Pepper harvesting vehicle

Abstract

The utility model discloses a pepper harvesting vehicle which comprises a crawler-type walking mechanism, an electric rotary table, a two-degree-of-freedom mechanical arm, a picking conveying mechanism and a conveying pipeline, the electric rotary table is installed on one side of the top of the crawler-type walking mechanism, one end of the two-degree-of-freedom mechanical arm is installed on the electric rotary table, and the other end of the two-degree-of-freedom mechanical arm is provided with the picking conveying mechanism and the conveying pipeline. The picking and conveying mechanism can convey picked peppers to a feeding port of the conveying pipeline, a discharging port of the conveying pipeline is connected to the material box, the material box is installed on the crawler-type walking mechanism, and the pepper lifting mechanism is arranged at the conveying position of the bottom of the picking and conveying mechanism. The pepper picking and conveying mechanism is additionally provided with the pepper lifting mechanism, auxiliary supporting is achieved for the picking and conveying mechanism, falling caused by mountain walking shaking, wind blowing shaking or pepper branch rubbing of the walking mechanism is avoided, the conveying stability and reliability are improved, the two-degree-of-freedom mechanical arm is adopted to be matched with the electric rotary table, pose control of the execution end can be achieved, and the picking and conveying efficiency is improved. And cutting in the optimal direction is realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of pepper picking equipment and relates to a pepper picking vehicle. Background Art

[0002] Existing fruit and vegetable picking equipment is difficult to adapt to Guizhou's karst terrain (such as rugged mountains, steep slopes, etc.). In addition, when the picking execution end cuts and transmits the strips of peppers, the picked peppers are easily dropped out of the conveying pipeline due to walking vibrations caused by uneven ground, wind blowing, or scratches by pepper branches. Summary of the invention

[0003] The technical problem to be solved by the utility model is to provide a pepper harvesting vehicle to reduce the probability of peppers falling during the transmission process after being picked.

[0004] The technical solution adopted by the utility model is: a pepper harvesting vehicle, including a crawler traveling mechanism, an electric turntable, a two-degree-of-freedom mechanical arm, a picking and conveying mechanism and a conveying pipeline, the electric turntable is installed on one side of the top of the crawler traveling mechanism, one end of the two-degree-of-freedom mechanical arm is installed on the electric turntable, and the other end is installed with the picking and conveying mechanism and the conveying pipeline, the picking and conveying mechanism can convey the picked peppers to the feeding port of the conveying pipeline, the feeding port of the conveying pipeline is connected to the material box, the material box is installed on the crawler traveling mechanism, and a pepper lifting mechanism is arranged at the conveying position at the bottom of the picking and conveying mechanism.

[0005] Furthermore, the above-mentioned picking and conveying mechanism includes a picking frame, a clamping double synchronous conveyor belt, a cutting blade and a groove wheel. The picking frame is open on the left and right sides, and a short U-shaped strip notch and a long U-shaped strip notch are respectively provided on the upper and lower sides of the front side. The long U-shaped strip notch extends backward to above the feed port of the conveying pipe. The clamping double synchronous conveyor belt is installed on both sides of the U-shaped strip notch, and the cutting blade and the groove wheel are respectively installed on both sides of the short U-shaped strip notch and are respectively fixedly connected to the rotating shafts of the two synchronous belt wheels at the front end of the clamping double synchronous conveyor belt. The cutting blade can be embedded in the groove of the groove wheel and can cut the pepper stems.

[0006] Furthermore, the above-mentioned pepper lifting mechanism adopts a double auxiliary synchronous belt, and the double auxiliary synchronous belt is connected to the four pulleys of the double synchronous conveyor belt by the same wheel axle, and the pulley diameter of the double auxiliary synchronous belt is smaller than the pulley diameter of the double synchronous conveyor belt. The gap between the belts of the double auxiliary synchronous belt is maintained larger than the diameter of the pepper, and the outer sides of the two belts of the double auxiliary synchronous belt are provided with staggered bristles, and the bristles on both sides can assist in lifting the cut peppers for transportation.

[0007] Furthermore, the material box is fixedly connected to a platform arranged on the top of the crawler walking mechanism, the electric turntable is located on one side of the platform, and the U-shaped portion of the material box there is arranged around the electric turntable.

[0008] Further, the above-mentioned conveying pipeline adopts a flexible telescopic pipe structure.

