An adjustable wheel spacing safflower picking machine

Abstract

This utility model discloses a safflower harvesting machine with adjustable wheel spacing, including a vehicle platform. Support columns are installed at the four corners of the bottom of the vehicle platform. A rotatable rotating plate is installed at the bottom of each support column. One end of the rotating plate is connected to a support leg via a connecting plate. An L-shaped frame is connected to the bottom of the support leg via a shock absorber. A first motor is installed on the side wall of the L-shaped frame, and a moving wheel is connected to the shaft of the first motor. By activating a second motor, the rotating plate rotates, causing the support leg to rotate around the axis of the second motor shaft under the action of the rotating plate and the connecting plate. This allows the spacing between the two parallel support legs to be adjusted, facilitating the adjustment of the wheel spacing according to the safflower field environment. This enables the robot to move in safflower fields with varying wheel spacing, greatly improving the robot's mobility and practicality.

Description

Technical Field

[0001] This utility model belongs to the field of safflower harvesting technology, and in particular relates to a safflower harvesting machine with adjustable wheel spacing. Background Technology

[0002] Safflower is an important economic crop, and its stamens can be used as oil, dye, and natural pigments. However, manual harvesting is costly and inefficient, severely limiting the industrialization of safflower. Therefore, mechanized harvesting of safflower stamens is urgently needed. Currently, safflower stamen harvesting machinery is mainly handheld and backpack-type, but it suffers from low efficiency and high labor intensity, and has not been widely adopted.

[0003] Currently, the spacing between safflower fields varies, while the existing harvesting robots have fixed wheel spacing, which is inconvenient when moving between safflower fields with different spacing, and they are prone to crushing the crops, making them impractical. Summary of the Invention

[0004] The purpose of this invention is to provide a safflower harvester with adjustable wheel spacing to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the specific technical solution of this utility model is as follows: A safflower picking machine with adjustable wheel spacing includes a vehicle platform. Support columns are provided at the four corners of the bottom of the vehicle platform. A rotatable rotating plate is provided at the bottom of each support column. One end of the rotating plate is connected to a support leg via a connecting plate. An L-shaped frame is connected to the bottom of the support leg via a shock absorber. A first motor is installed on the side wall of the L-shaped frame. A moving wheel is connected to the shaft of the first motor. A flower storage box is provided on the rear side of the upper surface of the vehicle platform. A main pipe is provided on the front side wall of the flower storage box. A negative pressure fan is provided on one side of the main pipe. A robotic arm is provided below the vehicle platform. A picking device is provided at the bottom of the robotic arm. The picking devices are all connected to the main pipe via flexible hoses. A binocular camera is provided at the bottom of the middle front part of the vehicle platform.

[0006] The robotic arm includes a fixed base, which is an equilateral triangular structure. The fixed base is fixedly connected to the vehicle platform via crossbeams, and two crossbeams are fixedly connected by a connecting beam. A depth camera is installed at the bottom center of the connecting beam, and the depth camera passes through the center of the fixed base. Motor mounts are provided at the bottom of the three apex corners of the fixed base. Each motor mount is equipped with a brushless geared motor, and the shaft of the brushless geared motor is connected to an active arm. The ends of the active arm away from the brushless geared motor are connected to fisheye pins via fisheye connectors on both sides, and each fisheye pin is equipped with a driven arm. The bottom of the driven arm is connected to a mounting base via fisheye pins. The bottom of the mounting base is fixedly connected to the upper surface of the harvester by screws, and the surface of the mounting base is provided with insertion holes for installing hoses.

[0007] Preferably, the front sidewall of the support column is provided with a mounting groove, in which a second motor is installed, and the shaft of the second motor is fixedly connected to the upper surface of the rotating plate.

[0008] Preferably, the rotating plate has a rectangular structure.

[0009] Preferably, the shock absorber includes a sliding column, and a sliding cavity is provided at the bottom middle part of the support leg to slide vertically and horizontally with the sliding column. A support spring is sleeved on the sliding column, the bottom of the support spring is fixedly connected to the upper surface of the L-shaped frame, and the top of the support spring is fixedly connected to the bottom of the support leg.

