Crawler-type greenhouse pepper branch hanging crawler and branch hanging method thereof

Abstract

The invention discloses a crawler-type greenhouse pepper branch hanging crawler and a branch hanging method thereof, and belongs to the technical field of agricultural machinery, the crawler-type greenhouse pepper branch hanging crawler comprises a mechanical part and a control part, the mechanical part comprises a triangular crawler-type chassis, a funnel structure, a claw structure, a branch clamping claw mechanism and a space connecting rod mechanism, the triangular crawler-type chassis adopts a tensioning wheel to tension a crawler belt, the funnel structure is a funnel-shaped cylinder with an opening in the upper part, the claw structure comprises a two-finger translation clamping claw, and the control part comprises an upper computer, a lower computer and a man-machine interaction controller. According to the crawler-type greenhouse pepper branch hanging crawler and the branch hanging method thereof, the mechanization level of pepper field management is improved, the problems of low efficiency, high labor cost and the like of a manual branch hanging mode for a long time in pepper branch hanging are solved, and the situations of strain and heatstroke of branch hanging workers in the branch hanging process are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a crawler-type greenhouse pepper branch hanging crawler vehicle and a branch hanging method thereof. Background Art

[0002] Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and handling of agricultural and livestock products. Agricultural machinery can be roughly divided into two categories: power machinery and operating machinery. Pepper is an annual or limited perennial plant of the genus Capsicum in the Solanaceae family. It is rich in nutritional functional ingredients such as various vitamins and capsaicin and can be used as medicine and food. Pepper is an important economic crop in my country. Despite the large planting area and output value of pepper, the level of mechanization in key links such as seedling cultivation, field management, and harvesting is still relatively lagging.

[0003] Pepper branch hanging is a key link in pepper field management to ensure pepper quality and yield. Since the branches of pepper plants after new pruning methods are relatively long, they are easy to bend or even break. Therefore, when the branches grow to a certain length, they need to be hung. The stems are mainly fixed with hanging ropes. Taking advantage of the softness and easy position adjustment of the hanging ropes, the branches are fixed with hanging ropes, so that the branches are evenly distributed in the field, and the reasonable density is fully absorbed by the sun, and the branches are guided to grow upward, which is conducive to improving the quality and yield of peppers.

[0004] At present, pepper branches are mainly hung manually, and there are no machines and equipment for pepper branches hanging on the market at home and abroad. At present, the main problem of manual hanging is low efficiency, high labor cost, high labor intensity, and high risk factor. The time of pepper hanging is relatively concentrated, and there is a short-term labor shortage problem; the number of pepper branches is large, and the unit price of hanging branches is calculated at 1 yuan per plant, which has a high labor cost; in addition, the temperature in the pepper greenhouse is usually about 4-5 degrees higher than the outside temperature. The hangers will have the risk of heat stroke and falls in the greenhouse, and will suffer from back occupational diseases after bending over for a long time. Summary of the invention

[0005] The purpose of the present invention is to provide a crawler-type greenhouse pepper branch lifting crawler vehicle and a branch lifting method thereof, so as to improve the mechanization level of pepper field management, solve the problems of low efficiency and high labor cost of the long-standing manual branch lifting method of pepper branch lifting, and avoid strain and heatstroke of branch lifting workers in the process of branch lifting.

[0006] To achieve the above-mentioned purpose, the present invention provides a crawler-type greenhouse pepper branch hanging crawler vehicle, including a mechanical part and a control part. The mechanical part includes a triangular crawler chassis, a funnel structure, a claw structure, a branch clamping mechanism, and a spatial connecting rod mechanism. The triangular crawler chassis adopts a tensioning wheel to tension the track. The funnel structure is a funnel-shaped cylinder with an upper opening. The claw structure includes a two-finger translational clamp. The control part includes a host computer, a slave computer and a human-computer interaction controller.