[0009] Further, two symmetrically arranged feeding holes are provided at the connection between the above-mentioned material box and the conveying pipeline. The side wall of the material box at the feeding hole is provided with a cavity structure. After the conveying pipeline passes through the feeding hole, it is hung on multiple hooks inside the feeding hole through multiple hanging ropes arranged at the inner end edge. A valve plate is arranged in the inner cavity structure. The rotating shaft of the valve plate is rotatably connected to the side wall of the material box and the rotating shaft is located at the symmetry center of the two feeding holes. A push-pull handle is arranged outside the valve plate. An arc-shaped through hole concentric with the rotating shaft is arranged on the corresponding side wall of the push-pull handle. The push-pull handle passes through the arc-shaped through hole. A perforation of the same size as the feeding hole is arranged on the valve plate. After rotating the valve plate, the perforation can be aligned with the upper feeding hole or the lower feeding hole.

[0010] The beneficial effects of the present utility model: Compared with the prior art, the present utility model is equipped with a pepper lifting mechanism, which plays an auxiliary support for the picking and conveying mechanism, avoids the dropping caused by the shaking of the walking mechanism during mountain walking, the shaking caused by the wind, or the rubbing of pepper branches, improves the stability and reliability of conveying, adopts a two-degree-of-freedom robotic arm, cooperates with an electric turntable, can realize the pose control of the execution end, realizes the cutting in the best orientation, and directly sends the picked peppers into the material box through the conveying pipe after picking, improves the convenience of picking, and adopts a crawler-type walking mechanism, which is convenient to walk on the uneven ground of the mountain, and the walking is stable and reliable. Description of the Drawings

[0011] Figure 1 is the three-dimensional structure schematic diagram of the pepper harvesting vehicle;

[0012] Figure 2 is the front view structure schematic diagram of the pepper harvesting vehicle;

[0013] Figure 3 is the side view structure schematic diagram of the pepper harvesting vehicle;

[0014] Figure 4 is the top view structure schematic diagram of the pepper harvesting vehicle;

[0015] Figure 5 is Figure 3 the sectional structure schematic diagram of A-A in ;

[0016] Figure 6 is the three-dimensional structure schematic diagram of the electric turntable connecting the two-degree-of-freedom robotic arm;

[0017] Figure 7 is the three-dimensional structure schematic diagram of the picking and conveying mechanism;

[0018] Figure 8 is the side view structure schematic diagram of the picking and conveying mechanism;

[0019] Figure 9 isFigure 8 Schematic diagram of the A-A cross-sectional structure;

[0020] Figure 10 It is a front view structural schematic diagram of the picking and conveying mechanism;

[0021] Figure 11 is Figure 10 Schematic diagram of the B-B cross-sectional structure. Specific implementation manner

[0022] The following further introduces the present utility model in combination with specific embodiments.

[0023] Embodiment 1: As Figure 1-11 shown, a chili harvesting vehicle includes a crawler-type traveling mechanism 1, an electric turntable 2, a two-degree-of-freedom robotic arm 3, a picking and conveying mechanism 4, and a conveying pipeline 5. The electric turntable 2 is installed on one side of the top of the crawler traveling mechanism 1. One end of the two-degree-of-freedom robotic arm 3 is installed on the electric turntable 2, and the other end is installed with the picking and conveying mechanism 4 and the conveying pipeline 5. The picking and conveying mechanism 4 can convey the picked chili peppers to the feeding port of the conveying pipeline 5 (U-shaped notch structure, the lowest point is located below the chili pepper lifting mechanism 7, and the width is greater than the clamping synchronous conveyor belt of the picking and conveying mechanism 4). The discharging port of the conveying pipeline 5 is connected to the material box 6. The material box 6 is installed on the crawler-type traveling mechanism 1. A chili pepper lifting mechanism 7 is arranged at the bottom conveying part of the picking and conveying mechanism 4. By adding the chili pepper lifting mechanism, it plays an auxiliary support for the picking and conveying mechanism 4, avoiding the dropping caused by the shaking of the traveling mechanism when walking on the mountain, the shaking caused by the wind, or the rubbing of the chili pepper branches, improving the conveying stability and reliability. By adopting a two-degree-of-freedom robotic arm and cooperating with the electric turntable, the pose control of the execution end can be realized, and the cutting in the best orientation can be achieved. After picking, it is directly sent into the material box through the conveying pipe, improving the picking convenience.

