Digging and shoveling type automatic lotus root picking vehicle

Abstract

The utility model discloses a digging shovel type automatic lotus root picking vehicle which comprises a vehicle shell, a surface soil removing mechanism, a digging mechanism, a capturing mechanism, a cleaning and storing mechanism, a double-flow transmission mechanism and a camera shooting mechanism, and the surface soil removing mechanism is arranged on the front side of the vehicle shell. The turning directions of the rear handle and the front handle are converted, so that the turning directions of the two handles are opposite, in the rotating process, the sliding block moves on the side rod and is matched with the rotation of the front handle, so that the direction of the digging shovel is changed, and the overall process is that the digging shovel cuts in vertically downwards firstly, so that lotus roots in an unknown area are not damaged as much as possible; then the digging shovel digs upwards; after digging, the digging shovel can be lifted upwards in parallel to lift the lotus roots and send the lotus roots to the capturing mechanism, then through a digging curve from back to front, damage to the lotus roots in an unmined area is avoided, the mined area can be deepened, damage to the lotus roots is avoided, and the quality of the lotus roots is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic lotus root picking, in particular to a shovel-type automatic lotus root picking vehicle. Background Art

[0002] At present, the main methods of lotus root harvesting are manual harvesting and mechanical harvesting. Manual harvesting is further divided into manual digging in dry fields and manual digging in paddy fields. Manual digging in dry fields is usually used in some northwestern areas of my country. Before harvesting lotus roots, the water in the paddy fields needs to be drained. During harvesting, a shovel or a lotus root shovel is used to turn over the silt in the lotus root field to expose the lotus roots, which are then picked up manually. Manual digging in paddy fields is done by manually holding a high-pressure water gun and placing the nozzle under the silt. The high-pressure water is used to disperse the silt around the lotus roots, allowing them to float on the water surface by their own buoyancy and then be picked.

[0003] Common problems with these two methods are high labor intensity and low harvesting efficiency, which no longer meet the development needs of the lotus root industry. Mechanical harvesting is divided into shovel-type and jet-type methods based on their working principles. The shovel-type method is simple to use, but the shovel has no gaps, making it difficult to accurately avoid the lotus roots during insertion and digging. It is easy to come into direct contact with the lotus roots, causing physical collisions and scratches to the lotus roots, resulting in a high breakage rate and affecting the lotus root quality. The jet-type method uses high-pressure water or air flow as the working principle, which has high harvesting efficiency and good harvest quality. However, if the soil is dense, the high-pressure water flow cannot fully penetrate and loosen the soil, making it difficult for the lotus roots to be separated from the soil and float to the surface.

[0004] Therefore, the utility model provides a shovel-type automatic lotus root picking vehicle to solve the above problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a shovel-type automatic lotus root picking vehicle to solve the above problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a shovel-type automatic lotus root picking vehicle, comprising a vehicle shell, a surface soil removal mechanism, a digging mechanism, a capture mechanism, a cleaning and storage mechanism, a dual-flow transmission mechanism, and a camera mechanism, wherein the surface soil removal mechanism is arranged at the front side of the vehicle shell, the digging mechanism is arranged between the vehicle shell and the surface soil removal mechanism, the capture mechanism is arranged inside the vehicle shell, the cleaning and storage mechanism is arranged between the capture mechanisms, the dual-flow transmission mechanism is arranged at the lower side of the cleaning and storage mechanism, and the camera mechanism is arranged at the upper side of the capture mechanism;

[0007] The surface soil removal mechanism includes a covering wheel and a protective cover, wherein the covering wheel is arranged at the side end of the protective cover, and the covering wheel is provided with spiral blades, and the spiral blades at both ends of the covering wheel rotate in opposite directions;

[0008] The digging mechanism includes a front handle, a side rod, a round rod, a claw rod and a slider, wherein the side rod is rotatably connected to the front handle, the slider is slidably connected to the side rod, the side rod is fixedly connected to the round rod, the round rod is fixedly connected to the side rod, and the claw rod is fixedly connected to the side rod;

[0009] The capture mechanism includes a claw, a first capture transmission rod, a second capture transmission rod and an intermediate capture link, wherein the claw is rotatably connected to the first capture transmission rod, the intermediate capture link is rotatably connected to the middle of the second capture transmission rod, and the end of the intermediate capture link away from the second capture transmission rod is rotatably connected to the first capture transmission rod;

[0010] The cleaning and storage mechanism includes a water pump, a long water pipe, a flushing pipe and a pipe head, wherein the flushing pipe is connected to the output end of the water pump, the pipe head is arranged on the flushing pipe, and the long water pipe is connected to the water pump;

[0011] The dual-flow transmission mechanism includes a second drive motor, a second sprocket transmission group, a third sprocket transmission structure and a third drive motor, wherein the second sprocket transmission group is arranged at the output end of the second drive motor, and the third sprocket transmission structure is arranged at the output end of the third drive motor;

[0012] The camera mechanism includes a camera and a connecting piece. The camera is rotatably connected to the connecting piece. A first servo motor is arranged inside the camera.

