Portable fructus amomi harvesting device

Abstract

The utility model relates to the technical field of fruit harvesting, and discloses a portable fructus amomi harvesting device which comprises a crawler walking chassis and a mounting table, and the mounting table is fixedly mounted at the top end of the crawler walking chassis. When the portable fructus amomi harvesting device works, the multispectral recognition collecting head can scan fructus amomi plants, recognize mature fruits, record position information and distinguish the fruits from leaves at the same time. And the bionic flexible clamping mechanism moves to the position of the target fruit and gently clamps the fruit. A fruit stem cutting disc in the self-adaptive fruit stem cutting mechanism can accurately cut fruit stems, after fruits and plants are separated, a second mechanical arm can drive the fruits to move to the right side of the top end of a fixing frame and fall into a collecting box in the fixing frame, and harvesting is completed. Meanwhile, by means of a built-in GPS module, an intelligent path planning system can automatically plan an optimal harvesting path according to a harvesting area map and fruit distribution information, and the problems that the harvesting damage rate is high, cost is high and the automation degree is low are solved.

Description

Technical Field

[0001] This utility model relates to the field of fruit harvesting technology, specifically a portable cardamom harvesting device. Background Technology

[0002] Amomum villosum is a commonly used aromatic medicinal herb in traditional Chinese medicine. It has many effects such as resolving dampness and stimulating appetite, warming the spleen and stopping diarrhea, regulating qi and calming the fetus. After the amomum villosum is planted and matures, an amomum villosum harvesting device is needed to facilitate the harvesting of the amomum villosum fruit.

[0003] However, existing equipment is mostly designed for other crops and is difficult to adapt to the morphological characteristics and growing environment of Amomum villosum. Furthermore, the harvesting process easily damages the fruit and plants, affecting fruit quality and subsequent plant growth. In addition, the level of automation is low, and the harvesting process mostly requires manual operation, resulting in low efficiency and high costs.

[0004] However, portable cardamom harvesting devices.

[0005] Now, a novel portable cardamom harvesting device is proposed to address the aforementioned shortcomings. Utility Model Content

[0006] The purpose of this invention is to provide a portable cardamom harvesting device to solve the problems of high harvesting damage rate, high cost, and low automation level mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a portable cardamom harvesting device, comprising a tracked chassis and a mounting platform. The mounting platform is fixedly mounted on the top of the tracked chassis, and a GPS module is mounted on the left side of the front end of the mounting platform. A fixing frame is fixed on the left side of the top of the mounting platform. A second robotic arm is mounted at the middle position of the right side of the top of the mounting platform, and a mounting base is mounted on the left side of the second robotic arm. A first robotic arm is mounted on the left side of the mounting base. A support is provided on the right side of the second robotic arm, and a multispectral recognition acquisition head is mounted on the top of the support. A controller is installed inside the mounting platform. A mounting frame is installed at the bottom of the first robotic arm, and a drive motor is installed inside the mounting frame. The output shaft of the drive motor passes through the inside of the right side of the mounting frame and is fixedly mounted on a fruit stalk cutting disc.

[0008] As a further technical solution of this utility model, the bottom end of the support is fixedly connected to the top end of the mounting platform.

[0009] As a further technical solution of this utility model, the GPS module, robotic arm one, robotic arm two, bionic flexible gripping mechanism, multispectral recognition acquisition head and drive motor are electrically connected to the controller.

[0010] As a further technical solution of this utility model, an inner frame one is fixed to the top of the left side inside the fixed frame, and an inner frame two is fixed to the top of the right side inside the fixed frame. The tops of the inner frame one and the inner frame two are respectively provided with tarpaulins, and the two sides of the top ends of the tarpaulins are respectively provided with fixing bolts. Threaded inner holes are respectively provided at the two sides of the top ends of the inner frame one and the two sides of the top ends of the inner frame two.

[0011] As a further technical solution of this utility model, the bottom end of the fixing bolt penetrates the interior of the tarpaulin and is threadedly connected to the threaded inner hole.

[0012] As a further technical solution of this utility model, the inside of both ends of the fixing frame is provided with an opening, the bottom of the inside of the fixing frame is provided with a collection box, and the two ends of the collection box are fixed with handles, and the collection box passes through the inside of the opening.

