishes after the postures are corrected; the conveying mechanism conveys the pulled radishes; and the leaf cutting mechanism cuts off the radish leaves conveyed to the leaf cutting mechanism. According to the radish pulling device, the pulling position of radishes can be sensed in real time, the posture of the pulling mechanism can be automatically adjusted, the direction of radish rows can be automatically followed, the radish recognition accuracy and the pulling efficiency are improved, and redundant covering films can be removed.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to a radish harvesting robot. Background Art

[0002] Traditional radish harvesting equipment is mostly equipped with auxiliary digging shovels to improve the pulling effect and harvesting efficiency of radishes. However, this method has many limitations such as high power requirements, high energy consumption, limited steering during the harvesting process, and easy damage to radishes. Therefore, the new radish harvesting technology mainly achieves pulling by clamping leaves. However, white radishes are deeply embedded in the soil, the radish leaves are fragile and easy to break, and the force is small. It is difficult to pull them out by clamping the leaves. The left and right positions of radishes on the ridges, the length of the exposed head, and the degree of inclination vary greatly. Moreover, white radishes are fragile and easy to damage the skin, etc. These factors make the operating environment of radish harvesting equipment very complex and the operation difficult. Therefore, the pulling effect of existing intelligent harvesting equipment is poor and cannot be sustained and smooth. In addition, the dense radish leaves, coupled with the interference of weeds and agricultural films, have led to the fact that the intelligence level of existing equipment is not perfect enough, and the ability and efficiency of identifying, pulling, transmitting, cutting leaves and sorting radishes are poor. Summary of the invention

[0003] The invention provides a radish harvesting robot to solve the problems of poor intelligent processing effect, unsmooth operation, low harvesting efficiency, etc. in the prior art.

[0004] According to a first aspect of the present invention, one or more embodiments of the present application provide a radish harvesting robot, comprising:

[0005] An upper frame, a lower frame, a controller, and a walking mechanism, a guiding mechanism, a pulling mechanism, a transmission mechanism and a leaf cutting mechanism electrically connected to the controller, respectively, wherein the upper frame and the lower frame are fixedly connected;

[0006] The controller is arranged on the upper frame and is used for coordinating and controlling the various components of the radish harvesting robot;

[0007] The walking mechanism is arranged at the lower end of the lower frame, and is used to provide the driving force and support required for the radish harvesting robot to walk;

[0008] The guiding mechanism is arranged at the front end of the upper frame, and is used to identify the radish and guide the radish posture, as well as determine the extraction position;

[0009] The picking mechanism is arranged at the lower end of the upper frame and docked with the guiding mechanism to pick the radishes with corrected postures;

[0010] The transmission mechanism is arranged in the upper frame and docked with the extraction mechanism to transport the extracted radishes;

[0011] The leaf cutting mechanism is arranged at the tail of the upper frame and cooperates with the transmission mechanism to cut the leaves of the radish transmitted to the leaf cutting mechanism.

[0012] According to the above technical solution of the present invention, the following improvements can also be made:

[0013] Among them, the drainage mechanism includes several groups of drainage motors, drainage arms and limit arms, the drainage motor is fixed at one end of the limit arm, the limit arm includes a left arm and a right arm, the front end of the drainage arm is connected between the left arm and the right arm through a transmission shaft, and the transmission shaft is connected to the shaft of the drainage motor through a belt, so that the drainage arm can rotate along the transmission shaft; the left arm and the right arm also have extension arms respectively, the extension arms on the left arm and the right arm are at the same level, and the end of the extension arm has an upwardly open groove, and the drainage arm is also provided with a limit shaft passing through the left and right sides of the drainage arm, and the limit shaft is stuck in the groove.

[0014] Among them, a terrain-mimicking toothed disc and a gear set are provided at the end of the drainage arm, and a driven gear is also provided on the transmission shaft. The terrain-mimicking toothed disc is connected to the drainage arm through the driven shaft. The gear set includes an inner gear and an outer gear. The outer gear is meshed with the terrain-mimicking toothed disc, and the inner gear is connected to the drainage arm shaft. The inner gear is connected to the driven gear through a chain.

[0015] Wherein, a guide belt is further arranged between the driven shaft and the transmission shaft, and a plurality of guide teeth are arranged at intervals on the guide belt, and the guide teeth are arranged perpendicular to the surface of the guide belt or inclined inwardly to the surface of the guide belt.

