High-universality carrot harvesting robot based on spring self-adaption
The spring-adaptive multi-tilt angle adjustment for breaking the soil, the adjustable clamp-pull harvesting and the spiral blade soil-shaking mechanism solve the problem of poor adaptability of carrot harvesting machinery to different soils and stems and leaves, and achieve an efficient and low-cost harvesting process.
Patent Information
- Application Number
- CN202422930301.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2034-11-29
AI Technical Summary
Existing carrot harvesting machinery has poor adaptability to different soils, insufficient ability to handle differences in stem and leaf thickness, and the problem of soil adhesion has not been effectively solved, resulting in a low level of mechanization and increased production costs and labor intensity.
It adopts a spring-adaptive multi-tilt angle adjustment soil-breaking mechanism, an adjustable belt clamping and pulling harvesting mechanism, and a spiral blade soil-shaking mechanism. Combined with the chassis power mechanism, chain rod transmission, and belt transmission mechanism, it can achieve adaptive harvesting of different soils and stems and leaves, and effectively remove the soil.
It improves the versatility and efficiency of carrot harvesting machinery, reduces the need for secondary processing, and reduces labor intensity and production costs.
Smart Images
Figure CN223402837U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a crop harvesting robot, in particular to a spring-adaptive and highly versatile carrot harvesting robot. Background Art
[0002] Carrots, as an important crop, possess abundant nutritional and medicinal value. They are easy to store and transport, have a short growing season, and are easily arranged for crop rotation, making them a traditional disaster relief crop. They require minimal pesticide application and pose minimal pesticide pollution, making them suitable for cultivating pollution-free vegetables. Carrot cultivation also requires relatively simple field management, is less susceptible to pests and diseases, and is easily scalable.
[0003] Carrot cultivation in my country is widespread, but mostly in scattered, small plots. Influenced by factors such as soil, topography, and climate, carrot cultivation patterns vary, primarily including flat planting, ridge planting, and bed planting. The lack of uniform standards for carrot cultivation and the varying agronomic practices across different growing regions have hampered the development of carrot planting and harvesting machinery. This has resulted in a relatively low level of mechanization for carrots from planting to harvesting, particularly in the harvesting phase, which is primarily manual. This leads to high labor intensity and low efficiency for farmers, resulting in high carrot cultivation costs and low economic returns. This has directly impacted farmers' enthusiasm for carrot cultivation and hampered the development of mechanized carrot production.
[0004] Existing carrot harvesters have the following major drawbacks: poor adaptability to different soils; limited versatility for carrots with varying stem and leaf thicknesses; and poor handling of soil adhering to carrots. Specifically, soil hardness and moisture content can vary significantly across regions, with some soils being relatively hard and others relatively soft. These physical properties significantly impact the mechanical pulling force of carrots, a factor not currently addressed by carrot harvesters. Furthermore, due to variations in soil, climate, and variety, the stems and leaves of harvested carrots vary in thickness. Gripping carrot harvesters should be able to adjust the gripping mechanism based on the thickness of the carrots, but this issue is not currently addressed by carrot harvesters. During the carrot harvesting process, a significant amount of soil often adheres to the carrots, affecting their cleanliness and appearance and adding weight when they are sold. Existing harvesting equipment is ineffective at removing adhering soil, requiring secondary processing, which increases production costs and labor input. Utility Model Content
[0005] The utility model provides a highly versatile carrot harvesting robot based on spring self-adaptation, which can realize the functions of soil breaking with multiple tilting angle adjustments, harvesting with spring-adjustable clamping belts, and soil shaking with spiral blades.
[0006] The technical solution of the utility model is as follows:
[0007] A highly versatile carrot harvesting robot based on spring self-adaptation comprises a chassis power mechanism, a temporary storage box, a spiral blade soil-shaking mechanism, a chain transmission mechanism, a belt transmission mechanism, two sets of spring-adjustable belt clamping and pulling harvesting mechanisms, and two sets of multi-tilt angle adjustable soil-breaking mechanisms. The temporary storage box, the spiral blade soil-shaking mechanism, and the chain transmission mechanism are arranged on the chassis power mechanism in sequence from back to front; the belt transmission mechanism is arranged above and slightly to the rear of the chain transmission mechanism; the two sets of spring-adjustable belt clamping and pulling harvesting mechanisms are symmetrically arranged at the front end of the chassis power mechanism; and the multi-tilt angle adjustable soil-breaking mechanism is installed at the front end of the spring-adjustable belt clamping and pulling harvesting mechanism.
