A caterpillar type greenhouse pepper branch lifting device and a branch lifting method thereof

Abstract

The application discloses a caterpillar type greenhouse pepper branch lifting device and a branch lifting method thereof, and belongs to the technical field of agricultural machinery. The caterpillar type greenhouse pepper branch lifting device comprises a rack, a walking mechanism for driving the branch lifting device to walk is arranged on the rack, a clamping hook mechanism for clamping and fixing a lifting hook is arranged at the front end of the rack, a branch clamping mechanism is arranged on one side of the rack, the branch clamping mechanism sends a pepper branch to the clamping hook mechanism, and the pepper branch is lifted by the lifting hook; the clamping hook mechanism comprises a funnel structure for capturing the lifting hook, an extraction structure for extracting the lifting hook from the funnel structure is arranged above the funnel structure, and a transmission mechanism for driving the funnel structure and the extraction structure to move and cooperate to lift the branch by the lifting hook is arranged on the rack. The caterpillar type greenhouse pepper branch lifting device and the branch lifting method thereof can solve the problems of low mechanization degree, low efficiency and high labor intensity of manual branch lifting of the existing pepper branch lifting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a caterpillar type greenhouse pepper branch lifting device and a branch lifting method thereof. BACKGROUND

[0002] Pepper is an annual or limited perennial plant of Solanaceae Lamiaceae, rich in various vitamins, capsaicin and other nutritional functional ingredients, and can be used as medicine and food. Pepper is an important economic crop in China. Although the planting area and output value of pepper are large, the mechanization level of key links such as seedling raising, field management and harvesting is still relatively lagging behind.

[0003] Pepper branch lifting is a key link to ensure the quality and yield of pepper in field management. Because the plant branches of pepper after new pruning are relatively long, they are easy to bend down or even break, so when the branches grow to a certain length, lifting operation is needed. Pepper branch lifting mainly uses lifting rope to fix the stem, takes advantage of the softness and easy adjustment of the lifting rope, fixes the branches in position with the lifting rope, makes the branches evenly distributed in the field, reasonably densely planted and fully absorbs sunlight, and guides the branches to grow upward, which is beneficial to improve the quality and yield of pepper.

[0004] The main method of lifting rope lifting is manual lifting, which is low in efficiency, high in labor cost, high in labor intensity and high in risk coefficient. The time of pepper branch lifting is relatively concentrated, and there is a problem of short-term labor shortage. The number of branches of pepper is large, and the labor intensity and labor cost are high. In addition, the temperature in the pepper greenhouse is usually 4-5 degrees higher than the outside temperature, and the lifter in the greenhouse will have the risk of heat stroke, falling injury and other risks, and will have backache after working for a long time. SUMMARY

[0005] The purpose of the present application is to provide a caterpillar type greenhouse pepper branch lifting device and a branch lifting method thereof, which solves the problems of low efficiency, high labor intensity and high labor cost of manual lifting of existing pepper branch lifting mechanization.

[0006] To achieve the above purpose, the present application provides a caterpillar type greenhouse pepper branch lifting device, which comprises a rack, a walking mechanism for driving the branch lifting device to walk is arranged on the rack, a hook clamping mechanism for clamping and fixing a lifting hook is arranged at the front end of the rack, a branch clamping mechanism is arranged on one side of the rack, the branch clamping mechanism sends the pepper branches to the hook clamping mechanism, and the lifting hook is used for lifting the pepper branches; the hook clamping mechanism comprises a funnel structure for capturing the lifting hook, an extraction structure for extracting the lifting hook from the funnel structure is arranged above the funnel structure, and a transmission mechanism for driving the funnel structure and the extraction structure to move and cooperate with the lifting hook for lifting is arranged on the rack.

[0007] Preferably, the transmission mechanism comprises a mounting frame arranged at the front end of the frame, the frame is provided with a lifting element for lifting the mounting frame, the funnel structure and the extraction structure are arranged on the mounting frame, the mounting frame is provided with a sliding structure for horizontally sliding the extraction structure, the sliding structure is provided with a lifting structure for lifting the extraction structure, and the sliding structure is provided with a moving structure for moving the funnel structure.

[0008] Preferably, the sliding structure comprises a first motor with double outputs, a horizontal second screw shaft is arranged on one output shaft of the first motor, the second screw shaft is rotationally connected with the mounting frame, a sliding block matched with the second screw shaft is arranged on the second screw shaft, the mounting frame is provided with a track for guiding the horizontal sliding of the sliding block, the sliding block is connected with a second sliding block through a connecting plate, the second sliding block is located at the lower part of the mounting frame, the mounting frame is provided with a guide rail for guiding the horizontal sliding of the second sliding block, a vertical second sliding rod is arranged on the second sliding block, a fixed block is arranged on the second sliding rod, the fixed block is connected with a first sliding block through a connecting rod, the second sliding block drives the first sliding block to slide synchronously through the second sliding rod, the fixed block and the connecting rod, the extraction structure is arranged on the first sliding block, and the lifting structure is provided with a first sliding rod for supporting the first sliding block, and the first sliding block is slidingly connected with the first sliding rod.

[0009] Preferably, the lifting structure comprises a rotating rod rotationally arranged on the mounting frame, a first pulley is arranged on the rotating rod, the first pulley is drivingly connected with a driving pulley arranged on the second screw shaft through a first transmission belt, a second pulley is arranged on the rotating rod, the second pulley is drivingly connected with a third pulley through a second transmission belt, the third pulley is located directly below the second pulley, the third pulley is rotationally connected with the mounting frame, and a mounting plate is fixedly arranged on the second transmission belt. The first sliding rod is arranged on the mounting plate, and the second transmission belt drives the first sliding rod to slide up and down through the mounting plate.