[0010] Preferably, the harvester includes a circular base and a rectangular base fixedly connected to the side wall of the circular base. A through hole is provided in the middle of the surface of the circular base. An inner edge is provided on the upper surface of the through hole. A semi-circular fixed blade is provided on one side of the upper surface of the inner edge. A rectangular groove is provided above the inner edge. A movable blade is provided on the upper surface of the rectangular groove opposite to the fixed blade. A limit block is provided in the middle of the upper surface of the movable blade. A limit groove is provided in the middle of the upper surface of the rectangular base along its length. An electric push rod is installed in the limit groove. The piston rod end of the electric push rod is fixedly connected to the end of the limit block, and the limit block is slidably connected to the limit groove.

[0011] Preferably, the moving blade is elongated, and the length of the moving blade is equal to the length of the rectangular groove. Both the circular seat and the rectangular seat have cover plates on their upper surfaces. The upper surface of the cover plate has a circular hole that communicates with the rectangular groove, and the bottom of the flexible tube communicates with the circular hole.

[0012] The safflower picking machine with adjustable wheel spacing of this utility model has the following advantages.

[0013] 1. This utility model activates a second motor, which drives a rotating plate to rotate. Under the action of the rotating plate and the connecting plate, the supporting legs rotate around the axis of the second motor shaft. This allows the spacing between the two parallel supporting legs to be adjusted, making it easy to adjust the spacing of the moving wheels according to the environment of the safflower field. This enables the robot to walk in safflower fields with different spacing, greatly improving the robot's mobility and practicality.

[0014] 2. This utility model has a high degree of automation, reduces labor costs, greatly improves production efficiency, meets the needs of safflower harvesting, and through the setting of moving and fixed blades, and with the cooperation of negative pressure fan, it can cut the bottom of the safflower filaments. The safflower filaments are sucked into the designated position through the hose, and the safflower filaments are not easily damaged. The damage to the safflower filaments is small, which can meet the harvesting requirements of high-quality safflower filaments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 for Figure 1 Front view.

[0018] Figure 3 This is a schematic diagram of the harvester in this utility model.

[0019] Figure 4 This is a schematic diagram of the robotic arm in this utility model.

[0020] The markings in the diagram are as follows: 1. Vehicle platform; 2. Support column; 3. Rotating plate; 4. Connecting plate; 5. Support leg; 6. L-shaped frame; 7. Moving wheel; 8. First motor; 9. Second motor; 10. Robotic arm; 11. Binocular camera; 12. Flower storage box; 13. Main pipe; 14. Negative pressure fan; 15. Hose; 16. Harvester; 17. Sliding column; 18. Support spring; 19. Circular seat; 20. Rectangular seat; 21. Through hole; 22. Inner edge; 23. Fixed blade; 24. Rectangular groove; 25. Moving blade; 26. Limiting groove; 27. Electric push rod; 28. Limiting block; 29. ​​Fixed seat; 30. Active arm; 31. Brushless geared motor; 32. Motor seat; 33. Driven arm; 34. Mounting seat; 35. Controller; 36. Crossbeam; 37. Connecting beam. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] In the description of the embodiments of this utility model, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0025] The following disclosure provides many different implementations or examples for different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the embodiments of the present invention; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0026] To better understand the purpose, structure, and function of this utility model, the following description, in conjunction with the accompanying drawings, provides a more detailed account of a safflower harvester with adjustable wheel spacing.

[0027] like Figure 1-4 As shown, this utility model discloses an adjustable wheel spacing safflower harvester, including a vehicle platform 1. Support columns 2 are provided at the four corners of the bottom of the vehicle platform 1. A rotatable rotating plate 3 is provided at the bottom of each support column 2. One end of the rotating plate 3 is connected to a support leg 5 via a connecting plate 4. An L-shaped frame 6 is connected to the bottom of the support leg 5 via a shock absorber. The shock absorber includes a sliding column 17. A sliding cavity is provided in the middle of the bottom of the support leg 5, which slides vertically and vertically with the sliding column 17. A support spring 18 is fitted on the sliding column 17. The bottom of the support spring 18 is fixedly connected to the upper surface of the L-shaped frame 6, and the top of the support spring 18 is fixedly connected to the bottom of the support leg 5. Through the cooperation between the sliding column 17 and the support spring 18, a shock-absorbing effect is achieved on the vehicle platform 1. The L-shaped frame 6 has a first motor 8 mounted on its side wall. The shaft of the first motor 8 is connected to a moving wheel 7. The front side wall of the support column 2 is provided with a mounting groove, in which a second motor 9 is installed. The shaft of the second motor 9 is fixedly connected to the upper surface of the rotating plate 3. The rotating plate 3 has a rectangular structure. By starting the second motor 9, the second motor 9 drives the rotating plate 3 to rotate. Under the action of the rotating plate 3 and the connecting plate 4, the support leg 5 rotates around the axis of the shaft of the second motor 9. This allows the distance between the two side-by-side support legs 5 to be adjusted, making it easy to adjust the distance between the moving wheels 7 according to the environment of the safflower field. This allows the robot to walk in safflower fields with different spacing, greatly improving the robot's mobility and practicality.

