Self-propelled double-layer harvesting robot and pasture production system

Abstract

According to the self-propelled double-layer harvesting robot and the pasture production system, the robot comprises an upper layer harvesting unit, a lower layer harvesting unit and a rail platform, the upper layer harvesting unit and the lower layer harvesting unit are installed on a main body frame, the rail platform can support the main body frame in a sliding mode, and in each harvesting unit, a lifting module comprises a lifting platform, a lifting air cylinder and a bearing clamped to the inner side of a lifting rail in the mode that the lifting air cylinder moves along the lifting rail; the push-pull module comprises a push-pull air cylinder and a linear guide rail which are fixed to the lifting platform, and a sliding block which is clamped to the linear guide rail in a sliding mode. The grabbing module comprises a grabbing platform connected with the sliding block and the push-pull air cylinder, rotating shafts driven by a rotating air cylinder and a plurality of clamping jaw modules fixedly arranged on the rotating shafts, and two rows of rotating shafts are installed below the grabbing platform; and the clamping jaw modules which are oppositely arranged in the two rows are driven by the corresponding rotating shafts to rotate in an opening and closing manner so as to grab the corresponding seedling trays. In the pasture production system, a track platform is arranged between adjacent seedling raising frames. The structure is simple, and adaptability is high.

Description

Technical Field

[0001] The utility model relates to the technology of facility agriculture, in particular to a self-propelled double-layer harvesting robot and a forage production system. Background Technique

[0002] Forage grass is an important forage for herbivores and is needed by cattle, sheep, horses, rabbits, geese, deer, etc. The current development of local industries of herbivores is often affected by vegetation, which limits the large-scale development in many places. The main problems are limited natural forage or vegetation damage and soil erosion caused by free-range grazing; this makes it difficult for mountain farmers to raise livestock on a large scale. When using farmland to cultivate forage grass, the yield is not high, and it occupies good farmland. Especially for forage grass to grow well, it has requirements for water and fertilizer.

[0003] In response to these problems, the development of an efficient forage production system has become an urgent market demand; the so-called forage production system is different from farmland production. It uses fog cultivation or hydroponics to produce in an intensive and three-dimensional greenhouse or a container-type plant factory; it uses the climate regulation of the greenhouse to ensure annual production, or uses the precise climate control advantage of the plant factory to carry out stable and unrestricted high-efficiency production; through the intelligent control of the computer module, precise control of temperature, light, air, water, and heat is achieved, and rapid production of forage grass is realized. Generally, one kilogram of seeds can be converted into 8 kilograms of forage grass in one week after sowing. The seeds are usually mainly wheat, barley, and oats, and can also be supplemented with bean raw materials; either a spray or a water circulation hydroponic mode can be used, and an ultrasonic atomization cultivation method can also be used for small-space cultivation boxes. The most widely used production equipment includes W-shaped circulating seedling raising devices, plant factories, etc. (collectively referred to as seedling raising equipment). Therefore, it is also necessary to develop equipment that can be used in conjunction with various devices in the seedling raising equipment to make it more automated and intelligent in actual production and reduce labor costs. Content of the Utility Model

[0004] To solve the above problems, the purpose of the utility model is to provide a self-propelled double-layer harvesting robot, which can be adapted to the mobile automatic upper and lower seedling tray operation of a rotary three-dimensional forage grass planting device in places such as glass greenhouses and industrial factories.

[0005] According to one aspect of the present utility model, a self-propelled double-layer harvesting robot is provided, including: a main body frame provided with a lifting track, upper and lower two-layer harvesting units installed on the main body frame with the same structure, and a track platform for slidably supporting the main body frame. Each harvesting unit includes a lifting module, a pushing and pulling module, and a grasping module. The lifting module includes: a lifting platform, a lifting shaft provided on the lifting platform, a bearing sleeved on the lifting shaft, and a lifting cylinder connected to the lifting platform. The bearing is clamped inside the lifting track in a manner of moving along the lifting track. The pushing and pulling module includes: a pushing and pulling cylinder and a linear guide rail fixed to the lifting platform, and a slider slidably clamped to the linear guide rail. The grasping module includes: a grasping platform connected to the slider and the pushing and pulling cylinder, a rotating cylinder fixed to the grasping platform, a rotating shaft driven by the rotating cylinder, and a plurality of jaw modules fixedly arranged on the rotating shaft. Two rows of rotating shafts are installed below the grasping platform, and the jaw modules arranged opposite to each other in the two rows are driven to open and close and rotate via the corresponding rotating shafts to grasp the corresponding seedling trays.