[0013] As a further technical solution of this utility model, locking blocks are respectively provided on both sides of the bottom of both ends of the fixing frame, and locking bolts are provided at the front end of the locking blocks. Threaded holes are respectively opened on both sides of the bottom of both ends of the fixing frame.

[0014] As a further technical solution of this utility model, the locking bolt passes through the interior of the locking block and is threadedly rotatably connected in the threaded hole.

[0015] Compared with the prior art, the beneficial effects of this utility model are: the portable cardamom harvesting device not only achieves efficient, low-damage, and highly automated cardamom harvesting, but also facilitates buffering and receiving of the harvested cardamom fruits, and makes it convenient to unload the harvested fruits.

[0016] (1) The harvesting device is equipped with a tracked chassis, mounting platform, GPS module, fixed frame, collection box, robotic arm one, mounting base, robotic arm two, bionic flexible clamping mechanism, multispectral recognition acquisition head, support, controller, mounting frame, drive motor and fruit stalk cutting disc. During operation, the multispectral recognition acquisition head can scan the cardamom plant in real time, identify mature fruits and record their location information, and distinguish between fruits and leaves. Then, robotic arm two can move the bionic flexible clamping mechanism to the target fruit position and gently clamp the fruit. The fruit stalk cutting disc in the adaptive fruit stalk cutting mechanism can accurately cut the fruit stalk. After separating the fruit from the plant, robotic arm two can move to the right side of the top of the fixed frame and fall into the collection box inside the fixed frame to complete the harvest. At the same time, the built-in GPS module can be used to intelligently plan the optimal harvesting path based on the harvesting area map and fruit distribution information. The automatic tracked chassis can drive the device to move autonomously according to the planned path to complete the harvesting operation of the entire cardamom field.

[0017] (2) By setting up an installation platform, a collection box, inner frame one, inner frame two, tarpaulin, fixing bolts and threaded inner holes, the fruit is harvested and grabbed by the bionic flexible clamping mechanism and moved to the right side of the top of the fixed frame. After the fruit is released, the cardamom fruit can fall to the top of the tarpaulin at the top of the inner frame two. The fruit can automatically fall to the top of the inner frame one by the inclined inner frame two. Then it can fall to the inside of the collection box by the inclined inner frame one. The multi-level buffer of inner frame two and inner frame one can reduce the falling height of the fruit and reduce falling damage.

[0018] (3) By setting a fixed frame, opening, handle, threaded hole, locking block and locking bolt, after the inside of the collection box is full, the locking block can be rotated outward on both sides of the bottom of the fixed frame to unlock the collection box inside the fixed frame. Then the handle can be used to pull the collection box outward from the inside of the fixed frame. The empty collection box can then be reinserted into the inside of the fixed frame for continued use. The replaceable material collection component improves the material feeding efficiency of the collection device. Attached Figure Description

[0019] Figure 1 This is a frontal cross-sectional view of the present invention.

[0020] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A in the diagram;

[0021] Figure 3 This is a top view of the tarpaulin structure of this utility model;

[0022] Figure 4 This is a front view structural diagram of the collection box of this utility model.

[0023] In the diagram: 1. Tracked chassis; 2. Mounting platform; 3. GPS module; 4. Fixing frame; 5. Collection box; 6. Inner frame one; 7. Inner frame two; 8. Robotic arm one; 9. Mounting base; 10. Robotic arm two; 11. Bionic flexible clamping mechanism; 12. Multispectral recognition acquisition head; 13. Support; 14. Controller; 15. Mounting frame; 16. Drive motor; 17. Fruit stem cutting disc; 18. Canopy; 19. Fixing bolt; 20. Threaded inner hole; 21. Opening; 22. Handle; 23. Threaded hole; 24. Locking block; 25. Locking bolt. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-4 This utility model provides an embodiment: a portable cardamom harvesting device, including a tracked chassis 1 and a mounting platform 2. The mounting platform 2 is fixedly mounted on the top of the tracked chassis 1, and a GPS module 3 is mounted on the left side of the front end of the mounting platform 2. A fixing frame 4 is fixed on the left side of the top of the mounting platform 2. A robotic arm 2 10 is mounted at the middle position of the right side of the top of the mounting platform 2, and a mounting base 9 is mounted on the left side of the robotic arm 2 10. A robotic arm 1 8 is mounted on the left side of the mounting base 9. A support 13 is provided on the right side of the robotic arm 2 10, and a multispectral recognition acquisition head 12 is mounted on the top of the support 13. A controller 14 is installed inside the mounting platform 2. A mounting frame 15 is installed at the bottom of the robotic arm 1 8, and a drive motor 16 is installed inside the mounting frame 15. The output shaft of the drive motor 16 passes through the inside of the right side of the mounting frame 15 and a fruit stalk cutting disc 17 is fixedly mounted thereon.

