Chinese yam digging device

Abstract

The utility model provides a Chinese yam digging device which comprises a vehicle body, a moving assembly used for driving the vehicle body to move is movably installed at the bottom end of the vehicle body, a plurality of Chinese yam storage frames are detachably connected to the upper end face of the vehicle body, a mechanical arm is detachably connected to one side of the upper end face of the vehicle body, and a clamping jaw is movably connected to the other end of the mechanical arm. The clamping jaw comprises a driving mechanism and a clamping mechanism, the driving mechanism is used for driving the clamping mechanism to rotate and clamp, the clamping mechanism is movably connected to the top end of the mechanical arm, and during specific implementation, the Chinese yam digging device moves to the position near Chinese yams according to a preset route, and then the clamping jaw descends to the position above the Chinese yams through the mechanical arm; the clamping mechanism is driven by the driving mechanism to clamp Chinese yams, the maturity degree and size of the Chinese yams are analyzed and processed according to the information acquisition camera and the image processor after clamping is completed, and then the Chinese yams are classified and stored in the Chinese yam storage frames through the mechanical arm and the clamping jaw, so that the purpose of saving manpower is achieved.

Description

Technical Field

[0001] The utility model relates to the field of excavation devices, in particular to a yam excavation device. Background Technique

[0002] With the growth of the population and the acceleration of urbanization, the automation of agricultural production has attracted more and more attention. Automated agricultural production has many advantages, such as improving the yield and quality of crops, reducing labor costs and environmental impacts at the same time. One of the automated fields is the yam excavation device, which can help farmers harvest yams faster and more efficiently.

[0003] The existing yam excavation usually involves manually analyzing each yam one by one, and then excavating and classifying and storing the mature yams. A large amount of manpower and time are consumed during the yam excavation process, and the excavation efficiency is low.

[0004] Therefore, it is necessary to provide a new yam excavation device to solve the above technical problems. Content of the Utility Model

[0005] To solve the above technical problems, the utility model provides a yam excavation device.

[0006] The yam excavation device provided by the utility model includes: a vehicle body, a moving component for driving the vehicle body to move is movably installed at the bottom end of the vehicle body, a yam storage box is detachably connected to the upper end surface of the vehicle body, a robotic arm is detachably connected to one side of the upper end surface of the vehicle body, a clamping jaw is movably connected to the other end of the robotic arm, the clamping jaw includes a driving mechanism and a clamping mechanism, the driving mechanism is used to drive the clamping mechanism to rotate and clamp, and the clamping mechanism is movably connected to the top end of the robotic arm.

[0007] Preferably, the moving component includes a plurality of receiving plates, the plurality of receiving plates are oppositely arranged on both sides of the outer side wall of the vehicle body, and a plurality of buffer mechanisms are detachably connected between the plurality of receiving plates and the vehicle body. A plurality of wheels are movably connected to the side walls of the receiving plates away from the vehicle body, and a servo motor one for driving one of the wheels to rotate is fixedly installed on the side of the receiving plates adjacent to the vehicle body. A crawler is nested outside the plurality of wheels.

[0008] Preferably, the buffer mechanism includes a connecting plate one, the connecting plate one is detachably connected to one side of the lower end surface of the vehicle body, a shock absorber is fixedly connected to the lower end surface of the connecting plate one, a shock absorption spring is nested outside the shock absorber, and the bottom end of the shock absorber is fixedly connected to a connecting plate two, and the side wall of the connecting plate two is detachably connected to the receiving plate.

[0009] Preferably, the robotic arm includes a base detachably connected to one side of the upper end surface of the vehicle body. A support seat is movably connected to the top of the base. A servo motor two for driving the support seat to rotate is fixedly installed on the top wall of the inner cavity of the vehicle body. A long arm is movably connected to the top of the support seat. A cylinder one is detachably connected to the side wall of the support seat, and the other end of the cylinder one is fixedly connected to the lower end surface of the long arm. A short arm is movably connected to the top of the long arm. A cylinder two is fixedly connected to the upper end surface of the long arm, and the other end of the cylinder two is fixedly connected to the upper end surface of the short arm. A driving mechanism is connected to the top of the short arm.