[0006] Preferably, the grasping module further includes: a bearing seat and a connecting flange. The rotating shaft passes through the bearing seat and is fixed to the rotating cylinder via the connecting flange.

[0007] Preferably, each row of rotating shafts is configured to be provided with multiple rotating shafts coaxially. One end side of each rotating shaft is connected to the rotating cylinder via the connecting flange, and the other end side passes through a plurality of spaced bearing seats.

[0008] Preferably, the jaw module includes: a pivot fixing portion for fixing to the rotating shaft, a jaw arm extending downward from the pivot fixing portion, and a finger portion provided at the lower end side of the jaw arm. An accommodation space for the seedling tray is formed between the jaw arms arranged opposite to each other on the two rows of rotating shafts respectively, and the finger portions arranged opposite to each other are used for clamping the seedling tray.

[0009] Preferably, the finger portion includes: a pointer for clamping a predetermined clamping portion of the seedling tray, and a spring sleeved on the pointer to apply a biasing elastic force to the pointer.

[0010] Preferably, the upper and lower two-layer harvesting units are installed in opposite directions.

[0011] Preferably, the legs of the main body frame are fixed on the walking sliders, the walking sliders are clamped on the linear track, the linear track and the walking rack are respectively fixed on the track platform, the walking motor is fixed to the main body frame, the walking gear is fixed to the walking motor through a shaft, and the walking rack and the walking gear constitute a gear-rack mechanism for driving the main body frame to move along the linear track.

[0012] Preferably, a pair of parallel extending walking racks and a pair of parallel extending linear tracks are provided on the track platform.

[0013] According to another aspect of the present utility model, there is provided a forage production system, including a seedling raising device provided with a seedling raising rack, and a supporting platform for carrying seedling trays is arranged in the seedling raising rack. It is characterized in that it further includes the above-mentioned self-propelled double-layer harvesting robot, and the track platform is arranged between adjacent seedling raising racks.

[0014] Preferably, the edges on both sides of the supporting platform are formed as inclined slopes relative to the normal direction of the supporting platform.

[0015] The advantages of the present utility model are as follows: simple structure, strong adaptability, and it is applied to large-scale seedling raising factories in a movable structure. Compared with the fixed upper tray harvester, the project cost is reduced. The double-rack and double-rail mode makes the equipment operate more stable and reliable. In terms of upper tray harvesting, it can be grabbed under the condition of large deformation of the supporting platform. It can be grabbed under the condition of serious horizontal misalignment of the seedling trays. Compared with the existing mechanical grippers on the market, it has better adaptability and significantly improved work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematically showing a three-dimensional structure diagram of the self-propelled upper tray harvesting robot.

[0017] Figure 2 Schematically showing a three-dimensional structure diagram of the upper lifting platform and its periphery.

[0018] Figure 3 Schematically showing a three-dimensional structure diagram of the upper grabbing module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present utility model so that those skilled in the art can implement and use the present utility model in several different environments and for several different applications. Therefore, the protection scope of the present utility model is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present utility model. Moreover, for ease of description, the dimensions of the various parts shown in the drawings are not necessarily drawn in actual proportional relationships. Regarding the orientation description, such as the orientation or positional relationship indicated by up, down, left, right, top, bottom, etc., is based on the orientation or positional relationship shown in the drawings, and is only for ease of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present utility model. Throughout the drawings, the same elements are denoted by the same or similar reference numerals. When it may cause confusion in understanding the present disclosure or is not easy to observe and understand, the conventional structure or local structure will be omitted. Unless otherwise specifically stated, the order of the components and assembly steps and the numerical values set forth in the embodiments do not limit the scope of the present utility model.