[0010] Preferably, the moving structure comprises a fourth pulley arranged on the other output shaft of the first motor, a fifth pulley is arranged directly below the fourth pulley, the fifth pulley is rotationally connected with the mounting frame, the fourth pulley and the fifth pulley are drivingly connected through a third transmission belt, a first bevel gear is arranged on the wheel shaft of the fifth pulley, a second bevel gear meshing with the first bevel gear is arranged on a vertical rotating shaft, the rotating shaft is rotationally connected with the mounting frame, a first connecting rod is fixedly arranged at the bottom end of the rotating shaft, the first connecting rod is connected with a third sliding block through a second connecting rod, the two ends of the second connecting rod are hingedly connected with the first connecting rod and the third sliding block, respectively, the mounting frame is provided with a track for guiding the horizontal sliding of the third sliding block, and the funnel structure is arranged on the third sliding block.

[0011] Preferably, the funnel structure includes a shell, the top of the shell is provided with a cover, the funnel-shaped cover is provided with a hook passing opening, the inside of the shell is rotatably provided with a clamping seat, the clamping seat is provided with a clamping groove for inserting the hook, the bottom of the clamping seat is provided with a central shaft, the central shaft is rotatably connected with the shell, the bottom end of the central shaft is provided with a transmission gear, the mounting frame is provided with a horizontally arranged fixed rack engaged with the transmission gear, when the third sliding block drives the funnel structure to slide, the clamping seat rotates under the action of the transmission gear and the fixed rack, the central shaft is provided with a first gear, the two sides of the clamping seat are respectively provided with a transmission shaft, the transmission shaft is rotatably connected with the shell through a bearing seat, the bottom end of the transmission shaft is provided with a second gear engaged with the first gear, the top end of the transmission shaft is provided with an incomplete third gear, the third gear is engaged with a first rack slidably arranged in the limiting seat, the limiting seat is fixedly arranged in the shell, the first rack is located above the clamping seat, when the clamping seat rotates, the first rack slides through the first gear, the second gear and the third gear, and the hook in the clamping groove is positioned.

[0012] Preferably, the extraction structure includes a fixed frame, the fixed frame is fixed on the first sliding block, the inside of the fixed frame is provided with an intermediate gear, the fixed frame is provided with a second motor for driving the intermediate gear to rotate, the fixed frame is slidably provided with two opposite clamping seats, the clamping seats are provided with second racks, the second racks on the two clamping seats are located on the two sides of the intermediate gear and engaged with the intermediate gear, the fixed frame is provided with limiting grooves for guiding the horizontal sliding of the clamping seats, the inside of the fixed frame is provided with guide grooves for guiding the horizontal sliding of the second racks, the opposite sides of the two clamping seats are provided with positioning blocks, the two positioning blocks are coaxially arranged, the positioning blocks are adapted to the positioning holes arranged on the upper parts of the first clamping jaw and the second clamping jaw of the hook, the intermediate parts of the first clamping jaw and the second clamping jaw are hingedly connected through a pin shaft, the pin shaft is provided with a torsional spring for keeping the first clamping jaw and the second clamping jaw clamped, the clamping seats are positioned and clamped the hook through the positioning blocks and the positioning holes.

[0013] Preferably, the branch clamping mechanism includes an electric push rod, the electric push rod is fixedly arranged on the mounting rod, the support frame of the rack is provided with a movement module for driving the mounting rod to move in the horizontal plane and the longitudinal direction, the piston rod of the electric push rod is provided with a connecting seat, the end of the connecting seat is hingedly connected with a movable rod, the electric push rod is provided with a fixed rod, the middle part of the fixed rod is hingedly connected with the movable rod, the top end of the fixed rod is hingedly connected with a rotating bar on the side facing the movable rod, the fixed rod is provided with a micro switch, the L-shaped rotating bar and the connecting shaft of the fixed rod are provided with a torsional spring for keeping the rotating bar away from the micro switch.

[0014] Preferably, the walking mechanism includes a mounting base, which is fixedly mounted on both sides of the support frame. A transmission box is provided between the tops of the mounting base, and a walking motor is provided on the transmission box. The walking motor drives the drive wheel to rotate through the transmission box. The drive wheel is located above the mounting base and is rotatably connected to the mounting base. Support wheels are rotatably provided at both ends of the mounting base. A track is provided between the drive wheel and the support wheels. A guide wheel for supporting the track is rotatably provided in the middle of the mounting base.

[0015] The method for suspending pepper branches based on the above-mentioned tracked greenhouse pepper suspending device includes the following steps:

[0016] S1. Start the walking motor. The walking motor drives the tracks to rotate through the drive wheel, which in turn moves the entire hanging branch device between the chili rows.

[0017] S2. The camera installed on the support frame identifies the pre-installed hanging hook. After the hook is identified, the walking motor stops and the entire lifting device stops moving. The motor drives the first lead screw to rotate, the first lead screw drives the mounting frame to rise, the mounting frame drives the funnel structure to rise, and the hook is inserted into the slot through the socket.

[0018] S3. The first motor starts, driving the second lead screw to rotate. The second lead screw drives the slide block to slide to the right. The slide block drives the second slider to slide to the right via the connecting plate. The second slider drives the first slider to slide to the right synchronously via the second slide rod, the fixed block, and the connecting rod. Simultaneously, the second lead screw drives the rotating rod to rotate via the first transmission belt and the first pulley. The rotating rod drives the second transmission belt to rotate via the second pulley and the third pulley. The second transmission belt drives the mounting plate to descend. The mounting plate drives the first slider to descend via the first slide rod. The first slider drives the extraction structure to move to the lower right.

