Harvesting integrated robot for vertically growing plants in soil

Abstract

The invention discloses a harvesting integrated robot for vertically growing plants in soil, which is mainly applied to the technical field of agricultural machinery and aims to solve the problems of low efficiency and high labor intensity of a traditional harvesting mode for vertically growing plants in soil. The harvester main body part comprises a ditching mechanism, which is provided with a mounting rack and a trailer; the soil loosening mechanism is arranged on the mounting frame; and the harvesting mechanism is arranged on the trailer. Taking Chinese yam harvesting as an example, all the mechanisms are driven by a tractor to work cooperatively, firstly, accurate ditching is conducted through the double-row-chain ditching mechanism, then, soil is effectively loosened through the improved plough share soil loosening mechanism so that Chinese yam can be excavated, and finally, the excavated Chinese yam is conveyed and stored through the belt harvesting and storing mechanism. Therefore, the function of integrating digging, soil loosening and harvesting is achieved. The Chinese yam harvester can greatly improve the Chinese yam harvesting efficiency and mechanization process, meets the requirements of modern agricultural production for efficient and convenient harvesting machinery, and has wide market application prospects.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a harvesting robot for plants growing vertically in the soil. Technical Background

[0002] There are many kinds of vertical growth plants in the soil. The present invention takes Chinese yam as an example. Chinese yam is one of the typical representatives of medicine and food, and has the effects of strengthening the spleen and stomach, regulating blood sugar, promoting the production of body fluid and benefiting the lungs. In recent years, with the continuous improvement of the living standards of the people and the continuous development of health care awareness, Chinese yam has become more and more popular. Different from the broad prospects of the Chinese yam market, the harvesting method of Chinese yam is still very dependent on manpower, and the degree of mechanization is relatively low. This has restricted the development of the Chinese yam industry to a certain extent.

[0003] At present, farmers still mainly harvest yams manually, digging a trench about 1 meter deep between two rows of yams to expose the yams on both sides, and then picking them up manually. This method is labor-intensive, inefficient, requires skilled personnel, and has high labor costs.

[0004] Manual trenching is time-consuming and laborious, so machines can be used for trenching. At present, trenching machines mainly include chain trenchers and spiral trenchers. Spiral trenching consumes a lot of power, and existing vertical plant harvesters in the soil mostly use chain trenchers. Although trenching machines have replaced manual trenching, the subsequent operation of digging plants out of the trench sidewalls is still done manually by farmers, so this type of trenching machine only has a single function. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides an integrated harvesting robot for plants growing vertically in the soil. The beneficial effects are as follows: a robot is provided for harvesting plants growing vertically in the soil that integrates digging, loosening the soil, and harvesting. The innovative layout of machinery for harvesting plants throughout the entire process is explored. The method of achieving the maximum digging depth in a limited space while ensuring structural strength is studied. The method of reducing the plant damage rate while filling the gap in the on-vehicle collection function of the plants is studied, thereby achieving complete automation of plant harvesting.

[0006] The harvesting robot for vertically growing plants in the soil includes a double-row chain furrowing mechanism, an improved plowshare loosening mechanism, and a belt harvesting and storage mechanism. The furrowing mechanism is connected to the rear of the tractor through a three-point suspension and is provided with a mounting frame that can be lifted; the loosening mechanism is installed on the connecting frame of the furrowing mechanism and can be telescopically operated; the storage mechanism is connected to the tractor and is located behind the furrowing mechanism and the loosening mechanism. Each mechanism works in coordination under the drive of the tractor to complete a series of plant harvesting processes.