[0020] According to an embodiment of the present utility model, a self-propelled double-layer harvesting robot is provided, which can slide back and forth along a track platform 23 provided between, for example, adjacent seedling-raising frames, and the gripper modules 20 in the upper and lower two-layer harvesting units respectively perform the seedling tray handover operations on the corresponding sides. Among them, the upper and lower two-layer harvesting units are arranged on the main body frame 1 in an upper and lower two-layer manner, preferably having the same structure and the same grasping mode, and the working directions, that is, the orientations, can be different. Hereinafter, the upper-layer harvesting unit will be mainly described as an example.

[0021] The main body frame 1 is configured as a frame body structure for supporting the upper and lower two-layer harvesting units and other components. Preferably, as Figure 1 shown, it is configured to open to the left and right sides facing each other, and the bottom side is installed on the track platform 23 via legs. The installation and working spaces for the components are formed inside via brackets, etc., in which the upper and lower two-layer lifting modules are installed, and the pushing and pulling modules and the grasping modules are installed correspondingly with each layer of lifting module.

[0022] More specifically, a lifting track 3 is connected and installed inside the main body frame 1 by bolts, and the upper and lower two-layer harvesting units can share this lifting track 3 for lifting. As Figure 2 shown, lifting shafts 15 are welded to the left and right sides of the lifting platform 4 of the upper-layer harvesting unit, bearings 16 are sleeved on the lifting shafts 15, and the bearings 16 are clamped (for example, nested and joined) inside the lifting track 3 and move along the lifting track 3. Through the action of the lifting cylinder 24, the lifting platform 4 will move up and down along the lifting track 3. Thus, the lifting module is constituted.

[0023] On the lifting platform 4, a push-pull cylinder 14 and a linear guide rail 12 are fixedly connected by bolts. A slider 13 is slidably clamped (e.g., nested engagement) on the linear guide rail 12. The entire upper grasping module 2 is connected to the push-pull cylinder 14 through a connecting plate and is connected to the slider 13 through bolt connection. The telescopic movement of the push-pull cylinder 14 drives the upper grasping module 2 to move back and forth along the linear guide rail 12. Thus, a push-pull module is formed.

[0024] Here, for the convenience of illustration, Figure 1 shows a lifting cylinder 24 located in the lower harvesting unit, the bottom of which is fixedly connected to the main body frame 1 by bolts, and the upper end is connected to the lower lifting platform 6 through a connecting plate, for driving the lower grasping module 5 to lift. The same can be set for the upper harvesting unit.

[0025] As Figure 3 shown, the upper grasping module 2 is connected to the push-pull cylinder 14 at its grasping platform 17 and is connected to the slider 13 by bolts. Thus, through the telescopic movement of the push-pull cylinder 14, the upper grasping module 2 can be driven to move back and forth along the linear guide rail 11. The upper grasping module 2 includes: a grasping platform 17, a plurality of rotating shafts 18, a plurality of square bearing seats 19, a plurality of jaw modules 20, a plurality of connecting flanges 21, and a plurality of rotating cylinders 22.

[0026] Among them, the bearing seats 19 and the rotating cylinders 22 are respectively fixedly connected to different positions on the grasping platform 17 by bolts, the connecting flanges 21 are fixedly connected to the rotating cylinders 22 by bolts, and the rotating shafts 18 pass through the bearing seats 19 and are connected to the connecting flanges 21 by bolts.

[0027] In some embodiments, two rows of rotating shafts are installed below the grasping platform 17, and each row of rotating shafts is configured to be provided with multiple rotating shafts 18 coaxially ( Figure 3 shows two in the figure), one end side of each rotating shaft 18 is connected to the rotating cylinder 22 via a connecting flange 21, and the other end side passes through a plurality of spaced bearing seats 19, and a plurality of jaw modules 20 are fixedly arranged at different positions along the rotating shaft 18 by bolts.

[0028] Suppose n jaw modules 20 are fixedly arranged at intervals on each rotating shaft 18, and the multiple jaw modules 20 in each row are paired and sequentially divided into m groups of jaw module pairs, and the corresponding seedling trays are grasped by the groups of jaw module pairs arranged opposite to each other in the two rows. For example, one seedling tray can be grasped by two groups of a total of four jaw modules 20.

