Chinese chive harvesting robot capable of automatically arranging seedlings

Abstract

The invention discloses a Chinese chive harvesting robot capable of automatically arranging seedlings, and relates to the field of agricultural product harvesting machineries, the Chinese chive harvesting robot comprises a robot main body, a harvesting mechanism, a conveying mechanism and a bundle arranging and seedling conveying mechanism, a storage bin for storing harvested Chinese chives is mounted above the robot main body, and the harvesting mechanism is mounted at the front end of the robot main body; the harvesting mechanism is installed at the front end of the robot body and used for harvesting Chinese chives, the conveying mechanism is installed at the front end of the robot body and used for conveying the harvested Chinese chives into the storage bin, and the bundle arranging and seedling conveying mechanism is installed at the front end of the robot body and used for collecting, bundling and binding the harvested Chinese chives and clamping and conveying bound Chinese chive bundles into the conveying mechanism. The Chinese chive harvesting machine makes up for the deficiency of Chinese chive harvesting machinery, realizes automatic harvesting of Chinese chives, and realizes seedling arrangement and binding operation of the Chinese chives in the harvesting process, so that the Chinese chives do not need to be manually arranged subsequently, the workload of post-treatment after harvesting of the Chinese chives is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural product harvesting, and in particular to a leek harvesting robot capable of autonomously tending to seedlings. Background Art

[0002] As is known, leek is a vegetable with large reserves. With the continuous development of science and technology, scientific planting and harvesting have become a reality. However, due to the particularity of its growth, leek grows in a scattered manner. Therefore, there are many factors to consider when harvesting;

[0003] In the existing harvesting machinery and equipment, due to the scattered growth of leeks, the leeks can generally only be harvested horizontally, and it is difficult to harvest them by rotary cutting. In addition, the leeks after harvesting are often very scattered, which makes the subsequent collection of the leeks relatively cumbersome and requires manual sorting. Therefore, there are few machines for leek harvesting in the prior art. Summary of the invention

[0004] (I) Purpose of the invention

[0005] In view of this, the purpose of the present invention is to propose a leek harvesting robot that can autonomously sort seedlings, realize automatic harvesting of leeks, and realize the sorting and binding operations of leek seedlings during the harvesting process, so that there is no need for manual sorting of leeks later, reducing the workload of post-harvest processing of leeks and improving work efficiency.

[0006] (II) Technical solution

[0007] In order to achieve the above technical objectives, the present invention provides a leek harvesting robot capable of autonomously tending seedlings, which comprises a robot body, on which a storage bin for storing harvested leeks is installed;

[0008] A harvesting mechanism, which is installed at the front end of the robot body and is used to harvest leeks;

[0009] A conveying mechanism, which is installed at the front end of the robot body and is used to convey the harvested leeks to the storage bin;

[0010] The seedling bundling and sending mechanism is installed at the front end of the robot body, and is used to collect, bundle and tie the harvested leeks before the harvesting mechanism harvests them, and after the harvesting mechanism harvests them, clamp and send the tied leek bundles to the conveying mechanism.

[0011] As a further description of the above technical solution: the seedling bundling and feeding mechanism includes:

[0012] A seedling bundling assembly is arranged above the harvesting mechanism and is used to bundle and tie the harvested leeks;

[0013] The seedling delivery component is arranged at the front end of the robot body, and is used to fix the seedling bundling component and cooperate to deliver the bundled and tied leeks to the delivery mechanism.

[0014] As a further description of the above technical solution: the seedling bundle assembly includes:

[0015] The seedling clamping rods are vertically arranged and at least four of them are provided, and the four seedling clamping rods are evenly spaced;

[0016] A core column is arranged at the middle position of the four seedling clamping rods, the core column is connected to each of the seedling clamping rods through a connecting rod, and a folding and adjusting cylinder is arranged between the lower part of the connecting rod and the seedling clamping rod;

[0017] A plurality of elastic straps are provided and sleeved on the top of the seedling clamping rod;

[0018] Among them, the end of the connecting rod is movably connected to the seedling clamping rod, and the seedling clamping rod has two forms under the constraint of the retraction and adjustment cylinder. The first form is a preparatory form in which the connecting rod is vertical, the strap is in a tensioned state and is equidistantly sleeved on the top of the seedling clamping rod; the second form is a seedling clamping form in which the lower part of the seedling clamping rod is retracted inward and the upper part is expanded outward, and the strap slides downward under the action of its own elastic force.

