Robot for agriculture

Abstract

The invention relates to the technical field of crop harvesting, in particular to a robot for agriculture. Comprising a walking mechanism, a storage bin and a conveying bin which are adjacent are arranged at the top of the walking mechanism, a visual camera is arranged at the top of the front end of the conveying bin, and a folding assembly is arranged at the bottom of the front end of the conveying bin close to the ground and used for folding cut crops; a cutter assembly is arranged at the front end of the gathering assembly and comprises a cutter shaft, blades are evenly distributed on the side wall of the cutter shaft in a circumferential mode, each blade twists and deforms downwards, a through hole is formed in the middle of each blade, bristles are arranged at the bottom, located on the back side of the cutter, of each blade, a plurality of guide plates are arranged between every two adjacent blades, and each guide plate twists and deforms. The twisting direction is consistent with the blade; according to the agricultural robot, the three harvesting processes including crop harvesting, crop conveying and crop storage bin entering can all reduce attachment of soil, and cleanliness of crops is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of crop harvesting, and in particular to a robot used in agriculture. Background Art

[0002] Agricultural robots in the field of crop harvesting are an important part of modern agricultural technology. Through technologies such as visual recognition and precision cutting, they realize automated harvesting of crops, improve harvesting efficiency and quality, and reduce manual labor intensity and costs. With the development of intelligence and integration, agricultural robots are gradually becoming an important tool for improving agricultural production efficiency and sustainable development.

[0003] For Chinese cabbage and lettuce, the roots and stems need to be separated during harvesting, so that they can be relatively uniform during the planting process. During harvesting, agricultural robots use rotating cutters to cut. Existing agricultural robots usually use visual recognition to harvest rows of crops, and then pick them up through the mechanical arm of another robot. In addition, since crops such as Chinese cabbage and lettuce are required to be kept clean during harvesting, it is necessary to minimize the attachment of impurities such as soil. During the harvesting process, the existing agricultural robots have cutters close to the soil, which are easy to shake off the soil during the rotating harvesting, causing the crops to be contaminated by soil, resulting in a small amount of soil when picking up and storing, which does not meet the standards for sale.

[0004] Therefore, the present application provides a robot for agriculture to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide a robot for use in agriculture to solve the problem that when existing agricultural robots harvest clean vegetables such as Chinese cabbage and lettuce, the cutting knife is close to the soil, and the soil is easily shaken off during the rotary harvesting, causing the crops to be contaminated by soil, resulting in the crops still being contaminated with soil during picking, transportation and storage.

[0006] In order to solve the above technical problems, the present invention provides a robot for agriculture, comprising a walking mechanism, wherein adjacent storage bins and conveying bins are arranged on the top of the walking mechanism, a visual camera is arranged on the top of the front end of the conveying bin, and a gathering component is arranged on the bottom of the front end of the conveying bin close to the ground, and the gathering component is used to gather the cut crops; A cutter assembly is arranged at the front end of the folding assembly, and the cutter assembly includes a cutter shaft, and blades are evenly arranged on the side wall of the cutter shaft in a circular shape. Each blade is twisted and deformed downward, a through hole is opened in the middle of each blade, bristles are arranged at the bottom of each blade on the back side of the blade, and multiple guide plates are arranged between two adjacent blades. Each guide plate is twisted and deformed, and the twisting direction is consistent with the blade.

[0007] A further improvement of the technical solution of the present invention is that a triangular conveying frame is arranged in the conveying bin, a conveying belt for conveying obliquely upward is covered on the conveying frame, a plurality of conveying plates are evenly arranged on the conveying belt, the conveying plates and the conveying belt are arranged vertically relative to each other, an adjacent first rotating wheel is arranged at the conveying end of the conveying frame, and a meshing second rotating wheel is arranged at the bottom of the first rotating wheel.

[0008] A further improvement of the technical solution of the present invention is that the first rotating wheel is located at the junction of the conveying bin and the storage bin, the axis connecting the first rotating wheel and the second rotating wheel is 30°-60° to the vertical direction, and the second rotating wheel is adjacent to the conveying frame.