[0019] S4. Simultaneously, the first motor drives the fifth pulley to rotate via the fourth pulley and the third transmission belt. The fifth pulley drives the first bevel gear to rotate, and the first bevel gear drives the rotating shaft to rotate via the second bevel gear. The rotating shaft drives the third slider to move to the right via the first and second connecting rods. The third slider drives the funnel structure to move to the right. During the movement of the funnel structure, the transmission gear meshes with the fixed rack. The transmission gear drives the chuck to rotate, and the chuck drives the hook to rotate, adjusting the position of the hook. The chuck drives the transmission shaft to rotate via the first and second gears. The transmission shaft drives the first rack to slide via the third gear. The two first racks position and clamp the hook on both sides.

[0020] S5. When the funnel structure moves to the rightmost end, the extraction structure moves directly above the funnel structure, and the positioning block on the clamp corresponds to the positioning hole on the hook. The second motor starts, and the second motor drives the two clamps to slide relative to each other through the intermediate gear and the second rack. The two clamps are connected to the hook by inserting the positioning block into the positioning hole.

[0021] S6. The first motor reverses, driving the funnel structure to move to the left. The two first racks slide in opposite directions, releasing the hook. The extraction structure moves from the lower right corner to the upper left corner, and the clamping seat moves the hook out of the clamping seat. When the extraction structure moves from the lower right corner to the middle, the funnel structure moves to the leftmost end. When the extraction structure moves from the middle to the upper left corner, the funnel structure moves to the rightmost end to avoid interference with the clamping mechanism.

[0022] S7. The camera installed on the support frame identifies the chili pepper branches. After the branches are identified, the moving module moves the clamping mechanism to the branch through the mounting rod. The branch pushes the rotating bar to rotate. The bottom of the rotating bar pushes the micro switch, the electric push rod extends, and the electric push rod drives the movable rod to rotate through the connecting seat. The movable rod moves towards the fixed rod, clamping the branch between the fixed rod and the movable rod.

[0023] S8. The moving module moves the branch clamping mechanism to below the hook via the mounting rod. The second motor drives the first and second jaws of the hook to rotate and open via the clamping seat and positioning block. The motor drives the first lead screw to reverse, which drives the mounting frame to move downward. The mounting frame drives the hook to move downward, and the branch is inserted into the hook. The second motor reverses, and the two clamping seats move away from each other. The first and second jaws close under the action of the torsion spring, inserting the branch into the hook and completing the branch lifting.

[0024] S9. The electric push rod retracts, the connecting seat drives the movable rod to rotate in the opposite direction, the rotating bar rotates in the opposite direction, and the micro switch resets; the moving module drives the clamping mechanism to move to the left and reset through the mounting rod; the second motor rotates in the forward direction, the funnel structure moves from the rightmost end to the leftmost end, and the extraction structure moves from the upper left corner to the middle position and resets, waiting for the next branch lifting.

[0025] The advantages and positive effects of the tracked greenhouse pepper trellis hanging device and its hanging method described in this invention are as follows:

[0026] 1. The present invention is provided with a funnel structure. With the assistance of a vision system, the hook is grasped and positioned by the funnel structure, which improves the accuracy of hook positioning and facilitates the lifting of branches by the hook.

[0027] 2. This invention uses a transmission mechanism to coordinate the movements of the funnel structure and the extraction structure, thereby achieving automatic gripping and lifting of the hook, optimizing the mechanical structure, and improving the coordination of the movements of the funnel structure and the extraction structure.

[0028] 3. The hanging device described in this invention realizes the automated hanging operation of chili peppers, reducing labor and labor costs and improving hanging efficiency.

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention;

[0031] Figure 2 This is a three-dimensional structural diagram of the walking mechanism according to an embodiment of the present invention;

[0032] Figure 3 This is a three-dimensional structural diagram of the clamping hook mechanism according to an embodiment of the present invention;

[0033] Figure 4 for Figure 3 Enlarged view of A in the middle;

[0034] Figure 5 for Figure 3 Enlarged view of B in the middle;

[0035] Figure 6 This is a schematic diagram of the moving structure according to an embodiment of the present invention;

[0036] Figure 7 This is a three-dimensional schematic diagram of the funnel structure according to an embodiment of the present invention;

[0037] Figure 8 This is a top view of the funnel structure according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the internal structure of the funnel structure according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the extraction structure according to an embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the internal structure of the extraction structure according to an embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of the hook structure according to an embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of the clamping mechanism according to an embodiment of the present invention;

[0043] Figure 14 This is a schematic diagram of the control system structure according to an embodiment of the present invention.

[0044] Figure Labels

[0045] 1. Frame; 11. Support frame; 12. Moving module; 13. Mounting rod;

[0046] 2. Walking mechanism; 21. Mounting base; 22. Transmission box; 23. Walking motor; 24. Drive wheel; 25. Track; 26. Support wheel; 27. Guide wheel;

[0047] 3. Clamping hook mechanism; 31. Mounting bracket; 32. First lead screw; 33. First motor; 34. Second lead screw; 35. Rotating rod; 36. First pulley; 37. First transmission belt; 38. Slide block; 39. Connecting plate; 310. Second pulley; 311. Second transmission belt; 312. Third pulley; 313. Mounting plate; 314. First sliding rod; 315. First slider; 316. Fixing frame; 317. Second slider; 318. Guide rail; 319. Second sliding rod; 320. Fixing block; 321. Connecting rod; 322. Hook; 323. Fourth pulley; 324. Third transmission belt; 325. Fifth pulley; 326. First bevel gear; 327. 328. Rotating shaft; 329. Second bevel gear; 330. First connecting rod; 331. Second connecting rod; 332. Third slider; 333. Fixed rack; 333. Transmission gear; 334. Housing; 335. Cover; 336. Insert; 337. Card holder; 338. Card slot; 339. First gear; 340. Transmission shaft; 341. Second gear; 342. Third gear; 343. Limiting seat; 344. First rack; 345. Second motor; 346. Clamping seat; 347. Limiting groove; 348. Guide groove; 349. Intermediate gear; 350. Second rack; 351. Positioning block; 352. First gripper; 353. Second gripper; 354. Positioning hole;