[0007] Preferably, the width of the triangular crawler chassis is 50 cm, the number of the tensioning wheels for tensioning the crawler track is two, and it is loaded by two load-bearing wheels and driven by a driving wheel.

[0008] Preferably, the track material of the tensioning wheel tensioning track is a cored gold rubber track, the width of a single-side track is 10 cm, the distance between two tracks is 30 cm, and the length of the triangular track chassis is 0.8 m.

[0009] Preferably, the track pitch of the tensioning wheel tensioning track is designed as follows: ; in, m The value is 30; coefficient A The value range is 15~17.5, where the coefficient A The value is 17; then the track pitch The value is 70mm; Track pin bushing outer diameter The calculation formula is shown below: ; Among them, the value range of coefficient D is 0.3~0.35, where the coefficient D The value is 0.3; The track width of the tensioning wheel tensioning track is designed as follows: ; Among them, the correlation coefficient B The value is 1; According to the crawler design standards, the track width b Ground length Satisfy the following requirements: ; Among them, the coefficient C The value range is 0.18~0.22, where the coefficient C The value is 0.2.

[0010] Preferably, the number of teeth of the driving wheel is Satisfy the following requirements: ; in, is the diameter of the driving wheel, which is 300 mm. When the number of teeth on the driving wheel is an odd number, each grouser on the track will contact different teeth on the driving wheel when it is meshed with the driving wheel. Therefore, the number of teeth on the driving wheel is Rounded to 15.

[0011] Preferably, the branch clamp mechanism comprises a fixed rod and a movable rod, the movable rod is connected to the electric push rod, the middle part of the fixed rod is connected to an L-shaped rod, and the L-shaped rod is connected to a 90° torsion spring.

[0012] Preferably, a micro switch is provided on one side of the short end of the L-shaped rod, and the micro switch is electrically connected to the electric push rod.

[0013] Preferably, the stroke of the electric push rod is 50 mm, the long end of the L-shaped rod is 55 mm, the short end of the L-shaped rod is 12 mm, and the initial opening range of the branch clamp mechanism is 50 mm. A gear tightening mechanism is provided inside the funnel-shaped cylinder, and the gear tightening mechanism includes two gears.

[0014] Preferably, the front end of the two-finger translational clamp is conical, and the clamping part of the two-finger translational clamp adopts a rectangular hard limit structure. The two-finger translational clamp clamps the branch hanging hook, and the overall length of the branch hanging hook in the natural state is 71mm and the width is 48mm.

[0015] Preferably, the overall movement range of the two-finger translational clamp is 100 mm in the Z-axis direction and 100 mm in the Y-axis direction, and the two-finger translational clamp is 50 mm high and 100 mm wide.

[0016] Preferably, the inner wall of the funnel of the funnel-shaped cylinder is in a circular groove shape, the width of the funnel mouth is greater than the width of the branch hanging hook, and the outer diameter of the funnel-shaped cylinder is 11 mm and the inner diameter is 7 mm.

[0017] Preferably, the spatial linkage mechanism includes three synchronous rotating wheel synchronous belts, a Z-axis screw, and an X-axis screw. The Z-axis screw stroke is 300 mm, and the X-axis screw stroke is 100 mm. The synchronous rotating wheel synchronous belts are respectively connected to the X-axis screw, the two-finger translational clamp, and the funnel-shaped cylinder.

[0018] Preferably, the lower computer single chip microcomputer is stm32, and the upper computer is an industrial all-in-one machine.