[0008] Furthermore, the highly versatile carrot harvesting robot based on spring adaptation has a chassis power mechanism including an aluminum chassis frame and four crawler units, and the four crawler units are respectively fixedly connected to the four corners of the aluminum chassis frame; the crawler unit includes a motor 1, a side plate, a main drive wheel, four slave drive wheels and a crawler track, the side plate is fixedly connected to the aluminum chassis frame, the motor 1 is fixedly connected to one end above the inner wall of the side plate, the main drive wheel is fixedly connected to the outward extension shaft of the motor 1 located on the outer wall of the side plate, one slave drive wheel is fixedly connected to the other end above the outer wall of the side plate, and the remaining three slave drive wheels are fixedly connected side by side to the bottom of the side plate, and the crawler track is mounted on the main drive wheel and the slave drive wheel.
[0009] Furthermore, in the spring-adaptive and highly versatile carrot harvesting robot, the temporary storage box is arranged at the rear of the upper end surface of the aluminum profile chassis frame.
[0010] Furthermore, the highly versatile carrot harvesting robot based on spring adaptation, the spiral blade soil shaking mechanism includes a front support plate, a rear support plate, a front outer frame, a rear outer frame, a front outer shell frame, a rear outer shell frame, a shell, a spiral blade assembly, a second motor, a first synchronous wheel, a second synchronous wheel, a first synchronous belt and a collection basket; the front outer frame and the rear outer frame are fixedly mounted on the middle of the upper end surface of the aluminum profile chassis frame; the front support plate is fixedly connected to the front outer frame, and the rear support plate is fixedly connected to the rear outer frame, and the shell is fixedly connected to the front support plate and the rear support plate respectively through the front outer shell frame and the rear outer shell frame, the shell is densely covered with material holes, and the spiral blade assembly is placed in the shell; the spiral blade assembly is placed in the shell; the spiral blade assembly is placed in the shell; the spiral blade assembly is placed in the shell; the spiral blade assembly is placed in the shell The rotary blade assembly includes a spiral blade, a transmission shaft, two bearings and two bearing seats. The spiral blade is fixedly mounted on the transmission shaft. The two bearings are respectively fixedly connected to the two ends of the transmission shaft. The bearings are installed together with the bearing seats. The two bearing seats are respectively fixedly connected to the front support plate and the rear support plate; Motor 2 is fixedly connected to the rear support plate, Synchronous wheel 1 is fixedly connected to the outward extension shaft of Motor 2, Synchronous wheel 2 is fixedly connected to the end of the transmission shaft, and Synchronous belt 1 is mounted on Synchronous wheel 1 and Synchronous wheel 2; The collecting basket is arranged below the spiral blade assembly and is fixedly connected to the front outer frame. The collecting basket is provided with a feed port and a valve, and the valve faces the temporary storage box.
[0011] Furthermore, the highly versatile carrot harvesting robot based on spring adaptation, the chain transmission mechanism includes a left side plate, a right side plate, a driving gear, a main optical axis, a driven gear, a slave optical axis, a chain, a connecting rod, a third motor, a third synchronous wheel, a fourth synchronous wheel and a second synchronous belt, the left side plate and the right side plate are fixed side by side at the front of the aluminum profile chassis frame; the two ends of the main optical axis are respectively rotatably connected to the rear of the left side plate and the right side plate, and the two ends of the slave optical axis are respectively rotatably connected to the front of the left side plate and the right side plate; the two driving gears are symmetrical It is fixedly arranged on the main optical axis, and two driven gears are symmetrically fixed on the slave optical axis. Two chains are respectively mounted on the driving gear and the driven gear on the same side and mesh with them, and multiple connecting rods are evenly arranged between the two chains; Motor three is fixedly mounted on the inner wall of the right side plate, Synchronous wheel three is fixedly connected to the outward extension shaft of Motor three and is located outside the right side plate, Synchronous wheel four is fixedly connected to the end of the main optical axis, and Synchronous belt two is mounted on Synchronous wheel three and Synchronous wheel four; the tail end of the chain transmission mechanism is opposite to the feed port of the collection basket.