[0048] 4. Clamping mechanism; 41. Electric actuator; 42. Connecting seat; 43. Movable rod; 44. Fixed rod; 45. Rotating bar; 46. Micro switch. Detailed Implementation

[0049] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0051] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0052] like Figure 1 As shown. A tracked greenhouse pepper trellis hanging device includes a frame 1, which is a rigid structure assembled from steel or aluminum alloy by welding or screws. A traveling mechanism 2 is provided on the frame 1 to drive the hanging device. A clamping mechanism 3 is provided at the front end of the frame 1 to clamp and fix the hanging hook 322. The clamping mechanism 3 includes a funnel structure for capturing the hanging hook 322, which is used to fix the pre-installed hanging hook 322 and deliver it to an extraction structure. An extraction structure is provided above the funnel structure to extract the hanging hook 322 from the funnel structure. A transmission mechanism is provided on the frame 1 to move the funnel structure and the extraction structure in coordination with the hanging hook 322 for trellising. A trellis clamping mechanism 4 is provided on one side of the frame 1, which feeds the pepper trellis into the hanging hook 322 for trellising.

[0053] like Figure 2 As shown. The traveling mechanism 2 includes a mounting base 21, which is fixedly mounted on both sides of the support frame 11. A transmission box 22 is disposed between the top of the mounting base 21, and a traveling motor 23 is disposed on the transmission box 22. The traveling motor 23 drives the drive wheel 24 to rotate through the transmission box 22. The drive wheel 24 is located above the mounting base 21 and is rotatably connected to the mounting base 21 through bearings. The structure inside the transmission box 22 can be set up using existing structures as needed to achieve the rotation of the drive wheel 24. Support wheels 26 are rotatably mounted on both ends of the mounting base 21 through bearing seats, and a track 25 is disposed between the drive wheel 24 and the support wheels 26. The drive wheel 24 and the support wheels 26 form a triangular track 25 structure. A guide wheel 27 is rotatably mounted on the middle of the mounting base 21 through bearings to support the track 25.

[0054] To adapt to various greenhouse growing environments for chili peppers, including flat and sloping ground, and to ensure the lifting device can move smoothly within the chili pepper rows and complete its lifting task, the lifting machine adopts a triangular tracked 25-type walking mechanism 2. The tracked 25-type walking mechanism 2 effectively overcomes obstacles such as potholes and uneven surfaces in the chili pepper rows and provides good power. Furthermore, compared to tires, the tracked 25 has a larger ground contact area, effectively reducing the average pressure of the vehicle on the soil. Considering the machine's need to travel in farmland, the triangular tracked 25 structure has advantages such as a short cross-sectional length and a small turning radius, ensuring the lifting device can move freely within each chili pepper row.

[0055] The support frame 11 is 50cm wide and 0.8m long. The track 25 is a cored gold rubber track 25, the track 25 is 10cm wide, and the distance between two tracks 25 is 30cm.

[0056] like Figure 3 As shown. The transmission mechanism includes a mounting frame 31, which is located at the front end of the frame 1. A lifting element, a first lead screw 32, is mounted on the frame 1 to drive the mounting frame 31 up and down. The first lead screw 32 is rotatably connected to the support frame 11 of the frame 1 via bearings. A motor that drives the first lead screw 32 to rotate is mounted on the support frame 11. Both the funnel structure and the extraction structure are mounted on the mounting frame 31. The mounting frame 31 has a sliding structure that drives the extraction structure to slide horizontally, a lifting structure that drives the extraction structure up and down, and a moving structure that drives the funnel structure to move.

[0057] like Figure 4 As shown. The sliding structure includes a dual-output first motor 33, which is fixed to a mounting bracket 31. A horizontal second lead screw 34 is fixedly mounted on one output shaft of the first motor 33, and the second lead screw 34 is rotatably connected to the mounting bracket 31 via bearings. A slide block 38 adapted to the second lead screw 34 is provided on the second lead screw 34, and a track that guides the horizontal sliding of the slide block 38 is provided on the mounting bracket 31. The slide block 38 is fixedly connected to a second slider 317 via a connecting plate 39. The second slider 317 is located at the lower part of the mounting bracket 31, and a guide rail 318 that guides the horizontal sliding of the second slider 317 is fixedly mounted on the mounting bracket 31. A vertical second slide rod 319 is provided on the second slide rod 319, and a fixing block 320 is provided on the second slide rod 319. The fixing block 320 is connected to the first slider 315 via a connecting rod 321. The second slider 317 drives the first slider 315 to slide synchronously through the second slide rod 319, the fixing block 320, and the connecting rod 321. The extraction structure is set on the first slider 315, and the lifting structure is fixedly provided with a first slide rod 314 to support the first slider 315. The first slider 315 and the first slide rod 314 are slidably connected.

[0058] like Figure 5 As shown. The lifting structure includes a rotating rod 35, which is rotatably mounted on a mounting frame 31 via a bearing seat. A first pulley 36 is fixedly mounted on the rotating rod 35, and the first pulley 36 is connected to a drive pulley fixedly mounted on a second lead screw 34 via a first transmission belt 37. A second pulley 310 is fixedly mounted on the rotating rod 35, and the second pulley 310 is connected to a third pulley 312 via a second transmission belt 311. The third pulley 312 is located directly below the second pulley 310, and the third pulley 312 is rotatably connected to the mounting frame 31 via a bearing seat. A mounting plate 313 is fixedly mounted on the second transmission belt 311, and a first sliding rod 314 is fixedly mounted on the mounting plate 313. The second transmission belt 311 drives the first sliding rod 314 to slide up and down via the mounting plate 313.

