Radish posture correction mechanism for radish harvesting robot

Abstract

The invention provides a radish posture correction mechanism for a radish harvesting robot, which comprises at least one group of correction mechanical arms, the correction mechanical arms are fixedly connected, and each group of correction mechanical arms comprises a cross beam, a longitudinal beam, a correction motor, a gear box and a correction tail end; two ends of the cross beam are vertically connected with the upper ends of the longitudinal beams; a gear box is arranged at the upper end of the cross beam, the gear box is connected with an output shaft of a correction motor and comprises two output ends, the correction tail end comprises two correction units which are symmetrical and open outwards, the two output ends are connected with main shafts of the correction units respectively, and the rotation directions of the main shafts of the correction units are opposite. The side surfaces of the correction units are fixedly connected with the inner sides of the longitudinal beams; according to the radish pulling mechanism, the radish postures can be corrected before pulling based on the radish postures of different forms, the pulling effect and efficiency of the radish pulling mechanism are improved, and the mechanism is high in adaptability and capable of adapting to radishes of different sizes and varieties and correcting the postures of the radishes.

Description

Technical Field

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

[0002] Although the existing radish harvester has developed for several generations, its basic structure has not changed much. It is still: the leaf lifter lifts the radish buds, followed by the pulling belt to pull the radish, and finally the leaf cutting mechanism completes the leaf cutting work. Most of them also use a digging shovel to assist in harvesting. The existing radish harvesting robot is to add an automatic driving function based on satellite navigation technology to the radish harvester. Therefore, they all have no correction mechanism. However, varieties such as white radish and fruit radish, which are widely planted in my country, often have different degrees of deviation and skewness on the ridge after the radish matures due to inaccurate sowing, rain, plant protection operations and other reasons. If there is no correction mechanism, there may be omissions and damage during harvesting, which will affect the effect and efficiency of harvesting. Summary of the invention

[0003] The invention provides a correction mechanism for a radish harvesting robot to solve the problems of missed harvesting and damage caused by no posture correction 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 posture correction mechanism for a radish harvesting robot, comprising:

[0005] At least one set of correction mechanical arms, which are fixedly connected to each other, and each set of correction mechanical arms includes a crossbeam, a longitudinal beam, a correction motor, a gear box and a correction end; the two ends of the crossbeam are respectively vertically connected to the upper end of the longitudinal beam; the upper end of the crossbeam is provided with a gear box, the gear box is connected to the output shaft of the correction motor, the gear box includes two output ends, and the correction end includes two symmetrical and outwardly opened correction units, the two output ends are respectively connected to the main shaft of a correction unit, so that the rotation direction of the main shaft of the correction unit is opposite, and the side of the correction unit is fixedly connected to the inner side of the longitudinal beam;

[0006] The correction unit comprises a multi-stage correction mechanism from top to bottom, and the power of the multi-stage correction mechanism is provided by the correction motor driving the main shaft to rotate.

[0007] According to the above technical solution of the present invention, the following improvements can also be made:

[0008] Wherein, the gear box includes a main tooth, a first auxiliary tooth and two second auxiliary teeth; the main tooth sleeve is arranged on the output shaft of the correction motor, the first auxiliary tooth is meshed with the main tooth, one of the second auxiliary teeth is meshed with the first auxiliary teeth, and the other second auxiliary tooth is meshed with the main tooth; the two second auxiliary teeth are respectively connected to the main shaft of one of the correction units.

[0009] Wherein, the multi-stage correction mechanism includes a primary correction mechanism, a secondary correction mechanism and a tertiary correction mechanism; one end of the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism are connected by a main shaft, a first secondary shaft is further arranged between the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism, and a second secondary shaft is arranged between the secondary correction mechanism and the tertiary correction mechanism;

[0010] Among them, a primary belt is arranged at the upper end of the main shaft and the first secondary shaft, forming a primary correction mechanism; a secondary belt is arranged at the upper end of the main shaft and the second secondary shaft, forming a secondary correction mechanism; at least one rubber roller is arranged at the end of the main shaft, the first secondary shaft and the second secondary shaft respectively, forming a third-level correction mechanism.

[0011] The multi-stage correction mechanism is connected to the longitudinal beam via a connecting block, the connecting block has a plurality of mounting holes, and the mounting holes are connected to the main shaft, the first secondary shaft and the second secondary shaft via bearings.

[0012] The height of the lower end of the second secondary shaft from the ground is higher than the height of the lower ends of the first secondary shaft and the main shaft from the ground.

[0013] The connection block is movably connected to the longitudinal beam, so that the opening angle of the correction unit can be adjusted.