[0009] A further improvement of the technical solution of the present invention is that the folding assembly includes a connecting frame arranged at the front end of the conveying bin, a first folding frame and a second folding frame are respectively arranged on both sides of the connecting frame along the forward direction, a third folding frame and a fourth folding frame are respectively arranged in the middle of the connecting frame along the forward direction, the third folding frame and the fourth folding frame are relatively parallel, and a reinforcement plate is commonly arranged on the top of the two, a fixing sleeve is arranged on the top of the fixing sleeve, telescopic rods are respectively axially connected on both sides of the fixing sleeve, and the end parts of the two telescopic rods are respectively connected to the first folding frame and the second folding frame.

[0010] A further improvement of the technical solution of the present invention is that: the first folding frame, the second folding frame, the third folding frame and the fourth folding frame are respectively covered with folding belts, the folding belts are arranged perpendicularly relative to the ground, a plurality of folding plates are evenly arranged on the folding belts, the folding plates and the folding belts are arranged perpendicularly relative to each other, and each folding belt is independently controlled by a folding motor arranged on the connecting frame.

[0011] A further improvement of the technical solution of the present invention is that an inner square rod and an outer square rod that are sleeved together are arranged between the front ends of the first and third folding frames and between the front ends of the second and fourth folding frames, long bolt holes for adjusting the length are provided at both ends of the inner square rod, and a cutting knife assembly is arranged on the outer square rod.

[0012] A further improvement of the technical solution of the present invention is that the cutter assembly also includes a rod sleeve arranged on the outer square rod, two symmetrically distributed branching plates are arranged on the bottom surface of the rod sleeve, two shaft sleeves are arranged on the side of the rod sleeve, a movable shaft controlled by the cutter motor is arranged in the shaft sleeve, a knife shaft is arranged at the bottom of the movable shaft through a rotating flange, and a plurality of reinforcing ribs are evenly arranged between the top of the rotating flange and the movable shaft.

[0013] A further improvement of the technical solution of the present invention is that the two cutter assemblies on the same shaft sleeve rotate in opposite directions.

[0014] A further improvement of the technical solution of the present invention is that a sieve plate is arranged between the bottom surfaces of the first and third folding frames and between the bottom surfaces of the second and fourth folding frames, the sieve plate is 4-8 mm away from the soil, the front edge of the sieve plate is an inclined structure, mounting arms are extended on both sides of the sieve plate, strip mounting holes are provided on the mounting arms, and a plurality of sieve holes are evenly provided on the sieve plate.

[0015] A further improvement of the technical solution of the present invention is that the cross section of each sieve hole is an hourglass-shaped structure that is wide at both ends and thin in the middle.

[0016] By adopting the above technical solution, the present invention has the following beneficial effects: The present invention provides a robot for agriculture, which cuts crops by rotating a cutter assembly, which is beneficial to reducing soil that is swung during cutting and preventing crops from being contaminated by soil. Specifically, the stems of crops such as Chinese cabbage and lettuce are relatively brittle, and the blade has a lower requirement for the rotation speed during cutting. 60-80r / min can reduce cutting power consumption while ensuring cutting quality, and will not cause soil to be swung. Bristles are arranged at the bottom of each blade on the back side of the blade, and the bristles are against the soil on the ground. When the blade rotates, the bristles brush the soil flat, reducing the impact of the blade on the crops during cutting. The distance between the blade and the soil is 2-4mm, which can effectively avoid contact with the soil on the one hand, and avoid being too close to the roots of crops when cutting on the other hand; the downward twisting of the blade is conducive to pushing the crops to move after cutting, and the blade width is equivalent to the width of the stem of the crop, which promotes the crops to move along the direction of the downward twisting of the blade. Multiple guide plates are arranged between two adjacent blades, each guide plate is twisted and deformed, and the twisting direction is consistent with the blade, which is conducive to guiding the crops to the gathering belt on one side, and the through hole opened on the blade is conducive to making the soil on the blade fall off, so as to keep the blade clean.

[0017] The present invention provides a robot for agriculture. The robot is conducive to automatically gathering and conveying crops to a storage bin by setting a gathering component and a screen plate, and is conducive to screening out most of the contaminated soil during the conveying process. Specifically, the gathering plate on the gathering belt pushes the crops backwards onto the screen plate. The front edge of the screen plate is in an inclined structure, which is conducive to smoothly introducing the crops. The crops are gradually pushed backwards on the screen plate through the gathering plate. During the pushing process, impurities such as soil on the surface of the crops will fall onto the screen plate and fall to the ground through the screen holes. The cross-section of the screen holes is a funnel-shaped structure that is wide at both ends and thin in the middle. Compared with the existing cylindrical screen holes, on the one hand, it is conducive to the passage of impurities such as soil and reduces obstacles. On the other hand, it increases the friction on the surface of the screen plate, so that the crops vibrate when moving, which is conducive to the spillage of impurities such as soil.