[0029] Each gripper module 20 includes: a pivot fixing part for fixing to the rotating shaft 18, a gripper arm 25 such as an L shape, and a finger part 26 provided on the lower end side of the gripper arm 25. The gripper arm 25 extends downward from the pivot fixing part, and a receiving space for the seedling tray is formed between the gripper arms 25 on the opposite side (the other rotating shaft 18). The finger parts 26 arranged opposite to each other are used to grip the seedling tray. Thus, the grasping module is constituted.

[0030] This automatic tray-loading harvester can use air as the power source. The lifting cylinder 24 is controlled by a three-position five-way solenoid valve to drive the lifting platform 4 to move up and down. The push-pull cylinder 14 controlled by the solenoid valve is used in combination with the linear guide 11 to realize the forward and backward movement of the upper grasping module 2 fixed on the slider 13. The rotation cylinder 22 is controlled by a three-position five-way solenoid valve to realize the opening and grasping actions of the pair of oppositely arranged gripper modules. In this way, the functions of lifting, advancing and retreating, grasping and releasing of the upper grasping module 2 relative to the seedling tray to be grasped can be realized.

[0031] Since the seedling trays to be grasped carried on the support platform in the seedling-raising frame may not be neatly arranged in the same straight line due to reasons such as vibration or downward deflection of the support platform itself under its own weight, the finger part 26 includes: a pointer such as a rod for grasping a predetermined grasping part of the seedling tray, and a spring (not shown) sleeved on the pointer to apply a biasing elastic force to the pointer. By using the elasticity of the spring, the pointer is allowed to perform telescopic self-adjustment within a certain range, increasing the tolerance in the horizontal direction. Especially when the support platform deflects downward in the middle part, during grasping, the lifting platform 4 is used to make the pointer first grasp the edge of the support platform, and then the lifting platform 4 is lifted. At this time, by using the elasticity of the spring, the pointer can be slid to the predetermined grasping part of the seedling tray. In this way, the tolerance in the vertical direction can be increased to ensure that seedling trays in various position forms can be grasped. Here, the edges on both sides of the support platform are preferably formed as inclined slopes relative to the normal direction of the support platform, which can smoothly change the spring force during the sliding process of the pointer.

[0032] As Figure 1 shown, the legs of the main body frame 1 are fixed to the traveling slider 10 by bolts. The traveling slider 10 is clamped on the linear track 11. The linear track 11 and the traveling rack 7 are connected and fixed to the track platform 23 by bolts. The track platform 23 is fixed to the ground. A traveling motor 8 in the form of a servo motor, for example, is fixed to the bottom of the main body frame 1. The traveling gear 9 is fixed to the traveling motor 8 by a shaft.

[0033] In this way, the traveling motor 8 can provide power, and drive the main body frame 1 to move along the linear track 11 through the rack and pinion mechanism composed of the traveling rack 7 and the traveling gear 9. After the main body frame 1 moves to the designated position, the air compressor provides power, and the lifting cylinder 24 is controlled by a three-position five-way solenoid valve to drive the lifting platform 4 to perform lifting motion. The solenoid valve controls the push-pull cylinder 14 to cooperate with the linear guide rail 12 to realize the forward and backward movement of the upper grasping module 2, and controls the rotating cylinder 22 to realize the opening and clamping functions of each pair of jaw modules.

[0034] In addition, as Figure 1 shown, a pair of parallelly extending traveling racks 7 and a pair of parallelly extending linear tracks 11 are provided on the track platform 23, which can ensure that the main body frame 1 is more stable and reliable.

[0035] As described above, one self-propelled double-layer harvesting robot can be shared among multiple seedling raising frames, saving project costs. Moreover, by consisting of upper and lower layers and the upper tray synchronization of the seedling tray harvesting, the working efficiency can be significantly improved.

