Automatic taxus chinensis branch and leaf harvesting equipment

Abstract

The utility model provides automatic taxus chinensis branch and leaf harvesting equipment, which relates to the field of taxus chinensis branch and leaf harvesting equipment and comprises a wheel type vehicle body, a robot moving platform, an elevator and a camera are arranged on the upper side of the wheel type vehicle body, a mechanical arm is connected to the upper end of the elevator, and an electric pruning chain saw is connected to the tail end of the mechanical arm. A collecting device is connected to the front end of the wheel type vehicle body and comprises a collecting hopper, a shearing box is connected to the lower end of the collecting hopper, meanwhile, a conveying box is connected to the lower side of the shearing box, a collecting box is connected to one end of the conveying box, a water tank is connected to the upper side of the collecting box, and a water pump is connected to the outer side of the water tank; the output end of the water pump is connected to the upper end of the collecting hopper through a water pipe. The automatic harvesting machine has an automatic harvesting effect, and has the effects of cutting, chopping and cleaning the harvested branches and leaves at the first time.

Description

An automated harvesting device for yew branches and leaves Technical Field

[0001] This utility model relates to the technical field of yew branch and leaf harvesting equipment, specifically to an automated yew branch and leaf harvesting equipment. Background Technology

[0002] Paclitaxel can be extracted from the branches and leaves of the yew tree, and it is widely used in the medical industry. A search revealed existing technology (publication number: CN103503639A), which describes "a dual-arm fruit and vegetable harvesting robot system and its harvesting method. In this system: a binocular stereo vision system is used for visual navigation of the robot's movement and for acquiring information on the location of harvesting targets and obstacles; a robotic arm device is used to grasp and separate the harvesting targets and obstacles based on their positions; a robot mobile platform is used for autonomous movement in the working environment; the main control computer is the control center, integrating the control interface and various software modules to control the entire system. The binocular stereo vision system includes two color cameras, an image acquisition card, and an intelligent control gimbal; the robotic arm device includes two 5-DOF robotic arm bodies, joint servo drivers, and actuator motors; the robot mobile platform includes a wheeled vehicle body, power supply and power control equipment, and a fruit and vegetable collection device. This invention uses binocular vision and dual robotic arms to construct a biomimetic anthropomorphic fruit and vegetable harvesting robot, achieving autonomous navigation and automatic harvesting of fruit and vegetable targets."

[0003] While the robotic harvesting equipment mentioned in the aforementioned patent documents enables the harvesting of fruits and vegetables, it is more suitable for harvesting branches and leaves. However, the existing harvesting of yew branches and leaves is generally still done manually using electric shears or electric saws, which results in time-consuming and labor-intensive drawbacks. Furthermore, regardless of whether it is manual harvesting or the robotic equipment in the existing technology, it is impossible to clean and chop the branches and leaves immediately after harvesting. Cleaning and chopping are the first steps in extracting paclitaxel from yew, which makes subsequent operations more complicated. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, an automated harvesting device for yew branches and leaves is provided to solve the problems mentioned in the background.

[0005] To achieve the above objectives, an automated harvesting device for yew branches and leaves is provided, comprising: a wheeled vehicle body, a robot mobile platform, an elevator, and a camera on the upper side of the wheeled vehicle body, a robotic arm connected to the upper end of the elevator, an electric pruning chain saw connected to the end of the robotic arm, a collection device connected to the front end of the wheeled vehicle body, the collection device including a collection bucket, a shearing box connected to the lower end of the collection bucket, a conveying box connected to the lower side of the shearing box, a collection box connected to one end of the conveying box, a water tank connected to the upper side of the collection box, a water pump connected to the outside of the water tank, and the output end of the water pump connected to the upper end of the collection bucket via a water pipe.

[0006] Furthermore, a ring cavity is formed at the upper end of the collection hopper, with an inlet hole on the outer wall of the ring cavity and an outlet hole on the inner wall of the ring cavity.

[0007] Furthermore, the shearing box is equipped with a shearing roller, one end of which is connected to a shearing motor, and the surface of the shearing roller is equipped with blades.

[0008] Furthermore, the conveying box is equipped with a conveying screw inside, and one end of the conveying screw is connected to a conveying motor, and a filter screen is provided at the bottom of the conveying box.

[0009] Furthermore, the upper side of the conveying box has a through hole that communicates with the inner cavity of the shearing box, and the conveying box is also connected to the inner cavity of the collecting box.