[0018] The present invention provides a robot for agriculture. The robot is configured by combining a conveyor belt, a first rotating wheel and a second rotating wheel, which is beneficial to further cleaning impurities such as dirt on crops. Specifically, crops enter the conveyor belt through the end of a screen plate, an adjacent first rotating wheel is arranged at the conveying end of a conveyor frame, and are guided into a storage bin by the first rotating wheel. There is a gap between the first rotating wheel and the conveyor belt. When crops enter the first rotating wheel from the conveyor belt, the remaining dirt will fall from the gap onto the second rotating wheel. The second rotating wheel is in the opposite direction to the first rotating wheel. The second rotating wheel rotates counterclockwise, which is beneficial to guide the dirt out and away from the storage bin.

[0019] The present invention provides a robot for agriculture, wherein the cross-sections of the inner square rod and the outer square rod of the robot are both square, and the rod sleeve is sleeved on the outer square rod. The square shape effectively prevents the rod sleeve from rotating, which is beneficial to enhancing the installation stability of the cutter and realizing the refined harvesting of crops.

[0020] The present invention provides a robot for agriculture, wherein two symmetrically distributed dividing plates are arranged on the bottom surface of the robot rod sleeve, and the dividing plates first close the leaves of crops and keep them in an upright state, and the crops after closing and standing are cut by a cutting knife assembly to avoid cutting the drooping leaves, and the blade and the stem of the crop are kept at a relatively vertical angle for cutting, so that the cut crops are more complete. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is an overall schematic diagram of a robot used in agriculture; Figure 2 A top view of a robot used in agriculture; Figure 3 This is a schematic diagram of the internal structure of a robot used in agriculture; Figure 4 It is a schematic diagram of the internal structure of the conveying bin; Figure 5 It is a schematic diagram of the structure of the gathering component and the cutting component; Figure 6 is a schematic diagram of the structure of the folding component; Figure 7 is a schematic diagram of the structure of the cutter assembly; Figure 8 is a schematic diagram of the structure of the blade; Fig. 9 It is the structural schematic diagram of the sieve plate; Fig.10 A cross-sectional view of the sieve hole.

[0023] Figure numerals: 1, walking mechanism; 2, visual camera; 3, storage bin; 4, conveying bin; 41, conveying frame; 42, conveyor belt; 43, conveying plate; 44, first rotating wheel; 45, second rotating wheel; 5, folding assembly; 501, connecting frame; 502, first folding frame; 503, second folding frame; 504, third folding frame; 505, fourth folding frame; 506, reinforcement plate; 507, fixing sleeve; 508, telescopic rod; 509, folding belt; 510, folding Plate; 511, retraction motor; 512, inner square rod; 513, outer square rod; 514, long bolt hole; 6, cutter assembly; 601, knife shaft; 602, blade; 603, through hole; 604, bristles; 605, guide plate; 606, rod sleeve; 607, branching plate; 608, shaft sleeve; 609, cutter motor; 610, movable shaft; 611, rotating flange; 612, reinforcing rib; 7, sieve plate; 71, mounting arm; 72, strip mounting hole; 73, sieve hole. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The present invention is further explained below in conjunction with specific implementation modes.

[0028] like Figure 1-Figure 10 As shown, the present embodiment provides a robot for agriculture, and the agricultural robot has three harvesting processes, namely, harvesting crops, transporting crops, and putting crops into storage bin 3. All three processes can reduce the adhesion of soil and ensure the cleanliness of crops. The robot comprises a walking mechanism 1, and the top of the walking mechanism 1 is provided with an adjacent storage bin 3 and a transport bin 4, and the top of the front end of the transport bin 4 is provided with a visual camera 2, and the visual camera 2 includes a signal transmission module and a control module. The visual camera 2 captures the image information of crops in the surrounding environment, converts the optical signal into an electrical signal, and transmits the signal to the control module through the signal transmission module, and the control module drives the walking mechanism 1 to move forward and turn, and the visual camera 2 and the walking mechanism 1 are existing technologies in the field of robots.