[0013] Preferably, the side end of the vehicle shell is rotatably connected to a support rod, the side end of the vehicle shell is rotatably connected to a tension rod, the tension rod is rotatably connected to the support rod, the bottom end of the support rod is rotatably connected to a spring rod, the bottom end of the spring rod is rotatably connected to a mud horse, the side end of the vehicle shell is provided with a paddy field wheel, a mud guard is provided inside the protective cover, a first sprocket transmission group is provided inside the mud guard, and the protective cover is fixedly connected to one end of the mud guard.

[0014] Preferably, the excavation mechanism also includes a first drive motor, the output end of the first drive motor is fixedly connected to a reducer, the output end of the reducer is rotatably connected to a first belt transmission structure, the side end of the first belt transmission structure is fixedly connected to a transmission long rod, the transmission long rod is fixedly connected to a second belt transmission structure, the end of the second belt transmission structure away from the transmission long rod is fixedly connected to a support frame, the support frame is triangular, the left corner of the support frame is rotatably connected to the gear transmission group, the middle angle of the support frame is rotatably connected to the end of the second belt transmission structure close to the first drive motor, and the end of the second belt transmission structure away from the first drive motor is rotatably connected to the side end of the gear transmission group.

[0015] Preferably, the excavation mechanism also includes a floor, to which a hydraulic rod is fixedly connected, to which a fixed rod is fixedly connected, and an end of the fixed rod away from the hydraulic rod is rotatably connected to the right corner of the second belt transmission structure, and a side end of the hydraulic rod is fixedly connected to a fixed plate, and the front handle is rotatably connected to the side end of the gear transmission group, and the side end of the gear transmission group is rotatably connected to the rear handle, and the side rod is rotatably connected to the end of the rear handle away from the gear transmission group.

[0016] Preferably, the end of the first capture transmission rod away from the gripper is rotatably connected to an intermediate frame, the upper side of the intermediate frame is rotatably connected to a second fork frame connecting rod, the second fork frame connecting rod is rotatably connected to a second rotating wheel, the outer side of the second rotating wheel is transmission-connected to a third belt, the inner side of the third belt is transmission-connected to the first rotating wheel, and the first rotating wheel is rotatably connected to the first fork frame connecting rod.

[0017] Preferably, the cleaning and storage mechanism also includes a water inlet shell, the side end of the long water pipe is connected to the first water pipe, a plurality of first water inlet pipes are arranged on the first water pipe, the first water inlet pipe is connected to the second water inlet pipe, a plurality of water spray holes are arranged on the second water inlet pipe, the water pump is connected to the water inlet pipe, the water inlet shell is arranged on the outer shell of the vehicle, a sliding rod is rotatably connected to the inner side of the water inlet shell, and a water inlet trough is arranged on the lower side of the water inlet shell.

[0018] Preferably, the dual-flow transmission mechanism also includes a fifth belt transmission structure and a first rotating rod, the fifth belt transmission structure is arranged on the front side of the second sprocket transmission group, the first rotating rod is rotatably connected to the second sprocket transmission group, the first rotating rod is rotatably connected to the first outer shell, the fourth belt transmission structure, the second gear and the first gear are arranged in the first outer shell, the first gear and the second gear are meshed, the inner side of the third sprocket transmission structure is meshed with a worm gear structure, the worm gear structure is fixedly connected to the first bevel gear group through a rod, and the worm gear structure is arranged in the second outer shell.

[0019] Preferably, the first gear is fixedly connected to the first rotating rod, the second gear is fixedly connected to the second rotating rod, the second rotating rod is rotatably connected to the first housing, the second rotating rod is fixedly connected to the first bevel gear set, the first bevel gear set is arranged in the second housing, one end of the fourth belt transmission structure is fixedly connected to the third belt transmission structure through a rod, the lower end of the fourth belt transmission structure is fixedly connected to the fourth sprocket transmission group through a rod, the second rotating rod is rotatably connected to the second housing, the third belt transmission structure is arranged on the front side of the second rotating wheel, the second rotating rod is rotatably connected to the side end of the vehicle housing, and the mud guard is fixedly connected to one end of the second rotating rod.

[0020] Preferably, a connecting plate is fixedly connected to the floor, and a power source is fixedly connected to the connecting plate.

[0021] Preferably, a camera structure housing is fixedly connected to the vehicle shell, a connecting piece is fixedly connected to the front side of the camera structure housing, a waterproof shell is fixedly connected to the front side of the vehicle shell, a rotating shaft is rotatably connected to the connecting piece, a connecting piece is fixedly connected to the rotating shaft, and a Bluetooth communication module, a second servo motor, a displacement sensor, an acceleration sensor and a speed sensor are arranged inside the camera structure housing.