[0024] The crawler-type traveling mechanism 1 includes crawlers 101, driving wheels 102, traveling pressing wheels 103, a driving motor 104, and a traveling frame 105. Two pairs of driving wheels 102 are arranged front and back and are rotatably connected to the traveling frame 105 and are driven to rotate by the driving motor 104. A row of traveling pressing wheels 103 is arranged on both the left and right sides of the traveling frame 105. Two crawlers 101 are used and are respectively sleeved on the driving wheels 102 and the traveling pressing wheels 103. By the rotation of the driving motor, the front and rear driving wheels are driven to rotate. After the driving wheels rotate, the crawlers are driven to rotate, and then the crawlers are pressed by the traveling pressing wheels to walk on the ground. A power battery 106 is installed on the traveling frame 105. By installing the power battery on the traveling frame, the center of gravity can be reduced and the walking is more stable. The traveling frame 105 is connected to the installation platform 107 through a column 108. The material box 6 and the electric turntable 2 are installed on the installation platform 107.

[0025] The two-degree-of-freedom robotic arm 3 and the electric turntable 2 form a three-axis robotic arm. This three-axis robotic arm uses the three-axis planetary reduction robotic arm of Zhiqing Technology, model ZK-Bot303, which has an electric turntable on the X-axis, a large arm 301 on the Y-axis, and a small arm 302 on the Z-axis. The stepper motors 303 of the large arm 301 and the small arm 302 are both located at the rotating seat 304 (the rotating seat 304 is fixedly connected to the output turntable of the electric turntable) hinged to the large arm 301. The distal pitch is driven by a link mechanism, and this layout is convenient for reducing the weight of the distal end of the robotic arm. An installation interface plate 305 is installed at the end of the small arm 302, and the installation interface plate 305 is fixedly connected to the rear end of the picking frame 401 through an L-shaped adapter plate 412. The driving motor 201 of the electric turntable 2 is installed on the upper side of the electric turntable 2, which is convenient for layout.

[0026] In order to stably achieve disassembly, assembly, and transportation, the picking and conveying mechanism 4 includes a picking frame 401, a clamping double synchronous conveyor belt 402, a cutting blade 403, and a grooved pulley 404. The rear end of the picking frame 401 is fixedly connected with an L-shaped adapter plate 412. The left and right sides of the picking frame 401 are open, and short U-shaped strip-shaped notches 405 and long U-shaped strip-shaped notches 406 are respectively opened on the upper and lower sides of the front side. The long U-shaped strip-shaped notch 406 extends backward above the feed inlet of the conveying pipeline 5. The clamping double synchronous conveyor belt 402 is installed on both sides of the U-shaped strip-shaped notch 405. The cutting blade 403 and the grooved pulley 404 are respectively installed on both sides of the short U-shaped strip-shaped notch 405 and are respectively fixedly connected to the rotating shafts of the two synchronous pulleys at the front end of the clamping double synchronous conveyor belt 402. The cutting blade 403 can be embedded into the groove of the grooved pulley 404 and can cut the chili stalk. One of the belt pulley axles of the clamping double synchronous conveyor belt 402 is connected to the servo motor 410, and the servo motor 410 is fixedly connected to the upper surface of the picking frame 401 through a servo motor frame 411. The structure of the picking frame is rigid and has high strength, which is convenient for arranging the synchronous belts on both sides. The double-sided synchronous belts are in elastic contact for clamping and transmission, and the transmission is stable and reliable. Moreover, the servo motor is arranged only on one side of the conveyor belt, and the other conveyor belt is driven to follow the transportation by relying on friction, reducing the layout of the power source and the weight of the execution end, which is convenient for the attitude control of the entire robotic arm. Protective sheets 413 are provided at the front end and the left and right sides of the picking frame 401. The protective sheets 413 are located outside the cutting blade 403 and the grooved pulley 404 to play a protective role.

[0027] Two pressing plates 407 are symmetrically arranged at the inner belt sections of the two sides of the clamping double synchronous conveyor belt 402. The two pressing plates 407 elastically press the inner belt sections of the two sides. The lengths of the two pressing plates 407 can ensure that the chili stalks are continuously and stably elastically clamped and sent to the feed inlet of the conveying pipeline. The two pressing plates 407 are fixedly connected to the picking frame 401 through brackets 408, and the two ends of the two pressing plates 407 are in an eight-shaped configuration. The outer surface of the belt of the clamping double synchronous conveyor belt 402 is provided with a knurled structure to increase friction and improve the clamping stability and the driving stability of the belt on the non-powered side.