[0029] The walking mechanism 1 is controlled to walk and turn, and a gathering component 5 is arranged at the bottom of the front end of the conveying bin 4 close to the ground. The gathering component 5 is used to gather the cut crops; a cutter component 6 is arranged at the front end of the gathering component 5, and the cutter component 6 includes a knife shaft 601, and the side wall of the knife shaft 601 is evenly arranged with blades 602 in a circular shape, preferably 3, and each blade 602 has a certain extension width, which is used to push the crops after cutting, and each blade 602 is twisted and deformed downward, and a through hole 603 is provided in the middle of each blade 602, and bristles 604 are provided at the bottom of each blade 602 on the back side of the blade, and multiple guide plates 605 are provided between two adjacent blades 602, and each guide plate 605 is twisted. The blade 602 is cut at a relatively vertical angle to the stem of the crop, so that the cutter assembly 602 is kept in a state of being deformed and twisted, and the twisting direction is consistent with the blade 602; the cutter assembly 6 also includes a rod sleeve 606 arranged on the outer rod 513, and the rod sleeve 606 plays a fixing role. Two symmetrically distributed ramet plates 607 are arranged on the bottom surface of the rod sleeve 606, and the ramet plates 607 acting on each row are funnel-shaped structures with an open front end, and the front end opening is large. The ramet plates 607 first close the leaves of the crops and keep them in an upright state. The crops after being closed and erected are cut by the cutter assembly 6 to avoid cutting the drooping leaves, and the blade 602 is kept at a relatively vertical angle to the stem of the crop for cutting, so that the cut crops are more complete, and the cutter assembly 6 on the other side is prevented from cutting the crops. Two shaft sleeves 608 are arranged on the side of the rod sleeve 606, and a movable shaft 610 controlled by a cutter motor 609 is arranged in the shaft sleeve 608. A cutter shaft 601 is arranged at the bottom of the movable shaft 610 through a rotating flange 611, and a plurality of reinforcing ribs 612 are evenly arranged between the top of the rotating flange 611 and the movable shaft 610; the two cutter assemblies 6 on the same shaft sleeve 608 rotate in opposite directions, and guide the cut crops to opposite sides to prevent the adjacent rows of crops from being crossed and entangled. The two cutters on the same shaft sleeve 608 cut two rows of crops. In this embodiment, there are two sets of shaft sleeves 608 to achieve cutting of four rows of crops.The robot cuts crops by rotating the cutter assembly 6, which is helpful to reduce the soil that is swung during cutting and prevent the crops from being contaminated by soil. Specifically, the stems of crops such as Chinese cabbage and lettuce are relatively brittle, and the blade 602 has a lower requirement for the rotation speed during cutting. 60-80r / min can reduce the cutting power consumption while ensuring the cutting quality, and will not cause the soil to be swung. Brushes 604 are set at the bottom of each blade 602 on the back side of the blade. The brushes 604 are against the ground soil. When the blade 602 rotates, the brushes 604 brush the soil flat, reducing the impact of the blade 602 on the crops during cutting. The blade 602 is 2-4mm away from the soil, which can effectively avoid contact with the soil. The blade 602 is twisted and deformed downward, which is conducive to pushing the crops to move after cutting. The blade width of the blade 602 is equivalent to the width of the stem of the crop. After the blade cuts the crop, the crop is prompted to move along the direction of the downward twisting deformation of the blade 602. A plurality of guide plates 605 are arranged between two adjacent blades 602. Each guide plate 605 is twisted and deformed, and the twisting direction is consistent with that of the blade 602, which is conducive to guiding the crops to the gathering belt 509 on one side. The through hole 603 provided on the blade 602 is conducive to making the soil on the blade 602 fall off, so as to keep the blade 602 clean.