[0016] Among them, a correction mechanism is arranged at the lower end of the limit arm, and the correction mechanism includes a crossbeam, a longitudinal beam, a correction motor and a correction end; there are several longitudinal beams, the crossbeam is fixedly connected to the lower end of the limit arm, the longitudinal beam is arranged at the lower end of the crossbeam, the correction motor is fixed on the crossbeam, and a gear box is arranged in the crossbeam, the correction motor is connected to the gear box, the correction end is fixed on the inner side of the longitudinal beam, and the correction end has a forward opening trend; the correction end includes several main shafts and secondary shafts, and a multi-stage auxiliary transmission assembly from top to bottom; the multi-stage auxiliary transmission assembly includes a primary transmission assembly, a secondary transmission assembly and a tertiary transmission assembly, and the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly are arranged at intervals; the upper end of the main shaft is connected to the gear box, the secondary shaft includes a first secondary shaft and a second secondary shaft, the main shaft and the first secondary shaft respectively connect the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly, and the second secondary shaft connects the secondary transmission assembly and the tertiary transmission assembly; the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly rotate synchronously and in the same direction.

[0017] Among them, it also includes a lifting mechanism, which includes a lifting motor, a lifting belt, a linear slide rail, a slider, and a connecting block; the lifting belt includes a primary lifting belt and a secondary lifting belt, the primary lifting belt is transmission-connected to the lifting motor, the secondary lifting belt is coaxially connected to the primary lifting belt, the secondary lifting belt is arranged on the side of the linear slide rail, the guiding mechanism is fixed on the slider and the connecting block at the same time, the slider is engaged with the linear slide rail, the connecting block is fixed on the surface of the secondary lifting belt, and the lifting motor is fixed on the upper frame.

[0018] The extraction mechanism includes a primary extraction component and a secondary extraction component. The primary extraction component is arranged at the front end of the secondary extraction component, and the tail of the secondary extraction component is coaxially connected with the front end of the primary extraction component. The front end of the primary extraction component is docked with the correction mechanism, and the secondary extraction component is connected to the upper frame through a swing head mechanism, and the swing head mechanism realizes the vertical and horizontal movement of the head of the extraction mechanism. The primary extraction component includes two extraction arms opened forward, as well as an angle sensing component and a camera component. The angle sensing component includes an angle sensor, a movable arm and a bracket. The bracket is fixed on the side of the secondary extraction component. The movable arm includes a straight arm and a swing arm. The straight arm is movably connected to the swing arm, the upper end of the straight arm is connected to the bracket, and the end of the swing arm is connected to the angle sensor. The secondary extraction component includes an extraction unit, and the swing head mechanism is connected to the middle part of the extraction unit for adjusting the position of the extraction unit. The extraction unit is connected to an extraction motor. The swing head mechanism realizes the vertical and horizontal movement of the head of the extraction mechanism to align the extraction positions of different radishes in real time, thereby ensuring the extraction effect. The swing head mechanism comprises moving parts in vertical and horizontal directions on the upper end of the pulling mechanism, two vertical rotating parts respectively arranged on the pulling mechanism and the transmission mechanism, and a horizontal rotating part on the upper end of the transmission mechanism.

[0019] Wherein, the transmission mechanism includes an upper transmission component and a lower transmission component, the upper transmission component is located above the lower transmission component, the front end of the lower transmission component is docked with the end of the extraction unit, the upper transmission component includes connecting ribs, a transmission motor and a plurality of transmission units adjacent to each other end to end, the connecting ribs are used to fix the transmission motor and connect the extraction unit and the transmission unit, a gantry is provided between the upper end of the connecting rib and the upper frame, the upper end of the gantry is fixed on the upper frame, and the lower end of the gantry is rotatably connected to the connecting rib; the lower transmission component includes a plurality of other transmission units adjacent to each other end to end, and the transmission motor drives all the transmission units to rotate simultaneously through a gear box.

[0020] Among them, the leaf cutting mechanism includes a cutting motor, a cutting shaft, a transmission chain and a cutter disc, the transmission chain connects the cutting motor and the cutting shaft, the cutter disc is arranged at the lower end of the cutting shaft, and the cutter disc is located between the upper transmission component and the lower transmission component.

[0021] Among them, it also includes a film removal mechanism, which is arranged on both sides of the tail of the transmission mechanism and is used to remove the film; the film removal mechanism includes a film removal motor, a film removal shaft, a comb and a brush roller, the film removal motor is connected to the film removal shaft by transmission, and the film removal shaft is sleeved with a plurality of brush rollers, the rollers are arranged adjacent to both sides of the transmission mechanism, and the comb teeth of the comb are located on the surface of the brush roller.