[0026] The bottom end of the support 13 is fixedly connected to the top end of the mounting platform 2. The GPS module 3, robotic arm 1 8, robotic arm 2 10, bionic flexible clamping mechanism 11, multispectral recognition acquisition head 12 and drive motor 16 are electrically connected to the controller 14 respectively.

[0027] Specifically, such as Figure 1 and Figure 2 As shown, the multispectral recognition acquisition head 12 can scan the cardamom plant in real time, identify mature fruits and record their location information, and distinguish between fruits and leaves. Then, the robotic arm 10 can move the biomimetic flexible clamping mechanism 11 to the target fruit location and gently clamp the fruit. The adaptive fruit stalk cutting mechanism's fruit stalk cutting disc 17 can precisely cut the fruit stalk. After separating the fruit from the plant, the robotic arm 10 can move to the right side of the top of the fixed frame 4 and drop the fruit into the collection box 5 inside the fixed frame 4, completing the harvest. Simultaneously, the built-in GPS module 3 and intelligent path planning system automatically plan the optimal harvesting path based on the harvesting area map and fruit distribution information. The automatic tracked chassis 1 can move the device autonomously according to the planned path to complete the harvesting operation of the entire cardamom field.

[0028] By setting up multispectral image recognition and intelligent path planning technologies, efficient and accurate fruit identification and harvesting can be achieved, thereby improving harvesting efficiency;

[0029] Bionic flexible clamping and adaptive fruit stalk cutting technology effectively reduce the damage rate of fruits and plants, ensuring fruit quality and subsequent plant growth.

[0030] The automated walking platform and intelligent control system enable the device to operate autonomously, reducing labor costs and improving efficiency;

[0031] Furthermore, the device can be adjusted according to the morphological characteristics and growing environment of the cardamom fruit to adapt to different planting patterns.

[0032] The top left side of the fixed frame 4 is fixed with an inner frame 1 6, and the top right side of the fixed frame 4 is fixed with an inner frame 2 7. The top of the inner frame 1 6 and the inner frame 2 7 are respectively provided with a tarpaulin 18, and the two sides of the top of the tarpaulin 18 are respectively provided with fixing bolts 19. The two sides of the top of the inner frame 1 6 and the two sides of the top of the inner frame 2 7 are respectively provided with threaded inner holes 20. The bottom end of the fixing bolt 19 penetrates the interior of the tarpaulin 18 and is threadedly rotated and connected in the threaded inner hole 20.

[0033] Specifically, such as Figure 1 and Figure 3 As shown, the cardamom fruit can fall to the top of the canopy 18 on the inner frame 2 7. The inclined inner frame 2 7 can make the fruit automatically fall to the top of the inner frame 1 6 to the left. Then, it can fall to the bottom of the collection box 5 to the right from the inclined inner frame 1 6. The multi-stage buffering of the inner frame 2 7 and inner frame 1 6 reduces the falling height of the fruit.

[0034] The fixed frame 4 has openings 21 at both ends. A collection box 5 is provided at the bottom of the fixed frame 4. A handle 22 is fixed at both ends of the collection box 5. The collection box 5 passes through the interior of the opening 21. Locking blocks 24 are provided on both sides of the bottom of both ends of the fixed frame 4. A locking bolt 25 is provided at the front end of the locking block 24. Threaded holes 23 are provided on both sides of the bottom of both ends of the fixed frame 4. The locking bolt 25 passes through the interior of the locking block 24 and is threadedly connected to the threaded hole 23.

[0035] Specifically, such as Figure 1 and Figure 4 As shown, after the inside of the collection box 5 is full, the locking block 24 can be rotated outward to unlock the collection box 5 inside the fixing frame 4. Then, the handle 22 can be used to pull the collection box 5 outward from the inside of the fixing frame 4 for replacement.