[0019] A method for hanging branches of a crawler-type greenhouse pepper branch hanging crawler vehicle, the specific branch hanging steps are as follows: Step S1, after the pepper branch hanging crawler vehicle moves forward and visually locates the branch hanging hook, the Z-axis screw rod rises until the branch hanging hook is completely immersed in the funnel-shaped cylinder; Step S2, the spatial linkage mechanism drives the funnel-shaped cylinder and the two-finger translational clamp to move relative to the extreme proximal end, at which time the two-finger translational clamp is directly above the hook, and then the two-finger translational clamp grabs the branch hanging hook; Step S3, the spatial linkage mechanism drives again to move the two-finger translational clamp to the far end, and the spatial linkage mechanism stops driving; Step S4, the branch clamp mechanism extends outward through the XY type synchronous belt, and when the long end of the L-shaped rod is subjected to pressure from the branch, the short end of the L-shaped rod indirectly contacts the micro switch, and then the branch clamp quickly closes, and the branch position is obtained; Step S5, the branch clamp moves to the bottom of the two-finger translation clamp through the XY type synchronous belt, and then the Z-axis screw rod descends to make the branch within the clamping range of the branch clamp, and the two-finger translation clamp unhooks the hook, and the branch clamp releases the fixation on the branch, and finally the branch lifting action is completed.

[0020] Therefore, the present invention adopts the above-mentioned crawler-type greenhouse pepper branch lifting crawler vehicle and branch lifting method thereof. All movements in the device are coordinated with each other under the transmission of the spatial connecting rod mechanism, which improves the mechanization level of pepper field management, solves the long-standing problems of low efficiency and high labor cost of manual branch lifting of peppers, and avoids strain and heatstroke of branch lifting workers in the process of branch lifting.

[0021] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 2 It is a schematic diagram of the funnel-shaped cylindrical structure of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 2 (a) is a schematic diagram of the external structure of the funnel-shaped cylinder; Figure 2 (b) is a schematic diagram of the internal structure of the funnel-shaped cylinder; Figure 3 It is a cross-sectional view of a two-finger translational clamp structure of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 4 It is a structural schematic diagram of a branch hanging hook of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 5 It is a schematic diagram of a spatial connecting rod mechanism of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 6 It is a communication flow chart between the upper computer and the lower computer of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 7 It is a GUI human-computer interaction interface of an embodiment of a crawler-type greenhouse pepper branch hanging crawler vehicle of the present invention; Figure 8 The present invention is a schematic structural diagram of a branch clamping mechanism of a crawler-type greenhouse pepper branch hanging crawler vehicle embodiment of the present invention.

[0023] Reference numerals 1. Triangular crawler chassis; 2. Spatial linkage mechanism; 3. Two-finger translational gripper; 4. Funnel-shaped cylinder; 5. Conical hole; 6. Funnel mouth; 7. L-shaped rod; 8. Fixed pin; 9. Movable rod; 10. Fixed rod; 11. Electric push rod; 12. Micro switch. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include 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.

[0026] Embodiment 1 like Figure 1 As shown, the present invention provides a crawler-type greenhouse pepper branch lifting crawler vehicle, which is designed to be 50 cm wide, 70 cm high, 6 km / h in speed, and designed to have a load capacity greater than 30 kg. It includes a mechanical part and a control part, the mechanical part includes a triangular crawler chassis 1, a funnel structure, a claw structure, and a spatial link mechanism 2, and the triangular crawler chassis 1 uses a tensioning wheel to tension the crawler.

[0027] In order to adapt to the growth environment of various greenhouses such as flat land / slope land for peppers, and to ensure that the branch lifting device can smoothly travel in the pepper operation row and complete the branch lifting task, the branch lifting machine adopts a triangular crawler chassis 1 as a walking mechanism. The crawler walking mechanism can effectively overcome the obstacles of potholes and unevenness on the surface of the land in the pepper operation row, and has good dynamic performance; in addition, compared with tires, the crawler has a larger ground contact area, which can effectively reduce the average pressure of the vehicle on the soil. At the same time, considering that the machine needs to travel in the farmland, a triangular crawler structure is adopted, which has the advantages of short cross-sectional length and small turning radius, which can ensure that the branch lifting device can travel freely in each pepper row. The width of the triangular crawler chassis 1 is 50cm, the number of tensioning wheels to tension the crawler is two, and it is loaded by two load-bearing wheels and driven by a driving wheel.

