Automatic vegetable harvester
The crank-connecting rod and crawler design of the automatic vegetable harvester enables root harvesting of vegetables, solves the damage problem of ground harvesting methods, improves efficiency and accuracy, adapts to complex terrain, and improves the quality and production efficiency of vegetables.
Patent Information
- Application Number
- CN202422808076.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-18
- Publication Date
- 2025-09-12
- Estimated Expiration
- 2034-11-18
AI Technical Summary
Existing vegetable harvesters use a ground harvesting method, which can easily damage vegetables, cause stem rot, reduce the purity and hygiene standards of vegetables, and are inefficient, making it difficult to meet large-scale production needs.
An automatic vegetable harvester is designed. It adopts a crank-connecting rod mechanism and a crawler chassis, and combines above-soil cutters and below-soil cutters. The cutters are driven by a crank rocker mechanism to achieve root harvesting. Track wheels are used to improve stability and adaptability, and a screw slider mechanism is used to adjust the cutter depth to achieve precise control.
It improves harvesting efficiency and accuracy, reduces vegetable damage, improves the integrity and shelf life of green vegetables, reduces labor costs, adapts to various complex terrains, and broadens application scenarios.
Smart Images
Figure CN223322505U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of agricultural machinery and relates to an automatic vegetable harvester. Background Art
[0002] In the vast realm of real life, the efficiency and quality of agricultural production are directly linked to agricultural development. However, when it comes to harvesting this important vegetable, greens, existing products on the market often fail to achieve satisfactory results. This is primarily due to the above-ground harvesting method used by most similar products, which suffers from significant drawbacks. Above-ground harvesting involves making a horizontal cut at the junction of the stem and root of the greens. While seemingly straightforward, this method presents numerous practical problems. First, because the cutting occurs above ground, precise control of force is often difficult, leading to inevitable damage to the greens' stems. This damage not only affects the appearance and quality of the greens but can also lead to stem rot, seriously compromising their integrity. Second, above-ground harvesting can easily introduce impurities such as dirt and weeds into the greens, further compromising their purity and sanitation. This poses significant challenges to the subsequent storage, processing, and sales of the greens. Especially during storage, the presence of rotten stems and impurities accelerates the decay and deterioration of vegetables, severely shortening their shelf life and causing significant economic losses to agricultural producers. Furthermore, above-ground harvesting methods are inefficient. Manual cutting of each vegetable leaf is labor-intensive and slow, making it difficult to meet the needs of large-scale agricultural production. Especially during the peak growing season, manual harvesting often struggles to keep up with the vegetable's growth rate, leaving large quantities of vegetables stranded in the fields and increasing the risk of disease. Utility Model Content
[0003] The purpose of the utility model is to solve the technical problem that most vegetable harvesters in the prior art adopt a ground harvesting method, which easily damages vegetables, and to provide an automatic vegetable harvester.
[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:
[0005] In the first aspect, the utility model provides an automatic vegetable harvester, comprising a walking frame provided with wheels, a crank-connecting rod mechanism provided on the walking frame, the crank-connecting rod mechanism being connected to a tool; the crank in the crank-connecting rod mechanism being connected to a tool control motor; a screw slider mechanism connected to a screw motor being provided on the walking frame, the slider in the screw slider mechanism being connected to a tool height control rocker, the tool height control rocker being hinged to a longitudinal frame, the longitudinal frame being hinged to a tool rocker, the tool rocker being hinged to the end point of the crank-connecting rod mechanism; the wheels being connected to a motor; the tool comprising an above-soil tool and an below-soil tool.
[0006] Further improvements are:
[0007] A crawler chassis is provided on the walking frame; the wheels are crawler wheels, and crawlers are provided on the crawler wheels through the crawler chassis.
[0008] The above-soil cutter and the below-soil cutter are fixedly connected up and down via a fixing plate; the extension length of the below-soil cutter is greater than that of the above-soil cutter.
[0009] The sub-soil cutter is in the shape of a plow and is used for shoveling vegetable roots from the soil.