[0028] The robotic arm 10 includes a fixed base 29, which is an equilateral triangular structure. The fixed base 29 is fixedly connected to the vehicle platform 1 via a crossbeam 36, and the two crossbeams 36 are fixedly connected via a connecting beam 37. A depth camera is installed at the bottom center of the connecting beam 37, and the depth camera passes through the center of the fixed base 29. Motor mounts 32 are provided at the bottom of the three apex corners of the fixed base 29. Each motor mount 32 is equipped with a brushless geared motor 31, and the shaft of the brushless geared motor 31 is connected to an active arm 30. The ends of the active arm 30 away from the brushless geared motor 31 are connected to fisheye pins via fisheye connectors on both sides, and each fisheye pin is equipped with a driven arm 33. The bottom of the driven arm 33 is connected to a mounting base 34 via fisheye pins. The bottom of the mounting base 34 is fixedly connected to the upper surface of the harvester 16 by screws, and the surface of the mounting base 34 is provided with a socket for installing a hose 15. A controller 35 is installed on one side of the upper surface of the vehicle platform 1. The first motor 8 is started to move the harvester to the safflower planting area. The controller 35 senses the position of the safflower and its stamens through a depth camera installed in the middle of the connecting beam 37. The controller starts the brushless geared motor 31 to drive the active arm 30 to move the driven arm 33. The driven arm 33 drives the mounting base 34 to move. The mounting base 34 drives the harvester 16 to move. When the through hole 21 is directly above the flower ball, the brushless geared motor 31 starts to drive the robotic arm 10 to move the harvester 16 vertically downward until the negative pressure fan 14 uses negative pressure through the through hole 21 to adsorb all the stamens into the rectangular groove 24. The harvester 16 works with the negative pressure to complete the harvesting and collection of the stamens.

[0029] A flower storage box 12 is provided on the rear side of the upper surface of the vehicle platform 1. A main pipe 13 is provided on the front side wall of the flower storage box 12. A negative pressure fan 14 is provided on one side of the main pipe 13. A robotic arm 10 is provided below the vehicle platform 1. A harvester 16 is provided at the bottom of the robotic arm 10. The harvesters 16 are all connected to the main pipe 13 through hoses 15. A binocular camera 11 is provided at the bottom of the middle part of the front side of the vehicle platform 1. The harvester 16 includes a circular base 19 and a rectangular base 20 fixedly connected to the side wall of the circular base 19. A through hole 21 is provided in the middle of the surface of the circular base 19. An inner edge 22 is provided on the upper surface of the through hole 21. A semi-circular fixed blade 23 is provided on one side of the upper surface of the inner edge 22, and a rectangular groove 24 is provided above the inner edge 22. A movable blade 25 is provided on the upper surface of the rectangular groove 24 opposite to the fixed blade 23. A limit block 28 is provided in the middle of the upper surface of the movable blade 25. A limit groove 26 is provided along the length of the middle of the upper surface of the rectangular base 20. An electric push rod 27 is installed in the limit groove 26. The piston rod end of the electric push rod 27 is fixedly connected to the end of the limit block 28, and the limit block 28 is slidably connected to the limit groove 26. The movable blade 25 is elongated, and its length is equal to the length of the rectangular groove 24. The circular base 19 and the rectangular base... The upper surface of 20 is provided with a cover plate, and the upper surface of the cover plate is provided with a round hole that communicates with the rectangular groove 24. The bottom of the hose 15 is connected to the round hole. When the brushless geared motor 31 drives the robotic arm 10 with the picker 16 to move above the flower ball to be picked, the negative pressure fan 14 starts to work and generates negative pressure, which is transmitted to the rectangular groove 24 through the hose 15. Therefore, the negative pressure is used to attract the top filaments upward through the through hole 21, and the filaments present a concentrated upward shape. At this time, the brushless geared motor 31 drives the robotic arm 10 to move the picker 16 vertically downward until the filaments are all entered into the rectangular groove 24 through the through hole 21. The electric push rod 27 is activated, and the electric push rod 27 drives the limit block 28 to push the moving blade 25. With the cooperation of the fixed blade 23, the cutting work of the filaments is completed. At the same time, the negative pressure is used to suck the filaments into the flower storage box 12, completing the picking and collection of filaments.