[0028] The track material of the tensioning wheel tensioning track is a cored gold rubber track, the width of the single track is 10 cm, the distance between the two tracks is 30 cm, and the length of the triangular crawler chassis 1 is 0.8 m.

[0029] Track pitch refers to the distance between two adjacent grousers on the track. The larger the pitch, the larger the contact area between the grouser and the ground, which can provide greater traction, especially when driving on soft or muddy ground. However, the larger the contact area between the grouser and the ground, the faster the wear and the shorter the track life. The track pitch design of the tensioner tensioning track is as follows: ; in, m The value is 30; coefficient A The value range is 15~17.5, where the coefficient A The value is 17; then the track pitch The value is 70mm; Track pin bushing outer diameter The calculation formula is shown below: ; Among them, the value range of coefficient D is 0.3~0.35, where the coefficient D The value is 0.3; The track width depends on the average ground contact pressure required by the working conditions. The wider the width, the smaller the ground contact pressure. The track width of the tensioning wheel is b The design is as follows: ; Among them, the correlation coefficient B The value is 1, and the track width is calculated. b It is 64.9412mm.

[0030] According to the crawler design standards, the track width b Ground length Satisfy the following requirements: ; Among them, the coefficient C The value range is 0.18~0.22, where the coefficient C The value is 0.2.

[0031] The driving wheel is one of the key components in the triangular track wheel walking device. By connecting with the reduction motor, the power is transmitted to the track, making the track move, thereby driving the vehicle forward. The driving wheel of the triangular track is usually designed at the top and is the most important wheel group in the triangular track wheel.

[0032] The number of track sections around the drive wheel is Z'. Generally, the larger the Z', the more uniform the speed of the track wheel when traveling, and the less energy loss due to friction between the wheel set and the track, but it will increase the diameter of the drive wheel. Satisfy the following requirements: ; in, is the diameter of the drive wheel. According to the designed driving speed and ground clearance, the diameter of the drive wheel is 300mm. When the number of teeth on the drive wheel is an odd number, each grouser on the track will contact different teeth on the drive wheel when it meshes with the drive wheel. This can make the track wear more evenly, extend the service life of the track, make the meshing between the track and the drive wheel more stable, reduce energy loss, and improve transmission efficiency. Rounded to 15.

[0033] In addition to the driving wheel, the guide wheel and the supporting wheel have the same structure, which are responsible for bearing weight, reducing the ground pressure, and improving the track's passability. In addition, the guide wheel is also responsible for guiding the track's travel direction and tensioning the track. The following takes the supporting wheel as an example for related design.

[0034] A set of track rollers includes two symmetrical cylindrical wheel bodies, and between the two wheel bodies are the grousers of the rubber track. The gravity of the entire mechanism is transmitted to the track through the track rollers and guide wheels, and the grousers of the track are constrained in a straight line by the track rollers and guide wheels. Therefore, in order to ensure a better reduction in the ground contact pressure, the ground contact part of a set of tracks usually includes two or more sets of track rollers, and the width of the track rollers should be as large as possible without interfering with the grousers and not exceeding the track. According to the working environment and performance parameters of the equipment, the track roller width is designed to be 40mm and the diameter is 150mm.

[0035] like Figure 2 As shown, the funnel structure is a funnel-shaped cylinder 4 with an upper opening, and a gear tightening mechanism is arranged inside the funnel-shaped cylinder 4, and the gear tightening mechanism includes two gears.