[0012] Furthermore, the highly versatile carrot harvesting robot based on spring adaptability, with a transmission mechanism including a front side plate, a rear side plate, a main rotating wheel, a main rotating shaft, a slave rotating wheel, a slave rotating shaft, a conveyor belt, a fourth motor, a fifth synchronous wheel, a sixth synchronous wheel and a third synchronous belt, the front side plate and the rear side plate are connected together with the upper end rear of the left side plate and the right side plate in parallel through connecting members; the two ends of the main rotating shaft are respectively rotatably connected to the right part of the front side plate and the rear side plate, and the two ends of the slave rotating shaft are respectively rotatably connected to the left part of the front side plate and the rear side plate; the main rotating wheel is fixedly arranged on the main rotating shaft, the slave rotating wheel is fixedly arranged on the slave rotating shaft, and the conveyor belt is sleeved on the main rotating wheel and the slave rotating wheel; the fourth motor is fixedly installed on the inner wall of the rear side plate, the fifth synchronous wheel is fixedly connected to the outward extension shaft of the fourth motor and is located on the outside of the rear side plate, the sixth synchronous wheel is fixedly connected to the end of the main rotating shaft, and the third synchronous belt is sleeved on the fifth synchronous wheel and the sixth synchronous wheel.
[0013] Furthermore, in the highly versatile carrot harvesting robot based on spring adaptation, each set of spring adjustable clamping and pulling harvesting mechanisms includes a left half, a right half and an angle code, and both the left half and the right half are fixed to the front end of the aluminum profile chassis frame through the angle code.
[0014] Furthermore, the highly versatile carrot harvesting robot based on spring self-adaptation, the left half and the right half both include an upper plate, a lower plate, a driving wheel, a driving shaft, a motor five, a synchronous wheel seven, a synchronous wheel eight, a synchronous belt four, a driven wheel, a driven shaft, multiple sets of tensioning wheel assemblies and a clamping belt; the upper plate and the lower plate are parallel and fixed together by multiple studs; the two ends of the driving shaft are respectively rotatably connected to the tail of the upper plate and the lower plate, the driving wheel is fixedly arranged on the driving shaft, the motor five is fixedly arranged at the tail of the lower plate, the synchronous wheel seven is fixedly connected to the outward extension shaft of the motor five and is located outside the upper plate, the synchronous wheel eight is fixedly connected to the end of the driving shaft, and the synchronous belt four is mounted on the synchronous wheel seven and the synchronous wheel eight; the two ends of the driven shaft are respectively rotatably connected to the front of the upper plate and the lower plate, The driven wheel is fixedly arranged on the driven shaft; multiple sets of tensioning wheel assemblies are distributed on the same side of the upper plate and the lower plate; the tensioning wheel assembly includes a bracket, a pin, a pulley, two springs and a screw, the two ends of the pin are respectively fixedly connected to the upper plate and the lower plate, the middle of the bracket is rotatably connected to the pin, and the pulley is rotatably provided on the front end support rod of the bracket; the upper plate and the lower plate are both provided with an arc groove with the pin as the center of the circle, the two ends of the rear end support rod of the bracket are respectively located in the arc groove, one end of the spring is fixedly connected to one end of the rear end support rod, and the other end of the spring is fixedly connected to the outer wall of the upper plate or the lower plate through the screw; the clamping belt is mounted on the driving wheel, the driven wheel and multiple pulleys; the spring drives the pulley to extend outward to tension the clamping belt.
[0015] Furthermore, in the highly versatile carrot harvesting robot based on spring adaptation, the rear part of the spring-adjustable belt clamping and pulling harvesting mechanism is located above the chain rod transmission mechanism, and the pulley located at the last position is above the belt transmission mechanism; a tool mounting frame is provided on the outer wall of the lower plate below the pulley located at the second-to-last position for installing a cutting tool.
[0016] Furthermore, the highly versatile carrot harvesting robot based on spring adaptation and the multi-tilt angle adjustment breaking mechanism include a fixture, a linear motor, a breaking blade and a connecting piece. The fixture and the tensioning wheel assembly are distributed on different sides of the upper plate, and the two sides of the fixture are respectively fixed to the front of the upper plate and the lower plate. The tail of the linear motor is rotatably connected to the fixture, and the connecting piece is fixedly arranged at the front end of the lower plate. The tail end of the breaking blade is rotatably connected to the connecting piece, and the outward shaft of the linear motor is rotatably connected to the side of the breaking blade.