[0010] Preferably, the driving mechanism includes a servo motor three fixedly connected to one side of the top of the short arm. A rotating shaft is fixedly connected to the rotor of the servo motor three. The rotating shaft penetrates between the short arms. A connecting block is nested outside the rotating shaft. An actuator clamping plate is fixedly connected to the bottom wall of the connecting block. A driving motor four is fixedly connected to the lower end surface of the actuator clamping plate. A clamping mechanism is also fixedly installed on the lower end surface of the actuator clamping plate.

[0011] Preferably, the clamping mechanism includes a support plate. A plurality of connecting rods penetrate between the upper end surface of the support plate and the lower end surface of the actuator clamping plate. A worm is inserted into the support plate and fixedly connected to the rotor of the servo motor four. A plurality of fixing rods are fixedly connected to the lower end surface of the support plate. The lower ends of the plurality of fixing rods are all fixedly connected to a bracket. A plurality of worm wheels are rotatably connected to the upper end surface of the bracket. The plurality of worm wheels are all engaged with the worm, and a pin is inserted into each of the plurality of worm wheels. A rocker one is nested outside the pin. The other end of the rocker one is movably connected to a rocker two. The bottom end of the rocker two is fixedly connected to a gripper. A rocker three is rotatably connected to the rocker two near the bottom end. The other end of the rocker three is movably connected to the lower end surface of the bracket.

[0012] Preferably, a partition is arranged in the yam storage box, and the partition divides the yam storage box into a plurality of storage areas.

[0013] Compared with the related art, the yam digging device provided by the present invention has the following beneficial effects:

[0014] The present invention provides a yam digging device. In specific implementation, the yam digging device moves to the vicinity of the yam along a preset route, then lowers the clamping jaw to above the yam through the robotic arm, and then drives the clamping mechanism to clamp the yam through the driving mechanism. After the clamping is completed, the maturity and size of the yam are analyzed and processed according to the information collection camera and the image processor, and then the yam is classified and stored in the yam storage box through the robotic arm and the clamping jaw, so as to save manpower and improve the yam digging efficiency at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the yam digging device provided by the present invention;

[0016] Figure 2 Partial structural sectional view of the yam digging device provided by the present utility model;

[0017] Figure 3 Schematic diagram of the robotic arm structure of the yam digging device provided by the present utility model;

[0018] Figure 4 Schematic diagram of the jaw structure of the yam digging device provided by the present utility model;

[0019] Figure 5 is Figure 2 Enlarged view of the location marked as a shown in

[0020] Reference numerals in the figure: 1, vehicle body; 2, moving assembly; 21, buffer mechanism; 211, connecting plate 1; 212, shock absorber; 213, shock absorption spring; 214, connecting plate 2; 22, receiving plate; 23, wheel; 24, servo motor 1; 3, manipulator; 31, servo motor 2; 32, robotic arm; 321, base; 322, support seat; 323, long arm; 324, short arm; 325, cylinder 1; 326, cylinder 2; 33, jaw; 331, drive mechanism; 3311, servo motor 3; 3312, connecting block; 3313, rotating shaft; 3314, actuator clamping plate; 3315, servo motor 4; 332, clamping mechanism; 3320, support plate; 3321, gripper; 3322, fixing rod; 3323, bracket; 3324, worm; 3325, worm gear; 3326, pin; 3327, rocker 1; 3328, rocker 2; 3329, rocker 3; 4, yam storage box; 5, information collection camera. Detailed implementation manners

[0021] The present utility model will be further described below in conjunction with the accompanying drawings and implementation manners.