[0059] like Figure 6 As shown. The moving structure includes a fourth pulley 323, which is fixedly mounted on another output shaft of the first motor 33. A fifth pulley 325 is positioned directly below the fourth pulley 323, and the fifth pulley 325 is rotatably connected to the mounting bracket 31 via a bearing seat. The fourth pulley 323 and the fifth pulley 325 are connected by a third transmission belt 324. A first bevel gear 326 is fixedly mounted on the axle of the fifth pulley 325, and a second bevel gear 328 meshing with the first bevel gear 326 is fixedly mounted on a vertically positioned rotating shaft 327. The rotating shaft 327 is rotatably connected to the mounting bracket 31 via a bearing seat. A first connecting rod 329 is fixedly mounted at the bottom end of the rotating shaft 327, and the first connecting rod 329 is connected to a third slider 331 via a second connecting rod 330. The two ends of the second connecting rod 330 are hinged to the first connecting rod 329 and the third slider 331, respectively. The mounting bracket 31 is fixedly provided with a track that guides the horizontal sliding of the third slider 331, and the funnel structure is provided on the third slider 331.

[0060] like Figure 7 , Figure 8 , Figure 9As shown. The funnel structure includes an outer shell 334, with a cover 335 at the top of the outer shell 334. The funnel-shaped cover 335 has an insertion port 336 through which a hook 322 passes. The funnel-shaped cover 335 facilitates the insertion of the hook 322 into the insertion port 336. A retaining seat 337 is rotatably mounted inside the outer shell 334. The retaining seat 337 has a slot 338 for inserting the hook 322 into the retaining seat 337. The size of the slot 338 is slightly larger than the size of the hook 322 to facilitate insertion of the hook 322 into the slot 338. A central shaft is fixedly mounted at the bottom of the retaining seat 337, and the central shaft is rotatably connected to the outer shell 334 via a bearing. A transmission gear 333 is fixedly mounted at the bottom end of the central shaft. A horizontally mounted fixed rack 332 that meshes with the transmission gear 333 is fixedly mounted on the mounting bracket 31. When the third slider 331 drives the funnel structure to slide, the clamping seat 337 rotates under the action of the transmission gear 333 and the fixed rack 332. A first gear 339 is fixedly installed on the central shaft, and a transmission shaft 340 is respectively installed on both sides of the clamping seat 337. The transmission shaft 340 is rotatably connected to the outer shell 334 through a bearing seat. A second gear 341 that meshes with the first gear 339 is fixedly installed at the bottom end of the transmission shaft 340. An incomplete third gear 342 is fixedly installed at the top end of the transmission shaft 340, and the third gear 342 meshes with the first rack 344 that slides inside the limiting seat 343. The limiting seat 343 is fixedly installed inside the outer shell 334. The first rack 344 is located above the clamping seat 337. When the clamping seat 337 rotates, it drives the first rack 344 to slide through the first gear 339, the second gear 341, and the third gear 342, clamping and positioning the hook 322 in the clamping slot 338, so that the extraction structure can accurately extract the hook 322.

[0061] like Figure 10 , Figure 11 , Figure 12As shown. The extraction structure includes a fixed frame 316, which is fixed to the first slider 315. An intermediate gear 349 is disposed inside the fixed frame 316, and a second motor 345 is mounted on the fixed frame 316 to drive the intermediate gear 349 to rotate. Two opposing clamps 346 are slidably disposed on the fixed frame 316, and a second rack 350 is fixedly disposed on each clamp 346. The second racks 350 on the two clamps 346 are located on both sides of the intermediate gear 349 and mesh with it. The fixed frame 316 has a limiting groove 347 that guides the horizontal sliding of the clamps 346, and a guide groove 348 that guides the horizontal sliding of the second racks 350 is disposed inside the fixed frame 316. Positioning blocks 351 are fixedly disposed on the opposite sides of the two clamps 346, and the two positioning blocks 351 are coaxially arranged. The positioning block 351 is adapted to the positioning holes 354 provided on the upper part of the first jaw 352 and the second jaw 353 of the hook 322. The middle parts of the first jaw 352 and the second jaw 353 are hinged by a pin, and a torsion spring is provided on the pin to keep the first jaw 352 and the second jaw 353 clamped. The clamping seat 346 is positioned and clamps the hook 322 by the positioning block 351 and the positioning holes 354.

[0062] like Figure 13 As shown. The clamping mechanism 4 includes an electric actuator 41, which is fixedly mounted on the mounting rod 13. A moving module 12 is provided on the support frame 11 of the frame 1 to drive the mounting rod 13 to move laterally and longitudinally in the horizontal plane. The moving module 12 adopts an existing structure. A connecting seat 42 is fixedly mounted on the piston rod of the electric actuator 41, and a movable rod 43 is hinged to the end of the connecting seat 42. The bottom end of the movable rod 43 is provided with an elongated connecting hole to meet the rotation requirements of the movable rod 43, and the connecting seat 42 is hinged to the movable rod 43 through the connecting hole. A fixed rod 44 is fixedly mounted on the electric actuator 41 and is hinged to the middle of the movable rod 43. A rotating bar 45 is hinged to the top of the fixed rod 44 on the side facing the movable rod 43. A micro switch 46 is provided on the fixed rod 44, and a torsion spring is provided on the connecting shaft between the L-shaped rotating bar 45 and the fixed rod 44 to keep the rotating bar 45 open away from the micro switch 46.