[0010] The above-soil cutter is in a stepped shape and is used to further shovel out of the soil the vegetables whose roots have been scooped up by the below-soil cutter.
[0011] The crank-connecting rod mechanism comprises a tool beam and a second tool connecting rod connected to the crank, a first tool connecting rod is connected between the tool beam and the second tool connecting rod; the tool is connected at the connection point between the first tool connecting rod and the second tool connecting rod.
[0012] The hinge point of the tool rocker is at the connection point of the tool beam and the first tool link.
[0013] The wheels, the crank-connecting rod mechanism and the screw-slider mechanism are each provided with two groups and are symmetrically arranged on both sides of the walking frame.
[0014] A support rod is fixedly connected between the longitudinal frames on both sides of the walking frame, and the support rod is connected to the crank through a connecting rod.
[0015] A transverse frame is arranged between the ends of the longitudinal frames on both sides of the walking frame.
[0016] Compared with the prior art, the present invention has the following beneficial effects:
[0017] The utility model discloses an automatic vegetable harvester. Featuring a crank-rocker four-bar structure, a cutter control motor drives the cutter through the crank-rocker mechanism to excavate the roots of vegetables. This not only enables root-harvesting of vegetables, but also significantly improves harvesting efficiency and accuracy. The motor-driven crank-rocker mechanism precisely controls the cutter's trajectory, ensuring that the above-soil and below-soil cutters work in tandem, effectively cutting the roots of the vegetables while minimizing disturbance to the surrounding soil and reducing losses during the harvesting process. Furthermore, a screw-slider mechanism allows the cutter's depth of penetration to be adjusted. This design allows the cutter to penetrate deeply into the soil and lift the roots upward at a suitable angle, making it suitable for various vegetable varieties. This avoids root damage that can occur with traditional harvesting methods, thereby preserving the integrity of the vegetables and maintaining their nutritional value and taste. The combination of the cutter height control rocker and the screw-slider mechanism allows the harvester to flexibly adjust the cutter's operating height based on the growth of different vegetables and soil conditions, achieving precise control of the harvesting depth. This intelligent, adjustable harvesting method not only increases harvesting flexibility but also reduces labor costs, improving the efficiency and benefits of agricultural production. This utility model not only optimizes the vegetable harvesting process but also improves the quality and shelf life of vegetables through refined operations, providing strong support for the modernization and intelligent development of the vegetable cultivation industry and possessing broad market application prospects and socioeconomic value.
[0018] Furthermore, by introducing the design of a crawler chassis and crawler wheels, the stability and adaptability of the automatic vegetable harvester of this embodiment in harvesting operations have been significantly improved. The wide design of the crawler chassis increases the contact area between the machine and the ground, effectively disperses the pressure of the machine's weight on the soil, reduces the risk of sinking on soft or slippery fields, and enables the machine to maintain stable operation in a variety of complex terrains, broadening the application scenarios of the harvester. At the same time, the tracks on the crawler wheels have good grip and passability, ensuring that the harvester moves smoothly even in muddy, rugged or steep fields, and is not prone to slipping or tipping over, greatly improving operational safety and reliability. In addition, the crawler design also enables the harvester to easily cross obstacles such as ridges and ditches, reducing harvesting blind spots caused by terrain restrictions and improving overall harvesting efficiency and field utilization.
[0019] Furthermore, the subsoil cutter adopts a plow-like design, extending longer than the above-soil cutter. This ingenious structure enables the cutter to penetrate deep into the soil, precisely scooping up vegetable roots while minimizing excessive disturbance of the surrounding soil, thus reducing soil damage and vegetable damage during the harvesting process. The above-soil cutter is designed in a stepped pattern. This shape not only enhances the cutter's scooping effect but also allows the vegetables to be easily scooped out of the soil, building on the roots already scooped up by the subsoil cutter, ensuring a complete and efficient harvest. The stepped design also helps disperse soil resistance to the cutter, making the harvesting process smoother and reducing energy consumption and wear. Furthermore, the fixed connection between the above-soil and subsoil cutters not only ensures stability and coordination between the cutters, but also simplifies cutter installation and maintenance, thereby improving the overall reliability and service life of the machine. This integrated cutter design allows the harvester to more efficiently adapt to the harvesting needs of different vegetable varieties, providing a more flexible and efficient solution for agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.