[0014] The beneficial effects of the present invention are as follows: the present invention provides a radish posture correction mechanism for a radish harvesting robot, which can correct the radish posture before pulling out based on the postures of radishes in different forms, which can not only greatly reduce missed harvests and damages, but also greatly improve the working conditions of the pulling mechanism, thereby improving the pulling effect and efficiency of the radish pulling mechanism. The mechanism has strong adaptability, can adapt to radishes of different sizes and varieties and perform posture correction on them, and can efficiently harvest radishes even if they are not planted in a standardized manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a schematic diagram of the overall structure of a radish posture correction mechanism for a radish harvesting robot according to an embodiment of the present invention.

[0016] Figure 2 The present invention is a partial structural schematic diagram of a radish posture correction mechanism for a radish harvesting robot according to an embodiment of the present invention.

[0017] Among them, there are correction motor 1, gear box 2, cross beam 3, longitudinal beam 4, main shaft 5, first secondary shaft 6, second secondary shaft 7, rubber roller 8, main teeth 9, first secondary teeth 10, second secondary teeth 11, secondary belt 12, primary belt 13, connecting block 14, and bearing 15. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] like Figure 1-Figure 2 As shown, a radish posture correction mechanism for a radish harvesting robot in one or more embodiments of the present application includes:

[0021] At least one group of correction mechanical arms are fixedly connected to each other, and each group of correction mechanical arms includes a crossbeam 3, a longitudinal beam 4, a correction motor 1, a gear box 2 and a correction terminal; the two ends of the crossbeam 3 are respectively vertically connected to the upper end of the longitudinal beam 4; the upper end of the crossbeam 3 is provided with a gear box 2, and the gear box 2 is connected to the output shaft of the correction motor 1, and the gear box 2 includes two output ends, and the correction terminal includes two symmetrical and outwardly opened correction units, and the two output ends are respectively connected to the main shaft 5 of a correction unit, so that the rotation directions of the main shaft 5 of the correction unit are opposite, and the side of the correction unit is fixedly connected to the inner side of the longitudinal beam 4; the correction unit includes a multi-stage correction mechanism from top to bottom, and the power of the multi-stage correction mechanism is provided by the correction motor 1 driving the main shaft 5 to rotate.

[0022] It can be understood that in this embodiment, the number of correction units is set based on the size of the overall equipment and the actual scene needs. In the embodiment, it is set to two groups, and the two groups of correction mechanical arms are fixedly connected, and the fixed whole is fixed to the front end of the whole equipment; each group of correction mechanical arms has an outward opening angle, so that the contact area between the radish and the correction mechanical arm becomes larger after passing through the correction mechanical arm, and the crooked radish can be straightened, which is conducive to the smooth progress of the subsequent extraction process. Among them, the two correction mechanical arms can share a crossbeam 3, and the longitudinal beam 4 is generally set separately based on its certain inclination angle. The power of the correction motor 1 is transmitted through the gear box 2, so that the driven main shaft 5 drives the components of the correction unit to rotate, giving the oncoming radish a tendency to move backward and correcting the posture of the radish.

[0023] Wherein, the gearbox 2 includes a main tooth 9, a first auxiliary tooth 10 and two second auxiliary teeth 11; the main tooth 9 is sleeved on the output shaft of the correction motor 1, the first auxiliary tooth 10 is meshed with the main tooth 9, one of the second auxiliary teeth 11 is meshed with the first auxiliary tooth 10, and the other second auxiliary tooth 11 is meshed with the main tooth 9; the two second auxiliary teeth 11 are respectively connected to the main shaft 5 of one of the correction units.

[0024] It can be understood that the purpose of the gear box 2 is to transmit the power of the correction motor 1 to the correction units on both sides and to reverse the movement of the correction units; therefore, one of the second auxiliary teeth 11 is directly meshed with the main teeth 9, and the other second auxiliary teeth 11 transmits power through the first auxiliary teeth 10, so that the belts driven by the two correction units transmit the radishes together in the direction of the angle contraction.

[0025] The multi-stage correction mechanism includes a primary correction mechanism, a secondary correction mechanism and a tertiary correction mechanism; one end of the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism are connected by a main shaft 5, a first secondary shaft 6 is further arranged between the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism, and a second secondary shaft 7 is arranged between the secondary correction mechanism and the tertiary correction mechanism;

[0026] It can be understood that in this embodiment, the multi-level correction mechanism can correct radishes of different heights. At the same time, for radishes with lower postures, their leaves can also be gathered to facilitate the extraction mechanism to clamp them and identify and judge the clamping position under good conditions.

[0027] Among them, a primary belt 13 is arranged at the upper end of the main shaft 5 and the first secondary shaft 6, constituting a primary correction mechanism; a secondary belt 12 is arranged at the upper end of the main shaft 5 and the second secondary shaft 7, constituting a secondary correction mechanism; at least one rubber roller 8 is arranged at the end of the main shaft 5, the first secondary shaft 6 and the second secondary shaft 7, constituting a three-level correction mechanism.