[0036] In view of the fact that the direction of the branch hook hanging in the air is uncertain, in some cases, it is difficult for the mechanical claw to grasp the branch hook in different directions, and a "funnel-shaped locator" is designed to overcome this situation. Its appearance is a cylinder similar to a funnel, and the upper open rounded corner design ensures that the branch hook falls into the groove at the bottom when the mechanism is lifted to capture the hook hanging in the space. Then, through the design of the connecting rod, the funnel-shaped cylinder 4 is made to spin while returning, so that the posture of the branch hook can be determined in the groove. At the same time, through the self-spin of the gear, the partial gear rotation while the self-spinning is retracted makes the rack approach the middle to clamp the branch hook, preventing the branch hook from accidentally falling out of the funnel, which is conducive to the next step of the two-finger translation clamp 3 to clamp the branch hook.

[0037] like Figure 3 As shown, the claw structure includes a two-finger translational clamp 3. The two-finger translational clamp 3 is designed according to the shape of the branch hanging hook. The front section is tapered to facilitate the center positioning of the branch hanging hook. Figure 4 As shown, the internal structure of the branch hanging hook refers to the shape of the pepper branch, which not only ensures that the branch hanging hook is in full contact with the pepper branch and has sufficient friction, but also the inner wall structure of the branch hanging hook can clamp pepper branches of different diameters, and increase the contact area while adapting to different diameters, thereby greatly reducing the pressure and damage to the pepper branches.

[0038] The overall motion range of the two-finger translational clamp 3 is 100mm in the Z-axis direction and 100mm in the Y-axis direction. The two-finger translational clamp 3 is 50mm high and 100mm wide. It is ensured to maintain a distance of more than 70mm from the funnel-shaped cylinder 4 at the far end and does not interfere with the funnel-shaped cylinder 4 at the near end.

[0039] The two-finger translational clamp 3 clamps the branch hanging hook, and the clamped part of the branch hanging hook is provided with a conical hole 5, so that the conical hole 5 of the branch hanging hook can be guided and positioned with the conical cone of the two-finger translational clamp 3. At the same time, the clamping part of the two-finger translational clamp 3 adopts a rectangular hard limiting structure, which can solve the problem of the branch hanging hook flipping up during the positioning process, so that the branch hanging hook can be accurately fixed to the clamp.

[0040] The inner wall of the funnel of the funnel-shaped cylinder 4 is a circular groove, and the width of the funnel mouth 6 is greater than the width of the branch hanging hook. The outer diameter of the funnel-shaped cylinder 4 is 11 mm, and the inner diameter is 7 mm. The small diameter makes it difficult for the branch hanging hook to fall after completely entering the positioner, thereby obtaining an unstable posture that is not suitable for being clamped.

[0041] During the overall ascent of the funnel-shaped cylinder 4, the branch hanging hook enters the circular groove after entering the landslide at the top of the funnel-shaped cylinder 4, and then drives the internal rotation of the locator through the transmission of the spatial connecting rod. Some gears and racks inside are engaged to push the hook, so that the state of the hook in the funnel-shaped cylinder 4 is slightly adjusted, so that the posture is further corrected.

[0042] The two-finger translational gripper 3 moves as a whole with the funnel-shaped cylinder 4 along with the transmission of the spatial connecting rod. During one cycle of the spatial connecting rod main axis stepper motor (the double-output shaft stepper motor rotates 10 times), the two-finger translational gripper 3 completes the process from the very close section (initial) directly above the funnel-shaped cylinder 4 to the upper side of the funnel-shaped cylinder 4 (the very far end). The entire movement process is linear and stable.

[0043] When the two-finger translational clamp 3 completes a branch lifting operation and the hook has fallen into the funnel-shaped cylinder 4, the spatial linkage mechanism 2 starts to transmit. When the two-finger translational clamp 3 reaches the initial position of the spatial linkage mechanism 2, the rack and pinion of the two-finger translational clamp 3 engages for transmission, so that the conical hole 5 of the branch lifting hook can cooperate with the conical cone of the two-finger translational clamp 3, so that the hook can grasp stably, thereby improving the fault tolerance rate of the clamping process and the system positioning accuracy.