[0021] Figure 1 This is a schematic diagram of the overall structure of an automatic vegetable harvester in the present utility model;
[0022] Figure 2 This is a schematic diagram of the mechanism operation of an automatic vegetable harvester in the utility model;
[0023] Figure 3 This is a tool path curve diagram of an automatic vegetable harvester in the utility model;
[0024] Figure 4 This is a triangular connecting rod structure diagram of an automatic vegetable harvester in the utility model;
[0025] Figure 5 This is a side view of a cutter of an automatic vegetable harvester in the present utility model;
[0026] Figure 6 This is a structural schematic diagram of a cutter of an automatic vegetable harvester in the present utility model;
[0027] Figure 7 This is a schematic diagram of a simulation of the tool motion trajectory of an automatic vegetable harvester in Example 1 of the present utility model.
[0028] Among them: 1- tool height control rocker; 2- longitudinal frame; 3- tool rocker; 4- transverse frame; 5- tool; 6- first tool connecting rod; 7- tool beam; 8- slider; 9- track wheel control motor; 10- tool control motor cantilever; 11- tool control motor; 12- track chassis; 13- second tool connecting rod; 14- crank. DETAILED DESCRIPTION
[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.
[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.
[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.
[0032] In the description of the embodiments of the present invention, it should be noted that if the terms "upper," "lower," "horizontal," "inner," etc. appear to indicate an orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the product of the present invention is typically placed when in use. These terms are used solely to facilitate the description of the present invention and to simplify the description. They do not indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first," "second," etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0033] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.
[0035] The present invention is described in further detail below with reference to the accompanying drawings:
[0036] Example 1
[0037] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The embodiment of the utility model discloses an automatic vegetable harvester, characterized in that it includes a walking frame provided with wheels, a crank-connecting rod mechanism is provided on the walking frame, and the crank-connecting rod mechanism is connected to a tool 5; the crank-connecting rod mechanism includes a tool beam 7 and a second tool connecting rod 13 connected to the crank, and a first tool connecting rod 6 is connected between the tool beam 7 and the second tool connecting rod 13; the tool 5 is connected at the connection point of the first tool connecting rod 6 and the second tool connecting rod 13. The crank in the crank-connecting rod mechanism is connected to a tool control motor 11; the walking frame is provided with a screw slider mechanism connected to a screw motor, and the slider in the screw slider mechanism is connected to a tool height control rocker 1, and the tool height control rocker 1 is hinged to a longitudinal frame 2, and the longitudinal frame 2 is hinged to a tool rocker 3, and the tool rocker 3 is hinged to the end point of the crank-connecting rod mechanism, and the hinge point of the tool rocker 3 is at the connection point of the tool beam 7 and the first tool connecting rod 6; the wheels are connected to a motor;
[0038] See also Figure 5 and Figure 6The cutter 5 comprises an above-soil cutter and a below-soil cutter. The above-soil cutter and below-soil cutter are fixedly connected vertically by a fixing plate; the below-soil cutter has a longer extension than the above-soil cutter. The below-soil cutter is shaped like a plow and is used to scoop up vegetable roots from the soil. The below-soil cutter adopts a plow-like design and has a longer extension than the above-soil cutter. This ingenious structure enables the cutter to penetrate deep into the soil and accurately scoop up vegetable roots while minimizing excessive disturbance of the surrounding soil, reducing soil damage and vegetable damage during the harvesting process. The above-soil cutter is designed in a stepped shape. This shape not only enhances the cutter's scooping effect but also allows the vegetables to be easily scooped out of the soil after the roots have already been scooped up by the below-soil cutter, ensuring the integrity and efficiency of the harvest. The stepped design also helps to disperse the soil's resistance to the cutter, making the harvesting process smoother and reducing energy consumption and wear. In addition, the fixed connection design of the above-soil cutter and below-soil cutter not only ensures stability and coordination between the cutters, but also simplifies the installation and maintenance process of the cutters, improving the overall reliability and service life of the machine. This integrated tool design enables the harvester to more efficiently adapt to the harvesting needs of different varieties of vegetables, providing a more flexible and efficient solution for agricultural production. The above-soil tool is stepped, and is used to further shovel out of the soil the vegetables whose roots have been scooped up by the tool under the soil. The wheels, crank-connecting rod mechanism and screw slider mechanism are each provided in two groups and are symmetrically arranged on both sides of the walking frame. A support rod is fixedly connected between the longitudinal frames 2 on both sides of the walking frame, and the support rod is connected to the crank through a connecting rod. A transverse frame 4 is provided between the ends of the longitudinal frames 2 on both sides of the walking frame.