[0017] The beneficial effects of the utility model are:
[0018] 1. In the multi-tilt angle adjustment earth-breaking structure of the present invention, the switching drive is realized by a linear motor, and the tilting angle of the earth-breaking blade is adjusted to cope with different soil hardness problems.
[0019] 2. The spring-adjustable belt clamping and pulling harvesting mechanism of the present invention is designed with a spring adjustment device, which can change the tightness of the spring according to the density of the stems and leaves, thereby changing the spacing between the clamping belts and improving versatility.
[0020] 3. In the spiral blade soil shaking mechanism of the present invention, the rotation of the motor drives the spiral blade to rotate, driving the carrots to shake off the attached soil, so that the carrots do not need secondary processing. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 Schematic diagram of a highly versatile carrot harvesting robot based on spring adaptation;
[0022] Figure 2 Main view of the highly versatile carrot harvesting robot based on spring adaptation;
[0023] Figure 3 A top view of a highly versatile carrot harvesting robot based on spring adaptation.
[0024] Figure 4 This is a schematic diagram of the chassis power mechanism;
[0025] Figure 5 This is a schematic diagram of the spiral blade soil shaking mechanism;
[0026] Figure 6 This is the main view of the chain rod transmission mechanism;
[0027] Figure 7 It is the left view of the chain rod transmission mechanism;
[0028] Figure 8 Schematic diagram of the belt transmission mechanism;
[0029] Figure 9 This is a schematic diagram of a spring-adjustable belt clamping and pulling harvesting mechanism;
[0030] Figure 10 This is a schematic diagram of the left half of the spring-adjustable clip-pull harvesting mechanism. DETAILED DESCRIPTION
[0031] like Figure 1-10 As shown, a highly versatile carrot harvesting robot based on spring adaptation includes a chassis power mechanism 1, a temporary storage box 2, a spiral blade soil shaking mechanism 3, a chain rod transmission mechanism 4, a belt transmission mechanism 5, two sets of spring-adjustable belt clamping and pulling harvesting mechanisms 6 and two sets of multi-tilt angle adjustment soil breaking mechanisms 7. The temporary storage box 2, the spiral blade soil shaking mechanism 3 and the chain rod transmission mechanism 4 are arranged on the chassis power mechanism 1 in sequence from back to front, the belt transmission mechanism 5 is arranged above and slightly to the rear of the chain rod transmission mechanism 4, the two sets of spring-adjustable belt clamping and pulling harvesting mechanisms 6 are symmetrically arranged at the front end of the chassis power mechanism 1, and the multi-tilt angle adjustment soil breaking mechanism 7 is installed at the front end of the spring-adjustable belt clamping and pulling harvesting mechanism 6.
[0032] The chassis power mechanism 1 includes an aluminum profile chassis frame 11 and four crawler units, which are respectively fixed to the four corners of the aluminum profile chassis frame 11; the crawler unit includes a motor 1, a side plate 12, a main drive wheel 13, four slave drive wheels 14 and a crawler, the side plate 12 is fixed to the aluminum profile chassis frame 11, the motor 1 is fixed to one end above the inner wall of the side plate 12, the main drive wheel 13 is fixed to the outward extension shaft of the motor 1 located on the outer wall of the side plate 12, one slave drive wheel 14 is fixed to the other end above the outer wall of the side plate 11, and the remaining three slave drive wheels 14 are fixed side by side to the bottom of the side plate 11, and the crawler is mounted on the main drive wheel 13 and the slave drive wheel 14.
[0033] The temporary storage box 2 is arranged at the rear of the upper end surface of the aluminum profile chassis frame 11.