[0044] like Figure 5 As shown, in order to increase the efficiency of hook positioning and hook clamping in the branch lifting machine, a spatial linkage mechanism 2 is designed. The spatial linkage mechanism 2 includes three synchronous rotating wheel synchronous belts, which are respectively connected to the lead screw, the two-finger translational clamp, and the funnel-shaped cylinder 4. The double-output shaft motor is divided into three outputs. The first output (the red line in the figure) rotates the synchronous belt through three synchronous wheels while the lead screw moves, so that the pulley moves up and down synchronously. The second output (the green line in the figure) realizes the forward and backward movement of the funnel through the synchronous belt, the bevel gear, and the connecting rod. The third output (the orange line in the figure) is connected to the guide rail through the upper profile of the lead screw slider to realize the synchronous forward and backward movement of the clamp and the slider. The spatial linkage mechanism 2 has obvious advantages. It can complete the movement of the lead screw, the forward and backward and up and down movement of the clamp, and the forward and backward and spin of the funnel while using only one motor, which improves the energy utilization rate and conveniently completes the precise positioning task.

[0045] like Figure 8 As shown, the mechanical part also includes a branch clamp mechanism, which includes a fixed rod 10 and a movable rod 9. The movable rod 9 is connected to an electric push rod 11. The middle part of the fixed rod 10 is connected to an L-shaped rod 7 through a fixed pin 8. The L-shaped rod 7 is connected to a 90° torsion spring. The 90° torsion spring is placed inside the fixed rod 10 and wound around the fixed pin 8.

[0046] A micro switch 12 is provided at one side of the short end of the L-shaped rod 7, and the micro switch 12 is electrically connected to the electric push rod 11. The stroke of the electric push rod 11 is 50 mm, the long end of the L-shaped rod 7 is 55 mm, the short end of the L-shaped rod 7 is 12 mm, and the initial opening range of the branch clamp mechanism is 50 mm.

[0047] The fixed rod 10 is parallel to the movable rod 9 in the initial position. When a plant branch pushes, the L-shaped rod 7 will rotate accordingly, pressing down the micro switch 12, and then controlling the push rod of the electric push rod 11 to extend and drive the movable rod 9 to clamp inward, thereby fixing the branch. Through the 90° torsion spring and the internal curved surface concave, it can adapt to branches with a diameter of about 3-8mm, and is not easily affected by external factors. The branch is firmly locked by the branch clamp mechanism.

[0048] During recovery, the electric push rod receives the command signal, and moves in the reverse direction to drive the movable rod 9 back to the initial position, and the L-shaped bar is synchronously restored to the initial position under the action of the torsion spring.

[0049] In the identification and positioning of branch hooks and branches, the deep learning yolov5 algorithm is used for target detection and recognition. Yolov5 has high real-time performance, high recognition accuracy and high efficiency in object recognition. When deployed on the machine, it can accurately identify and locate the branch hooks and branches that need to be lifted. Considering the uncertainty of the posture when the machine is walking, the use of yolov5 makes the machine quickly and accurately locate the branch hooks and branches.

[0050] The control part includes the host computer, the slave computer and the human-machine interaction controller. The human-machine interaction controller is a GUI human-machine interaction controller based on PyQt5. The slave computer single chip is stm32. The host computer is an industrial integrated machine. For the control of the machine, the GUI interaction interface is developed on the PC side using python's PyQt5. The host computer PC side communicates with the slave computer stm32 serial port to receive and send data, which is convenient for the operator to control the machine. The communication flow chart between the host computer and the slave computer is shown in the figure. Figure 6 In the GUI interface, the machine can be controlled forward, backward, left, and right, and the actions of each step can be displayed.