[0022] Please refer to Figure 1 — Figure 5 wherein, Figure 1 is the overall structural schematic diagram of the yam digging device provided by the present utility model; Figure 2 is the partial structural sectional view of the yam digging device provided by the present utility model; Figure 3 is the schematic diagram of the robotic arm structure of the yam digging device provided by the present utility model; Figure 4 is the schematic diagram of the jaw structure of the yam digging device provided by the present utility model; Figure 5 is Figure 2 the enlarged view of the location marked as a shown in

[0023] In the specific implementation process, a yam digging device has a structure as shown in Figure 1 — Figure 5As shown in the figure, it includes: a vehicle body 1 and a manipulator 3. The manipulator 3 is bolted to one side of the upper end surface of the vehicle body 1. A yam storage box 4 for storing the harvested yams is adhesively attached to the upper end surface of the vehicle body 1. A partition is provided in the yam storage box 4, and the partition divides the yam storage box 4 into multiple storage areas, so as to facilitate the classified storage of yams. When the manipulator 3 digs out the yams, the yams can be classified and stored in multiple yam storage boxes 4 according to the maturity of the yams. A controller and an image processor (not marked in the figure) are installed in the vehicle body 1. As Figure 3 shown, a moving component 2 is installed at the bottom end of the vehicle body 1. The moving component 2 includes a buffer mechanism 21. A plurality of buffer mechanisms 21 are bolted to opposite sides of the bottom end of the vehicle body 1. The buffer mechanism 21 includes a first connecting plate 211. One side of the first connecting plate 211 is bolted to the vehicle body 1. A shock absorber 212 is connected to the lower end surface of the connecting plate. The shock absorber 212 is filled with buffer liquid for buffering. A shock-absorbing spring 213 is nested outside the shock absorber 212. A second connecting plate 214 is bolted to the lower end of the shock absorber 212. A plurality of receiving plates 22 are bolted to the side walls of the second connecting plates 214 on the same side. A plurality of wheels 23 are rotatably connected to the side wall of the receiving plate 22. A first servo motor 24 is bolted to the other side wall of the receiving plate 22. The first servo motor 24 drives one of the wheels 23 to rotate. The wheel 23 driven by the first servo motor 24 drives another wheel 23 to rotate through a crawler. A second servo motor 31 is bolted to the bottom end of the vehicle body 1. The output end of the second servo motor 31 drives the manipulator 3 to rotate. As Figure 2 , Figure 4 and Figure 5As shown in the figure, the manipulator 3 includes a robotic arm 32 and a gripper 33. The other end of the robotic arm 32 is rotatably connected to the gripper 33. The robotic arm 32 includes a base 321, and the base 321 is bolted to one side of the upper end surface of the vehicle body 1. A support seat 322 is welded on the base 321. The servo motor two 31 drives the support seat 322 to rotate on the base 321. The top end of the side wall of the support seat 322 is bolted with an information collection camera 5. Through the information collection camera 5, the position and size of the yam can be judged, so that the manipulator 3 can accurately dig out the yam. The support seat 322 is rotatably connected to a long arm 323 through a ball bearing near the top end. The side wall of the support seat 322 near the bottom end is bolted with a cylinder one 325, and the other end of the cylinder one 325 is welded to the lower end surface of the long arm 323. The top end of the long arm 323 is rotatably connected to a short arm 324. A cylinder two 326 is welded to the upper end surface of the long arm 323, and the other end of the cylinder two 326 is welded to the short wall. The other end of the short arm 324 is rotatably connected to the gripper 33, and the gripper 33 is welded to the outer side wall of the short arm 324. The gripper 33 includes a driving mechanism 331. The driving mechanism 331 includes a servo motor three 3311. The servo motor three 3311 is bolted to the outer side wall of the top end of the short arm 324, and the rotor of the servo motor three 3311 is welded with a rotating shaft 3313. A connecting block 3312 is nested outside the rotating shaft 3313. The servo motor three 3311 drives the rotating shaft 3313 to rotate to drive the connecting block 3312 to rotate. The bottom wall of the connecting block 3312 is welded with an actuator clamping plate 3314. A servo motor four 3315 is welded to the bottom wall of the actuator clamping plate 3314. The bottom end of the actuator clamping plate 3314 is connected with a clamping mechanism 332 through a plurality of connecting rods. The clamping mechanism 332 includes a support plate 3320. The top end of the support plate 3320 is welded to the actuator clamping plate 3314 through a plurality of connecting rods. The bottom end of the support plate 3320 is welded with a bracket 3323 through a plurality of fixing rods 3322. The output end of the servo motor four 3315 is welded with a worm 3324. The worm 3324 passes through the bracket 3323, and a plurality of worm wheels 3325 are externally engaged with the worm 3324. A plurality of pins 3326 are inserted through the plurality of worm wheels 3325, and the plurality of pins 3326 are rotatably connected to the bracket 3323. A plurality of rocker arms one 3327 are nested outside the pins 3326. The other ends of the plurality of rocker arms one 3327 are rotatably connected to a rocker arm two 3328. A grasping clip 3321 is welded to the bottom end of the rocker arm two 3328. To prevent damage to the yam fruit during the digging process, the grasping clip 3321 can be made of silicone material. The rocker arm two 3328 is rotatably connected to a rocker arm three 3329 near the bottom end, and the other end of the rocker arm three 3329 is rotatably connected to the lower end surface of the bracket 3323.