[0028] It is understandable that the number of rubber rollers 8 is set based on needs or according to the height of the radish, and the height of the rubber roller 8 can also be adjusted to meet more environmental requirements. In this embodiment, the rotation of the main shaft 5 drives the first secondary shaft 6 to rotate through the primary belt 13, and also drives the second secondary shaft 7 to rotate through the secondary belt 12, so that the three transmission shafts rotate in the same direction.

[0029] At the same time, based on needs, a tensioning wheel can be set inside the belt to improve the elasticity and adaptability of the belt so that it can adapt to the extrusion force generated when it comes into contact with the radish.

[0030] The multi-stage correction mechanism is connected to the longitudinal beam 4 via a connecting block 14 . The connecting block 14 has a plurality of mounting holes. The mounting holes are connected to the main shaft 5 , the first secondary shaft 6 and the second secondary shaft 7 via bearings 15 .

[0031] The height of the lower end of the second secondary shaft 7 from the ground is higher than the height of the lower end of the first secondary shaft 6 and the main shaft 5 from the ground.

[0032] This setting method is mainly used to adapt to the posture correction of radishes of different heights.

[0033] The connection block 14 is movably connected to the longitudinal beam 4, so that the opening angle of the correction unit can be adjusted, including but not limited to hinged connection and other connection methods.

[0034] In this embodiment, specifically, the radish may first pass through the rubber roller 8 at the lower end of the second auxiliary shaft 7 to be partially straightened, and then pass through the rubber roller 8 at the lower end of the first auxiliary shaft 6 to be further straightened. For radishes with a higher initial posture, they may be corrected by the second belt or the first belt; in this way, after being corrected, the posture of the radish basically tends to the convergent angle of the two correction units; the subsequent extraction mechanism can extract the radish in a straight line as much as possible.

[0035] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional 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.

[0036] 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 posture correction mechanism for a radish harvesting robot, characterized in that: include: At least one set of correction mechanical arms, which are fixedly connected to each other, and each set of correction mechanical arms includes a crossbeam, a longitudinal beam, a correction motor, a gear box and a correction end; the two ends of the crossbeam are respectively vertically connected to the upper end of the longitudinal beam; the upper end of the crossbeam is provided with a gear box, the gear box is connected to the output shaft of the correction motor, the gear box includes two output ends, and the correction end includes two symmetrical and outwardly opened correction units, the two output ends are respectively connected to the main shaft of a correction unit, so that the rotation direction of the main shaft of the correction unit is opposite, and the side of the correction unit is fixedly connected to the inner side of the longitudinal beam; The correction unit comprises a multi-stage correction mechanism from top to bottom, and the power of the multi-stage correction mechanism is provided by the correction motor driving the main shaft to rotate.

2. The posture correction mechanism for the radish harvesting robot according to claim 1, characterized in that: The gear box includes a main tooth, a first auxiliary tooth and two second auxiliary teeth; the main tooth sleeve is arranged on the output shaft of the correction motor, the first auxiliary tooth is meshed with the main tooth, one of the second auxiliary teeth is meshed with the first auxiliary teeth, and the other second auxiliary tooth is meshed with the main tooth; the two second auxiliary teeth are respectively connected to the main shaft of one of the correction units.

3. The posture correction mechanism for the radish harvesting robot according to claim 1, characterized in that: The multi-stage correction mechanism includes a primary correction mechanism, a secondary correction mechanism and a tertiary correction mechanism; one end of the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism are connected by a main shaft, a first secondary shaft is further arranged between the primary correction mechanism, the secondary correction mechanism and the tertiary correction mechanism, and a second secondary shaft is arranged between the secondary correction mechanism and the tertiary correction mechanism; Among them, a primary belt is arranged at the upper end of the main shaft and the first secondary shaft, forming a primary correction mechanism; a secondary belt is arranged at the upper end of the main shaft and the second secondary shaft, forming a secondary correction mechanism; at least one rubber roller is arranged at the end of the main shaft, the first secondary shaft and the second secondary shaft respectively, forming a third-level correction mechanism.

4. The posture correction mechanism for the radish receiving robot according to claim 3 is characterized in that: The multi-stage correction mechanism is connected to the longitudinal beam through a connecting block, the connecting block has a plurality of mounting holes, and the mounting holes are connected to the main shaft, the first secondary shaft and the second secondary shaft through bearings.

5. The posture correction mechanism for the radish harvesting robot according to claim 4, characterized in that: The height of the lower end of the second secondary shaft from the ground is higher than the height of the lower ends of the first secondary shaft and the main shaft from the ground.

6. The posture correction mechanism for the radish harvesting robot according to claim 4, characterized in that: The connecting block is movably connected to the longitudinal beam, so that the opening angle of the correction unit can be adjusted.

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