Vegetable harvesting robot

Abstract

The utility model relates to the field of agricultural robots, in particular to a vegetable harvesting robot. Comprising a vehicle frame, the left side and the right side of the rear portion of the vehicle frame are each provided with a vertically-arranged conveying belt supporting rod, an electric cabinet is arranged in the middle of the vehicle frame, and a harvesting assembly is arranged outside the front portion of the vehicle frame; the bottom of the conveying belt supporting rod is fixed to the frame, the top of the conveying belt supporting rod is connected with the vegetable conveying belt, the vegetable conveying belt is obliquely arranged, the rear portion of the vegetable conveying belt is connected with the conveying belt supporting rod, and the front portion of the vegetable conveying belt abuts against the harvesting assembly. According to the intelligent vegetable harvesting robot, the position and speed information of the vegetable harvesting robot is fed back in real time through the RTK positioning device, and the advancing speed, the advancing direction and the harvesting process of the robot are controlled through the control device of the electric cabinet, so that the vegetable harvesting robot is intelligently controlled to work, manual harvesting which is most widely applied at present is replaced, and the working efficiency is improved. The harvesting efficiency is greatly improved, and the agricultural unmanned rate is improved.

Description

Technical Field

[0001] The utility model relates to the field of agricultural robots, in particular to a vegetable harvesting robot. Background Art

[0002] In my country, leafy greens are the most common vegetable species grown on a large scale. These vegetables are not only rich in protein, vitamins, and minerals, but also highly adaptable and suitable for year-round cultivation. They are also popular with consumers for their freshness and tenderness, resulting in high market demand and economic value. Greenhouses are often used to grow leafy greens. These greenhouses utilize sunlight in spring and summer to raise the indoor temperature, while heating equipment is used to supplement the lack of sunlight in autumn and winter, better meeting the growth needs of leafy greens.

[0003] Under ideal room temperature and lighting conditions, leafy greens typically take 30-60 days to grow from seedling to harvest. Currently, harvesting leafy greens is still largely done manually, which is labor-intensive and inefficient. Harvesting leafy greens is the most labor-intensive part of the entire growing process. With rising labor costs, the need for mechanized harvesting equipment has become urgent. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a vegetable harvesting robot to replace the currently most widely used manual harvesting, save manpower and improve labor efficiency.

[0005] In order to solve the above technical problems, the utility model provides a vegetable harvesting robot, comprising a frame, wherein a vertically placed conveyor belt support rod is respectively provided on the left and right sides of the rear portion of the frame, an electric control box is provided in the middle portion of the frame, and a harvesting assembly is provided on the front portion of the frame; the bottom of the conveyor belt support rod is fixed to the frame, the top of the conveyor belt support rod is connected to a vegetable conveyor belt, the vegetable conveyor belt is placed obliquely, the rear portion of the vegetable conveyor belt is connected to the conveyor belt support rod, and the front portion of the vegetable conveyor belt abuts against the harvesting assembly;

[0006] The harvesting assembly is in the shape of a gate, and a harvesting knife is provided at the bottom of the gate-shaped harvesting assembly. A harvesting motor is provided on the frame at the rear side of the harvesting assembly, and the harvesting motor drives the harvesting knife to reciprocate left and right;

[0007] Several groups of L-shaped fixing seats are provided at the lower rear part of the vegetable conveyor belt, and a connecting plate is provided in the middle of the L-shaped fixing seat. One end of the connecting plate is provided with an electric push rod, and the other end of the connecting plate is connected to the guide groove through a hinge. The input end of the guide groove is opposite to the outlet of the vegetable conveyor belt, and the bottom of the guide groove is movably connected to the electric push rod. Several groups of clamping parts are respectively provided at the bottom and top of the vegetable conveyor belt.

[0008] A group of track wheels is respectively provided on the left and right sides of the frame.

[0009] An RTK positioning device is provided above the vehicle frame, and a gate-shaped connecting seat is provided below the RTK positioning device. The gate-shaped bottom of the connecting seat is respectively fixed on two conveyor belt support rods.

[0010] The rear portion of the vehicle frame is externally connected to a support platform, and a vegetable basket is provided on the support platform. The top of the vegetable basket is open and faces the outlet of the guide groove.

[0011] A telescopic cylinder is provided at the front of the vehicle frame, the bottom of the telescopic cylinder is fixed on the vehicle frame, and the telescopic rod of the telescopic cylinder is movably connected to the front of the vegetable conveyor belt.

[0012] A profiling component is provided on the front side of the harvesting component. The profiling component is in a gate shape, and a profiling wheel is provided at the bottom of the gate shape of the profiling component.