[0036] Working Principle: During operation, the multispectral recognition head 12 of this portable cardamom harvesting device can scan the cardamom plant in real time, identify mature fruits and record their location information, and distinguish between fruits and leaves. Then, the robotic arm 10 moves the biomimetic flexible clamping mechanism 11 to the target fruit location and gently clamps the fruit. The adaptive stalk cutting mechanism's stalk cutting disc 17 can precisely cut the stalk, separating the fruit from the plant. After this, the robotic arm 10 can move to the right side of the top of the fixed frame 4 and drop the fruit into the collection box 5 inside the fixed frame 4, completing the harvest. Simultaneously, the built-in GPS module 3 and intelligent path planning system automatically plan the optimal harvesting path based on the harvesting area map and fruit distribution information. The automatic tracked chassis 1 can move the device autonomously according to the planned path, completing the harvesting operation of the entire cardamom field. After the fruit is picked up and moved to the right side of the top of the fixed frame 4 by the biomimetic flexible clamping mechanism 11, the fruit is released and can fall to the top of the canopy 18 of the inner frame 2 7. The fruit can automatically fall to the left and down to the top of the inner frame 1 6 by the inclined inner frame 2 7. Then it can fall to the right and down to the inside of the collection box 5 for collection by the inclined inner frame 1 6. The multi-stage buffer of the inner frame 2 7 and the inner frame 1 6 reduces the falling height of the fruit. When the inside of the collection box 5 is full, the locking block 24 can be rotated outward to unlock the collection box 5 inside the fixed frame 4. Then the handle 22 can be used to pull the collection box 5 outward from the inside of the fixed frame 4 and replace it.

[0037] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A portable cardamom harvesting device, comprising a tracked chassis (1) and a mounting platform (2), characterized in that: The tracked chassis (1) is fixed with a mounting platform (2) at the top, and a GPS module (3) is installed on the left side of the front end of the mounting platform (2). A fixing frame (4) is fixed on the left side of the top of the mounting platform (2). A robotic arm two (10) is installed at the middle position of the right side of the top of the mounting platform (2). A mounting seat (9) is installed on the left side of the robotic arm two (10). A robotic arm one (8) is installed on the left side of the mounting seat (9). A support (13) is provided on the right side of the robotic arm two (10). A multispectral recognition acquisition head (12) is installed on the top of the support (13). A controller (14) is installed inside the mounting platform (2). A mounting frame (15) is installed at the bottom of the robotic arm one (8). A drive motor (16) is installed inside the mounting frame (15). The output shaft of the drive motor (16) passes through the inside of the right side of the mounting frame (15) and a fruit stem cutting disc (17) is installed and fixed thereon.

2. The portable cardamom harvesting device according to claim 1, characterized in that: The bottom end of the support (13) is fixedly connected to the top end of the mounting platform (2).

3. The portable cardamom harvesting device according to claim 1, characterized in that: The GPS module (3), robotic arm one (8), robotic arm two (10), bionic flexible clamping mechanism (11), multispectral recognition acquisition head (12) and drive motor (16) are electrically connected to the controller (14).

4. The portable cardamom harvesting device according to claim 1, characterized in that: The top of the left side of the fixed frame (4) is fixed with an inner frame one (6), and the top of the right side of the fixed frame (4) is fixed with an inner frame two (7). The top of the inner frame one (6) and the inner frame two (7) are respectively provided with a tarpaulin (18), and the two sides of the top of the tarpaulin (18) are respectively provided with fixing bolts (19). The two sides of the top of the inner frame one (6) and the two sides of the top of the inner frame two (7) are respectively provided with threaded inner holes (20).

5. A portable cardamom harvesting device according to claim 4, characterized in that: The bottom end of the fixing bolt (19) penetrates the interior of the tarpaulin (18) and is threadedly connected to the threaded inner hole (20).

6. A portable cardamom harvesting device according to claim 1, characterized in that: The fixed frame (4) has openings (21) at both ends, and a collection box (5) is provided at the bottom of the fixed frame (4). The collection box (5) has handles (22) fixed at both ends, and the collection box (5) passes through the interior of the opening (21).

7. A portable cardamom harvesting device according to claim 1, characterized in that: Locking blocks (24) are provided on both sides of the bottom of the two ends of the fixing frame (4), and locking bolts (25) are provided at the front end of the locking blocks (24). Threaded holes (23) are provided on both sides of the bottom of the two ends of the fixing frame (4).

8. A portable cardamom harvesting device according to claim 7, characterized in that: The locking bolt (25) passes through the interior of the locking block (24) and is threadedly connected to the threaded hole (23).

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