[0063] The frame 1 is equipped with a camera and a control system. Electrical components such as the camera, electric actuator 41, motors, first motor 33, and second motor 345 are all electrically connected to the control system using existing technologies as needed. For the camera's identification and positioning of the hook 322 and the branch, the existing deep learning algorithm YOLOv5 is used for target detection and recognition. YOLOv5 has high real-time performance, high accuracy, and high efficiency in object recognition. Deployed on the machine, it can accurately identify and precisely position the hook 322 and the branch to be hoisted. Considering the uncertainty of the machine's posture during movement, YOLOv5 is used to enable the machine to quickly and accurately position the hook 322 and the branch.

[0064] The control system includes a host computer, a slave computer, and a human-machine interface (HMI) controller. The HMI controller is a PyQt5-based GUI controller, the slave computer uses an STM32 microcontroller, and the host computer is an industrial all-in-one machine. For machine control, a GUI interface was developed on the PC using Python's PyQt5. Data is received and sent between the host PC and the slave STM32 microcontroller via serial communication, facilitating operator control. The communication flowchart between the host and slave computers is shown below. Figure 14 As shown. The GUI interface allows for the control of the machine in all directions, displaying the actions of each step. The control system is not the focus of this invention; existing technologies are used to implement the control system settings, which will not be elaborated upon here.

[0065] The method for suspending pepper branches based on the above-mentioned tracked type 25 greenhouse pepper suspending device includes the following steps:

[0066] S1. Start the walking motor 23. The walking motor 23 drives the track 25 to rotate through the drive wheel 24, which in turn drives the entire hanging branch device to move between the chili rows.

[0067] S2. The camera installed on the support frame 11 identifies the pre-installed suspended hook 322. After the hook 322 is identified, the travel motor 23 stops, and the entire suspension device stops moving. The motor drives the first lead screw 32 to rotate, the first lead screw 32 drives the mounting frame 31 to rise, the mounting frame 31 drives the funnel structure to rise, and the hook 322 is inserted into the slot 338 through the insertion port 336.

[0068] S3, such as Figure 1 As shown. The first motor 33 starts, driving the second lead screw 34 to rotate. The second lead screw 34 drives the slide block 38 to slide to the right. The slide block 38, through the connecting plate 39, drives the second slider 317 to slide to the right. The second slider 317, through the second slide rod 319, the fixing block 320, and the connecting rod 321, drives the first slider 315 to slide synchronously to the right. Simultaneously, the second lead screw 34, through the first transmission belt 37 and the first pulley 36, drives the rotating rod 35 to rotate. The rotating rod 35, through the second pulley 310 and the third pulley 312, drives the second transmission belt 311 to rotate. The second transmission belt 311 drives the mounting plate 313 to descend. The mounting plate 313, through the first slide rod 314, drives the first slider 315 to descend. Under the action of the first slide rod 314 and the connecting rod 321, the first slider 315 moves the extraction structure from the middle position to the lower right.

[0069] S4. Simultaneously, the first motor 33 drives the fifth pulley 325 to rotate via the fourth pulley 323 and the third transmission belt 324. The fifth pulley 325 drives the first bevel gear 326 to rotate. The first bevel gear 326 drives the rotating shaft 327 to rotate via the second bevel gear 328. The rotating shaft 327 drives the third slider 331 to move to the right via the first connecting rod 329 and the second connecting rod 330. The third slider 331 drives the funnel structure to move to the right. During the movement of the funnel structure, the transmission gear 333 meshes with the fixed rack 332. The transmission gear 333 drives the clamp 337 to rotate. The clamp 337 drives the hook 322 to rotate, adjusting the position of the hook 322. The clamp 337 drives the transmission shaft 340 to rotate via the first gear 339 and the second gear 341. The transmission shaft 340 drives the first rack 344 to slide via the third gear 342. The two first racks 344 position and clamp the hook 322 on both sides.

[0070] S5. When the funnel structure moves to the rightmost end, the extraction structure moves directly above the funnel structure, and the positioning block 351 on the clamp 346 corresponds to the positioning hole 354 on the hook 322. The second motor 345 starts, and the second motor drives the two clamps 346 to slide relative to each other through the intermediate gear 349 and the second rack 350. The two clamps 346 connect the hook 322 to the clamps 346 by inserting the positioning block 351 into the positioning hole 354.

[0071] S6. The first motor 33 reverses direction, driving the funnel structure to move to the left. The two first racks 344 slide in opposite directions, releasing the hook 322. The extraction structure moves from the lower right corner to the upper left corner, and the clamp 346 drives the hook 322 to move out of the holder 337. When the extraction structure moves from the lower right corner to the middle, the funnel structure moves to the leftmost end; when the extraction structure moves from the middle to the upper left corner, the funnel structure moves to the rightmost end to avoid interference with the clamping mechanism 4 on the left.

[0072] S7. The camera installed on the support frame 11 identifies the chili pepper branches. After the branches are identified, the moving module 12 drives the clamping mechanism 4 to move to the branch via the mounting rod 13. The branch pushes the rotating bar 45 to rotate. The bottom end of the rotating bar 45 pushes the micro switch 46, and the electric push rod 41 extends. The electric push rod 41 drives the movable rod 43 to rotate via the connecting seat 42. The movable rod 43 moves towards the fixed rod 44, clamping the branch between the fixed rod 44 and the movable rod 43.

[0073] S8. The moving module 12 moves the clamping mechanism 4 below the hook 322 via the mounting rod 13. The second motor 345 drives the first jaw 352 and the second jaw 353 of the hook 322 to rotate and open via the clamping seat 346 and the positioning block 351. The motor drives the first lead screw 32 to reverse, which in turn drives the mounting frame 31 to move downward. The mounting frame 31 then drives the hook 322 to move downward, and the branch is inserted into the hook 322. The second motor 345 reverses, and the two clamping seats 346 move away from each other. The first jaw 352 and the second jaw 353 close under the action of the torsion spring, inserting the branch into the hook 322, thus completing the branch lifting.