[0051] The GUI human-computer interaction interface is as follows Figure 7 As shown: click the "up, down, left, right" buttons on the left to control the forward, backward, left and right movements of the machine respectively; the "speed setting" drop-down box can be used to specify the driving speed of the branch lifting machine by selecting; "branch clamping" corresponds to the function of clamping branches; "funnel positioning" corresponds to the action of visually identifying the funnel and then positioning it; "hook clamping" corresponds to the action of the claw clamping the hook; "branch lifting" corresponds to the action of aiming the hook at the branch and then clamping it; "execution" corresponds to the entire branch lifting action; "emergency stop" corresponds to pressing "emergency stop" when the machine is moving, and the machine stops suddenly.

[0052] The specific steps of lifting branches of peppers by the crawler-type pepper branch lifting crawler in the greenhouse are as follows: after the pepper branch lifting crawler moves forward and visually locates the branch lifting hook, the Z-axis screw rises until the branch lifting hook is completely immersed in the funnel-shaped cylinder 4, and then the spatial linkage mechanism 2 drives the funnel-shaped cylinder 4 and the two-finger translational clamp 3 to move relative to the extreme proximal end. At this time, the two-finger translational clamp 3 is directly above the hook, and then the two-finger translational clamp 3 clamps the branch lifting hook, and the spatial linkage mechanism 2 transmits again to move the two-finger translational clamp 3 to the extreme distal end, and the spatial linkage mechanism 2 stops transmitting.

[0053] Then the branch clamp mechanism extends outward through the XY type synchronous belt. When the long end of the L-shaped rod 7 is subjected to the pressure from the branch, the short end indirectly contacts the micro switch 12, and then the branch clamp quickly closes, and the branch position is obtained. The branch clamp moves to the bottom of the two-finger translation clamp 3 through the XY type synchronous belt. Then the Z-axis lead screw descends so that the branch is within the clamping range of the branch clamp. The two-finger translation clamp 3 unhooks, and at the same time, the branch clamp releases the fixation on the branch to complete the branch lifting action.

[0054] In view of the uncertainty of the orientation of the branch hanging hook, the present invention has designed a "funnel-type locator" mechanism, which can grasp and clamp the hook in any orientation, thereby solving the difficulty that ordinary manipulators cannot successfully locate and grasp the hook when the branch hanging hook is vertically facing inward or vertically facing outward.

[0055] Aiming at the problem of uneven operation and large stones in the greenhouse, the present invention adopts a triangular crawler chassis 1, which has strong grip and can move smoothly in the greenhouse, thereby ensuring the stability of operation.

[0056] In order to solve the problem of narrow row spacing in greenhouses, the present invention adopts a triangular crawler chassis 1. The triangular crawler chassis 1 has a small turning radius and can move and turn quickly in a narrow pepper field, thereby improving the efficiency of pepper hanging branches.

[0057] The current manual branch hanging is costly and labor-intensive, and the branch hangers are at risk of backache and heat stroke. The present invention integrates mechanization, intelligence, automation, including visual recognition technology, to effectively avoid the above problems. Using the artificial intelligence recognition algorithm of Yolo, the machine can achieve fully automated operation, which greatly improves efficiency compared to traditional manual branch hanging.

[0058] In order to solve the problem of poor matching accuracy caused by multiple motors in traditional clamping mechanisms, the present invention proposes a spatial linkage mechanism 2, which can complete the movement of the screw, the front and back and up and down movement of the clamping jaws, and the front and back and rotation of the funnel while using only one motor. The connecting rod is used for transmission to replace the movement of the motor, which optimizes the structure of the machine, improves the matching accuracy between different parts, enhances the integrity of the machine, and improves energy utilization while reducing the number of motors.

[0059] Therefore, the present invention adopts the above-mentioned crawler-type greenhouse pepper branch lifting crawler vehicle, which improves the mechanization level of pepper field management, solves the long-standing problems of low efficiency and high labor cost of manual branch lifting of peppers, and avoids strain and heatstroke of branch lifting workers during the branch lifting process.