[0019] As a further description of the above technical solution: the seedling binding assembly also includes a belt control unit, which is used to control the downward movement of the binding belt, and the belt control unit includes a connecting plate and a belt control plate movably installed at the front end of the connecting plate, wherein one end of the connecting plate is fixed to the outer wall of the core column and installed horizontally, and the other end of the connecting plate is located between two adjacent seedling clamping rods, and the upper surface and lower surface of the connecting plate close to the seedling clamping rod are provided with limiting grooves along the length direction, and two belt control plates are provided, which are respectively slidably engaged in the limiting grooves on the upper surface and lower surface of the connecting plate, and the upper surface and lower surface of the connecting plate are respectively fixedly installed with a pushing belt cylinder for driving and controlling the movement of the belt control plate through a mounting plate.

[0020] As a further description of the above technical solution: the strap is composed of multiple hard parts and multiple elastic belts that connect the multiple hard parts one by one to form a ring structure. Such a structural arrangement allows a certain distance to be maintained between two adjacent straps when multiple straps are simultaneously sleeved on top of the seedling clamping rod, thereby ensuring that the strap control unit can constrain the straps.

[0021] As a further description of the above technical solution: the seedling delivery component includes:

[0022] A hanging plate, one end of which is fixedly mounted on the front end of the robot body through a fixing plate;

[0023] A track plate is installed below the hanging plate, a suspension cylinder is installed above the track plate, and a piston rod of the suspension cylinder is connected to the top of the core column;

[0024] Among them, a transverse opening is opened at the front end of the hanging plate, and two transverse slide rails are symmetrically installed below the front end of the hanging plate. The track plate is slidably engaged and installed on the transverse slide rails. A transverse cylinder is also fixedly installed below the front end of the hanging plate through a vertical plate, and the piston rod of the transverse cylinder is connected to the track plate.

[0025] As a further description of the above technical solution: the conveying mechanism includes:

[0026] A conveyor belt, with support guard plates on both sides, and a drive motor for driving the conveyor belt is installed on the support guard plates;

[0027] Wherein, the conveyor belt includes a horizontal material receiving section and an inclined conveying section, the horizontal material receiving section is located on one side of the harvesting mechanism, the inclined conveying section extends into the storage bin, and a plurality of material plates are equidistantly arranged on the surface of the conveyor belt.

[0028] As a further description of the above technical solution: the harvesting mechanism includes:

[0029] A seedling shearing component is used to shear and harvest the leeks in the harvesting area;

[0030] A support mounting plate, which is mounted on the front end of the robot body and is used to support and fix the seedling cutting assembly;

[0031] Wherein, the seedling cutting assembly is installed below the supporting mounting plate.

[0032] As a further description of the above technical solution: the seedling cutting assembly includes:

[0033] An assembly plate, which is fixedly mounted below the support mounting plate;

[0034] A fixing member, which is provided with two groups, and is respectively located above and below one side of the assembly plate;

[0035] There are two shear bodies, both of which are movably mounted between two fixing parts through a pin;

[0036] A movable member is located between the two fixed members, and both ends of the movable member are movably connected to the scissor bodies through a crank push shaft, so that when the movable member is pushed forward, the two scissor bodies are closed, and when the movable member is moved backward, the two scissor bodies are separated;

[0037] Among them, two position control cylinders are symmetrically installed on the other side of the assembly plate, and the piston rods of the two position control cylinders are fixedly connected to two fixing parts respectively. A seedling cutting control cylinder is installed on the assembly plate between the two position control cylinders, and the piston rod of the seedling cutting control cylinder is connected to the movable part.