[0074] S9, the electric actuator 41 retracts, the connecting seat 42 drives the movable rod 43 to rotate in the opposite direction, the rotating bar 45 rotates in the opposite direction, and the micro switch 46 resets. The moving module 12 drives the clamping mechanism 4 to move to the left and reset via the mounting rod 13; the second motor 345 rotates in the forward direction, the funnel structure moves from the rightmost end to the leftmost end, and the extraction structure moves from the upper left corner to the middle position and resets, waiting for the next lifting operation.

[0075] Therefore, the tracked greenhouse pepper hanging device and its hanging method described in this invention can solve the problems of poor mechanization of existing pepper hanging, low efficiency of manual hanging, high labor intensity and high labor cost.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A pepper hanging device for a track-type greenhouse, characterized in that: The application relates to a pepper branch lifting device, which comprises a rack, a walking mechanism arranged on the rack and used for driving a lifting branch device to walk, a clamping hook mechanism arranged at the front end of the rack and used for clamping and fixing a lifting hook, and a branch clamping mechanism arranged on one side of the rack and used for feeding pepper branches to the clamping hook mechanism and lifting the pepper branches through the lifting hook. The funnel structure is arranged on a third sliding block, a rail for guiding the horizontal sliding of the third sliding block is arranged on a mounting frame of the transmission mechanism, and the mounting frame is arranged at the front end of the rack; the funnel structure comprises an outer shell, a cover is arranged on the top of the outer shell, a socket for allowing the lifting hook to pass through is arranged on the cover, a clamping seat is rotatably arranged in the outer shell, a clamping groove for allowing the lifting hook to be inserted into the clamping seat is arranged on the clamping seat, a central shaft is arranged at the bottom of the clamping seat and is rotatably connected with the outer shell, a transmission gear is arranged at the bottom end of the central shaft, a horizontal fixed rack meshing with the transmission gear is arranged on the mounting frame, when the third sliding block drives the funnel structure to slide, the clamping seat rotates under the action of the transmission gear and the fixed rack, a first gear is arranged on the central shaft, a transmission shaft is arranged on each side of the clamping seat and is rotatably connected with the outer shell through a bearing seat, a second gear meshing with the first gear is arranged at the bottom end of the transmission shaft, an incomplete third gear is arranged at the top end of the transmission shaft, the third gear meshes with a first rack slidingly arranged in a limiting seat, the limiting seat is fixedly arranged in the outer shell, and the first rack is located above the clamping seat; when the clamping seat rotates, the first rack slides through the first gear, the second gear and the third gear, and the lifting hook in the clamping groove is positioned.

2. The chain type greenhouse pepper branch lifting device according to claim 1, characterized in that: The transmission mechanism comprises a mounting frame, a lifting element for driving the mounting frame to lift is arranged on the rack, the funnel structure and the extraction structure are arranged on the mounting frame, a sliding structure for driving the extraction structure to horizontally slide is arranged on the mounting frame, a lifting structure for driving the extraction structure to lift is arranged on the sliding structure, and a moving structure for driving the funnel structure to move is arranged on the sliding structure.

3. The chain type greenhouse pepper branch lifting device according to claim 2, characterized in that: The sliding structure comprises a first motor with double outputs, a horizontal second screw rod is arranged on one output shaft of the first motor and is rotatably connected with the mounting frame, a sliding seat matched with the second screw rod is arranged on the second screw rod, a rail for guiding the horizontal sliding of the sliding seat is arranged on the mounting frame, the sliding seat is connected with a second sliding block through a connecting plate, the second sliding block is located at the lower part of the mounting frame, a guide rail for guiding the horizontal sliding of the second sliding block is arranged on the mounting frame, a vertical second sliding rod is arranged on the second sliding block, a fixing block is arranged on the second sliding rod, the fixing block is connected with a first sliding block through a connecting rod, the second sliding block drives the first sliding block to synchronously slide through the second sliding rod, the fixing block and the connecting rod, the extraction structure is arranged on the first sliding block, a first sliding rod for supporting the first sliding block is arranged on the lifting structure, and the first sliding block is slidingly connected with the first sliding rod.

4. The chain type greenhouse pepper branch lifting device according to claim 3, characterized in that: The lifting structure comprises a rotating rod rotatably arranged on a mounting frame, a first pulley arranged on the rotating rod, a driving pulley arranged on a second lead screw and connected with the first pulley through a first transmission belt, a second pulley arranged on the rotating rod and connected with a third pulley through a second transmission belt, the third pulley being arranged directly below the second pulley and rotatably connected with the mounting frame, and a mounting plate fixedly arranged on the second transmission belt and used for slidingly arranging a first sliding rod.

5. The chain type greenhouse pepper branch lifting device according to claim 4, characterized in that: The moving structure comprises a fourth pulley arranged on the other output shaft of the first motor, a fifth pulley arranged directly below the fourth pulley and rotatably connected with the mounting frame, a third transmission belt arranged between the fourth pulley and the fifth pulley, a first bevel gear arranged on the wheel shaft of the fifth pulley, a second bevel gear arranged on a vertical rotating shaft and engaged with the first bevel gear, the rotating shaft being rotatably connected with the mounting frame, a first connecting rod fixedly arranged at the bottom end of the rotating shaft, and a second connecting rod connected with the first connecting rod and a third sliding block.

6. The chain type greenhouse pepper branch lifting device according to claim 3, characterized in that: The extracting structure comprises a fixed frame fixed on the first sliding block, an intermediate gear arranged in the fixed frame, a second motor arranged on the fixed frame and used for driving the intermediate gear to rotate, two opposite clamping seats slidingly arranged on the fixed frame, a second rack arranged on each clamping seat and engaged with the intermediate gear, a limiting groove arranged on the fixed frame and used for guiding the horizontal sliding of the clamping seats, a guide groove arranged in the fixed frame and used for guiding the horizontal sliding of the second racks, two positioning blocks arranged on the opposite sides of the clamping seats and coaxially arranged, and the positioning blocks being adapted to the positioning holes arranged on the upper portions of the first and second clamping jaws of the hook.