[0034] The spiral blade shaking mechanism 3 includes a front support plate 19, a rear support plate 20, a front outer frame 21, a rear outer frame 22, a front outer shell frame 23, a rear outer shell frame, a shell 24, a spiral blade assembly 25, a motor 26, a synchronous wheel 1 27, a synchronous wheel 28, a synchronous belt 1 29 and a collection basket; the front outer frame 21 and the rear outer frame 22 are fixedly mounted on the middle of the upper end surface of the aluminum chassis frame 11; the front support plate 19 is fixedly connected to the front outer frame 21, and the rear support plate 20 is fixedly connected to the rear outer frame 22. The shell 24 is respectively fixedly connected to the front support plate 19 and the rear support plate 20 through the front outer shell frame 23 and the rear outer shell frame. The shell 24 is densely covered with material holes, and the spiral blade assembly 25 is placed in the shell 24; the spiral blade assembly 25 includes a spiral blade, a transmission shaft, two shafts The spiral blade is fixedly mounted on the transmission shaft, and the two bearings are respectively fixedly connected to the two ends of the transmission shaft. The bearings are installed together with the bearing seats, and the two bearing seats are respectively fixedly connected to the front support plate 19 and the rear support plate 20; the motor 26 is fixedly connected to the rear support plate 20, the synchronous wheel 1 27 is fixedly connected to the outward extension shaft of the motor 26, the synchronous wheel 28 is fixedly connected to the end of the transmission shaft, and the synchronous belt 1 29 is mounted on the synchronous wheel 1 27 and the synchronous wheel 2 28; the spiral blade is made of soft material such as rubber to prevent damage to the radish surface during rotation and shorten the storage time of radish; the collecting basket is arranged below the spiral blade assembly 25 and fixedly connected to the front outer frame 21. The collecting basket is provided with a feed port and a valve, and the valve faces the temporary storage box 2.
[0035] The chain transmission mechanism 4 includes a left side plate 32, a right side plate 31, a driving gear, a main optical axis 33, a driven gear, a slave optical axis 34, a chain 38, a connecting rod 39, a motor 318, a synchronous wheel 36, a synchronous wheel 4 35 and a synchronous belt 2 37. The left side plate 32 and the right side plate 31 are fixed side by side at the front of the aluminum chassis frame 11; the two ends of the main optical axis 33 are respectively rotatably connected to the rear of the left side plate 32 and the right side plate 31, and the two ends of the slave optical axis 34 are respectively rotatably connected to the front of the left side plate 32 and the right side plate 31; two driving gears are symmetrically fixed on the main optical axis 33, two driven gears are symmetrically fixed on the slave optical axis 34, two chains 38 are respectively mounted on the driving gear and the driven gear on the same side and mesh with them, and a plurality of connecting rods 39 are evenly arranged between the two chains 38; the motor three 18 is fixedly mounted on the inner wall of the right side plate 31, the synchronous wheel three 36 is fixedly connected to the outward extension shaft of the motor three 18 and is located outside the right side plate 31, the synchronous wheel four 35 is fixedly connected to the end of the main optical axis 33, and the synchronous belt two 37 is mounted on the synchronous wheel three 36 and the synchronous wheel four 35; the tail end of the chain transmission mechanism 4 is opposite to the feed port of the collecting basket.
[0036] The belt transmission mechanism 5 includes a front side plate 42, a rear side plate 41, a main rotating wheel 43, a main rotating shaft, a slave rotating wheel 44, a slave rotating shaft 46, a conveyor belt 45, a motor four, a synchronous wheel five 47, a synchronous wheel six 48 and a synchronous belt three 49. The front side plate 42 and the rear side plate 41 are connected to the upper rear part of the left side plate 32 and the right side plate 31 in parallel through the connecting member 16; the two ends of the main rotating shaft are respectively rotatably connected to the right part of the front side plate 42 and the rear side plate 41, and the two ends of the slave rotating shaft 46 are respectively connected to the front side plate 42 and the rear side plate 41. The left part of the rear side plate 41 is rotatably connected; the main rotating wheel 43 is fixedly set on the main rotating shaft, the slave rotating wheel 44 is fixedly set on the slave rotating shaft 46, and the conveyor belt 45 is sleeved on the main rotating wheel 43 and the slave rotating wheel 44; the motor four is fixedly mounted on the inner wall of the rear side plate 41, the synchronous wheel five 47 is fixedly connected to the outward extension shaft of the motor four and is located outside the rear side plate 41, the synchronous wheel six 48 is fixedly connected to the end of the main rotating shaft, and the synchronous belt three 49 is sleeved on the synchronous wheel five 47 and the synchronous wheel six 48.