[0022] The beneficial effects of the present invention are as follows: (1) the guiding mechanism can effectively and as far as possible lift up the radish leaves lying on the ridge surface and make them stand upright, which provides an important condition for the extraction of radishes; (2) the clamping components of the extraction mechanism have good elasticity, which can not only adapt to the sparseness of radish leaves, but also maintain a large clamping force during the extraction process. At the same time, because of the elastic clamping, the radish leaves will not be broken; in addition, this sophisticated elastic tensioning device is conducive to the design of a smaller extraction mechanism, so as to adapt to the working environment with narrow row width; (3) the camera component, angle sensor component, recognition and controller of the extraction mechanism can sense the relative position and posture of the radish in real time, and the swing head mechanism adjusts the extraction position of the extraction mechanism according to the posture. Real-time adjustments can be made to adapt to various changes in the harvested objects, further improving the harvesting effect; (4) The film removal mechanism can effectively remove the residual film on the transmission mechanism to avoid the entanglement of the film, so that the operating mechanism can operate continuously and stably; (5) The camera and automatic driving system on the upper front of the fuselage can enable the robot to automatically follow the radish rows during the operation. This natural navigation method is different from the satellite-based navigation technology. There is no need to map the radish field, making the operation simpler, more efficient and intelligent; (6) The aforementioned technologies enable the robot of the present invention to truly realize automatic harvesting of radishes without the assistance of a digging shovel, can adapt to complex working environments, and greatly improve the actual effect and efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a schematic diagram of the overall structure of a radish harvesting robot according to an embodiment of the present invention.

[0024] Figure 2 The present invention is a schematic structural diagram of a dredging mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0025] Figure 3 The present invention is a schematic structural diagram of a lifting mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0026] Figure 4 The figure is a schematic structural diagram of a correction mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0027] Figure 5 The figure is a schematic diagram of the overall structure of a pulling mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0028] Figure 6 The figure is a detailed structural diagram of a pulling mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0029] Figure 7 The present invention is a schematic structural diagram of a head swing mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0030] Figure 8 The structure of the transmission mechanism of a radish harvesting robot according to an embodiment of the present invention is shown in FIG. Figure 1 .

[0031] Fig. 9 The structure of the transmission mechanism of a radish harvesting robot according to an embodiment of the present invention is shown in FIG. Figure 2 .

[0032] Fig.10 The present invention is a schematic structural diagram of a leaf cutting mechanism of a transmission mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0033] Fig.11 The present invention is a schematic structural diagram of a leaf cutting mechanism of a transmission mechanism of a radish harvesting robot according to an embodiment of the present invention.

[0034] Among them, the upper frame 1, the lower frame 2, the controller 3, the lifting mechanism 4, the guiding mechanism 5, the correction mechanism 6, the extraction mechanism 7, the walking mechanism 8, the transmission mechanism 9, the film removal mechanism 10, the guiding motor 510, the limit arm 502, the transmission shaft 503, the extension arm 504, the groove 505, the limit shaft 506, the guiding arm 507, the gear set 508, the terrain-like toothed disc 509, the guide gear 510, the guiding belt 511, the primary lifting belt 401, the lifting motor 402, the secondary lifting belt 403, the linear slide 404, the slider 405, the crossbeam 601, the correction motor 602, the longitudinal beam 603, the gear box 604, the main shaft 605, the primary transmission assembly 60 6. The first secondary shaft 607, the secondary transmission assembly 608, the second secondary shaft 609, the tertiary transmission assembly 610, the primary extraction assembly 701, the secondary extraction assembly 702, the swing head mechanism 703, the extraction motor 704, the extraction arm 705, the straight arm 706, the swing arm 707, the angle sensor 708, the extraction unit 709, the bracket 710, the camera assembly 711, the lower transmission assembly 901, the upper transmission assembly 902, the transmission motor 903, the transmission unit 904, the connecting ribs 905, the gantry 906, the cutting motor 111, the transmission chain 112, the cutting shaft 113, the knife disc 114, the brush roller 121, the film removal shaft 122, and the comb 123. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0036] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present application should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in one or more embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "include" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] like Figure 1-Figure 11 As shown, a radish harvesting robot in one or more embodiments of the present application includes:

[0038] An upper frame 1, a lower frame 2, a driving computer, and a traveling mechanism 8, a guiding mechanism 5, a pulling mechanism 7, a transmission mechanism 9 and a leaf cutting mechanism electrically connected to the driving computer, wherein the upper frame 1 and the lower frame 2 are fixedly connected;

[0039] The driving computer is arranged on the upper frame 1 and is used for coordinating and controlling the various components of the radish harvesting robot;

[0040] The walking mechanism 8 is arranged at the lower end of the lower frame 2, and is used to provide the driving force and support required for the radish harvesting robot to walk;

[0041] The guiding mechanism 5 is arranged at the front end of the upper frame 1, and is used to identify the radish and guide the radish posture, as well as determine the extraction position;

[0042] The extracting mechanism 7 is arranged at the lower end of the upper frame 1 and docked with the guiding mechanism 5 to extract the radishes with corrected postures;

[0043] The transmission mechanism 9 is arranged in the upper frame 1 and docked with the extraction mechanism 7 to transport the extracted radishes;

[0044] The leaf cutting mechanism is arranged at the rear of the upper frame 1 and cooperates with the transmission mechanism 9 to cut off the leaves of the radish transmitted to the leaf cutting mechanism.

[0045] It can be understood that in this embodiment, the upper frame 1 and the lower frame 2 provide installation and support for the functional mechanisms of the overall equipment. It can be known that, based on the structure of this embodiment, a shell can be installed on the outside of the frame to make the appearance more exquisite, and the functional mechanisms can be protected from water and dust.

[0046] The on-board computer provides computing and control support. After connecting to a battery or other power source, it can also output power control to each functional mechanism. In addition, corresponding display components can be set to display data information of the operating status. The walking mechanism 8 is a crawler type, and the grooming mechanism 5 is used to adaptively adjust the terrain and comb the radishes and radish leaves to ensure that the functional mechanisms of the subsequent steps can output accurately. The grooming mechanism 5, the extraction mechanism 7 and the transmission mechanism 9 are docked and coordinated with each other to identify, extract, transmit and combine the leaf cutting mechanism for final removal of the radishes, so that the extraction process is smooth, orderly and stable.

[0047] Among them, the diversion mechanism 5 includes several groups of diversion motors 510, diversion arms 507 and limit arms 502, the diversion motor 510 is fixed at one end of the limit arm 502, the limit arm 502 includes a left arm and a right arm, the front end of the diversion arm 507 is connected between the left arm and the right arm through a transmission shaft 503, and the transmission shaft 503 is connected to the axis of the diversion motor 510 through a belt, so that the diversion arm 507 can rotate along the transmission shaft 503; the left arm and the right arm also have extension arms 504 respectively, the extension arms 504 on the left arm and the right arm are at the same level, and the end of the extension arm 504 has an upwardly open groove 505, and the diversion arm 507 is also provided with a limit shaft 506 that passes through the left and right sides of the diversion arm 507, and the limit shaft 506 is stuck in the groove 505.

[0048] It can be understood that in this embodiment, the guiding mechanism 5 is based on the design. In this embodiment, two groups of structures are adopted, each group corresponds to a bunch during harvesting, and the guiding motor 510 drives the chain or belt to transmit power to the guiding arm 507. The guiding arm 507 is also provided with a belt. The position of the extension arm 504 is fixed, and the guiding arm 507 can be lifted up to a certain angle based on the opening of the groove 505. The trigger condition for lifting is that the front end of the terrain-simulating toothed disc 509 is lifted by the corresponding terrain. At this time, it rotates along the transmission shaft 503 as a reference, and the lower end of the groove 505 is used to limit its lowest falling position.

[0049] Among them, a terrain-simulating toothed disc 509 and a gear set 508 are provided at the end of the drainage arm 507, and a driven gear is also provided on the transmission shaft 503. The terrain-simulating toothed disc 509 is connected to the drainage arm 507 through a driven shaft. The gear set 508 includes an inner gear and an outer gear. The outer gear is meshed with the terrain-simulating toothed disc 509, and the inner gear is connected to the drainage arm 507 shaft. The inner gear is connected to the driven gear through a chain.

[0050] It is understood that in this embodiment, the terrain-mimicking toothed disc 509 directly contacts the ground, and in the process of contacting the ground, based on the convexities and concavities of the ground, it can follow the ground and fall and rise within a certain range to achieve a terrain-mimicking effect. The teeth of the terrain-mimicking toothed disc 509 are several spaced tooth columns attached to the side of the terrain-mimicking toothed disc 509, which are different from conventional teeth. This type of tooth column can prevent mud from getting stuck and can automatically remove mud during rotation.