[0028] Among them, the chili lifting mechanism 7 adopts double auxiliary synchronous belts. The double auxiliary synchronous belts are connected to the four pulleys of the clamping double synchronous conveyor belt 402 by the same axle. And the pulley diameter of the double auxiliary synchronous belts is smaller than that of the clamping double synchronous conveyor belt 402. The gap between the belts of the double auxiliary synchronous belts is greater than the diameter of the chili. There are staggered bristles 409 arranged on the outer sides of the two belts of the double auxiliary synchronous belts. The staggered arrangement of the bristles 409 on both sides can assist in lifting the cut chili for conveying. By using the bristles to assist in supporting the picked and hanging chili, it can avoid the dropping caused by the shaking of the walking mechanism when walking on the mountain, the shaking caused by the wind, or the rubbing of the chili branches, improving the stability and reliability of the conveying. Moreover, the elastic contact of the bristles will not cause damage to the chili. By adopting the power transmission of the clamping double synchronous belt, it reduces the layout of the power mechanism, has a compact structure, reduces the weight of the execution end, and is more conducive to the control of the execution end. The pulleys of the double auxiliary synchronous belts are suspended and connected below the picking box through axles. Due to the small force, the cantilever structure can meet the auxiliary lifting function.

[0029] Among them, the material box 6 is fixedly connected to the platform arranged on the top of the crawler-type walking mechanism 1. The electric turntable 2 is located on one side of the platform close to the edge, and the U-shaped part of the material box is arranged around the electric turntable 2 at this place, forming an enclosed structure. On the one hand, it is convenient to effectively utilize the top space and improve the loading capacity. On the other hand, it can play a certain role in isolating the noise generated by the motor operation and protecting the equipment at this place.

[0030] In order to facilitate the operation of the robotic arm, the conveying pipeline 5 adopts a flexible telescopic pipe structure, which is convenient for telescoping after the robotic arm moves.

[0031] For different picking amounts, different feeding holes are selected. There are two symmetrically arranged upper and lower feeding holes 8 at the connection between the material box 6 and the conveying pipeline 5. When the picking amount is large, the upper feeding hole is connected to the conveying pipeline, and the lower feeding hole is blocked. When the picking amount is small, the lower feeding hole is connected to the conveying pipeline. The side wall of the material box 6 at the feeding hole 8 is set as a cavity structure. After the conveying pipeline 5 passes through the feeding hole 8, it is hung on multiple hooks 9 inside the feeding hole 8 through multiple hanging ropes arranged at the inner end edge. The inner cavity structure is provided with a valve plate 10. The rotating shaft of the valve plate 10 is rotatably connected to the side wall of the material box 6 and the rotating shaft is located at the symmetry center of the two feeding holes 8. A push-pull handle 11 is arranged outside the valve plate 10. An arc-shaped through hole 12 concentric with the rotating shaft is arranged on the corresponding side wall of the push-pull handle 11. The push-pull handle 11 passes through the arc-shaped through hole 12. A through hole 13 of the same size as the feeding hole 8 is arranged on the valve plate 10. After rotating the valve plate 10, the through hole 13 can be aligned with the upper feeding hole 8 or the lower feeding hole 8. The feeding hole is blocked by rotating the valve plate.

[0032] During operation, move the crawler-type traveling mechanism to the side where the peppers are to be picked. Control the robotic arm and the electric turntable to perform pose control on the picking and conveying mechanism so that it aligns with the peppers to be picked for cutting and transmission. The cut pepper stalks are clamped between the conveyor belts and are synchronously conveyed by the bristles. When they enter the feeding hole of the conveying pipeline, the pepper stalks will automatically fall into the conveying pipeline without the clamping of the belt and the lifting of the bristles. When the picked quantity reaches the set amount, control the rotation of the electric turntable and the pitching of the robotic arm to raise the feeding end of the conveying pipeline and straighten the conveying pipeline. Then, the peppers in the conveying pipeline will be sent into the storage bin to complete the picking. Repeating this step can achieve the picking and loading of more peppers. Manually clean or push the peppers in the storage bin to avoid blocking the feeding hole.

[0033] The cutting blade cooperates with the grooved wheel to achieve circular picking and cutting. Under the combined action of the mutual extrusion of the cutting blade and the grooved wheel, incomplete cutting of the pepper stalks can be avoided. Without damaging the plant, the peppers can be precisely cut and smoothly transported to the rear, ensuring the continuous operation of the robotic arm and improving efficiency. The crawler differential flexible steering device is adopted, with higher safety, better passability, and superior maneuverability. The conveying pipeline adopts a flexible pipeline, which is easy to install and has excellent flexibility and bending performance. The bottom corner of the robotic arm is between 90° and 180°, which enables it to easily adapt to any angular change of the robotic arm within this range and avoid self-locking.

[0034] A visual recognition module (installed on the crawler-type traveling mechanism) is set up. In cooperation with the robotic arm operation technology, by simulating the parallax principle of human binocular vision, three-dimensional spatial positioning and precise recognition of peppers can also be achieved, improving the accuracy and stability of recognition.