[0007] The double-row chain ditching mechanism comprises a mounting frame, a bearing seat, a pulley driving wheel, a hydraulic rod, a driving shaft, a reduction box, a connecting frame, a double-row driving sprocket, a double-row driven sprocket, and a chain with a cutter. The mounting frame is connected to the tractor through a three-point suspension to provide support and installation foundation for the entire ditching mechanism. The bearing seat is mounted on the connecting frame to support the driving shaft. The hydraulic rod connects the mounting frame and the driving shaft, and the height of the driving shaft can be adjusted to adapt to different work requirements. The driving shaft is mounted on the bearing seat, the pulley driving wheel is mounted on the driving shaft, and the reduction box is mounted on the connecting frame and cooperates with the driving shaft to play a role of reducing speed and increasing torque. The connecting frame is mounted on the driving shaft, the double-row driving sprocket is mounted on the driving shaft and is located at one end of the connecting frame, the double-row driven sprocket is mounted at the other end of the connecting frame, and the chain with a cutter connects the double-row driving sprocket and the double-row driven sprocket. Through such a structural design, the ditching mechanism can achieve a larger excavation depth under a certain volume, and ensure the strength of the mechanism, meeting the ditching requirements of the planting depth of vertical growth plants in the soil.

[0008] The improved plowshare loosening mechanism includes a fixed mounting frame, a front shovel frame, a connecting plate, a wheel shaft bearing seat, an eccentric wheel shaft, an eccentric wheel, a belt pulley driven wheel, an eccentric wheel bearing, an eccentric wheel outer ring, a rear end shovel frame, and a shovel blade. The fixed mounting frame is mounted on the bearing seat of the furrowing mechanism, the front end shovel frame is mounted on the front position of the fixed mounting frame, and the connecting plate connects the front end shovel frame and the connecting frame of the furrowing mechanism, so that the loosening mechanism and the furrowing mechanism form a linkage. The wheel shaft bearing seat is mounted on the left and right sides of the fixed mounting frame, the eccentric wheel shaft is mounted on the wheel shaft bearing seat, the eccentric wheel is mounted on the eccentric wheel shaft, the belt pulley driven wheel is mounted on the eccentric wheel shaft and connected to the belt pulley driving wheel of the furrowing mechanism through a belt to realize power transmission. The eccentric wheel bearing is mounted on the outer ring of the eccentric wheel and wraps the eccentric wheel, the outer ring of the eccentric wheel is mounted on the outer ring of the eccentric wheel bearing and wraps the eccentric wheel bearing, the rear end shovel frame is mounted on the outer ring of the eccentric wheel, and the front end and rear end of the shovel blade are respectively connected to the front end shovel frame and the rear end shovel frame. This structural design enables the eccentric wheel to indirectly drive the shovel blade to shake, effectively compensating for the low efficiency of traditional plowshares in loosening the soil, better loosening the soil and facilitating the digging of plants.

[0009] The belt harvesting and storage mechanism consists of a motor mounting frame, a motor, an integral frame, a gear box, a universal shaft, a driving pulley, a driven pulley, a belt, a tensioning device, and a plant holding platform. The motor mounting frame is installed on the trailer, and the motor is installed on the motor mounting frame to provide power for the entire harvesting and storage mechanism. The integral frame is composed of square tubes, and the main body is rectangular, providing a mounting frame for each component. The gear box is installed on the integral frame, and the universal shaft connects the motor and the gear box to transmit the power of the motor to the gear box and change the speed. A set of driving pulleys is installed on the integral frame and connected to the gear box, and two sets of driven pulleys are installed at the front and rear ends of the integral frame respectively. The belt connects the driving pulley and the driven pulley, and the plant is transported by the rotation of the belt. The tensioning device is installed on the integral frame to adjust the tension of the belt to ensure the normal transmission of the belt. The yam holding platform is installed on the integral frame and at the rear bottom to store the harvested yam. The mechanism collects the yams after loosening the soil by means of a belt, achieving efficient harvesting and storage of vertically growing plants in the soil and improving operational efficiency.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] The integrated harvesting robot for plants growing vertically in the soil of the present invention integrates the processes of digging, loosening the soil and harvesting through the reasonable design and coordinated work of various mechanisms, and realizes the integrated operation process of digging, loosening the soil and harvesting yam in a coherent and efficient manner on a single device, which greatly improves the operation efficiency and convenience of harvesting plants growing vertically in the soil, effectively reduces labor intensity and time cost, and forms a highly integrated and automated plant harvesting solution, which has broad market application prospects and is of great significance to promoting the mechanization development of harvesting plants growing vertically in the soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The present invention is a three-dimensional diagram of the integrated harvesting robot for plants growing vertically in the soil.