[0030] like Figure 5 , Figure 6 , Fig. 9 , Fig.10As shown, in this embodiment, the folding assembly 5 includes a connecting frame 501 arranged at the front end of the conveying bin 4, and the first folding frame 502 and the second folding frame 503 are respectively arranged on both sides of the connecting frame 501 along the forward direction, and the third folding frame 504 and the fourth folding frame 505 are arranged in the middle of the connecting frame 501 along the forward direction. The third folding frame 504 and the fourth folding frame 505 are relatively parallel, and a reinforcing plate 506 is commonly arranged on the top of the two, and a fixing sleeve 507 is arranged on the top of the reinforcing plate 506. The two sides of the fixing sleeve 507 are respectively axially connected to telescopic rods 508, and the end parts of the two telescopic rods 508 are respectively connected to the first folding frame 502 and the second folding frame 503; the first folding frame 502, the second folding frame 503, the third folding frame 504 and the fourth folding frame 505 are respectively covered with a folding belt 509, and the folding belt 509 is arranged vertically relative to the ground, and a plurality of folding belts 509 are evenly arranged on the folding belt 509. The gathering plate 510 is a soft plate to prevent damage to the crops. The gathering plate 510 is arranged vertically relative to the gathering belt 509. Each gathering belt 509 is independently controlled by a gathering motor 511 arranged on the connecting frame 501. The transmission direction of the four gathering belts 509 is to gather and convey the crops inward; between the front ends of the first gathering frame 502 and the third gathering frame 504, and between the front ends of the second gathering frame 503 and the fourth gathering frame 505, inner square rods 512 and outer square rods 513 are arranged mutually sleeved, and long bolt holes 514 for adjusting the length are provided at both ends of the inner square rod 512. The outer square rod 513 is provided with a cutter assembly 6. The cross-sections of the inner square rod 512 and the outer square rod 513 are both square. The rod sleeve 606 is sleeved on the outer square rod 513. The square shape effectively prevents the rod sleeve 606 from rotating, which is beneficial to enhancing the installation stability of the cutter and realizing the refined harvesting of crops. A sieve plate 7 is arranged between the bottom surfaces of the first folding frame 502 and the third folding frame 504, and between the bottom surfaces of the second folding frame 503 and the fourth folding frame 505. The sieve plate 7 is 4-8 mm away from the soil, and the front edge of the sieve plate 7 is an inclined structure. Mounting arms 71 are extended on both sides of the sieve plate 7, and strip-shaped mounting holes 72 are provided on the mounting arms 71. A plurality of sieve holes 73 are evenly provided on the sieve plate 7; the cross-section of each sieve hole 73 is an hourglass-shaped structure that is wide at both ends and thin in the middle.The robot is provided with a gathering component 5 and a sieve plate 7, which is conducive to automatically gathering the crops and conveying them to the storage bin 3, and is conducive to screening out most of the contaminated soil during the conveying process. Specifically, the gathering plate 510 on the gathering belt 509 pushes the crops backward onto the sieve plate 7. The front edge of the sieve plate 7 is in an inclined structure, which is conducive to smoothly introducing the crops. The crops are gradually pushed backward on the sieve plate 7 by the gathering plate 510. The first gathering frame 502 and the third gathering frame 504 limit the working area of ​​the sieve plate 7 to a narrow and long triangular structure. The frame 503 and the fourth gathering frame 505 limit the working area of ​​the sieve plate 7 to a narrow and long triangular structure, which is conducive to pushing all the crops backward for transportation through the gathering belt 509. During the pushing process, impurities such as soil on the surface of the crops will fall onto the sieve plate 7 and fall to the ground through the sieve holes 73. The cross-section of the sieve holes 73 is an hourglass-shaped structure that is wide at both ends and thin in the middle. Compared with the cylindrical sieve holes, on the one hand, it is conducive to the passage of impurities such as soil and reduces obstacles. On the other hand, it increases the friction force on the upper surface of the sieve plate 7, causing the crops to vibrate when moving, which is conducive to the shedding of impurities such as soil.