[0035] A camera is also installed on the picking and conveying mechanism. Through the camera, the maturity of the peppers can be judged, and then precise picking can be carried out.

[0036] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claimed rights.

Claims

1. A pepper harvesting vehicle, characterized in that: The invention comprises a crawler-type walking mechanism (1), an electric turntable (2), a two-degree-of-freedom mechanical arm (3), a picking and conveying mechanism (4) and a conveying pipeline (5), wherein the electric turntable (2) is mounted on one side of the top of the crawler-type walking mechanism (1), one end of the two-degree-of-freedom mechanical arm (3) is mounted on the electric turntable (2), and the other end is mounted with the picking and conveying mechanism (4) and the conveying pipeline (5), the picking and conveying mechanism (4) can convey the picked peppers to the feed inlet of the conveying pipeline (5), the discharge outlet of the conveying pipeline (5) is connected to a material box (6), and the material box (6) is mounted on the crawler-type walking mechanism (1), and a pepper lifting mechanism (7) is arranged at the conveying position at the bottom of the picking and conveying mechanism (4).

2. The pepper harvesting vehicle according to claim 1, characterized in that: The picking and conveying mechanism (4) comprises a picking frame (401), a clamping dual synchronous conveyor belt (402), a cutting blade (403) and a groove wheel (404). The picking frame (401) is open on the left and right sides, and a short U-shaped strip notch (405) and a long U-shaped strip notch (406) are respectively provided on the upper and lower sides of the front side. The long U-shaped strip notch (406) extends backward to above the feed opening of the conveying pipe (5). The clamping dual synchronous conveyor belt (402) is installed on both sides of the U-shaped strip notch (405). The cutting blade (403) and the groove wheel (404) are respectively installed on both sides of the short U-shaped strip notch (405) and are respectively fixedly connected to the rotating shafts of the two synchronous belt wheels at the front end of the clamping dual synchronous conveyor belt (402). The cutting blade (403) can be embedded in the groove of the groove wheel (404) and can cut the pepper stems.

3. The pepper harvesting vehicle according to claim 2, characterized in that: Two squeezing plates (407) are symmetrically arranged at the two inner belt sections of the double synchronous conveyor belt (402), and the two squeezing plates (407) elastically squeeze the two inner belt sections. The two squeezing plates (407) are fixedly connected to the picking frame (401) through brackets (408), and the two ends of the two squeezing plates (407) are in an eight-shaped shape.

4. The pepper harvesting vehicle according to claim 2, characterized in that: The pepper lifting mechanism (7) uses a double auxiliary synchronous belt, and the double auxiliary synchronous belt is connected to four pulleys of the double synchronous conveyor belt (402) by using the same wheel shaft, and the pulley diameter of the double auxiliary synchronous belt is smaller than the pulley diameter of the double synchronous conveyor belt (402). The gap between the belts of the double auxiliary synchronous belt is greater than the diameter of the pepper, and the outer sides of the two belts of the double auxiliary synchronous belt are provided with staggered brushes (409), and the brushes (409) on both sides can assist in lifting the cut pepper for transportation.

5. The pepper harvesting vehicle according to claim 1, characterized in that: The material box (6) is fixedly connected to a platform arranged on the top of the crawler-type walking mechanism (1), and the electric turntable (2) is located on one side of the platform, and the material box is arranged with a U-shaped portion around the electric turntable (2).

6. The pepper harvesting vehicle according to claim 1, characterized in that: The conveying pipeline (5) adopts a flexible telescopic pipe structure.

7. A pepper harvesting vehicle according to claim 1 or 6, characterized in that: Two feed holes (8) are provided at the place where the material box (6) is connected to the conveying pipeline (5), and the side wall of the material box (6) at the feed holes (8) is provided as a cavity structure. After the conveying pipeline (5) passes through the feed hole (8), it is hung on a plurality of hooks (9) on the inner side of the feed hole (8) through a plurality of hanging ropes provided on the inner edge. The inner cavity structure is provided with a valve plate (10). The rotating shaft of the valve plate (10) is rotatably connected to the side wall of the material box (6) and the rotating shaft is located between the two feed holes. A push-pull handle (11) is provided on the outside of the valve plate (10) at the symmetrical center of the hole (8); an arc-shaped through hole (12) concentric with the rotation axis is provided on the side wall corresponding to the push-pull handle (11); the push-pull handle (11) passes through the arc-shaped through hole (12); a through hole (13) of the same size as the feed hole (8) is provided on the valve plate (10); after the valve plate (10) is rotated, the through hole (13) can be directly opposite to the upper feed hole (8) or the lower feed hole (8).

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