[0013] Figure 2 This is a three-dimensional diagram of the integrated harvesting robot for plants growing vertically in the soil without the tractor.

[0014] Figure 3 The present invention is a three-dimensional diagram of a double-row chain trenching mechanism of a harvesting robot for vertically growing plants in the soil.

[0015] Figure 4 The present invention is a stereoscopic diagram of the improved plowshare loosening mechanism of the integrated harvesting robot for plants growing vertically in the soil.

[0016] Figure 5The present invention is a three-dimensional diagram of the belt harvesting and storage mechanism of the integrated harvesting robot for plants growing vertically in the soil.

[0017] In the figure: universal joint coupling 20, shaft 32, driving shaft 11, reduction box 42, sprocket 3, sprocket 1, sprocket 2, sprocket 3, sprocket, blade 59, pulley 9, eccentric wheel 23, pulley 24, eccentric wheel shaft 21, eccentric shaft outer ring 5, rear end shovel frame 8, shovel blade 16, motor mounting frame 53, motor 54, integral frame 32, gear box 38, universal shaft 51, driving pulley 33, driven pulley 41, belt 68, tensioning device 26, plant holding platform 41. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] See also Figure 1 and Figure 2 As shown in the figure, the harvesting robot for vertically growing plants in the soil includes a double-row chain furrowing mechanism, an improved plowshare loosening mechanism, and a belt harvesting and storage mechanism; the furrowing mechanism is connected to the back of the tractor through a three-point suspension and is provided with a mounting frame for lifting operations; the loosening mechanism is installed on the above-mentioned connecting frame and can be telescopically operated; the storage mechanism is connected to the tractor and is located behind the furrowing and loosening mechanisms.

[0020] See also Figure 3 The power system of the double-row chain ditching mechanism includes an open transmission system consisting of a tractor TPO, a universal joint coupling 20, a shaft 32, a driving shaft 11, and a reduction box 42. The rotation of the tractor TPO drives the shaft 32 to rotate and then drives the reduction box 42 to rotate; the reduction box 42 is connected to the driving shaft 11; the sprocket 1 is connected to the driving shaft 11; the sprocket 3 is connected to the driving shaft 11; the sprocket 1 is connected to the driving shaft 11; the sprocket 3 is connected to the driving shaft 11; the sprocket 1 is connected to the sprocket 2 through a chain; the sprocket 3 is connected to the sprocket 4 through a chain; therefore, when the tractor TPO outputs power, it can drive the above chains to rotate at the same time; the chain assembled with the sprocket 1, the sprocket 2, the sprocket 3 and the sprocket 4 is provided with a blade 59; the driving shaft 11 is provided with a pulley 9; when the ditching device is working, the tractor power is transmitted to the driving shaft 11 through the shaft 32, driving the sprocket 1 and the sprocket 3 to rotate and then driving the tool chain to rotate, and the tool on the tool chain begins to enter the soil to ditch. According to the planting depth requirements of vertically growing plants in the soil, the soil penetration depth of the trenching mechanism is adjusted by the hydraulic rod to ensure that the trenching depth is appropriate.

[0021] See also Figure 4The eccentric wheel 23 of the loosening mechanism is driven by the pulley 24; when the loosening mechanism is working, the pulley 9 of the furrowing mechanism drives the pulley 24 of the loosening mechanism to rotate through the belt, thereby rotating the eccentric wheel shaft 21, and the eccentric wheel 23 moves eccentrically on the eccentric wheel shaft 21, driving the eccentric shaft outer ring 5 and the rear end shovel frame 8 to do reciprocating motion, and the shovel blade 16 shakes accordingly, loosening the soil after furrowing, making the soil around the plant loose, which is convenient for subsequent harvesting.