[0022] The first sprocket drive group consists of two sprockets and a chain, and the chain is engaged with the sprockets;

[0023] The first belt transmission structure is composed of two rotating wheels and a belt, and the belt is connected to the rotating wheels in a transmission manner;

[0024] The second belt transmission structure is composed of two rotating wheels and a belt, and the belt is connected to the rotating wheels in a transmission manner;

[0025] The gear transmission group consists of four gears and a gear housing, wherein the gears are arranged in the gear housing and mesh with each other;

[0026] The second sprocket drive group consists of two sprockets and a chain, wherein the chain is engaged with the sprockets;

[0027] The third belt transmission structure is composed of two rotating wheels and a belt, and the belt is connected to the rotating wheels in a transmission manner;

[0028] The fourth belt transmission structure is composed of two rotating wheels and a belt, and the belt is connected to the rotating wheels in a transmission manner;

[0029] The third sprocket transmission structure is composed of two sprockets and a chain, wherein the chain is engaged with the sprockets;

[0030] The worm gear structure consists of a worm wheel and a worm, which are threadedly connected to each other.

[0031] The first bevel gear set consists of a large bevel gear and two small bevel gears, and the large bevel gear and the small bevel gear are meshed;

[0032] The fifth belt transmission structure is composed of two rotating wheels and a belt, and the belt is connected to the rotating wheels in a transmission manner;

[0033] The fourth sprocket transmission group consists of two sprockets and a chain, wherein the chain is engaged with the sprockets.

[0034] Beneficial effects

[0035] The utility model provides a shovel-type automatic lotus root picking vehicle. Compared with the existing technology, it has the following advantages:

[0036] (1) A digging shovel type automatic lotus root picking vehicle is provided with four gears in a gear transmission group to convert the direction of the rear handle and the front handle so that the two handles turn in opposite directions. During the rotation process, the slider moves on the side rod, and cooperates with the rotation of the front handle to change the direction of the digging shovel. The overall process is to first cut vertically downward so as not to damage the lotus roots in the unknown area as much as possible, and then the digging shovel is moved upward to pick them up; after picking them up, the digging shovel will be lifted upward in parallel to lift the lotus roots and send them to the capture mechanism. Then, through the digging curve from back to front, not only the damage to the lotus roots in the unmined area is avoided, but also the mined area can be deepened to avoid damage to the lotus roots and improve the quality of the lotus roots.

[0037] (2) A shovel-type automatic lotus root picking vehicle, which has spiral blades at both ends of the covering wheel rotating in opposite directions, forming an auger structure, so that the silt moves to both sides as it rotates, thereby achieving the work of shoveling the surface soil.

[0038] (3) A shovel-type automatic lotus root picking vehicle, which uses a capture mechanism to enable the claw to flip at an obtuse angle, so that the initial excavated material can be screened in two layers, removing most of the silt and debris.

[0039] (4) A shovel-type automatic lotus root picking vehicle, which impacts the lotus roots delivered by the capture mechanism through a cleaning storage mechanism, removes part of the silt, and allows the lotus roots to fall onto the slide bar. The second water pipe above will flush them, and the lotus roots will be transported downward as the slide bar rolls under the action of gravity. The entire conveyor belt is divided into two layers. The upper slide bar is used for transportation, and the lower slide bar is used for drainage. The sewage will remain in the gap between the slide bars. Finally, the clean lotus roots are output from the slide bar, and the sewage is output from the water trough below. The lotus roots are cleaned and diverted to achieve cleanliness.

[0040] (5) A shovel-type automatic lotus root picking vehicle transmits information to a server through a camera structure, and uses digital twin technology in conjunction with a Bluetooth communication module in the camera structure housing to remotely control a first servo motor, a second servo motor, a power supply, a first drive motor, a second drive motor, and a third drive motor, thereby remotely controlling the picking vehicle, facilitating remote management and harvesting of large-scale lotus root fields and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is the overall structural diagram of the utility model;

[0042] Figure 2 It is a side view of the overall structure of the utility model;

[0043] Figure 3 This is a side view of the surface soil removal mechanism of the utility model;

[0044] Figure 4 This is a structural diagram of a mud horse of the present utility model;

[0045] Figure 5 This is a side view of the mud horse structure of the present utility model;

[0046] Figure 6 This is a side view of the excavation mechanism structure of the utility model;

[0047] Figure 7 This is a side view of the partial structure of the excavation mechanism of the utility model;

[0048] Figure 8 This is a side view of the partial structure of the cleaning and storage mechanism of the utility model;

[0049] Figure 9 This is a side view of the structure of the washing and storage mechanism of the utility model;

[0050] Figure 10 This is a side view of the power supply structure of the utility model;

[0051] Figure 11 This is a side view of the capture mechanism structure of the utility model;

[0052] Figure 12 This utility model Figure 6 Side view of partial A structure;

[0053] Figure 13 This utility model Figure 11 Side view of partial B structure;

[0054] Figure 14 This is a side view of the double-flow transmission mechanism structure of the utility model;

[0055] Figure 15 This is a side view of the partial structure of the double-flow transmission mechanism of the utility model;

[0056] Figure 16 This utility model Figure 15 Side view of partial C structure;

[0057] Figure 17 It is a side view of the camera structure of the present utility model.