[0037] Each set of spring-adjustable clamping and pulling harvesting mechanisms 6 includes a left half, a right half and an angle code 17 , and both the left half and the right half are fixed to the front end of the aluminum profile chassis frame 11 through the angle code 17 . The left half and the right half both include an upper plate 50, a lower plate 51, a driving wheel 52, a driving shaft, a motor five 54, a synchronous wheel seven 55, a synchronous wheel eight 56, a synchronous belt four 57, a driven wheel 53, a driven shaft, four sets of tension wheel assemblies and a clamping belt 59; the upper plate 50 and the lower plate 51 are parallel and fixed together by a plurality of studs; the two ends of the driving shaft are respectively rotatably connected to the tail of the upper plate 50 and the lower plate 51, the driving wheel 52 is fixedly arranged on the driving shaft, the motor five 54 is fixedly arranged at the tail of the lower plate 51, the synchronous wheel seven 55 is fixedly connected to the outward extension shaft of the motor five 54 and is located on the outside of the upper plate 50, the synchronous wheel eight 56 is fixedly connected to the end of the driving shaft, and the synchronous belt four 57 is sleeved on the synchronous wheel seven 55 and the synchronous wheel eight 56; the two ends of the driven shaft are respectively rotatably connected to the front of the upper plate 50 and the lower plate 51, the driven wheel 53 The four tensioning wheel assemblies are fixedly arranged on the driven shaft; the four sets of tensioning wheel assemblies are evenly distributed on the same side of the upper plate 50 and the lower plate 51; the tensioning wheel assembly includes a bracket, a pin, a pulley 58, two springs and a screw, and the two ends of the pin are respectively fixedly connected to the upper plate 50 and the lower plate 51, and the middle part of the bracket is rotatably connected to the pin, and the pulley 58 is rotatably provided on the front end support rod of the bracket; the upper plate 50 and the lower plate 51 are both provided with an arc groove with the pin as the center, and the two ends of the rear end support rod of the bracket are respectively located in the arc groove, one end of the spring is fixedly connected to one end of the rear end support rod, and the other end of the spring is fixedly connected to the outer wall of the upper plate 50 or the lower plate 51 through the screw; the clamping belt 59 is set on the driving wheel 52, the driven wheel 53 and the four pulleys 58; the spring drives the pulley 58 to extend outward to tension the clamping belt 59.
[0038] The rear part of the spring-adjustable belt clamping and pulling harvesting mechanism 6 is located above the chain rod transmission mechanism 4, and the pulley 58 located at the last position is above the belt transmission mechanism 5; a tool mounting frame is provided on the outer wall of the lower plate 51 below the pulley 58 located at the second to last position for installing a cutting tool.
[0039] The multi-tilt angle adjustment earth-breaking mechanism 7 includes a fixture 61, a linear motor 62, a earth-breaking blade 63 and a connecting piece 64. The fixture 61 and the tensioning wheel assembly are distributed on different sides of the upper plate 50. The two sides of the fixture 61 are respectively fixed to the front of the upper plate 50 and the lower plate 51. The tail of the linear motor 62 is rotatably connected to the fixture 61. The connecting piece 64 is fixedly arranged at the front end of the lower plate 51. The tail end of the earth-breaking blade 63 is rotatably connected to the connecting piece 64. The outward shaft of the linear motor 62 is rotatably connected to the side of the earth-breaking blade 63.
[0040] The working process is as follows: the robot moves forward driven by the chassis power mechanism 1, and the multi-tilt angle adjustment soil-breaking mechanism 7 loosens the carrots in the soil; the two clamping belts 59 of the left and right halves of the spring-adjustable clamping and harvesting mechanism 6 clamp each other under the action of the spring-driven pulley 58 extending outward; the two clamping belts 59 clamp the carrot cherries, and the driving wheel 52 rotates to drive the clamping belt 59 to move backward; the carrots encounter the cutting tool and are cut off and fall onto the chain rod transmission mechanism 4, and the chain 38 drives the connecting rod 39 to move backward to send the carrots to the collection basket; the spiral blade shaking soil mechanism 3 is started, and the spiral blades rotate to shake off the attached soil on the carrots, and then enter the temporary storage box 2; the two clamping belts 59 transport the carrot cherries to the top of the belt transmission mechanism 5, and then fall onto the conveyor belt 45, and the main wheel 43 rotates to drive the conveyor belt 45 to rotate and discharge the carrot cherries to the outside.