[0039] The utility model discloses an automatic vegetable harvester. Featuring a crank-rocker four-bar structure, a cutter control motor drives the cutter through the crank-rocker mechanism to excavate the roots of vegetables. This not only enables root-harvesting of vegetables, but also significantly improves harvesting efficiency and accuracy. The motor-driven crank-rocker mechanism precisely controls the cutter's trajectory, ensuring that the above-soil and below-soil cutters work in tandem, effectively cutting the roots of the vegetables while minimizing disturbance to the surrounding soil and reducing losses during the harvesting process. Furthermore, a screw-slider mechanism allows the cutter's depth of penetration to be adjusted. This design allows the cutter to penetrate deeply into the soil and lift the roots upward at a suitable angle, making it suitable for various vegetable varieties. This avoids root damage that can occur with traditional harvesting methods, thereby preserving the integrity of the vegetables and maintaining their nutritional value and taste. The combination of the cutter height control rocker and the screw-slider mechanism allows the harvester to flexibly adjust the cutter's operating height based on the growth of different vegetables and soil conditions, achieving precise control of the harvesting depth. This intelligent, adjustable harvesting method not only increases harvesting flexibility but also reduces labor costs, improving the efficiency and benefits of agricultural production. This utility model not only optimizes the vegetable harvesting process but also improves the quality and shelf life of vegetables through refined operations, providing strong support for the modernization and intelligent development of the vegetable cultivation industry and possessing broad market application prospects and socioeconomic value.
[0040] Example 2
[0041] The difference between this embodiment and embodiment 1 is that: a crawler chassis 12 is provided on the walking frame; the wheels are crawler wheels, and crawlers are provided on the crawler wheels through the crawler chassis 12. The wheels, crank-connecting rod mechanisms and screw slider mechanisms are each provided in two groups and are symmetrically arranged on both sides of the walking frame. A support rod is fixedly connected between the longitudinal frames 2 on both sides of the walking frame, and the support rod is connected to the crank through a connecting rod. A transverse frame 4 is provided between the ends of the longitudinal frames 2 on both sides of the walking frame. By introducing the design of crawler chassis and crawler wheels, the stability and adaptability of the automatic vegetable harvester of this embodiment in harvesting operations are significantly improved. The wide design of the crawler chassis increases the contact area between the machine and the ground, effectively disperses the pressure of the machine weight on the soil, reduces the risk of sinking on soft or slippery fields, enables the machine to maintain stable operation in a variety of complex terrains, and broadens the application scenarios of the harvester. At the same time, the crawler tracks on the track wheels have excellent grip and passability, ensuring smooth movement of the harvester even in muddy, rugged, or sloping fields, preventing slippage or tipping, greatly improving operational safety and reliability. Furthermore, the crawler track design allows the harvester to easily cross obstacles such as ridges and ditches, reducing blind spots caused by terrain restrictions and improving overall harvesting efficiency and field utilization.