[0058] In the picture, 1, vehicle shell; 2, support rod; 3, spring rod; 4, tension rod; 5, mud horse; 6, paddy wheel;

[0059] Surface soil removal mechanism: 71, covering wheel; 72, mud guard; 73, protective cover; 74, first sprocket drive group;

[0060] Excavation mechanism: 81. First drive motor; 82. Speed reducer; 83. First belt transmission structure; 84. Second belt transmission structure; 85. Transmission rod; 86. Support frame; 87. Gear transmission group; 88. Fixed rod; 89. Hydraulic rod; 891. Floor; 892. Fixed plate; 893. Front handle; 894. Rear handle; 895. Side rod; 896. Round rod; 897. Claw rod; 898. Slider;

[0061] Capture mechanism: 91, gripper; 92, first capture transmission rod; 93, second capture transmission rod; 94, third belt; 95, first rotating wheel; 96, second rotating wheel; 97, first fork frame connecting rod; 98, second fork frame connecting rod; 99, intermediate frame; 991, intermediate capture connecting rod;

[0062] Cleaning storage mechanism: 101, water pump; 102, water pipe; 103, long water pipe; 104, flushing pipe; 105, first water pipe; 106, first water diversion pipe; 107, pipe head; 108, second water diversion pipe; 109, sliding rod; 1091, water diversion shell; 1092, water diversion trough.

[0063] Double-flow transmission mechanism: 111, second drive motor; 112, second sprocket transmission group; 113, first rotating rod; 114, second rotating rod; 115, first gear; 116, second gear; 117, third belt transmission structure; 118, fourth belt transmission structure; 119, third sprocket transmission structure; 1191, third drive motor; 1192, worm gear structure; 1193, first bevel gear group; 1194, fifth belt transmission structure; 1195, first housing; 1196, second housing; 1197, fourth sprocket transmission group;

[0064] 12. Power supply; 13. Connection board;

[0065] Camera mechanism: 141. Camera structure housing; 142. Waterproof housing; 143. Rotating shaft; 144. Connecting parts; 145. Camera. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0067] Example 1:

[0068] See also Figure 1-17A shovel-type automatic lotus root picking vehicle includes a vehicle shell 1, a surface soil removal mechanism, an excavation mechanism, a capture mechanism, a cleaning and storage mechanism, and a dual-flow transmission mechanism. The surface soil removal mechanism is arranged on the front side of the vehicle shell 1, the excavation mechanism is arranged between the vehicle shell 1 and the surface soil removal mechanism, the capture mechanism is arranged inside the vehicle shell 1, the cleaning and storage mechanism is arranged between the capture mechanisms, the dual-flow transmission mechanism is arranged below the cleaning and storage mechanism, and the imaging mechanism is arranged above the capture mechanism.

[0069] The topsoil removal mechanism includes a covering wheel 71 and a protective cover 73. The covering wheel 71 is arranged at the side end of the protective cover 73. The covering wheel 71 is provided with spiral blades, and the spiral blades at both ends of the covering wheel 71 rotate in opposite directions.

[0070] The excavation mechanism includes a front handle 893, a side rod 895, a round rod 896, a claw rod 897 and a slider 898. The side rod 895 is rotatably connected to the front handle 893, the slider 898 is slidably connected to the side rod 895, the side rod 895 is fixedly connected to the round rod 896, the round rod 896 is fixedly connected to the side rod 895, and the claw rod 897 is fixedly connected to the side rod 895.

[0071] The capture mechanism includes a claw 91, a first capture transmission rod 92, a second capture transmission rod 93, and an intermediate capture link 991. The claw 91 is rotatably connected to the first capture transmission rod 92, the intermediate capture link 991 is rotatably connected to the middle of the second capture transmission rod 93, and the end of the intermediate capture link 991 away from the second capture transmission rod 93 is rotatably connected to the first capture transmission rod 92.

[0072] The cleaning storage mechanism includes a water pump 101, a long water pipe 103, a flushing pipe 104 and a pipe head 107. The flushing pipe 104 is connected to the output end of the water pump 101. The pipe head 107 is set on the flushing pipe 104. The long water pipe 103 is connected to the water pump 101.

[0073] The dual-flow transmission mechanism includes a second drive motor 111, a second sprocket transmission group 112, a third sprocket transmission structure 119 and a third drive motor 1191. The second sprocket transmission group 112 is arranged at the output end of the second drive motor 111, and the third sprocket transmission structure 119 is arranged at the output end of the third drive motor 1191.

[0074] The camera mechanism includes a camera 145 and a connecting member 144 . The camera 145 is rotatably connected to the connecting member 144 , and a first servo motor is disposed inside the camera 145 .