[0051] A guide belt 511 is further provided between the driven shaft and the transmission shaft 503 , and a plurality of guide teeth 510 are provided at intervals on the guide belt 511 . The guide teeth 510 are arranged perpendicular to the surface of the guide belt 511 or inclined inwardly to the surface of the guide belt 511 .

[0052] The guide belt 511 can be a belt or a chain. In this embodiment, a belt is preferred. As shown in the figure, vertical guide teeth 510 are arranged on the guide belts 511 on both sides. The purpose is that the vertical guide teeth 510 on the side can better pick up the radish leaves next to the radish, and the surface of the guide belt 511 in the middle can also be provided with vertical guide teeth 510, which is arranged based on actual conditions. When both vertical and inclined guide teeth 510 are provided, the inclined guide teeth 510 can be fixed at the root of the vertical guide teeth 510, or contact other connection structures for fixing.

[0053] The lower end of the limit arm 502 is provided with a correction mechanism 6, and the correction mechanism 6 includes a crossbeam 601, a longitudinal beam 603, a correction motor 602 and a correction terminal; the longitudinal beam 603 has a plurality of crossbeams 601 and a fixed connection with the lower end of the limit arm 502, the longitudinal beam 603 is arranged at the lower end of the crossbeam 601, the correction motor 602 is fixed on the crossbeam 601, and a gear box 604 is arranged inside the crossbeam 601, the correction motor 602 is connected to the gear box 604, the correction terminal is fixed on the inner side of the longitudinal beam 603, and the correction terminal is in a forward opening trend; the correction terminal includes a plurality of main shafts 605 and secondary shafts, and a multi-stage auxiliary transmission component from top to bottom; the multi-stage auxiliary transmission group The components include a primary transmission assembly 606, a secondary transmission assembly 608 and a tertiary transmission assembly 610, which are arranged at intervals; the upper end of the main shaft 605 is connected to the gear box 604, and the secondary shaft includes a first secondary shaft 607 and a second secondary shaft 609. The main shaft 605 and the first secondary shaft 607 respectively connect the primary transmission assembly 606, the secondary transmission assembly 608 and the tertiary transmission assembly 610, and the second secondary shaft 609 connects the secondary transmission assembly 608 and the tertiary transmission assembly 610; the primary transmission assembly 606, the secondary transmission assembly 608 and the tertiary transmission assembly 610 rotate synchronously and in the same direction.

[0054] It can be understood that in this embodiment, the purpose of the correction mechanism 6 is that during the natural growth of the radish, some parts may be tilted or inconsistent in height. In this embodiment, based on this situation, the correction mechanism 6 is set to correct the posture of the radish. Specifically, the correction end is rotating, and the purpose is to make the radish move backward, that is, in the direction of the extraction mechanism 7, and the forward opening trend of the correction end is to make the radish gradually move toward the center position during the backward movement. The purpose of the multi-stage auxiliary transmission assembly is to forcefully push different positions of the radish synchronously to prevent the radish posture correction from being unsuccessful. As shown in the figure, the two upper auxiliary transmission assemblies are driven by belts, and the lower auxiliary transmission assembly is driven by rubber wheels, so that the radish leaves and radishes can move backward in an orderly manner.

[0055] Among them, it also includes a lifting mechanism 4, which includes a lifting motor 402, a lifting belt, a linear slide rail 404, a slider 405, and a connecting block; the lifting belt includes a primary lifting belt 401 and a secondary lifting belt 403, the primary lifting belt 401 is transmission-connected to the lifting motor 402, the secondary lifting belt 403 is coaxially connected to the primary lifting belt 401, and the secondary lifting belt 403 is arranged on the side of the linear slide rail 404, the guiding mechanism 5 is fixed on the slider 405 and the connecting block at the same time, the slider 405 is engaged with the linear slide rail 404, the connecting block is fixed on the surface of the secondary lifting belt 403, and the lifting motor 402 is fixed on the upper frame 1.

[0056] It can be understood that, in this embodiment, the purpose of the lifting mechanism 4 is to adjust the height of the radish according to the terrain or the height of the radish position identified by devices such as cameras, so that the entire device can process the radish at the optimal height.