[0024] The working principle provided by the present utility model is as follows: During the operation of the yam digging device, first, according to the preset movement trajectory, the controller controls the first servo motor 24 to drive the crawler by the wheels 23, so that the yam digging device moves to the designated position. When the yam digging device passes through uneven ground, due to inertia, the movement conditions of the vehicle body 1 and the crawler are different. At this time, under the buffering of the shock absorber 212 and the shock spring 213, the shaking degree of the vehicle body 1 can be reduced, thereby weakening the influence of the shaking of the vehicle body 1 on the information collection of the information collection camera 5, and also avoiding the collision of the fruits stored in the yam storage box 4. After the yam digging device moves to the designated position, the image processor distinguishes the maturity degree, size and precise position of the yam. If the yam meets the picking standard, at this time, the second servo motor 31 is started by the controller. The second servo motor 31 drives the manipulator 3 to rotate to a suitable angle, and then the first cylinder 325 extends, so that the long arm 323 rotates downward with the support seat 322 as the central axis. At the same time, the second cylinder 326 is started, so that the short arm 324 rotates downward around the connection point of the long arm 323 and the short arm 324, and the clamping jaw 33 is moved above the yam. Then, the third servo motor 3311 is started. After the third servo motor 3311 rotates the clamping jaw 33 to a suitable angle, the fourth servo motor 3315 is started. The fourth servo motor 3315 drives the worm 3324 to rotate, and the worm 3324 drives a plurality of worm wheels 3325 to rotate. The plurality of worm wheels 3325 respectively drive the first rocker 3327 to rotate, and the first rocker 3327 drives the second rocker 3328 to rotate around the third rocker 3329, so that the grasping clip 3321 digs the yam. After being dug out, under the cooperation of the first cylinder 325, the second cylinder 326 and the second servo motor 31, and according to the maturity degree analyzed by the image processor, the yam is placed in the appropriate area of the yam storage box 4.

[0025] The circuits and controls involved in the present utility model are all prior arts and will not be elaborated here. The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. A yam digging device, characterized in that, It includes a vehicle body (1), a moving component (2) for driving the movement of the vehicle body (1) is movably installed at the bottom end of the vehicle body (1), a yam storage box (4) is detachably connected to the upper end surface of the vehicle body (1), a robotic arm (32) is detachably connected to one side of the upper end surface of the vehicle body (1), and a gripper (33) is movably connected to the other end of the robotic arm (32). The gripper (33) includes a driving mechanism (331) and a clamping mechanism (332). The driving mechanism (331) is used to drive the clamping mechanism (332) to rotate and clamp, and the clamping mechanism (332) is movably connected to the top end of the robotic arm (32).