[0010] Furthermore, the outer wall of the collection box is fixedly connected to the outer wall of the wheeled vehicle, and the outer wall of the collection box is also fixedly connected to the outer walls of the shearing box and the conveying box, and a guide hopper is provided at the bottom of the collection box.

[0011] Furthermore, the lower end of the robotic arm is connected to a movable ring, and an elastic fabric is connected between the movable ring and the collection hopper.

[0012] The beneficial effects of this utility model are as follows:

[0013] 1. During use, the robotic arm, driven by the camera's vision system, cuts the branches and leaves of the yew tree. As the robotic arm moves, it simultaneously drives the electric pruning chain saw and the moving ring, so that the cut branches and leaves fall into the moving ring and then slide into the shearing box through the elastic fabric. At this time, the shearing motor drives the shearing roller to rotate, thereby crushing the branches and leaves. Then, the crushed branches and leaves are transported to the collection box through the conveying screw inside the conveying box. At the same time, the water tank and water pump are used to wash the branches and leaves through the internal annular cavity and water outlet at the top of the collection hopper. This allows for the cutting, crushing and washing of branches and leaves immediately after harvesting, thereby eliminating subsequent operation processes and improving the extraction efficiency of paclitaxel.

[0014] 2. By utilizing a robotic mobile platform, elevator, camera, robotic arm, and electric pruning chain saw, the harvesting of yew trees can be automated, thereby reducing the burden on manual labor and achieving time and labor savings. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the overall structure of an embodiment of this utility model.

[0016] Figure 2 is a cross-sectional structural diagram of the collection device according to an embodiment of the present invention.

[0017] Figure 3 is a three-dimensional structural diagram of the shearing roller according to an embodiment of the present invention.

[0018] Figure 4 is a schematic diagram of the structure at point A in Figure 2 of this utility model embodiment.

[0019] In the diagram: 1. Wheeled vehicle body; 2. Robot mobile platform; 3. Elevator; 4. Robotic arm; 5. Camera; 6. Electric pruning chain saw; 7. Collection device; 71. Collection hopper; 711. Ring cavity; 712. Water inlet; 713. Water outlet; 72. Shearing box; 73. Shearing motor; 74. Shearing roller; 741. Blade; 75. Conveyor motor; 76. Conveyor box; 77. Conveyor screw; 78. Filter screen; 79. Collection box; 8. Water tank; 9. Water pump. Detailed Implementation

[0020] Referring to Figures 1 to 4, this utility model provides an automated harvesting device for yew branches and leaves, including: a wheeled vehicle body 1, a robot mobile platform 2, an elevator 3 and a camera 5 on the upper side of the wheeled vehicle body 1, and a robotic arm 4 connected to the upper end of the elevator 3, an electric pruning chain saw 6 connected to the end of the robotic arm 4, a collection device 7 connected to the front end of the wheeled vehicle body 1, and the collection device 7 includes a collection bucket 71, a shearing box 72 connected to the lower end of the collection bucket 71, a conveying box 76 connected to the lower side of the shearing box 72, a collection box 79 connected to one end of the conveying box 76, a water tank 8 connected to the upper side of the collection box 79, and a water pump 9 connected to the outside of the water tank 8, with the output end of the water pump 9 connected to the upper end of the collection bucket 71 through a water pipe.

[0021] In this embodiment, the wheeled vehicle body 1, the robot mobile platform 2, the elevator 3, the robotic arm 4, and the camera 5 adopt the same component structure and working principle as those described in the prior art, achieving automated harvesting. The difference lies in the structure connected to the execution end of the robotic arm 4. In this application, an electric pruning chain saw 6 is connected to its end. The electric pruning chain saw 6 adopts the existing handheld long-handled electric pruning chain saw 6 device. In this application, its handle is fixedly connected to the execution end of the robotic arm 4 by a clamp.

[0022] As shown in Figures 1 to 4, a ring cavity 711 is formed along the upper edge of the collecting hopper 71, with a water inlet 712 on the outer wall of the ring cavity 711 and a water outlet 713 on the inner wall of the ring cavity 711. A shearing roller 74 is installed inside the shearing box 72, with one end of the shearing roller 74 connected to a shearing motor 73, and blades 741 are provided on the surface of the shearing roller 74. A conveying screw 77 is installed inside the conveying box 76, with one end of the conveying screw 77 connected to a conveying motor 75. A filter screen 78 is provided at the bottom of the conveying box 76. A through hole is provided on the upper side of the conveying box 76, which communicates with the inner cavity of the shearing box 72. The conveying box 76 is also connected to the inner cavity of the collecting box 79. The outer wall of the collecting box 79 is fixedly connected to the outer wall of the wheeled vehicle body 1. At the same time, the outer wall of the collecting box 79 is fixedly connected to the outer walls of the shearing box 72 and the conveying box 76. A guide bucket is provided at the bottom of the collecting box 79. The lower end of the end of the robot 4 is connected to a moving ring, and an elastic cloth is connected between the moving ring and the collecting bucket 71.