[0057] The extraction mechanism 7 includes a primary extraction component 701 and a secondary extraction component 702. The primary extraction component 701 is arranged at the front end of the secondary extraction component 702, and the tail of the secondary extraction component 702 is coaxially connected with the front end of the primary extraction component 701; the front end of the primary extraction component 701 is connected to the correction mechanism 6, and the secondary extraction component 702 is connected to the upper frame 1 through the swing mechanism 703; the primary extraction component 701 includes two extraction arms 705 opened forward, as well as an angle sensor component and a camera component 711, and the angle sensor component The assembly includes an angle sensor 708, a movable arm and a bracket 710. The bracket 710 is fixed to the side of the secondary extraction assembly 702. The movable arm includes a straight arm 706 and a swing arm 707. The straight arm 706 is movably connected to the swing arm 707. The upper end of the straight arm 706 is connected to the bracket 710. The end of the swing arm 707 is connected to the angle sensor 708. The secondary extraction assembly 702 includes a lifting unit and an extraction unit 709. The lifting unit is connected to the middle part of the extraction unit 709 and is used to lift the height of the extraction unit 709. The extraction unit 709 is connected to the extraction motor 704.

[0058] It can be understood that in the present embodiment, the primary extraction component 701 and the secondary extraction component 702 in the extraction mechanism 7 correspond to different positions of the radish, respectively. After the posture of the radish is corrected, the radish enters the extraction components at each level in the best posture for extraction. The sensor and the camera can identify the size and position of the radish, which is convenient for adjusting the extraction position. The swing head mechanism 703 realizes the vertical and horizontal movement of the head of the extraction mechanism 7 to align the extraction positions of different radishes in real time, thereby ensuring the extraction effect. The swing head mechanism 703 includes moving parts in the vertical and horizontal directions at the upper end of the extraction mechanism, as well as two vertical rotating parts respectively arranged on the extraction mechanism 7 and the transmission mechanism 9, and a horizontal rotating part at the upper end of the transmission mechanism 9.

[0059] Wherein, the transmission mechanism 9 includes an upper transmission component 902 and a lower transmission component 901, the upper transmission component 902 is located above the lower transmission component 901, the front end of the lower transmission component 901 is docked with the end of the extraction unit 709, the upper transmission component 902 includes a connecting rib 905, a transmission motor 903 and a plurality of transmission units 904 adjacent to each other, the connecting rib 905 is used to fix the transmission motor 903, and connect the extraction unit 709 and the transmission unit 904, a gantry 906 is provided between the upper end of the connecting rib 905 and the upper frame 1, the upper end of the gantry 906 is fixed on the upper frame 1, and the lower end of the gantry 906 is rotatably connected to the connecting rib 905; the lower transmission component 901 includes a plurality of another transmission units 904 adjacent to each other, and the transmission motor 903 drives all the transmission units 904 to rotate simultaneously through the gear box 604.

[0060] It can be understood that in this embodiment, the upper transmission component 902 and the lower transmission component 901 clamp and transmit the two positions of the radish at the same time. When a single-stage transmission is adopted, it is easy to clamp the radish leaves, and there may still be radish leaves left after cutting, and the two-stage clamping transmission makes the radish posture more stable during transportation. Multiple sets of elastic tensioning devices are provided inside the extraction mechanism 7 and the transmission mechanism 9, and the elastic tensioning devices are densely arranged. While ensuring the clamping force, they can also adapt to the density changes of the radish leaves, prevent the extraction and transmission mechanism 9 from being blocked by the radish leaves when working at high speed, and maintain a large clamping force when the leaves are sparse. Each set of elastic tensioning devices is composed of a tensioning arm, a torsion spring, a bearing, a fixed column, and a belt support wheel. The extraction mechanism 7 selects a torsion spring with a thicker wire diameter to achieve a greater clamping force, that is, an extraction force. This sophisticated elastic tensioning device can make the extraction mechanism 7 compact, so as to adapt to the working environment with a narrow row width.

[0061] The elastic tensioning device in the extraction mechanism 7: the fixed column is stationary and does not rotate; the torsion spring twists the tensioning arm, so that the tensioning bearing at the front end of the tensioning arm presses against the clamping belt, providing the clamping force of the clamping belt; the clamping belt tightly clamps the radish leaves, and when the radish is extracted, the radish will have a reaction force, causing the clamping belt to slide down, and the support wheel will support the clamping belt at this time, making it difficult to fall off. Moreover, the support wheel of the present invention is fixed on the tensioning arm, and it will closely follow the clamping belt, so that the clamping belt is less likely to slide off, greatly improving the support effect.