[0042] The working principle of this utility model is as follows:
[0043] The crank rocker mechanism in this utility model forms a triangle, and the tool is placed at the end point, so the stroke is obvious and the trajectory formed by the tool is closer to the target trajectory. max +L min ≤L x +L y . Let z be the crank, d, a, b, e, g are all connecting rods, c=260mm, d=996mm, a=216.18mm, b=690mm, e=350mm, g=218.42mm, z=55mm. All dimensions meet the rod length conditions. According to the width of the green vegetable root system, the designed maximum stroke is at least 50mm, so the crank length is designed to be 55mm. When the crank is perpendicular to the ground and at rest, and when the crank moves to a central angle of 270°, these two extreme positions are taken for measurement. After actual measurement, the actual forward limit distance is 50mm, which meets the design goal. According to the actual length, using sketch motion simulation in solidwork, a certain speed of the crank is given to obtain the following Figure 7 The motion simulation diagram shown is shown.
[0044] Furthermore, the angle between rod b and rod e and the length of rod e are initially determined as follows:
[0045] 15°325mm
[0046] 20°350mm
[0047] 25°375mm
[0048] 30°400mm
[0049] 35°425mm
[0050] 40°450mm
[0051] Sketch simulation was carried out in the simulation software by the control variable method, and it was analyzed that the motion trajectory of tool 5 was optimal when the angle between rod b and rod e and the length of rod e were 30° and 350 mm, respectively.
[0052] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. An automatic vegetable harvester, characterized in that: The invention comprises a walking frame provided with wheels, a crank connecting rod mechanism provided on the walking frame, the crank connecting rod mechanism being connected to a tool (5); a crank in the crank connecting rod mechanism being connected to a tool control motor (11); a screw slider mechanism connected to a screw motor provided on the walking frame, a slider in the screw slider mechanism being connected to a tool height control rocker (1), the tool height control rocker (1) being hinged to a longitudinal frame (2), the longitudinal frame (2) being hinged to a tool rocker (3), the tool rocker (3) being hinged to an end point of the crank connecting rod mechanism; the wheels being connected to a motor; the tool (5) comprising an above-soil tool and a below-soil tool.
2. The automatic vegetable harvester according to claim 1, characterized in that: A crawler chassis (12) is provided on the walking machine frame; the wheels are crawler wheels, and crawlers are provided on the crawler wheels via the crawler chassis (12).
3. The automatic vegetable harvester according to claim 1, characterized in that: The above-soil cutter and the below-soil cutter are fixedly connected up and down via a fixing plate; the extension length of the below-soil cutter is greater than that of the above-soil cutter.
4. The automatic vegetable harvester according to claim 1, characterized in that: The sub-soil cutter is in the shape of a plow and is used for shoveling vegetable roots from the soil.
5. The automatic vegetable harvester according to claim 1, characterized in that: The above-soil cutter is in a stepped shape and is used to further shovel out of the soil the vegetables whose roots have been scooped up by the below-soil cutter.
6. The automatic vegetable harvester according to claim 1, characterized in that: The crank-connecting rod mechanism comprises a tool beam (7) and a second tool connecting rod (13) connected to the crank, a first tool connecting rod (6) being connected between the tool beam (7) and the second tool connecting rod (13), and the tool (5) being connected at a connection point between the first tool connecting rod (6) and the second tool connecting rod (13).
7. The automatic vegetable harvester according to claim 6, characterized in that: The hinge point of the tool rocker (3) is at the connection point of the tool beam (7) and the first tool connecting rod (6).
8. The automatic vegetable harvester according to claim 1, characterized in that: The wheels, the crank-connecting rod mechanism and the screw-slider mechanism are each provided with two groups and are symmetrically arranged on both sides of the walking frame.
9. The automatic vegetable harvester according to claim 8, characterized in that: A support rod is fixedly connected between the longitudinal frames (2) on both sides of the walking frame, and the support rod is connected to the crank via a connecting rod.
10. The automatic vegetable harvester according to claim 1, characterized in that: A transverse frame (4) is provided between the ends of the longitudinal frames (2) on both sides of the walking frame.