[0060] It is worth noting that the contents not elaborated in detail in the present invention are all prior art and are well known to those skilled in the art.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A crawler-type greenhouse pepper branch hanging crawler vehicle, characterized in that: It includes a mechanical part and a control part. The mechanical part includes a triangular tracked chassis, a funnel structure, a claw structure, a branch clamping mechanism, and a spatial connecting rod mechanism. The triangular tracked chassis adopts a tensioning wheel to tension the track. The funnel structure is a funnel-shaped cylinder with an upper opening. The claw structure includes a two-finger translational clamp. The control part includes an upper computer, a lower computer and a human-computer interaction controller.

2. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 1, characterized in that: The branch clamp mechanism comprises a fixed rod and a movable rod, wherein the movable rod is connected to the electric push rod, the middle part of the fixed rod is connected to an L-shaped rod, and the L-shaped rod is connected to a 90° torsion spring.

3. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 2, characterized in that: A micro switch is provided at one side of the short end of the L-shaped rod, and the micro switch is electrically connected to the electric push rod.

4. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 3, characterized in that: The stroke of the electric push rod is 50mm, the long end of the L-shaped rod is 55mm, the short end of the L-shaped rod is 12mm, and the initial opening range of the branch clamping mechanism is 50mm; a gear tightening mechanism is provided inside the funnel-shaped cylinder, and the gear tightening mechanism includes two gears.

5. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 4, characterized in that: The front end of the two-finger translational clamp is conical, and the clamping part of the two-finger translational clamp adopts a rectangular hard limit structure. The two-finger translational clamp clamps the branch hanging hook, and the overall length of the branch hanging hook in the natural state is 71mm and the width is 48mm.

6. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 5, characterized in that: The overall movement range of the two-finger translational clamp is 100mm in the Z-axis direction and 100mm in the Y-axis direction. The two-finger translational clamp is 50mm high and 100mm wide.

7. A crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 6, characterized in that: The inner wall of the funnel of the funnel-shaped cylinder is in a circular groove shape, the width of the funnel mouth is greater than the width of the branch hanging hook, the outer diameter of the funnel-shaped cylinder is 11 mm, and the inner diameter is 7 mm.

8. The crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 7, characterized in that: The spatial linkage mechanism includes three synchronous rotating wheel synchronous belts, a Z-axis screw and an X-axis screw. The Z-axis screw stroke is 300 mm, the X-axis screw stroke is 100 mm, and the synchronous rotating wheel synchronous belt is respectively connected to the X-axis screw, the two-finger translational clamp and the funnel-shaped cylinder.

9. The crawler-type greenhouse pepper branch hanging crawler vehicle according to claim 8, characterized in that: The lower computer single chip microcomputer is stm32, and the upper computer is an industrial integrated machine.

10. A method for hanging branches of peppers in a crawler greenhouse, characterized in that: The specific steps of hanging branches are as follows: Step S1, after the pepper branch hanging crawler vehicle moves forward and visually locates the branch hanging hook, the Z-axis screw rod rises until the branch hanging hook is completely immersed in the funnel-shaped cylinder; Step S2, the spatial linkage mechanism drives the funnel-shaped cylinder and the two-finger translational clamp to move relative to the extreme proximal end, at which time the two-finger translational clamp is directly above the hook, and then the two-finger translational clamp grabs the branch hanging hook; Step S3, the spatial linkage mechanism drives again to move the two-finger translational clamp to the far end, and the spatial linkage mechanism stops driving; Step S4, the branch clamp mechanism extends outward through the XY type synchronous belt, and when the long end of the L-shaped rod is subjected to pressure from the branch, the short end of the L-shaped rod indirectly contacts the micro switch, and then the branch clamp quickly closes, and the branch position is obtained; Step S5, the branch clamp moves to the bottom of the two-finger translation clamp through the XY type synchronous belt, and then the Z-axis screw rod descends so that the branch is within the clamping range of the branch clamp. The two-finger translation clamp releases the branch hanging hook, and the branch clamp releases the fixation on the branch, and finally the branch hanging action is completed.

Images