Claims
1. A highly versatile carrot harvesting robot based on spring adaptation, characterized in that: It includes a chassis power mechanism, a temporary storage box, a spiral blade soil shaking mechanism, a chain transmission mechanism, a belt transmission mechanism, two sets of spring-adjustable belt clamping and pulling harvesting mechanisms and two sets of multi-tilt angle adjustment soil breaking mechanisms. The temporary storage box, the spiral blade soil shaking mechanism and the chain transmission mechanism are arranged on the chassis power mechanism in sequence from back to front. The belt transmission mechanism is arranged above and slightly to the rear of the chain transmission mechanism. The two sets of spring-adjustable belt clamping and pulling harvesting mechanisms are symmetrically arranged at the front end of the chassis power mechanism. The multi-tilt angle adjustment soil breaking mechanism is installed at the front end of the spring-adjustable belt clamping and pulling harvesting mechanism.
2. The highly versatile carrot harvesting robot based on spring adaptation according to claim 1, characterized in that: The chassis power mechanism includes an aluminum chassis frame and four crawler units, which are respectively fixedly connected to the four corners of the aluminum chassis frame; the crawler unit includes a motor 1, a side plate, a main drive wheel, four slave drive wheels and a crawler track, the side plate is fixedly connected to the aluminum chassis frame, the motor 1 is fixedly connected to one end above the inner wall of the side plate, the main drive wheel is fixedly connected to the outward extension shaft of the motor 1 located on the outer wall of the side plate, one slave drive wheel is fixedly connected to the other end above the outer wall of the side plate, and the remaining three slave drive wheels are fixedly connected side by side to the bottom of the side plate, and the crawler track is sleeved on the main drive wheel and the slave drive wheel.
3. The highly versatile carrot harvesting robot based on spring adaptation according to claim 2, characterized in that: The temporary storage box is arranged at the rear of the upper end surface of the aluminum profile chassis.
4. The highly versatile carrot harvesting robot based on spring adaptation according to claim 2, characterized in that: The spiral blade shaking mechanism includes a front supporting plate, a rear supporting plate, a front outer frame, a rear outer frame, a front outer shell frame, a rear outer shell frame, a shell, a spiral blade assembly, a second motor, a first synchronous wheel, a second synchronous wheel, a first synchronous belt and a collection basket; the front outer frame and the rear outer frame are fixedly mounted on the middle of the upper end surface of the aluminum chassis frame; the front supporting plate is fixedly connected to the front outer frame, and the rear supporting plate is fixedly connected to the rear outer frame, and the shell is respectively fixedly connected to the front supporting plate and the rear supporting plate through the front outer shell frame and the rear outer shell frame, and the shell is densely covered with material holes, and the spiral blade assembly is placed in the shell; the spiral blade assembly includes a spiral blade, a transmission shaft , two bearings and two bearing seats, the spiral blade is fixedly installed on the transmission shaft, the two bearings are respectively fixedly connected to the two ends of the transmission shaft, the bearings and the bearing seats are installed together, and the two bearing seats are respectively fixedly connected to the front support plate and the rear support plate; Motor 2 is fixedly connected to the rear support plate, synchronous wheel 1 is fixedly connected to the outward extension shaft of motor 2, synchronous wheel 2 is fixedly connected to the end of the transmission shaft, and synchronous belt 1 is mounted on synchronous wheel 1 and synchronous wheel 2; the collecting basket is arranged below the spiral blade assembly and is fixedly connected to the front outer frame, the collecting basket is provided with a feed port and a valve, and the valve faces the temporary storage box.
5. The highly versatile carrot harvesting robot based on spring adaptation according to claim 4, characterized in that: The chain transmission mechanism includes a left plate, a right plate, a driving gear, a main optical shaft, a driven gear, a slave optical shaft, a chain, a connecting rod, a third motor, a third synchronous wheel, a fourth synchronous wheel, and a second synchronous belt. The left plate and the right plate are fixed side by side on the front of the aluminum chassis frame; the two ends of the main optical shaft are respectively rotatably connected to the rear of the left plate and the right plate, and the two ends of the slave optical shaft are respectively rotatably connected to the front of the left plate and the right plate. Two driving gears are symmetrically fixed on the main optical axis, and two driven gears are symmetrically fixed on the slave optical axis. Two chains are respectively mounted on the driving gear and the driven gear on the same side and mesh with them, and multiple connecting rods are evenly arranged between the two chains; Motor 3 is fixedly installed on the inner wall of the right side plate, Synchronous wheel 3 is fixedly connected to the outward extension shaft of Motor 3 and is located outside the right side plate, Synchronous wheel 4 is fixedly connected to the end of the main optical axis, and Synchronous belt 2 is mounted on Synchronous wheel 3 and Synchronous wheel 4; the tail end of the chain transmission mechanism is opposite to the feed port of the collection basket.