[0023] Specifically, the shearing rollers 74 are provided in two parallel positions, and the blades 741 on the outer walls of the two shearing rollers 74 are positioned opposite each other when rotating, so as to achieve the effect of clamping and shearing branches and leaves.

[0024] Specifically, the shearing motor 73 is fixed to the outer wall of the shearing box 72 by an L-shaped mounting plate, and the output end of the shearing motor 73 is connected to a set of meshing gears, and the gears are fixedly connected to the central shaft of the shearing roller 74, and the central shaft rotates through the box wall of the shearing box 72.

[0025] Specifically, the elastic fabric is designed as a cylindrical structure and is designed as an elastic folded layered fabric structure. That is, when the moving ring moves, it can drive the elastic fabric to move as a whole, so that it is kept synchronously on the lower side of the electric pruning chain saw 6, thereby realizing the reception of the cut branches and leaves.

[0026] In operation, a robotic arm, driven by a camera's vision system, cuts the branches and leaves of the yew tree. As the robotic arm moves, it simultaneously drives an electric pruning chain saw and a moving ring, causing the cut branches and leaves to fall into the moving ring and then slide through an elastic fabric into a shearing box. At this point, a shearing motor drives the shearing rollers to rotate, further shredding the branches and leaves. The shredded branches and leaves are then transported to a collection box via a conveying screw inside the conveying box. Simultaneously, a water tank and pump wash the branches and leaves through an internal annular cavity and water outlet at the top of the collection hopper, allowing the wastewater to flow out through a filter screen. This process enables immediate cutting, shredding, and washing of the branches and leaves after harvesting, eliminating subsequent steps and improving the efficiency of paclitaxel extraction.

[0027] The automated harvesting equipment for yew branches and leaves of this utility model can effectively solve the problems mentioned in the background technology. It achieves automated harvesting effect based on the existing automated harvesting equipment technology for yew branches and leaves, and has the effect of cutting, crushing and cleaning the harvested branches and leaves in the first time.

Claims

1. An automated harvesting device for yew branches and leaves, comprising: A wheeled vehicle body (1) is provided with a robot mobile platform (2), an elevator (3) and a camera (5) on the upper side of the wheeled vehicle body (1), and a robotic arm (4) is connected to the upper end of the elevator (3). The robot arm (4) is characterized in that an electric pruning chain saw (6) is connected to the end of the robotic arm (4), a collection device (7) is connected to the front end of the wheeled vehicle body (1), and the collection device (7) includes a collection bucket (71), a shearing box (72) is connected to the lower end of the collection bucket (71), and a conveying box (76) is connected to the lower side of the shearing box (72). A collection box (79) is connected to one end of the conveying box (76), and a water tank (8) is connected to the upper side of the collection box (79). A water pump (9) is connected to the outside of the water tank (8), and the output end of the water pump (9) is connected to the upper end of the collection bucket (71) through a water pipe.

2. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The upper end of the collection hopper (71) has a ring cavity (711) and an inlet hole (712) on the outer wall of the ring cavity (711), while an outlet hole (713) is provided on the inner wall of the ring cavity (711).

3. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The shearing box (72) is equipped with a shearing roller (74) inside, and one end of the shearing roller (74) is connected to a shearing motor (73), and the surface of the shearing roller (74) is provided with a blade (741).

4. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The conveying box (76) is equipped with a conveying screw (77) inside, and one end of the conveying screw (77) is connected to a conveying motor (75). A filter screen (78) is provided at the bottom of the conveying box (76).

5. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The conveying box (76) has a through hole on its upper side, which is connected to the inner cavity of the shearing box (72), and the conveying box (76) is connected to the inner cavity of the collecting box (79).

6. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The outer wall of the collection box (79) is fixedly connected to the outer wall of the wheeled vehicle body (1), and the outer wall of the collection box (79) is fixedly connected to the outer walls of the shear box (72) and the conveying box (76), and the bottom of the collection box (79) is provided with a guide bucket.

7. The automated harvesting equipment for yew branches and leaves according to claim 1, characterized in that, The lower end of the robotic arm (4) is connected to a moving ring, and an elastic cloth is connected between the moving ring and the collecting hopper (71).

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