[0075] The side end of the vehicle shell 1 is rotatably connected to the support rod 2, the side end of the vehicle shell 1 is rotatably connected to the tension rod 4, the tension rod 4 is rotatably connected to the support rod 2, the bottom end of the support rod 2 is rotatably connected to the spring rod 3, the bottom end of the spring rod 3 is rotatably connected to the mud horse 5, and the side end of the vehicle shell 1 is provided with a paddy field wheel 6.

[0076] A mud-proof plate 72 is provided inside the protective cover 73 , a first sprocket transmission group 74 is provided inside the mud-proof plate 72 , and the protective cover 73 is fixedly connected to one end of the mud-proof plate 72 .

[0077] The excavation mechanism also includes a first drive motor 81, the output end of the first drive motor 81 is fixedly connected to a reducer 82, the output end of the reducer 82 is rotatably connected to a first belt transmission structure 83, the side end of the first belt transmission structure 83 is fixedly connected to a transmission long rod 85, the transmission long rod 85 is fixedly connected to a second belt transmission structure 84, and the end of the second belt transmission structure 84 away from the transmission long rod 85 is fixedly connected to a support frame 86, and the support frame 86 is triangular.

[0078] The left corner of the support frame 86 is rotatably connected to the gear transmission group 87, the middle corner of the support frame 86 is rotatably connected to the end of the second belt transmission structure 84 close to the first drive motor 81, and the end of the second belt transmission structure 84 away from the first drive motor 81 is rotatably connected to the side end of the gear transmission group 87.

[0079] The excavation mechanism also includes a floor 891, to which a hydraulic rod 89 is fixedly connected, and a fixed rod 88 is fixedly connected to the hydraulic rod 89. The end of the fixed rod 88 away from the hydraulic rod 89 is rotatably connected to the right corner of the second belt transmission structure 84. The side end of the hydraulic rod 89 is fixedly connected to a fixed plate 892, the front handle 893 is rotatably connected to the side end of the gear transmission group 87, the side end of the gear transmission group 87 is rotatably connected to the rear handle 894, and the side rod 895 is rotatably connected to the end of the rear handle 894 away from the gear transmission group 87.

[0080] Working process: Reference Figure 3 , the working process of the topsoil removal agency:

[0081] The power provided by the double-flow transmission mechanism causes the first sprocket transmission group 74 in the mud-proof plate 72 to rotate, and the rotation of the first sprocket transmission group 74 drives the covering wheel 71 to rotate. The covering wheel 71 allows the silt to move outward with the rotation, thereby achieving the work of shoveling the surface soil.

[0082] refer to Figure 6 、 7 and 12. Working process of the excavation mechanism:

[0083] Start the first drive motor 81, and the power is transmitted through the reducer 82 to rotate the first belt transmission structure 83, so that the first belt transmission structure 83 rotates to drive the second belt transmission structure 84 and the transmission long rod 85 to rotate. The second belt transmission structure 84 rotates to drive the internal gears of the gear transmission group 87 to rotate, so that the rear handle 894 rotates. Since there are four gears inside the gear transmission group 87, the front handle 893 rotates in the opposite direction, and the hydraulic rod 89 is extended and retracted. The overall movement is that the slider 898 moves on the side rod 895, and the rear handle 894 rotates, so that the claw rod 897 first cuts vertically downward to avoid damaging the lotus root in the unknown area as much as possible, and then the claw rod 897 digs upward. After digging, the claw rod 897 will lift upward in parallel to lift the lotus root and transport it to the capture mechanism.

[0084] Example 2:

[0085] See also Figure 1-17 Based on the first embodiment, this embodiment provides a technical solution for a shovel-type automatic lotus root picking vehicle: the end of the first capture transmission rod 92 away from the gripper 91 is rotatably connected to the intermediate frame 99, the upper side of the intermediate frame 99 is rotatably connected to the second fork frame connecting rod 98, the second fork frame connecting rod 98 is rotatably connected to the second rotating wheel 96, the outer side of the second rotating wheel 96 is transmission-connected to the third belt 94, the inner side of the third belt 94 is transmission-connected to the first rotating wheel 95, and the first rotating wheel 95 is rotatably connected to the first fork frame connecting rod 97.

[0086] The side end of the long water pipe 103 is connected to the first water pipe 105, and several first water diversion pipes 106 are arranged on the first water pipe 105. The first water diversion pipe 106 is connected to the second water diversion pipe 108, and several water spray holes are arranged on the second water diversion pipe 108. The water pump 101 is connected to the water pipe 102. The cleaning storage mechanism also includes a water diversion shell 1091, which is arranged on the vehicle shell 1. The inner side of the water diversion shell 1091 is rotatably connected to the sliding rod 109, and the lower side of the water diversion shell 1091 is provided with a water diversion groove 1092.