[0038] As a further description of the above technical solution: two vertical slide rails are installed at the front end of the robot body, and vertical slides are slidably engaged on the two vertical slide rails. The support mounting plate is fixedly installed on the vertical slides, and the two vertical slides are fixedly connected by a connecting beam. A horizontal plate is provided at the upper position of the front end of the robot body between the two vertical slide rails, and a seedling cutting adjusting cylinder is fixedly installed on the horizontal plate, and the piston rod of the seedling cutting adjusting cylinder is connected to the connecting beam.

[0039] In the above technical scheme, the leek harvesting robot capable of autonomously sorting seedlings provided by the present invention can automatically harvest leeks according to a preset harvesting route, and sort and tie the leeks during the harvesting process. Therefore, after the harvesting is completed, the leeks will be in bundles and will not be scattered, so that there is no need for manual sorting of the leeks later, reducing the workload of post-harvest processing of the leeks and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 A schematic diagram of the overall structure of a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention;

[0042] Figure 2 A schematic structural diagram of a leek harvesting robot capable of autonomously tending seedlings provided by the present invention from another perspective;

[0043] Figure 3 A schematic diagram of the structure of a conveying mechanism in a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention;

[0044] Figure 4 A schematic diagram of the structure of a seedling arrangement and delivery mechanism in a leek harvesting robot capable of autonomously arranging seedlings provided by the present invention;

[0045] Figure 5 A bottom view of a seedling arrangement and delivery mechanism in a leek harvesting robot capable of autonomously arranging seedlings provided by the present invention;

[0046] Figure 6 A schematic diagram of the structure of a mid-bundle seedling assembly of a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention;

[0047] Figure 7 A bottom view of a seedling bundle assembly of a leek harvesting robot capable of autonomously managing seedlings provided by the present invention;

[0048] Figure 8 A schematic diagram of the structure of the central control belt unit of a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention;

[0049] Fig. 9 A schematic diagram of the middle belt structure of a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention;

[0050] Fig.10 A schematic diagram of a harvesting mechanism in a leek harvesting robot capable of autonomously tending seedlings provided by the present invention;

[0051] Fig.11 A schematic diagram of the structure of a seedling cutting component in a leek harvesting robot capable of autonomously tending to seedlings provided by the present invention.

[0052] Description of the drawings: 1. Robot body; 100. Baffle; 2. Storage bin; 200. Opening; 201. Inclined plate; 202. Tail gate; 203. Tail gate pin; 3. Conveying mechanism; 30. Conveyor belt; 300. Support guard plate; 301. Horizontal material receiving section; 302. Material plate; 303. Inclined conveying section; 304. Driving motor; 4. Harvesting mechanism; 40. Cross plate; 41. Cutter adjustment cylinder; 42. Vertical slide rail; 43. Vertical slide; 44. Support mounting plate; 45. Cutter assembly; 450. Cutter body; 451. Crank push shaft; 452. Assembly plate; 453. Cutter control cylinder; 454. Position control cylinder; 455. Movable part; 456. Fixed Parts; 457, elastic component; 46, connecting beam; 5, seedling bundling and sending mechanism; 50, seedling bundling assembly; 500, bundle belt; 5000, hard part; 5001, elastic belt; 501, seedling bundling and clamping belt; 502, seedling clamping rod; 503, gathering and adjusting cylinder; 504, connecting rod; 505, core column; 506, belt control unit; 5060, belt control plate; 5061, connecting plate; 5062, mounting plate; 5063, belt pushing cylinder; 5064, limiting groove; 51, seedling sending assembly; 510, fixing plate; 511, hanging plate; 5110, through port; 512, track plate; 513, suspension cylinder; 514, transverse cylinder; 515, vertical plate; 516, transverse slide rail. DETAILED DESCRIPTION