7. The chain type greenhouse pepper branch lifting device according to claim 1, characterized in that: The branch clamping mechanism comprises an electric push rod fixedly arranged on a mounting rod, a moving module arranged on a support frame of the frame and used for driving the mounting rod to move in the horizontal plane and in the vertical plane, a connecting seat arranged on the piston rod of the electric push rod, a movable rod hingedly arranged at the end of the connecting seat, a fixed rod arranged on the electric push rod and hingedly arranged at the middle portion of the movable rod, a rotating rod hingedly arranged at the top end of the fixed rod and facing the side of the movable rod, a micro switch arranged on the fixed rod, and a torsion spring arranged on the connecting shaft of the L-shaped rotating rod and the fixed rod and used for keeping the rotating rod away from the micro switch.

8. The chain type greenhouse pepper branch lifting device according to claim 1, characterized in that: The walking mechanism comprises mounting seats fixedly arranged on the two sides of the support frame, a transmission box arranged between the top portions of the mounting seats, a walking motor arranged on the transmission box and used for driving a driving wheel to rotate, the driving wheel being arranged above the mounting seats and rotatably connected with the mounting seats, support wheels rotatably arranged at the two ends of the mounting seats, a track belt arranged between the driving wheel and the support wheels, and a guide wheel rotatably arranged at the middle portion of the mounting seat and used for supporting the track belt.

9. A method for hanging a pepper plant in a greenhouse based on the hanging device according to any one of claims 1-8, characterized in that, The method comprises the following steps: S1, start walking motor, walking motor through the driving wheel drive caterpillar rotate, drive the whole branch lifting device in pepper ridge between movement; S2, through the camera installed on the support frame to identify the pre-installed suspended lifting hook, after identifying the lifting hook, the walking motor stops, the whole lifting device stops moving; the motor drives the first screw to rotate, the first screw drives the mounting frame to rise, the mounting frame drives the hopper structure to rise, the lifting hook is inserted into the clamping groove through the socket; S3, the first motor starts, the first motor drives the second screw to rotate, the second screw drives the sliding block to slide to the right, the sliding block drives the second sliding block to slide to the right through the connecting plate, the second sliding block drives the first sliding block to slide to the right synchronously through the second sliding rod, the fixed block and the connecting rod; at the same time, the second screw drives the rotating rod to rotate through the first transmission belt and the first pulley, the rotating rod drives the second transmission belt to rotate through the second pulley and the third pulley, the mounting plate drives the first sliding block to descend through the first sliding rod; the first sliding block drives the extraction structure to move to the right and downward; S4, at the same time, the first motor drives the fifth pulley to rotate through the fourth pulley and the third transmission belt, the fifth pulley drives the first bevel gear to rotate, the first bevel gear drives the rotating shaft to rotate through the second bevel gear, the rotating shaft drives the third sliding block to move to the right through the first connecting rod and the second connecting rod, the third sliding block drives the hopper structure to move to the right; during the movement of the hopper structure, the transmission gear meshes with the fixed rack, the transmission gear drives the clamping seat to rotate, the clamping seat drives the lifting hook to rotate, and the position of the lifting hook is adjusted; the clamping seat drives the transmission shaft to rotate through the first gear and the second gear, the transmission shaft drives the first rack to slide through the third gear, and the two first racks are positioned and clamped on both sides of the lifting hook; S5, when the hopper structure moves to the rightmost end, the extraction structure is just above the hopper structure, and the positioning block on the clamping seat corresponds to the positioning hole on the lifting hook; the second motor starts, and the second motor drives the two clamping seats to slide relative to each other through the intermediate gear and the second rack, and the two clamping seats are connected with the clamping seat through the positioning block inserted into the positioning hole; S6, the first motor reverses, the first motor drives the hopper structure to move to the left, and the two first racks slide reversely to release the lifting hook; the extraction structure moves from the lower right corner to the upper left corner, the clamping seat drives the lifting hook to move out of the clamping seat; when the extraction structure moves from the middle to the upper left corner, the hopper structure moves to the rightmost end; when the extraction structure moves from the middle to the upper left corner, the hopper structure moves to the rightmost end, avoiding interference with the branch clamping mechanism; S7, through the camera installed on the support frame to identify the pepper branches, after identifying the branches, the moving module drives the branch clamping mechanism to move to the branches through the mounting rod, the branches drive the rotating bar to rotate, the bottom end of the rotating bar drives the micro switch, the electric push rod is elongated, the electric push rod drives the movable rod to rotate through the connecting seat, the movable rod moves to the fixed rod, and the branches are clamped between the fixed rod and the movable rod; S8, the mobile module is driven by the mounting rod to move the branch clamping mechanism below the hook, the second motor drives the first and second clamping jaws of the hook to rotate and open through the clamping seat and the positioning block; the first lead screw is driven by the motor to reverse, the mounting frame is driven by the first lead screw to move downward, the mounting frame drives the hook to move downward, and the branch is clamped into the hook; the second motor reverses, the two clamping seats move away from each other, the first and second clamping jaws close under the action of the torsional spring, the branch is inserted into the hook, and the branch lifting is completed; S9, the electric push rod is retracted, the connecting seat drives the movable rod to rotate reversely, the rotating bar reversely rotates, and the micro switch resets; the mobile module drives the branch clamping mechanism to move left to reset through the mounting rod; the second motor rotates forward, the funnel structure moves from the rightmost end to the leftmost end, the extraction structure moves from the upper left corner to the middle position to reset, and the next branch lifting is waited.

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