[0087] Working process:

[0088] refer to Figure 11 and 13 , through the power transmission of the double-flow transmission mechanism, the second rotating wheel 96 rotates, and the rotation of the second rotating wheel 96 drives the second fork frame link 98 to rotate, and the intermediate frame 99 is driven to move through the second fork frame link 98 link transmission movement. Similarly, the rotation of the second rotating wheel 96 drives the third belt 94 to drive, and the third belt 94 drives the first rotating wheel 95 to rotate. The rotation of the first rotating wheel 95 drives the first fork frame link 97 to rotate, and the second capture transmission rod 93 is driven to move through the first fork frame link 97 link transmission movement, and the claw 91 moves toward the bias power supply 12 through the intermediate capture link 991 and the first capture transmission rod 92, so that the lotus root is transported to the cleaning and storage mechanism.

[0089] refer to Figure 8 and 9 , start the water pump 101, so that the water pipe 102 draws water from the paddy field, the water flows through the flushing pipe 104 and then through the pipe head 107 to flush the lotus roots transported in the capture mechanism, remove some silt, and let the lotus roots fall on the slide bar 109. The water flows through the long water pipe 103, the first water pipe 105 and the first water diversion pipe 106 in turn, and flushes the lotus roots through the water spray holes set on the second water diversion pipe 108. The lotus roots will be transported downward as the slide bar 109 rolls under the action of gravity. The entire water diversion shell 1091 is divided into two layers, the upper layer is used for transportation, and the lower layer is used for drainage. The sewage will remain in the gap of the slide bar 109, and the clean lotus roots are output from the water diversion shell 1091, and the sewage is output from the water diversion trough 1092 below, which achieves the overall effect of cleaning and diversion.

[0090] Example 3:

[0091] See also Figure 1-17 Based on the second embodiment, this embodiment provides a technical solution for a shovel-type automatic lotus root picking vehicle: the dual-flow transmission mechanism also includes a fifth belt transmission structure 1194 and a first rotating rod 113. The fifth belt transmission structure 1194 is arranged on the front side of the second sprocket transmission group 112, and the first rotating rod 113 is rotatably connected to the second sprocket transmission group 112. The first rotating rod 113 is rotatably connected to the first housing 1195. The fourth belt transmission structure 118, the second gear 116 and the first gear 115 are arranged in the first housing 1195. The first gear 115 and the second gear 116 are meshed. The inner side of the third sprocket transmission structure 119 is meshed with a worm gear structure 1192. The worm gear structure 1192 is fixedly connected to the first bevel gear group 1193 through a rod, and the worm gear structure 1192 is arranged in the second housing 1196.

[0092] The first gear 115 is fixedly connected to the first rotating rod 113, the second gear 116 is fixedly connected to the second rotating rod 114, the second rotating rod 114 is rotatably connected to the first housing 1195, the second rotating rod 114 is fixedly connected to the first bevel gear set 1193, the first bevel gear set 1193 is arranged in the second housing 1196, one end of the fourth belt transmission structure 118 is fixedly connected to the third belt transmission structure 117 through a rod, the lower end of the fourth belt transmission structure 118 is fixedly connected to the fourth sprocket transmission group 1197 through a rod, the second rotating rod 114 is rotatably connected to the second housing 1196, the third belt transmission structure 117 is arranged on the front side of the second rotating wheel 96, the second rotating rod 114 is rotatably connected to the side end of the vehicle shell 1, and the mudguard 72 is fixedly connected to one end of the second rotating rod 114.

[0093] A connecting plate 13 is fixedly connected to the floor 891 , and a power source 12 is fixedly connected to the connecting plate 13 .

[0094] Working process:

[0095] refer to Figure 14 、 15 and 16, starting the second drive motor 111, so that the second sprocket transmission group 112 and the fifth belt transmission structure 1194 rotate, the second sprocket transmission group 112 rotates and drives the first rotating rod 113 to rotate, the first rotating rod 113 rotates and the first gear 115 rotates, the first gear 115 rotates and drives the second gear 116 to rotate, so that the second gear 116 drives the second rotating rod 114 to rotate, and the second rotating rod 114 drives the paddy field wheel 6 to rotate;

[0096] The third drive motor 1191 then drives the third sprocket transmission structure 119 to rotate, and the rotation of the third sprocket transmission structure 119 drives the worm gear structure 1192 to rotate, so that the worm gear structure 1192 drives the first bevel gear set 1193 to rotate, and the rotation of the first bevel gear set 1193 drives the second rotating rod 114 to rotate, further drives the second rotating rod 114 to rotate, and the second rotating rod 114 drives the paddy field wheel 6 to rotate, so that the entire device moves forward;

[0097] At the same time, the fourth sprocket drive group 1197 is driven to rotate by the fifth belt drive structure 1194, so that the fourth sprocket drive group 1197 provides power for the topsoil removal mechanism;

[0098] The fifth belt transmission structure 1194 drives the fourth belt transmission structure 118 to rotate via the rotating shaft, and the fourth belt transmission structure 118 drives the third belt transmission structure 117 to rotate. The rotation of the third belt transmission structure 117 provides power for the capture mechanism.