[0031] like Figure 2 , Figure 3 , Figure 4 As shown, in this embodiment, a triangular conveying frame 41 is arranged in the conveying bin 4, and a power module is arranged at the bottom of the conveying frame 41, and the power module is electrically connected to the walking mechanism 1, the visual camera 2, the gathering motor 511 and the cutter motor 609 respectively. A conveying belt 42 for obliquely conveying upward is covered on the conveying frame 41, and a plurality of conveying plates 43 are evenly arranged on the conveying belt 42. The conveying plates 43 are arranged vertically relative to the conveying belt 42, and the conveying plates 43 are soft boards for conveying crops so that the crops are not easy to fall. An adjacent first rotating wheel 44 is arranged at the conveying end of the conveying frame 41, and a meshing second rotating wheel 45 is arranged at the bottom of the first rotating wheel 44; the first rotating wheel 44 is located at the junction of the conveying bin 4 and the storage bin 3, and the axis connecting the first rotating wheel 44 and the second rotating wheel 45 is 30°-60° with the vertical direction, and the second rotating wheel 45 is adjacent to the conveying frame 41. The robot is configured by combining a conveyor belt 42, a first rotating wheel 44 and a second rotating wheel 45, which is beneficial for further cleaning impurities such as dirt on crops. Specifically, crops enter the conveyor belt 42 through the end of the sieve plate 7, and an adjacent first rotating wheel 44 is arranged at the conveying end of the conveying frame 41, and are guided into the storage bin 3 by the first rotating wheel 44. There is a gap between the first rotating wheel 44 and the conveyor belt 42. When crops enter the first rotating wheel 44 from the conveyor belt 42, the remaining dirt will fall from the gap onto the second rotating wheel 45. The second rotating wheel 45 is in the opposite direction to the first rotating wheel 44. The second rotating wheel 45 rotates counterclockwise, which is beneficial for guiding the dirt out and away from the storage bin 3.

[0032] The present invention also provides a working principle of a robot used in agriculture: The user controls the robot through a handheld terminal, and uses a visual camera 2 to capture image information of crops in the surrounding environment, converts optical signals into electrical signals, and transmits the signals to a control module through a signal transmission module. The control module drives the walking mechanism 1 to move forward and turn, and the cutter motor 609 controls the blade 602 to rotate. The blade 602 has a low requirement for the rotation speed during cutting. 60-80r / min can reduce the cutting power consumption while ensuring the cutting quality, and will not cause the soil to swing. The bristles 604 at the bottom of the blade 602 are against the ground soil. When the blade 602 rotates, the bristles 604 brush the soil flat. To reduce the impact of the blade 602 on the crops when cutting, the blade 602 is 2-4 mm away from the soil, which effectively avoids contact with the soil on the one hand, and avoids being too close when cutting the roots of the crops on the other hand. The blade 602 rotates to cut the crops, and the blade 602 is twisted and deformed downward, and the crops are pushed to move after cutting. A plurality of guide plates 605 are arranged between two adjacent blades 602, and each guide plate 605 is twisted and deformed, and the twisting direction is consistent with the blade 602, so as to guide the crops to the gathering belt 509 on one side. The through hole 603 provided on the blade 602 is conducive to making the soil on the blade 602 fall off. , keep the blade 602 clean, the gathering plate 510 on the gathering belt 509 pushes the crops backward onto the screen plate 7, the front edge of the screen plate 7 is in an inclined structure, the crops are smoothly introduced, the crops are gradually pushed backward on the screen plate 7 by the gathering plate 510, the first gathering frame 502 and the third gathering frame 504 limit the working area of ​​the screen plate 7 to a narrow and long triangular structure, the second gathering frame 503 and the fourth gathering frame 505 limit the working area of ​​the screen plate 7 to a narrow and long triangular structure, which is conducive to pushing all the crops backward for transportation through the gathering belt 509, and in the process of pushing, the mud on the surface of the crops is Soil and other impurities will fall onto the sieve plate 7 and fall to the ground through the sieve holes 73. The crops will enter the conveyor belt 42 through the end of the sieve plate 7. The conveying end of the conveying frame 41 is provided with an adjacent first wheel 44, and the crops will be guided into the storage bin 3 by the first wheel 44. There is a gap between the first wheel 44 and the conveyor belt 42. When the crops enter the first wheel 44 from the conveyor belt 42, the remaining soil will fall from the gap onto the second wheel 45. The second wheel 45 is in the opposite direction to the first wheel 44. The second wheel 45 rotates counterclockwise, which is conducive to guiding the soil out and away from the storage bin 3, and the crops will be introduced into the storage bin 3 through the first wheel 44.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for agriculture, characterized in that: It comprises a walking mechanism (1), wherein a storage bin (3) and a conveying bin (4) are arranged adjacent to each other on the top of the walking mechanism (1), a visual camera (2) is arranged on the top of the front end of the conveying bin (4), and a gathering component (5) is arranged on the bottom of the front end of the conveying bin (4) close to the ground, and the gathering component (5) is used to gather the cut crops; A cutter assembly (6) is arranged at the front end of the retracting assembly (5), the cutter assembly (6) comprising a cutter shaft (601), blades (602) being evenly arranged in a circle on the side wall of the cutter shaft (601), each blade (602) being twisted and deformed downward, a through hole (603) being provided in the middle of each blade (602), bristles (604) being provided at the bottom of each blade (602) on the back side of the blade, a plurality of guide plates (605) being provided between two adjacent blades (602), each guide plate (605) being twisted and deformed, and the twisting direction is consistent with that of the blade (602).