6. The highly versatile carrot harvesting robot based on spring adaptation according to claim 5, characterized in that: The belt transmission mechanism includes a front side plate, a rear side plate, a main rotating wheel, a main rotating shaft, a slave rotating wheel, a slave rotating shaft, a conveyor belt, a motor four, a synchronous wheel five, a synchronous wheel six and a synchronous belt three. The front side plate and the rear side plate are connected to the upper end rear of the left plate and the right side plate in parallel through connecting members; the two ends of the main rotating shaft are respectively rotatably connected to the right part of the front side plate and the rear side plate, and the two ends of the slave rotating shaft are respectively rotatably connected to the left part of the front side plate and the rear side plate; the main rotating wheel is fixedly arranged on the main rotating shaft, and the slave rotating wheel is fixedly arranged on the slave rotating shaft, and the conveyor belt is sleeved on the main rotating wheel and the slave rotating wheel; the motor four is fixedly installed on the inner wall of the rear side plate, the synchronous wheel five is fixedly connected to the outward extension shaft of the motor four and is located on the outside of the rear side plate, the synchronous wheel six is fixedly connected to the end of the main rotating shaft, and the synchronous belt three is sleeved on the synchronous wheel five and the synchronous wheel six.
7. The highly versatile carrot harvesting robot based on spring adaptation according to claim 2, characterized in that: Each set of spring-adjustable clamping and pulling harvesting mechanisms comprises a left half, a right half and an angle code, and both the left half and the right half are fixed to the front end of the aluminum profile chassis frame through the angle code.
8. The highly versatile carrot harvesting robot based on spring adaptation according to claim 7, characterized in that: The left half and the right half both include an upper plate, a lower plate, a driving wheel, a driving shaft, a motor five, a synchronous wheel seven, a synchronous wheel eight, a synchronous belt four, a driven wheel, a driven shaft, multiple sets of tension wheel assemblies and a clamping belt; the upper plate and the lower plate are parallel and fixed together by multiple studs; the two ends of the driving shaft are respectively rotatably connected to the tail of the upper plate and the lower plate, the driving wheel is fixedly arranged on the driving shaft, the motor five is fixedly arranged at the tail of the lower plate, the synchronous wheel seven is fixedly connected to the outward extension shaft of the motor five and is located on the outside of the upper plate, the synchronous wheel eight is fixedly connected to the end of the driving shaft, and the synchronous belt four is mounted on the synchronous wheel seven and the synchronous wheel eight; the two ends of the driven shaft are respectively rotatably connected to the front of the upper plate and the lower plate, and the driven wheel is fixedly arranged on the driven shaft On the one hand, the cam is connected to the upper and lower plates by a spring, and the other hand, a plurality of springs are connected to the upper and lower plates by a spring. The springs are connected to each other with a plurality of springs. The springs are connected to the upper and lower plates by a plurality of springs.
9. The highly versatile carrot harvesting robot based on spring adaptation according to claim 8, characterized in that: The rear part of the spring-adjustable belt clamping and pulling harvesting mechanism is located above the chain rod transmission mechanism, and the pulley located at the last position is above the belt transmission mechanism; a tool mounting frame is provided on the outer wall of the lower plate below the pulley located at the second to last position for installing a cutting tool.
10. The highly versatile carrot harvesting robot based on spring adaptation according to claim 8, characterized in that: The multi-tilt angle adjustment earth-breaking mechanism includes a fixer, a linear motor, an earth-breaking blade and a connecting piece. The fixer and the tensioning wheel assembly are distributed on different sides of the upper plate. The two sides of the fixer are respectively fixed to the front of the upper plate and the lower plate. The tail of the linear motor is rotatably connected to the fixer. The connecting piece is fixedly arranged at the front end of the lower plate. The tail end of the earth-breaking blade is rotatably connected to the connecting piece. The outward extension shaft of the linear motor is rotatably connected to the side of the earth-breaking blade.