[0030] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A safflower harvester with adjustable wheel spacing, characterized in that: The vehicle includes a vehicle platform (1), with support columns (2) at each of the four corners of the bottom of the vehicle platform (1). Each support column (2) has a rotatable rotating plate (3) at its bottom. One end of the rotating plate (3) is connected to a support leg (5) via a connecting plate (4). The bottom of the support leg (5) is connected to an L-shaped frame (6) via a shock absorber. A first motor (8) is installed on the side wall of the L-shaped frame (6). The shaft of the first motor (8) is connected to a moving wheel (7). The vehicle platform (1) A flower storage box (12) is provided on the rear side of the upper surface of the vehicle. A main pipe (13) is provided on the front side wall of the flower storage box (12). A negative pressure fan (14) is provided on one side of the main pipe (13). A robotic arm (10) is provided below the vehicle platform (1). A harvester (16) is provided at the bottom of the robotic arm (10). The harvesters (16) are all connected to the main pipe (13) through hoses (15). A binocular camera (11) is provided at the bottom of the middle part of the front side of the vehicle platform (1). The robotic arm (10) includes a fixed base (29), which is an equilateral triangle structure. The fixed base (29) is fixedly connected to the vehicle platform (1) via crossbeams (36), and the two crossbeams (36) are fixedly connected by a connecting beam (37). A depth camera is installed at the bottom center of the connecting beam (37), and the depth camera penetrates the center of the fixed base (29). Motor mounts (32) are provided at the bottom of the three apex corners of the fixed base (29), and each motor mount (32) is equipped with a brushless motor. A geared motor (31) is provided, and the shaft of the brushless geared motor (31) is connected to an active arm (30). The active arm (30) is connected to a fisheye pin on both sides of the end away from the brushless geared motor (31) through a fisheye connector. Each fisheye pin is provided with a driven arm (33). The bottom of the driven arm (33) is connected to a mounting base (34) through a fisheye pin. The bottom of the mounting base (34) is fixedly connected to the upper surface of the harvester (16) by screws. The surface of the mounting base (34) is provided with a socket for installing a hose (15).

2. The safflower harvester with adjustable wheel spacing according to claim 1, characterized in that: The front side wall of the support column (2) is provided with an installation groove, and a second motor (9) is installed in the installation groove. The shaft of the second motor (9) is fixedly connected to the upper surface of the rotating plate (3).

3. The safflower harvester with adjustable wheel spacing according to claim 1, characterized in that: The rotating plate (3) has a rectangular structure.

4. A safflower harvester with adjustable wheel spacing according to claim 1, characterized in that: The shock absorber includes a sliding column (17), and the bottom middle part of the support leg (5) is provided with a sliding cavity that slides and connects with the sliding column (17) in a vertical manner. A support spring (18) is sleeved on the sliding column (17). The bottom of the support spring (18) is fixedly connected to the upper surface of the L-shaped frame (6), and the top of the support spring (18) is fixedly connected to the bottom of the support leg (5).

5. A safflower harvester with adjustable wheel spacing according to claim 1, characterized in that: The harvester (16) includes a circular seat (19) and a rectangular seat (20) fixedly connected to the side wall of the circular seat (19). A through hole (21) is provided in the middle part of the surface of the circular seat (19). An inner edge (22) is provided on the upper surface of the through hole (21). A semi-circular fixed blade (23) is provided on one side of the upper surface of the inner edge (22). A rectangular groove (24) is provided above the inner edge (22). A moving blade (25) is provided on the upper surface of the rectangular groove (24) opposite to the fixed blade (23). A limit block (28) is provided in the middle part of the upper surface of the moving blade (25). A limit groove (26) is provided in the middle part of the upper surface of the rectangular seat (20) along its length direction. An electric push rod (27) is installed in the limit groove (26). The piston rod end of the electric push rod (27) is fixedly connected to the end of the limit block (28), and the limit block (28) is slidably connected to the limit groove (26).

6. A safflower harvester with adjustable wheel spacing according to claim 5, characterized in that: The moving blade (25) is long and the length of the moving blade (25) is equal to the length of the rectangular groove (24). The upper surfaces of the circular seat (19) and the rectangular seat (20) are provided with cover plates. The upper surface of the cover plate is provided with a circular hole that communicates with the rectangular groove (24). The bottom of the flexible tube (15) is connected to the circular hole.

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