[0099] Example 4:

[0100] See also Figure 1-17 Based on the third embodiment, this embodiment provides a technical solution for a shovel-type automatic lotus root picking vehicle: a camera structure housing 141 is fixedly connected to the vehicle housing 1, a connecting member 144 is fixedly connected to the front side of the camera structure housing 141, a waterproof shell 142 is fixedly connected to the front side of the vehicle housing 1, a rotating shaft 143 is rotatably connected to the connecting member 144, and a connecting member 144 is fixedly connected to the rotating shaft 143. The connecting member 144 is used to connect between the rotating shaft 143 and the camera 145.

[0101] A Bluetooth communication module, a second servo motor, a displacement sensor, an acceleration sensor and a speed sensor are arranged inside the camera structure housing 141 .

[0102] Working process: The second servo motor is remotely controlled through the Bluetooth communication module to facilitate the rotation of the rotating shaft 143, so as to control the first servo motor to facilitate the rotation of the camera 145, thereby taking pictures from multiple angles. The captured data is transmitted to the staff server through the Bluetooth communication module, and then the information is transmitted to the server in conjunction with the displacement sensor, acceleration sensor and speed sensor. The digital twin technology of the existing technology is used to realize remote control of the picking vehicle.

[0103] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0104] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0105] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shovel-type automatic lotus root picking vehicle, characterized in that: The vehicle comprises a vehicle shell (1), a surface soil removal mechanism, an excavation mechanism, a capture mechanism, a cleaning and storage mechanism, a dual-flow transmission mechanism, and a camera mechanism, wherein the surface soil removal mechanism is arranged at the front side of the vehicle shell (1), the excavation mechanism is arranged between the vehicle shell (1) and the surface soil removal mechanism, the capture mechanism is arranged inside the vehicle shell (1), the cleaning and storage mechanism is arranged between the capture mechanisms, the dual-flow transmission mechanism is arranged at the lower side of the cleaning and storage mechanism, and the camera mechanism is arranged at the upper side of the capture mechanism; The surface soil removal mechanism comprises a covering wheel (71) and a protective cover (73), wherein the covering wheel (71) is arranged at a side end of the protective cover (73), and a spiral blade is provided on the covering wheel (71), and the spiral blades at both ends of the covering wheel (71) rotate in opposite directions; The excavation mechanism comprises a front handle (893), a side rod (895), a round rod (896), a claw rod (897) and a slider (898), wherein the side rod (895) is rotatably connected to the front handle (893), the slider (898) is slidably connected to the side rod (895), the side rod (895) is fixedly connected to the round rod (896), the round rod (896) is fixedly connected to the side rod (895), and the claw rod (897) is fixedly connected to the side rod (895); The capture mechanism comprises a claw (91), a first capture transmission rod (92), a second capture transmission rod (93) and an intermediate capture link (991), wherein the claw (91) is rotatably connected to the first capture transmission rod (92), the intermediate capture link (991) is rotatably connected to the middle of the second capture transmission rod (93), and an end of the intermediate capture link (991) away from the second capture transmission rod (93) is rotatably connected to the first capture transmission rod (92); The cleaning and storage mechanism comprises a water pump (101), a long water pipe (103), a flushing pipe (104) and a pipe head (107); the flushing pipe (104) is connected to the output end of the water pump (101); the pipe head (107) is arranged on the flushing pipe (104); and the long water pipe (103) is connected to the water pump (101); The dual-flow transmission mechanism comprises a second drive motor (111), a second sprocket transmission group (112), a third sprocket transmission structure (119) and a third drive motor (1191), wherein the second sprocket transmission group (112) is arranged at the output end of the second drive motor (111), and the third sprocket transmission structure (119) is arranged at the output end of the third drive motor (1191); The camera mechanism comprises a camera (145) and a connecting member (144); the camera (145) is rotatably connected to the connecting member (144); and a first servo motor is provided inside the camera (145).

2. The shovel-type automatic lotus root picking vehicle according to claim 1, characterized in that: The side end of the vehicle shell (1) is rotatably connected to a support rod (2), the side end of the vehicle shell (1) is rotatably connected to a tension rod (4), the tension rod (4) is rotatably connected to the support rod (2), the bottom end of the support rod (2) is rotatably connected to a spring rod (3), the bottom end of the spring rod (3) is rotatably connected to a mud horse (5), the side end of the vehicle shell (1) is provided with a paddy field wheel (6), a mud plate (72) is provided inside a protective cover (73), a first sprocket transmission group (74) is provided inside the mud plate (72), and the protective cover (73) is fixedly connected to one end of the mud plate (72).

3. The shovel-type automatic lotus root picking vehicle according to claim 1, characterized in that: The excavation mechanism further comprises a first drive motor (81), an output end of the first drive motor (81) is fixedly connected to a reducer (82), an output end of the reducer (82) is rotatably connected to a first belt transmission structure (83), a side end of the first belt transmission structure (83) is fixedly connected to a transmission rod (85), a second belt transmission structure (84) is fixedly connected to the transmission rod (85), an end of the second belt transmission structure (84) away from the transmission rod (85) is fixedly connected to a support frame (86), the support frame (86) is triangular, a left corner of the support frame (86) is rotatably connected to a gear transmission group (87), a middle corner of the support frame (86) is rotatably connected to an end of the second belt transmission structure (84) close to the first drive motor (81), and an end of the second belt transmission structure (84) away from the first drive motor (81) is rotatably connected to a side end of the gear transmission group (87).