2. The yam digging device according to claim 1, wherein, The moving component (2) includes a plurality of receiving plates (22). The plurality of receiving plates (22) are oppositely arranged on both sides of the outer side wall of the vehicle body (1), and a plurality of buffer mechanisms (21) are detachably connected between the plurality of receiving plates (22) and the vehicle body (1). A plurality of wheels (23) are movably connected to the side walls of the receiving plates (22) far away from the vehicle body (1). A servo motor one (24) for driving one of the wheels (23) to rotate is fixedly installed on the side of each receiving plate (22) adjacent to the vehicle body (1). A crawler is nested outside the plurality of wheels (23).

3. The yam digging device according to claim 2, characterized in that, The buffer mechanism includes a connecting plate one (211). The connecting plate one (211) is detachably connected to one side of the lower end surface of the vehicle body (1). A shock absorber (212) is fixedly connected to the lower end surface of the connecting plate one (211). A shock-absorbing spring (213) is nested outside the shock absorber (212). The bottom end of the shock absorber (212) is fixedly connected to a connecting plate two (214). The side wall of the connecting plate two (214) is detachably connected to the receiving plate (22).

4. The yam digging device according to claim 3, characterized in that, The robotic arm (32) includes a base (321). The base (321) is detachably connected to one side of the upper end surface of the vehicle body (1). A support seat (322) is movably connected to the top end of the base (321). A servo motor two (31) for driving the support seat (322) to rotate is fixedly installed on the top wall of the inner cavity of the vehicle body (1). A long arm (323) is movably connected to the top end of the support seat (322). A cylinder one (325) is detachably connected to the side wall of the support seat (322). The other end of the cylinder one (325) is fixedly connected to the lower end surface of the long arm (323). A short arm (324) is movably connected to the top end of the long arm (323). A cylinder two (326) is fixedly connected to the upper end surface of the long arm (323). The other end of the cylinder two (326) is fixedly connected to the upper end surface of the short arm (324). The driving mechanism (331) is connected to the top end of the short arm (324).

5. The yam digging device according to claim 4, characterized in that, The driving mechanism (331) includes a third servo motor (3311). The third servo motor (3311) is fixedly connected to one side of the top end of the short arm (324). A rotating shaft (3313) is fixedly connected to the rotor of the third servo motor (3311). The rotating shaft (3313) penetrates between the short arms (324). A connecting block (3312) is nested outside the rotating shaft (3313). An actuator clamping plate (3314) is fixedly connected to the bottom wall of the connecting block (3312). A fourth driving motor is fixedly connected to the lower end surface of the actuator clamping plate (3314). A clamping mechanism (332) is also fixedly installed on the lower end surface of the actuator clamping plate (3314).

6. The yam digging device according to claim 5, characterized in that, The clamping mechanism (332) includes a support plate (3320). A plurality of connecting rods penetrate between the upper end surface of the support plate (3320) and the lower end surface of the actuator clamping plate (3314). A worm (3324) penetrates inside the support plate (3320). The worm (3324) is fixedly connected to the rotor of the fourth servo motor (3315). A plurality of fixing rods (3322) are fixedly connected to the lower end surface of the support plate (3320). The lower ends of the plurality of fixing rods (3322) are all fixedly connected to a bracket (3323). A plurality of worm wheels (3325) are rotatably connected to the upper end surface of the bracket (3323). The plurality of worm wheels (3325) are all meshed with the worm (3324). A pin (3326) penetrates inside each of the plurality of worm wheels (3325). A first rocker (3327) is nested outside the pin (3326). The other end of the first rocker (3327) is movably connected to a second rocker (3328). A gripper (3321) is fixedly connected to the bottom end of the second rocker (3328). A third rocker (3329) is rotatably connected to the second rocker (3328) near the bottom end. The other end of the third rocker (3329) is movably connected to the lower end surface of the bracket (3323).

7. The yam digging device according to claim 6, wherein, Partition boards are arranged inside the yam storage box (4). The partition boards divide the yam storage box into multiple storage areas.

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