[0013] A conveying motor is provided on the top of the vegetable conveyor belt.

[0014] According to the utility model, the position and speed information of the vegetable harvesting robot are fed back in real time through the RTK positioning device, and the robot's travel speed, travel direction and robot harvesting process are controlled by the control device of the electric control box, thereby intelligently controlling the work of the vegetable harvesting robot, replacing the currently most widely used manual harvesting, greatly improving the harvesting efficiency, and increasing the unmanned rate of agriculture. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the present utility model.

[0016] Figure 2 It is a side view of the present utility model.

[0017] Figure 3 This utility model Figure 2 Enlarged view of point A in the middle.

[0018] Figure 4 It is a top view of the present utility model.

[0019] Figure 5 It is a front view of the present utility model.

[0020] Among them, 1 is the track wheel, 2 is the frame, 3 is the conveyor belt support rod, 4 is the vegetable conveyor belt, 5 is the RTK positioning device, 6 is the vegetable basket, 7 is the electric control box, 8 is the harvesting component, 9 is the profiling component, 10 is the profiling wheel, 11 is the harvesting motor, 12 is the conveying motor, 13 is the telescopic cylinder, 14 is the connecting plate, 15 is the harvesting knife, 16 is the electric push rod, 17 is the guide groove, 18 is the hinge, 19 is the L-shaped fixing seat, and 20 is the clamping part. DETAILED DESCRIPTION

[0021] Next, combine Figure 1-5 The rotary tillage robot of the present utility model is described as a vegetable harvesting robot, including a frame, characterized in that: a vertically placed conveyor belt support rod 3 is respectively provided on the left and right sides of the rear part of the frame 2, an electric control box 7 is provided in the middle part of the frame 2, and a harvesting assembly 8 is provided on the front outside of the frame 2; the bottom of the conveyor belt support rod 3 is fixed to the frame 2, the top of the conveyor belt support rod 3 is connected to the vegetable conveyor belt 4, the vegetable conveyor belt 4 is placed obliquely, the rear of the vegetable conveyor belt 4 is connected to the conveyor belt support rod 3, and the front of the vegetable conveyor belt 4 abuts against the harvesting assembly 8;

[0022] The harvesting assembly 8 is in the shape of a gate, and a harvesting knife 15 is provided at the bottom of the gate-shaped harvesting assembly 8. A harvesting motor 11 is provided on the frame 2 on the rear side of the harvesting assembly 8, and the harvesting motor 11 drives the harvesting knife 15 to reciprocate left and right;

[0023] Several groups of L-shaped fixing seats 19 are provided at the lower rear part of the vegetable conveyor belt 4, and a connecting plate 14 is provided in the middle of the L-shaped fixing seat 19. One end of the connecting plate 14 is provided with an electric push rod 16, and the other end of the connecting plate 14 is connected to the guide groove 17 through a hinge 18. The input end of the guide groove 17 is opposite to the outlet of the vegetable conveyor belt 4, and the bottom of the guide groove 17 is movably connected to the electric push rod 16. Several groups of clamping parts 20 are respectively provided at the bottom and top of the vegetable conveyor belt 4.

[0024] A set of track wheels 1 is respectively provided on the left and right sides of the vehicle frame 2.

[0025] Among them, the two sets of track wheels 1 are driven by a reducer and a motor respectively. The travel speed of the vegetable harvesting robot can be adjusted by adjusting the transmission ratio of the reducer. At the same time, the different transmission ratios of the two reducers can allow the vegetable harvesting robot to complete steering.

[0026] An RTK positioning device 5 is provided above the vehicle frame 2 , and a gate-shaped connecting seat is provided below the RTK positioning device 5 . The gate-shaped bottom of the connecting seat is respectively fixed on two conveyor belt support rods 3 .

[0027] In this way, the vegetable harvesting robot can provide real-time feedback of the robot's position information such as its moving direction and speed through the RTK positioning device 5, thereby cooperating with the control device of the electrical control box to adjust the movement of the vegetable harvesting robot.

[0028] The rear portion of the vehicle frame 2 is externally connected to a support platform, on which a vegetable basket 6 is provided. The top of the vegetable basket 6 is open and faces the outlet of the guide groove 17 .

[0029] Among them, the vegetable basket 6 is installed on the support platform in a detachable form, so that the harvested vegetables can fall into the vegetable basket 6 through the vegetable conveyor belt 4 and the guide groove 17. After the vegetables in the vegetable basket 6 reach a certain number or the harvesting work is completed, the staff will dismantle the vegetable basket 6 and replace the vegetable basket 6.