[0022] See also Figure 5 The storage mechanism includes a motor mounting frame 53, a motor 54, an integral frame 32, a gear box 38, a universal shaft 51, a driving pulley 33, a driven pulley 41, a belt 68, a tensioning device 26, and a plant placing platform 41; the motor 54 rotates, and the power is transmitted to the gear box 38 through the universal shaft 51, and after the speed change, the driving pulley 33 is driven to rotate. The belt starts to rotate under the action of the driving pulley 33 and the driven pulley 41, and the plants exposed after loosening the soil are gathered and transported to the plant placing platform 41. During the transportation process, the tensioning device 26 can be adjusted in real time according to the relaxation of the belt to ensure that the belt always maintains a suitable tension and ensures the smooth transportation of the plants.

[0023] The present invention is directed to a harvesting robot for vertically growing plants in the soil. The robot adopts a combination of tractor PTO output and hydraulic output, and completes the harvesting of vertically growing plants in the soil by digging trenches, loosening soil, and finally gathering and harvesting, so as to realize mechanized after-sales operation of plant tubers. The harvester is pulled forward by a tractor, and the PTO and hydraulic output of the tractor are used as power sources to drive the main components to rotate and move up and down. When the unit is working, the operator drives the tractor to drive the robot for vertically growing plants in the soil to the starting position of the plant planting field, and adjusts the forward direction of the harvester. The machine is started, and the chain with a cutter of the ditching mechanism rotates, and the cutter enters the soil to start the ditching work. The loosening mechanism starts to work as the tractor moves forward. The rotation of the eccentric wheel drives the shovel blade to shake the soil around and below the plant to vibrate and loosen, and lift the plant upward. After loosening the soil, the plant enters the working area of ​​the harvesting storage mechanism as the tractor moves forward, and the motor belt starts to run continuously, and the plants exposed after loosening the soil are gathered and transported upward to the plant placing platform, completing the entire harvesting process.

[0024] Working principle:

[0025] 1. First, the tractor auxiliary output device provides power. The device is raised and lowered by the tractor's hydraulic system and connected to the tractor using a universal three-point suspension method. When the ditching device is working, the tractor's transmission output shaft provides power. After the speed is changed by the reduction box, the chain knife starts to operate, and the mechanism is lowered by the tractor's hydraulic self-falling, and digging begins. When the device is lowered to a fixed height, the angle is adjusted by the hydraulic device on the frame. The chain knife continues to operate to dig a trench.

[0026] 2. The soil loosening function is mainly achieved through vibration. Vibration can loosen the soil, reduce the adhesion between the plant and the soil, and make the plant easier to pull out of the soil. At the same time, a modified plowshare driven by an eccentric wheel is used to dig and loosen the soil. While loosening the soil, the plant is lifted upward. When the shaft rotates, it drives the eccentric wheel to rotate, causing the rear end of the digging shovel to rise and fall, making the entire digging shovel move like a lever.

[0027] 3. The main body of the conveying and collecting device is composed of two sets of pulleys. The belts on the opposite sides fit each other to clamp and convey the plants. The main body forms an angle of about 40° with the horizontal ground. The motor output speed is controlled so that the horizontal component speed of the plants conveyed to the rear after being supported and the overall forward speed of the machine offset each other, so that the plants can be pulled out vertically upward. Finally, they are placed on the holding platform, and people standing on the loading platform will collect the plants on the holding platform in a regular manner.