[0053] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0054] Example 1

[0055] like Figure 1 , Figure 2 As shown: This embodiment provides a technical solution: a leek harvesting robot capable of autonomously sorting seedlings, comprising a robot body 1, a harvesting mechanism 4, a conveying mechanism 3 and a bunching and seedling sending mechanism 5, wherein a storage bin 2 for storing harvested leeks is installed above the robot body 1, the harvesting mechanism 4 is installed at the front end of the robot body 1, and is used to harvest leeks; the conveying mechanism 3 is installed at the front end of the robot body 1, and is used to transport the harvested leeks to the storage bin 2; the bunching and seedling sending mechanism 5 is installed at the front end of the robot body 1, and is used to gather, bunch and tie the harvested leeks before the harvesting mechanism 4 harvests; after the harvesting mechanism 4 harvests, the tied leek bundles are clamped and sent to the conveying mechanism 3.

[0056] It should be noted that the leek harvesting robot can automatically harvest leeks according to a preset harvesting route, and perform leek seedling sorting and tying operations during the harvesting process. Therefore, after the harvesting is completed, the leeks will be in a bundle and will not be scattered, so that there is no need for manual sorting of the leeks in the future, reducing the workload of post-harvest processing of leeks and improving work efficiency.

[0057] Furthermore, the front end of the storage bin 2 has an opening 200, which is used to provide an open space for the conveying mechanism 3. The rear end of the storage bin 2 is provided with a tailgate 202 through a hinge, and is provided with a tailgate pin 203 for opening and closing the tailgate 202. The tail of the robot body 1 is located below the storage bin 2 and is provided with a baffle 100, so that when the tailgate 202 is opened, it can be placed on the baffle 100 to form a slope structure. An inclined plate 201 is provided at the lower part of the interior of the storage bin 2, and the lower end of the inclined plate 201 is located at the tailgate 202 to facilitate the unloading of the leek bundles in the storage bin 2.

[0058] Example 2

[0059] like Figure 4-Figure 9As shown, the seedling bundling and delivering mechanism 5 includes a seedling bundling component 50 and a seedling delivering component 51, wherein the seedling bundling component 50 is arranged above the harvesting mechanism 4, and is used to bundle and tie the harvested leeks, and the seedling delivering component 51 is arranged at the front end of the robot body 1, and is used to fix the seedling bundling component 50 and cooperate in delivering the bundled and tied leeks to the conveying mechanism 3.

[0060] Specifically, the seedling bundle assembly 50 includes a seedling clamping rod 502, a core column 505 and a strap 500, wherein the seedling clamping rod 502 is vertically arranged and at least four are provided, and the four seedling clamping rods 502 are evenly spaced, the core column 505 is arranged in the middle of the four seedling clamping rods 502, the core column 505 is connected to each seedling clamping rod 502 through a connecting rod 504, and a retraction adjustment cylinder 503 is provided between the lower part of the connecting rod 504 and the seedling clamping rod 502, and the strap 500 is elastic and has multiple The connecting rod 504 is sleeved on the top of the seedling clamping rod 502, and the end of the connecting rod 504 is movably connected to the seedling clamping rod 502. The seedling clamping rod 502 has two forms under the constraint of the retraction and adjustment cylinder 503. The first form is a preparatory form in which the connecting rod 504 is vertical, the strap 500 is in a tensioned state and is equidistantly sleeved on the top of the seedling clamping rod 502; the second form is a seedling clamping form in which the seedling clamping rod 502 is retracted inward at the bottom and expanded outward at the top, and the strap 500 slides downward under the action of its own elastic force.

[0061] Furthermore, the bottom of the four seedling clamping rods 502 is connected to the seedling organizing belt 501, and the seedling organizing belt 501 is elastic. In this way, when the seedling clamping rods 502 are retracted, the leeks in the harvesting range can be "grabbed" together with the assistance of the seedling organizing belt 501, which is convenient for the harvesting mechanism 4 to perform the harvesting operation and ensures that the leeks will not be scattered during harvesting. In addition, the seedling organizing belt 501 is set to ensure that when the band 500 slides down to gather the leeks, it can completely gather all the leeks in the harvesting range, and it is not easy to miss the edges. It should be noted that when the band 500 slides down, the bottom of the seedling clamping rods 502 is retracted inwardly. If the seedling organizing belt 501 is not used to assist the seedling gathering in the early stage, the band 500 will easily miss the edges of the leeks in the harvesting range.