[0062] Among them, the leaf cutting mechanism includes a cutting motor 111, a cutting shaft 113, a transmission chain 112 and a cutter disc 114, the transmission chain 112 connects the cutting motor 111 and the cutting shaft 113, the cutter disc 114 is arranged at the lower end of the cutting shaft 113, and the cutter disc 114 is located between the upper transmission component 902 and the lower transmission component 901.

[0063] Among them, it also includes a film removal mechanism 10, which is arranged on both sides of the tail of the transmission mechanism 9 and is used to remove the film; the film removal mechanism 10 includes a film removal motor, a film removal shaft 122, a comb 123 and a brush roller 121, the film removal motor is connected to the film removal shaft 122 in transmission, and a plurality of rollers are sleeved on the film removal shaft 122. The brush roller 121 is adjacent to both sides of the transmission mechanism 9, and the comb teeth of the comb 123 are located on the surface of the brush roller 121.

[0064] It is understandable that the leaf cutting mechanism and the film removing mechanism 10 can share a motor. Specifically, the film removing mechanism 10 is located at the rear end of the leaf cutting mechanism and transmits power through a belt or a gear box 604. In this embodiment, based on the direction of movement, the film may be taken away by the brush roller 121 and blocked by the comb 123, so that the remaining film after cutting can be removed.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0066] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A radish harvesting robot, characterized in that include: An upper frame, a lower frame, a controller, and a walking mechanism, a guiding mechanism, a pulling mechanism, a transmission mechanism and a leaf cutting mechanism electrically connected to the controller, respectively, wherein the upper frame and the lower frame are fixedly connected; The controller is arranged on the upper frame, and includes a camera and a control computer arranged in front of the upper frame, and is used for coordinating and controlling the various components of the radish harvesting robot and controlling the automatic walking of the robot; The walking mechanism is arranged at the lower end of the lower frame, and is used to provide the driving force and support required for the radish harvesting robot to walk; The guiding mechanism is arranged at the front end of the upper frame, and is used to identify the radish and guide the radish posture, as well as determine the extraction position; The picking mechanism is arranged at the lower end of the upper frame and docked with the guiding mechanism to pick the radishes after the posture is corrected; the upper end of the picking mechanism is also provided with a swing head mechanism, which can move in the vertical and horizontal directions to align with the radishes to be picked. The transmission mechanism is arranged in the upper frame and docked with the extraction mechanism to transport the extracted radishes; The leaf cutting mechanism is arranged at the tail of the upper frame and cooperates with the transmission mechanism to cut the leaves of the radish transmitted to the leaf cutting mechanism.

2. A radish harvesting robot according to claim 1, characterized in that: The drainage mechanism includes several groups of drainage motors, drainage arms and limit arms, the drainage motors are fixed at one end of the limit arms, the limit arms include a left arm and a right arm, the front end of the drainage arm is connected between the left arm and the right arm through a transmission shaft, and the transmission shaft is connected to the shaft of the drainage motor through a belt, so that the drainage arm can rotate along the transmission shaft; the left arm and the right arm also have extension arms respectively, the extension arms on the left arm and the right arm are at the same level, and the end of the extension arm has a groove opening upward, and the drainage arm is also provided with a limit shaft passing through the left and right sides of the drainage arm, and the limit shaft is stuck in the groove.

3. A radish harvesting robot according to claim 2, characterized in that: A terrain-mimicking toothed disc and a gear set are provided at the end of the drainage arm, and a driven gear is also provided on the transmission shaft. The terrain-mimicking toothed disc is connected to the drainage arm through the driven shaft. The gear set includes an inner gear and an outer gear. The outer gear is meshed with the terrain-mimicking toothed disc, and the inner gear is connected to the drainage arm shaft. The inner gear is connected to the driven gear through a chain.

4. A radish harvesting robot according to claim 3, characterized in that: A guide belt is also arranged between the driven shaft and the transmission shaft, and a plurality of guide teeth are arranged at intervals on the guide belt. The guide teeth are arranged perpendicular to the surface of the guide belt or inclined inwardly to the surface of the guide belt.