4. The shovel-type automatic lotus root picking vehicle according to claim 3, characterized in that: The excavation mechanism further comprises a floor (891), a hydraulic rod (89) being fixedly connected to the floor (891), a fixed rod (88) being fixedly connected to the hydraulic rod (89), an end of the fixed rod (88) away from the hydraulic rod (89) being rotatably connected to the right corner of the second belt transmission structure (84), a side end of the hydraulic rod (89) being fixedly connected to a fixed plate (892), the front handle (893) being rotatably connected to the side end of the gear transmission group (87), the side end of the gear transmission group (87) being rotatably connected to the rear handle (894), and the side rod (895) being rotatably connected to the end of the rear handle (894) away from the gear transmission group (87).

5. The shovel-type automatic lotus root picking vehicle according to claim 1, characterized in that: The end of the first capture transmission rod (92) away from the gripper (91) is rotatably connected to an intermediate frame (99), the upper side of the intermediate frame (99) is rotatably connected to a second fork frame connecting rod (98), the second fork frame connecting rod (98) is rotatably connected to a second rotating wheel (96), the outer side of the second rotating wheel (96) is connected to a third belt (94), the inner side of the third belt (94) is connected to a first rotating wheel (95), and the upper side of the first rotating wheel (95) is rotatably connected to a first fork frame connecting rod (97).

6. The shovel-type automatic lotus root picking vehicle according to claim 1, characterized in that: The cleaning and storage mechanism further comprises a water diversion shell (1091), the side end of the long water pipe (103) is connected to a first water pipe (105), a plurality of first water diversion pipes (106) are provided on the first water pipe (105), the first water diversion pipe (106) is connected to a second water diversion pipe (108), a plurality of water spray holes are provided on the second water diversion pipe (108), the water pump (101) is connected to a water supply pipe (102), the water diversion shell (1091) is provided on the vehicle outer shell (1), a sliding rod (109) is rotatably connected to the inner side of the water diversion shell (1091), and a water diversion groove (1092) is provided on the lower side of the water diversion shell (1091).

7. The shovel-type automatic lotus root picking vehicle according to claim 2, characterized in that: The dual-flow transmission mechanism also includes a fifth belt transmission structure (1194) and a first rotating rod (113), wherein the fifth belt transmission structure (1194) is arranged on the front side of the second sprocket transmission group (112), the first rotating rod (113) is rotatably connected to the second sprocket transmission group (112), the first rotating rod (113) is rotatably connected to the first housing (1195), a fourth belt transmission structure (118), a second gear (116) and a first gear (115) are arranged in the first housing (1195), the first gear (115) and the second gear (116) are meshed, and the inner side of the third sprocket transmission structure (119) is meshed with a worm gear structure (1192), the worm gear structure (1192) is fixedly connected to the first bevel gear group (1193) through a rod, and the worm gear structure (1192) is arranged in the second housing (1196).

8. The shovel-type automatic lotus root picking vehicle according to claim 7, characterized in that: The first gear (115) is fixedly connected to the first rotating rod (113), the second gear (116) is fixedly connected to the second rotating rod (114), the second rotating rod (114) is rotatably connected to the first housing (1195), the second rotating rod (114) is fixedly connected to the first bevel gear set (1193), the first bevel gear set (1193) is arranged in the second housing (1196), one end of the fourth belt transmission structure (118) is fixedly connected to the third belt transmission structure (117) through a rod, the lower end of the fourth belt transmission structure (118) is fixedly connected to the fourth sprocket transmission set (1197) through a rod, the second rotating rod (114) is rotatably connected to the second housing (1196), the third belt transmission structure (117) is arranged on the front side of the second rotating wheel (96), the second rotating rod (114) is rotatably connected to the side end of the vehicle housing (1), and the mudguard (72) is fixedly connected to one end of the second rotating rod (114).

9. The shovel-type automatic lotus root picking vehicle according to claim 4, characterized in that: A connecting plate (13) is fixedly connected to the floor (891), and a power source (12) is fixedly connected to the connecting plate (13).

10. The shovel-type automatic lotus root picking vehicle according to claim 1, characterized in that: A camera structure housing (141) is fixedly connected to the vehicle housing (1), a connecting piece (144) is fixedly connected to the front side of the camera structure housing (141), a waterproof housing (142) is fixedly connected to the front side of the vehicle housing (1), a rotating shaft (143) is rotatably connected to the connecting piece (144), and the rotating shaft (143) is fixedly connected to the connecting piece (144), and a Bluetooth communication module, a second servo motor, a displacement sensor, an acceleration sensor, and a speed sensor are arranged inside the camera structure housing (141).

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