[0062] Furthermore, the seedling binding assembly 50 also includes a belt control unit 506, which is used to control the downward movement of the belt 500 to prevent all the belts 500 from popping out when the seedling clamping rod 502 is transformed into the second form under the constraint of the retraction adjustment cylinder 503. The belt control unit 506 includes a connecting plate 5061 and a belt control plate 5060 movably installed at the front end of the connecting plate 5061, wherein one end of the connecting plate 5061 is fixed to the outer wall of the core column 505 and installed horizontally, and the other end of the connecting plate 5061 is located between two adjacent seedling clamping rods 502. The upper surface and the lower surface of one end of the connecting plate 5061 close to the seedling clamping rod 502 are provided with limiting grooves 5064 along the length direction. There are two belt control plates 5060, which are respectively slidably engaged in the limit grooves 5064 on the upper and lower surfaces of the connecting plate 5061. The upper and lower surfaces of the connecting plate 5061 are respectively fixedly installed with a pushing belt cylinder 5063 for driving and controlling the movement of the belt control plate 5060 through the mounting plate 5062. Such a structural arrangement enables the belt control plate 5060 to be pushed to move when the pushing belt cylinder 5063 is in operation, so that one end of the two belt control plates 5060 can respectively rest on the upper and lower sides of the strap 500 at the bottom, thereby constraining the strap 500 and ensuring that only one strap 500 slides down for binding when the leeks are bound.

[0063] It should be noted that: when the seedling clamping rod 502 is in the first form, one end of the two belt control plates 5060 can respectively rest against the upper and lower ends of the strap 500 located at the bottom. When the seedling clamping rod 502 is in the second form and the leeks need to be tied, the belt control plate 5060 located at the bottom contracts under the control of the belt pushing cylinder 5063. At this time, due to the contraction of the lower part of the seedling clamping rod 502, the lower belt 500 automatically slides down under the elastic force and gravity of the strap 500 to tie and tighten the leeks within the harvesting range. At this time, the seedling clamping rod 502 is still in the second form, located at the bottom The belt control plate 5060 is extended under the control of the belt pushing cylinder 5063, and the upper belt control plate 5060 is contracted under the control of the belt pushing cylinder 5063. All the upper belts 500 slide down one position under the action of elastic force and gravity, that is, the lowermost belt 500 contacts the lower belt control plate 5060 and stops. At this time, the upper belt control plate 5060 is extended under the control of the belt pushing cylinder 5063, so that the two belt control plates 5060 are restored to the positions above and below the lowermost belt 500 respectively, completing the process of tying leeks with a single belt 500.

[0064] Specifically, the strap 500 is composed of a plurality of hard parts 5000 and a plurality of elastic bands 5001 that connect the plurality of hard parts 5000 one by one to form an annular structure. Such a structural arrangement enables a certain distance to be maintained between two adjacent straps 500 when the plurality of straps 500 are simultaneously sleeved onto the top of the seedling clamping rod 502, thereby ensuring that the strap control unit 506 can constrain the strap 500.