5. A radish harvesting robot according to claim 4, characterized in that: A correction mechanism is provided at the lower end of the limit arm, and the correction mechanism includes a crossbeam, a longitudinal beam, a correction motor and a correction end; there are several longitudinal beams, the crossbeam is fixedly connected to the lower end of the limit arm, the longitudinal beam is arranged at the lower end of the crossbeam, the correction motor is fixed on the crossbeam, and a gear box is arranged in the crossbeam, the correction motor is connected to the gear box, the correction end is fixed on the inner side of the longitudinal beam, and the correction end has a forward opening trend; the correction end includes several main shafts and secondary shafts, and a multi-stage auxiliary transmission assembly from top to bottom; the multi-stage auxiliary transmission assembly includes a primary transmission assembly, a secondary transmission assembly and a tertiary transmission assembly, and the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly are arranged at intervals; the upper end of the main shaft is connected to the gear box, the secondary shaft includes a first secondary shaft and a second secondary shaft, the main shaft and the first secondary shaft respectively connect the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly, and the second secondary shaft connects the secondary transmission assembly and the tertiary transmission assembly; the primary transmission assembly, the secondary transmission assembly and the tertiary transmission assembly rotate synchronously and in the same direction.

6. The radish harvesting robot according to claim 2, characterized in that: It also includes a lifting mechanism, which includes a lifting motor, a lifting belt, a linear slide rail, a slider, and a connecting block; the lifting belt includes a primary lifting belt and a secondary lifting belt, the primary lifting belt is transmission-connected to the lifting motor, the secondary lifting belt is coaxially connected to the primary lifting belt, the secondary lifting belt is arranged on the side of the linear slide rail, the guiding mechanism is fixed on the slider and the connecting block at the same time, the slider is engaged with the linear slide rail, the connecting block is fixed on the surface of the secondary lifting belt, and the lifting motor is fixed on the upper frame.

7. The radish harvesting robot according to claim 5, characterized in that: The pulling mechanism comprises a primary pulling component and a secondary pulling component, the primary pulling component is arranged at the front end of the secondary pulling component, and the tail of the secondary pulling component is coaxially connected with the front end of the primary pulling component; the front end of the primary pulling component is docked with the correction mechanism, and the secondary pulling component is connected to the upper frame through a swing head mechanism, and the swing head mechanism realizes the vertical and horizontal movement of the head of the pulling mechanism; the primary pulling component comprises two pulling arms opened forward, as well as an angle sensing component and a camera component, the angle sensing component comprises an angle sensor, a movable arm and a bracket, the bracket is fixed to the side of the secondary pulling component, the movable arm comprises a straight arm and a swing arm, the straight arm is movably connected to the swing arm, the upper end of the straight arm is connected to the bracket, and the end of the swing arm is connected to the angle sensor; the secondary pulling component comprises a pulling unit, the swing head mechanism is connected to the middle part of the pulling unit, and is used to adjust the position of the pulling unit, and the pulling unit is connected to a pulling motor.

8. The radish harvesting robot according to claim 7, characterized in that: The transmission mechanism includes an upper transmission component and a lower transmission component, wherein the upper transmission component is located above the lower transmission component, and the front end of the lower transmission component is docked with the end of the extraction unit. The upper transmission component includes a connecting rib, a transmission motor and a plurality of transmission units adjacent to each other end to end, wherein the connecting rib is used to fix the transmission motor and connect the extraction unit and the transmission unit, and a gantry is provided between the upper end of the connecting rib and the upper frame, wherein the upper end of the gantry is fixed on the upper frame, and the lower end of the gantry is rotatably connected to the connecting rib; the lower transmission component includes a plurality of other transmission units adjacent to each other end to end, and the transmission motor drives all the transmission units to rotate simultaneously through a gear box.

9. The radish harvesting robot according to claim 8, characterized in that: The leaf cutting mechanism includes a leaf cutting motor, a leaf cutting shaft, a transmission chain and a cutter disc, wherein the transmission chain connects the cutting motor and the cutting shaft, the cutter disc is arranged at the lower end of the cutting shaft, and the cutter disc is located between the upper transmission component and the lower transmission component.

10. The radish harvesting robot according to claim 1, characterized in that: It also includes a film removal mechanism, which is arranged on both sides of the tail of the transmission mechanism and is used to remove the film; the film removal mechanism includes a film removal motor, a film removal shaft, a comb and a brush roller, the film removal motor is connected to the film removal shaft by transmission, and the film removal shaft is sleeved with a plurality of brush rollers, the brush rollers are arranged adjacent to both sides of the transmission mechanism, and the comb teeth of the comb are located on the surface of the brush roller.

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