[0030] A telescopic cylinder 13 is provided at the front of the frame 2 , the bottom of the telescopic cylinder 13 is fixed on the frame 2 , and the telescopic rod of the telescopic cylinder 13 is movably connected to the front of the vegetable conveyor belt 4 .

[0031] In this way, the inclination angle of the vegetable conveyor belt 4 can be easily adjusted.

[0032] A profiling component 9 is provided on the front side of the harvesting component 8. The profiling component 9 is in a gate shape, and a profiling wheel 10 is provided at the bottom of the gate shape of the profiling component 9.

[0033] A conveying motor 12 is provided on the top of the vegetable conveyor belt 4.

[0034] When the present invention is in use, the harvesting blade 15 reciprocates under the action of the harvesting motor 11. The leaves and roots of the vegetables in the soil are separated by the reciprocating motion of the harvesting blade 15. As the vegetable harvesting robot moves forward, the vegetables are clamped by the clamping part 20 at the bottom of the vegetable conveyor belt 4 and then pushed onto the vegetable conveyor belt 4. The vegetable conveyor belt 4 is provided with a plurality of parallel conveying channels. The vegetables are conveyed to the top of the vegetable conveyor belt 4 through the conveying channels and then fall into the vegetable basket 6 through the guide groove 17. The clamping parts at the top and bottom of the vegetable conveyor belt 4 are matched with the conveying channels one by one.

[0035] It should be understood that within the scope of the present invention, various parts in the embodiments can be freely combined, or various parts in the embodiments can be appropriately deformed or omitted.

Claims

1. A vegetable harvesting robot, comprising a frame, characterized in that: A vertically placed conveyor belt support rod (3) is provided on the left and right sides of the rear of the vehicle frame (2), an electric control box (7) is provided in the middle of the vehicle frame (2), and a harvesting assembly (8) is provided outside the front of the vehicle frame (2); the bottom of the conveyor belt support rod (3) is fixed to the vehicle frame (2), the top of the conveyor belt support rod (3) is connected to the vegetable conveyor belt (4), the vegetable conveyor belt (4) is tilted, the rear of the vegetable conveyor belt (4) is connected to the conveyor belt support rod (3), and the front of the vegetable conveyor belt (4) abuts against the harvesting assembly (8); The harvesting assembly (8) is in the shape of a gate, a harvesting knife (15) is provided at the bottom of the gate-shaped harvesting assembly (8), a harvesting motor (11) is provided on the frame (2) at the rear side of the harvesting assembly (8), and the harvesting motor (11) drives the harvesting knife (15) to reciprocate left and right; A plurality of groups of L-shaped fixing seats (19) are provided at the lower rear portion of the vegetable conveyor belt (4), a connecting plate (14) is provided in the middle of the L-shaped fixing seat (19), one end of the connecting plate (14) is provided with an electric push rod (16), the other end of the connecting plate (14) is connected to the guide groove (17) via a hinge (18), the input end of the guide groove (17) is directly opposite to the outlet of the vegetable conveyor belt (4), the bottom of the guide groove (17) is movably connected to the electric push rod (16), and a plurality of groups of clamping parts (20) are provided at the bottom and top of the vegetable conveyor belt (4).

2. The vegetable harvesting robot according to claim 1, characterized in that: A set of track wheels (1) is respectively provided on the left and right sides of the vehicle frame (2).

3. The vegetable harvesting robot according to claim 1, characterized in that: An RTK positioning device (5) is provided above the vehicle frame (2), and a gate-shaped connecting seat is provided below the RTK positioning device (5). The gate-shaped bottom of the connecting seat is respectively fixed to two conveyor belt support rods (3).

4. The vegetable harvesting robot according to claim 1, characterized in that: The rear portion of the vehicle frame (2) is externally connected to a support platform, and a vegetable basket (6) is provided on the support platform. The top of the vegetable basket (6) is open and faces the outlet of the guide groove (17).

5. The vegetable harvesting robot according to claim 1, characterized in that: A telescopic cylinder (13) is provided at the front of the vehicle frame (2), the bottom of the telescopic cylinder (13) is fixed on the vehicle frame (2), and the telescopic rod of the telescopic cylinder (13) is movably connected to the front of the vegetable conveyor belt (4).

6. The vegetable harvesting robot according to claim 1, characterized in that: A profiling component (9) is provided on the front side of the harvesting component (8), the profiling component (9) is in a gate shape, and a profiling wheel (10) is provided at the bottom of the gate shape of the profiling component (9).

7. The vegetable harvesting robot according to claim 1, characterized in that: A conveying motor (12) is provided on the top of the vegetable conveyor belt (4).

Images