[0065] Specifically, the seedling delivery component 51 includes a hanging plate 511 and a track plate 512, wherein one end of the hanging plate 511 is fixedly installed on the front end of the robot body 1 through a fixing plate 510, the track plate 512 is installed below the hanging plate 511, a hanging cylinder 513 is installed above the track plate 512, the piston rod of the hanging cylinder 513 is connected to the top of the core column 505, a transverse opening 5110 is opened at the front end of the hanging plate 511, two transverse slide rails 516 are symmetrically installed below the front end of the hanging plate 511, and the track plate 512 is slidably engaged and installed on the transverse On the slide rail 516, a transverse cylinder 514 is fixedly installed below the front end of the hanging plate 511 through the vertical plate 515, and the piston rod of the transverse cylinder 514 is connected to the track plate 512. Such a structural arrangement allows the suspension cylinder 513 to drive the core column 505 to rise to a preset height when the seedling bundle assembly 50 completes the bundling of harvested leeks and maintains the clamping of the leek bundle. The transverse cylinder 514 then drives the seedling bundle assembly 50 to hang the leek bundle into the conveying mechanism 3, and then the reverse action is repeated to restore to the initial state, thereby completing the harvesting of one crop of leeks.

[0066] Example 3

[0067] like Figure 3 As shown, the conveying mechanism 3 includes a conveyor belt 30, wherein support guard plates 300 are provided on both sides of the conveyor belt 30, and a driving motor 304 for driving the conveyor belt 30 is installed on the support guard plates 300. The conveyor belt 30 includes a horizontal material receiving section 301 and an inclined conveying section 303. The horizontal material receiving section 301 is located on one side of the harvesting mechanism 4, and the inclined conveying section 303 extends into the storage bin 2. A plurality of material plates 302 are equidistantly arranged on the surface of the conveyor belt 30. It should be noted that the horizontal material receiving section 301 is used for receiving the leek bundles harvested by the bundle sending mechanism 5. With the assistance of the material plate 302, the leek bundles are transported from the inclined conveying section 303 to the storage bin 2.

[0068] Example 4

[0069] like Fig.10 , Fig.11 As shown, the harvesting mechanism 4 includes a seedling cutting component 45 and a support mounting plate 44, wherein the seedling cutting component 45 is used to cut and harvest the leeks in the harvesting area, and the support mounting plate 44 is installed at the front end of the robot body 1, and is used to support and fix the seedling cutting component 45, and the seedling cutting component 45 is installed below the support mounting plate 44.

[0070] Specifically, the seedling cutting assembly 45 includes an assembly plate 452, a fixing member 456, a scissor body 450 and a movable member 455, wherein the assembly plate 452 is fixedly mounted below the support mounting plate 44, the fixing member 456 is provided with two groups, which are respectively located above and below one side of the assembly plate 452, the scissor body 450 is provided with two, both of which are movably mounted between the two fixing members 456 through a pin shaft, the movable member 455 is located between the two fixing members 456, and the two ends of the movable member 455 are movably connected to the scissor body 450 through a crank push shaft 451, so that when the movable member 455 is pushed forward, the two scissor bodies 450 are closed, and when the movable member 455 moves backward, the two scissor bodies 450 are separated, and two symmetrically mounted on the other side of the assembly plate 452 A position control cylinder 454 is provided, and the piston rods of the two position control cylinders 454 are fixedly connected to the two fixing parts 456 respectively. A seedling cutting control cylinder 453 is installed on the assembly plate 452 between the two position control cylinders 454. The piston rod of the seedling cutting control cylinder 453 is connected to the movable part 455. When the position control cylinder 454 pushes the shear body 450 to the harvesting position, the seedling cutting control cylinder 453 pushes the movable part 455 forward, and the two shear bodies 450 are closed to realize the shearing and harvesting of leeks. Furthermore, an elastic part 457 is provided between the fixing part 456 and the movable part 455. The elastic part 457 can be a spring, which is used to provide elastic force for resetting the movable part 455, thereby facilitating the resetting of the shear body 450.

[0071] Furthermore, two vertical slide rails 42 are installed at the front end of the robot body 1, and vertical slides 43 are slidably engaged on the two vertical slide rails 42. The support mounting plate 44 is fixedly installed on the vertical slide 43, and the two vertical slides 43 are fixedly connected by a connecting beam 46. The front end of the robot body 1 is located above the two vertical slide rails 42 and a cross plate 40 is provided. A seedling cutting adjustment cylinder 41 is fixedly installed on the cross plate 40, and the piston rod of the seedling cutting adjustment cylinder 41 is connected to the connecting beam 46. When the seedling cutting adjustment cylinder 41 is running, the connecting beam 46 and the vertical slide 43 are pushed to slide in the vertical direction, thereby driving the height of the seedling cutting assembly 45 to change, thereby achieving the effect of adjusting the harvesting height.