[0036] In the description of the present application, the meaning of "a plurality of" is two or more than three, unless otherwise clearly and specifically defined. Unless otherwise clearly specified and defined, terms such as "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. Although the present invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present invention is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A self-propelled double-layer harvesting robot, characterized in that: include: A main frame (1) is provided with a lifting track (3), upper and lower harvesting units installed on the main frame (1) with the same structure, and a track platform (23) for supporting the main frame (1) in a slidable manner, wherein each harvesting unit includes a lifting module, a push-pull module, and a grabbing module, and the lifting module includes: a lifting platform (4), a lifting shaft (15) arranged on the lifting platform (4), a bearing (16) sleeved on the lifting shaft (15), and a lifting cylinder (24) connected to the lifting platform (4), wherein the bearing (16) is clamped on the inner side of the lifting track (3) in a manner of moving along the lifting track (3); the push-pull ... lifting shaft (15) sleeved on the lifting shaft (15), and a lifting cylinder (24) connected to the lifting platform (4). (4) a push-pull cylinder (14) and a linear guide rail (12), and a slider (13) slidably engaged with the linear guide rail (12); a grasping module comprising: a grasping platform (17) connected to the slider (13) and the push-pull cylinder (14), a rotating cylinder (22) fixed to the grasping platform (17), a rotating shaft (18) driven by the rotating cylinder (22), and a plurality of clamping claw modules (20) fixed to the rotating shaft (18), wherein two rows of rotating shafts (18) are installed below the grasping platform (17), and the clamping claw modules (20) arranged opposite to each other in the two rows grasp corresponding seedling trays via opening and closing rotation drive of the corresponding rotating shafts (18).

2. The self-propelled double-layer harvesting robot according to claim 1, characterized in that: The gripping module further comprises: a bearing seat (19) and a connecting flange (21); the rotating shaft (18) passes through the bearing seat (19) and is fixed on the rotating cylinder (22) via the connecting flange (21).

3. The self-propelled double-layer harvesting robot according to claim 2, characterized in that: Each row of rotating shafts is constructed by coaxially arranging a plurality of rotating shafts (18), one end of each rotating shaft (18) is connected to a rotating cylinder (22) via a connecting flange (21), and the other end passes through a plurality of bearing seats (19) arranged at intervals.

4. The self-propelled double-layer harvesting robot according to claim 1, characterized in that: The clamping claw module (20) comprises: a pivot fixing portion for fixing to the rotating shaft (18), a clamping claw arm (25) extending downward from the pivot fixing portion, and a clamping finger portion (26) arranged on the lower end side of the clamping claw arm (25), and a storage space for the seedling tray is formed between the clamping claw arms (25) respectively fixed to two rows of rotating shafts (18) and opposite to each other, and the clamping finger portions (26) arranged opposite to each other are used to clamp the seedling tray.

5. The self-propelled double-layer harvesting robot according to claim 4, characterized in that: The clamping finger portion (26) comprises: a pointer for clamping a predetermined clamping position of the seedling tray, and a spring sleeved on the pointer for applying a biasing elastic force to the pointer.

6. The self-propelled double-layer harvesting robot according to claim 1, characterized in that: The upper and lower harvesting units are installed facing opposite directions to each other.

7. The self-propelled double-layer harvesting robot according to claim 1, characterized in that: The legs of the main frame (1) are fixed on a walking slider (10), the walking slider (10) is clamped on a linear track (11), the linear track (11) and the walking rack (7) are respectively fixed on a track platform (23), the walking motor (8) is fixed on the main frame (1), the walking gear (9) is fixed on the walking motor (8) through a shaft, and the walking rack (7) and the walking gear (9) constitute a gear rack mechanism for driving the main frame (1) to move along the linear track (11).

8. The self-propelled double-layer harvesting robot according to claim 7, characterized in that: A pair of parallel running racks (7) and a pair of parallel linear tracks (11) are arranged on the track platform (23).

9. A forage production system, comprising a seedling raising device provided with a seedling raising frame, wherein a supporting platform for carrying a seedling tray is provided in the seedling raising frame, characterized in that: It also comprises the self-propelled double-layer harvesting robot according to any one of claims 1 to 8, wherein the track platform (23) is arranged between adjacent rice seedling raising racks.

10. The forage production system according to claim 9, characterized in that: The edges on both sides of the supporting platform are formed as inclined slopes relative to the normal direction of the supporting platform.

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