2. A robot for agriculture according to claim 1, characterized in that: A triangular conveying frame (41) is arranged in the conveying bin (4), a conveying belt (42) for conveying obliquely upwards is covered on the conveying frame (41), a plurality of conveying plates (43) are evenly arranged on the conveying belt (42), the conveying plates (43) and the conveying belt (42) are arranged vertically relative to each other, an adjacent first rotating wheel (44) is arranged at the conveying end of the conveying frame (41), and a meshing second rotating wheel (45) is arranged at the bottom of the first rotating wheel (44).

3. A robot for agriculture according to claim 2, characterized in that: The first rotating wheel (44) is located at the junction of the conveying bin (4) and the storage bin (3), the axis connecting the first rotating wheel (44) and the second rotating wheel (45) is 30°-60° with the vertical direction, and the second rotating wheel (45) is adjacent to the conveying frame (41).

4. The robot for agriculture according to claim 1, characterized in that: The folding assembly (5) comprises a connecting frame (501) arranged at the front end of the conveying bin (4); a first folding frame (502) and a second folding frame (503) are arranged on both sides of the connecting frame (501) along the forward direction; a third folding frame (504) and a fourth folding frame (505) are arranged in the middle of the connecting frame (501) along the forward direction; the third folding frame (504) and the fourth folding frame (505) are arranged relatively parallel to each other, and a reinforcing plate (506) is arranged on the top of the two frames; a fixing sleeve (507) is arranged on the top of the reinforcing plate (506); telescopic rods (508) are axially connected to both sides of the fixing sleeve (507); and the ends of the two telescopic rods (508) are connected to the first folding frame (502) and the second folding frame (503) respectively.

5. A robot for agriculture according to claim 4, characterized in that: The first folding frame (502), the second folding frame (503), the third folding frame (504) and the fourth folding frame (505) are respectively covered with folding belts (509), the folding belts (509) are arranged vertically relative to the ground, a plurality of folding plates (510) are evenly arranged on the folding belts (509), the folding plates (510) and the folding belts (509) are arranged vertically relative to each other, and each folding belt (509) is independently controlled by a folding motor (511) arranged on the connecting frame (501).

6. A robot for agriculture according to claim 5, characterized in that: An inner square rod (512) and an outer square rod (513) are provided between the front ends of the first and third retracting frames (502) and the front ends of the second and fourth retracting frames (505), and are sleeved with each other. Long bolt holes (514) for adjusting the length are provided at both ends of the inner square rod (512), and a cutter assembly (6) is provided on the outer square rod (513).

7. A robot for agriculture according to claim 6, characterized in that: The cutter assembly (6) further comprises a rod sleeve (606) sleeved on the outer rod (513); two symmetrically distributed branching plates (607) are arranged on the bottom surface of the rod sleeve (606); two shaft sleeves (608) are arranged on the side of the rod sleeve (606); a movable shaft (610) controlled by a cutter motor (609) is arranged in the shaft sleeve (608); a cutter shaft (601) is arranged at the bottom of the movable shaft (610) via a rotating flange (611); and a plurality of reinforcing ribs (612) are evenly arranged between the top of the rotating flange (611) and the movable shaft (610).

8. The robot for agriculture according to claim 7, characterized in that: The two cutter assemblies (6) on the same shaft sleeve (608) rotate in opposite directions.

9. The robot for agriculture according to claim 4, characterized in that: A sieve plate (7) is arranged between the bottom surfaces of the first folding frame (502) and the third folding frame (504), and between the bottom surfaces of the second folding frame (503) and the fourth folding frame (505). The sieve plate (7) is 4-8 mm away from the soil. The front edge of the sieve plate (7) is in an inclined structure. Mounting arms (71) are extended on both sides of the sieve plate (7). Strip-shaped mounting holes (72) are provided on the mounting arms (71). A plurality of sieve holes (73) are evenly provided on the sieve plate (7).

10. A robot for agriculture according to claim 9, characterized in that: The cross section of each sieve hole (73) is an hourglass-shaped structure that is wide at both ends and thin in the middle.

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