[0072] The exemplary implementation scheme of the present disclosure is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.

Claims

1. A leek harvesting robot capable of autonomously tending to seedlings, characterized in that: It includes: A robot body (1) is provided with a storage bin (2) for storing harvested leeks above it; A harvesting mechanism (4), which is mounted on the front end of the robot body (1) and is used to harvest leeks; A conveying mechanism (3), which is installed at the front end of the robot body (1) and is used to convey the harvested leeks to the storage bin (2); A seedling bundling and seedling delivery mechanism (5) is installed at the front end of the robot body (1) and is used to gather and bundle the harvested leeks before the harvesting mechanism (4) harvests them, and to clamp and deliver the bundled leek bundles to the delivery mechanism (3) after the harvesting mechanism (4) harvests them.

2. The leek harvesting robot capable of autonomously tending to seedlings according to claim 1, characterized in that: The seedling bundle arrangement and delivery mechanism (5) comprises: A seedling bundling assembly (50), which is arranged above the harvesting mechanism (4) and is used to bundle and tie the harvested leeks; The seedling delivery component (51) is arranged at the front end of the robot body (1) and is used to fix the seedling bundling component (50) and cooperate to deliver the bundled and bound leeks to the delivery mechanism (3).

3. The leek harvesting robot capable of autonomously tending to seedlings according to claim 2, characterized in that: The seedling bundle assembly (50) comprises: The seedling clamping rods (502) are vertically arranged and at least four of them are provided, and the four seedling clamping rods (502) are evenly spaced from each other; A core column (505) is arranged at the middle position of the four seedling clamping rods (502); the core column (505) is connected to each of the seedling clamping rods (502) via a connecting rod (504); a retracting adjustment cylinder (503) is arranged between the lower part of the connecting rod (504) and the seedling clamping rod (502); A plurality of elastic straps (500) are provided and sleeved on the top of the seedling clamping rod (502); The end of the connecting rod (504) is movably connected to the seedling clamping rod (502), and the seedling clamping rod (502) has two forms under the constraint of the retraction and adjustment cylinder (503). The first form is a preparatory form in which the connecting rod (504) is vertical, the strap (500) is in a tensioned state and is equidistantly sleeved on the top of the seedling clamping rod (502); the second form is a seedling clamping form in which the lower part of the seedling clamping rod (502) is retracted inwardly and the upper part is expanded outwardly, and the strap (500) slides downward under the action of its own elastic force.

4. The leek harvesting robot capable of autonomously tending to seedlings according to claim 3, characterized in that: The seedling binding assembly (50) further comprises a belt control unit (506) for controlling the downward movement of the binding belt (500), wherein the belt control unit (506) comprises a connecting plate (5061) and a belt control plate (5060) movably mounted at the front end of the connecting plate (5061), wherein one end of the connecting plate (5061) is fixed to the outer wall of the core column (505) and is mounted horizontally, and the other end of the connecting plate (5061) is located between two adjacent seedling clamping rods (502), and the connecting plate (5061) A limiting groove (5064) is provided on the upper surface and the lower surface of one end near the seedling clamping rod (502) along the length direction, and two control plates (5060) are provided, which are respectively slidably engaged in the limiting grooves (5064) on the upper surface and the lower surface of the connecting plate (5061), and the upper surface and the lower surface of the connecting plate (5061) are respectively fixedly installed with a pushing cylinder (5063) for driving and controlling the movement of the control plate (5060) through a mounting plate (5062).