Claims

1. A harvesting robot for vertically growing plants in the soil, characterized in that: It includes a double-row chain furrowing mechanism, an improved plowshare loosening mechanism and a belt harvesting storage mechanism; the furrowing mechanism is connected to the rear of the tractor through a three-point suspension and is provided with a mounting frame for lifting operation; the loosening mechanism is installed on the above-mentioned connecting frame and can be telescopically operated; the storage mechanism is connected to the tractor and is located behind the furrowing and loosening mechanisms; wherein, The double-row chain ditching mechanism comprises a mounting frame, a bearing seat, a pulley driving wheel, a hydraulic rod, a driving shaft, a reduction box, a connecting frame, a double-row driving sprocket, a double-row driven sprocket, and a chain with a cutter; the mounting frame is connected to the rear of the tractor through a three-point suspension; the bearing seat is mounted on the connecting frame; the hydraulic rod connects the mounting frame and the driving shaft; the driving shaft is mounted on the bearing seat; the pulley driving wheel is mounted on the driving shaft; the reduction box is mounted on the connecting frame and cooperates with the driving shaft; the connecting frame is mounted on the driving shaft; the double-row chain driving sprocket is mounted on the driving shaft and at one end of the connecting frame; the double-row driven sprocket is mounted on the other end of the connecting frame; the chain with a cutter connects the double-row driving sprocket and the double-row driven sprocket; The improved plowshare loosening mechanism comprises a fixed mounting frame, a front end shovel frame, a connecting plate, a wheel axle bearing seat, an eccentric wheel shaft, an eccentric wheel, a pulley driven wheel, an eccentric wheel bearing, an eccentric wheel outer ring, a rear end shovel frame, and a shovel blade; the fixed mounting frame is installed on the above-mentioned bearing seat; the front end shovel frame is installed at the front position of the fixed mounting frame; the connecting plate connects the front end shovel frame and the above-mentioned connecting frame; the wheel axle bearing seat is installed on the left and right sides of the fixed mounting frame; the eccentric wheel shaft is installed on the wheel axle bearing seat; the eccentric wheel is installed on the eccentric wheel shaft; the pulley driven wheel is installed on the eccentric wheel shaft and connected to the above-mentioned pulley driving wheel through a belt; the eccentric wheel bearing is installed on the outer ring of the eccentric wheel and wraps the eccentric wheel; the eccentric wheel outer ring is installed on the outer ring of the eccentric wheel bearing and wraps the eccentric wheel bearing; the rear end shovel frame is installed on the outer ring of the eccentric wheel; the front end and rear end of the shovel blade are respectively connected to the front end shovel frame and the rear end shovel frame; The belt harvesting and storage mechanism comprises a motor mounting frame, a motor, an integral frame, a gear box, a universal shaft, a driving pulley, a driven pulley, a belt, a tensioning device, and a plant holding platform; the motor mounting frame is installed on a trailer; the motor is installed on the motor mounting frame; the integral frame is composed of square tubes and has a rectangular main body; the gear box is installed on the above-mentioned integral frame; the universal shaft connects the motor and the gear box; the set of driving pulleys is installed on the integral frame and connected to the gear box; the two sets of driven pulleys are respectively installed at the front end and the rear end of the integral frame; the belt connects the driving pulley and the driven pulley; the tensioning device is installed on the integral frame; the plant holding platform is installed on the integral frame and at the rear and lower part.

2. The harvesting robot for vertically growing plants in the soil according to claim 1, characterized in that: The integrated robot for harvesting vertically growing plants in the soil can integrate the processes of digging, loosening the soil and harvesting. Through the coordinated operation of various mechanisms, the integrated operation process of digging, loosening the soil and harvesting plants can be realized on a single device in a coherent and efficient manner, which greatly improves the efficiency and convenience of harvesting vertically growing plants in the soil, effectively reduces labor intensity and time cost, and thus forms a highly integrated and automated solution for harvesting vertically growing plants in the soil.

3. The integrated harvesting robot for vertically growing plants in the soil according to claim 1, characterized in that: Its trenching mechanism adopts a double-row sprocket with a tool chain to achieve the maximum digging depth within a certain volume and ensure the strength of the mechanism.

4. The harvesting robot for vertically growing plants in the soil according to claim 1, characterized in that: The shovel blade is indirectly connected to the eccentric wheel to drive the shovel blade to vibrate, thereby making up for the shortcoming of low soil loosening efficiency of traditional plowshares.

5. The integrated harvesting robot for vertically growing plants in the soil according to claim 1, characterized in that: The belt harvesting and storage mechanism collects the vertically growing plants in the soil after loosening the soil by means of belts. The belt running speed is the same as the forward speed of the tractor, so that the plants are only subjected to axial force during the harvesting process, greatly reducing the damage rate.

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