5. The leek harvesting robot capable of autonomously tending to seedlings according to claim 4, characterized in that: The strap (500) is composed of a plurality of hard parts (5000) and a plurality of elastic bands (5001) that connect the plurality of hard parts (5000) one by one to form an annular structure. Such a structural arrangement enables a certain distance to be maintained between two adjacent straps (500) when the plurality of straps (500) are simultaneously sleeved onto the top of the seedling clamping rod (502), thereby ensuring that the strap control unit (506) can constrain the strap (500).

6. The leek harvesting robot capable of autonomously tending to seedlings according to claim 3, characterized in that: The seedling delivery component (51) comprises: A hanging plate (511), one end of which is fixedly mounted on the front end of the robot body (1) via a fixing plate (510); A track plate (512) is installed below the hanging plate (511), a suspension cylinder (513) is installed above the track plate (512), and a piston rod of the suspension cylinder (513) is connected to the top of the core column (505); The front end of the hanging plate (511) is provided with a transverse opening (5110), two transverse slide rails (516) are symmetrically installed below the front end of the hanging plate (511), the track plate (512) is slidably mounted on the transverse slide rails (516), and a transverse cylinder (514) is fixedly installed below the front end of the hanging plate (511) through a vertical plate (515), and the piston rod of the transverse cylinder (514) is connected to the track plate (512).

7. The leek harvesting robot capable of autonomously tending to seedlings according to claim 1, characterized in that: The conveying mechanism (3) comprises: A conveyor belt (30) having support guard plates (300) disposed on both sides thereof, and a drive motor (304) for driving the conveyor belt (30) is mounted on the support guard plates (300); The conveyor belt (30) comprises a horizontal material receiving section (301) and an inclined conveying section (303), wherein the horizontal material receiving section (301) is located on one side of the harvesting mechanism (4), and the inclined conveying section (303) extends into the storage bin (2), and a plurality of material plates (302) are equidistantly arranged on the surface of the conveyor belt (30).

8. The leek harvesting robot capable of autonomously tending to seedlings according to claim 1, characterized in that: The harvesting mechanism (4) comprises: A seedling cutting component (45) is used to cut and harvest the leeks in the harvesting area; A support mounting plate (44) mounted on the front end of the robot body (1) and used for supporting and fixing the seedling cutting assembly (45); Wherein, the seedling cutting assembly (45) is installed below the supporting mounting plate (44).

9. The leek harvesting robot capable of autonomously tending to seedlings according to claim 8, characterized in that: The seedling cutting assembly (45) comprises: An assembly plate (452) fixedly mounted below the support mounting plate (44); A fixing member (456), which is provided with two groups and is respectively located above and below one side of the assembly plate (452); The shear body (450) is provided with two pieces, both of which are movably mounted between two fixing members (456) via a pin shaft; A movable member (455) is located between the two fixed members (456), and two ends of the movable member (455) are movably connected to the scissor bodies (450) through a crank push shaft (451), so that when the movable member (455) is pushed forward, the two scissor bodies (450) are closed, and when the movable member (455) is moved backward, the two scissor bodies (450) are separated; Among them, two position control cylinders (454) are symmetrically installed on the other side of the assembly plate (452), and the piston rods of the two position control cylinders (454) are respectively fixedly connected to two fixing parts (456). A seedling cutting control cylinder (453) is installed on the assembly plate (452) between the two position control cylinders (454), and the piston rod of the seedling cutting control cylinder (453) is connected to the movable part (455).

10. The leek harvesting robot capable of autonomously tending to seedlings according to claim 8, characterized in that: Two vertical slide rails (42) are installed at the front end of the robot body (1), and vertical slide members (43) are slidably engaged on the two vertical slide rails (42). The support mounting plate (44) is fixedly installed on the vertical slide member (43), and the two vertical slide members (43) are fixedly connected by a connecting beam (46). A cross plate (40) is provided at the upper position of the front end of the robot body (1) between the two vertical slide rails (42), and a seedling trimming adjustment cylinder (41) is fixedly installed on the cross plate (40), and the piston rod of the seedling trimming adjustment cylinder (41) is connected to the connecting beam (46).

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