Huanglian digging robot

Abstract

The application relates to the technical field of rhizoma coptidis collection, and discloses a rhizoma coptidis collecting and digging robot which comprises a screening assembly, a collecting and digging assembly, a collecting assembly and a lifting assembly. The screening assembly is provided with a plurality of screening holes. The collecting and digging assembly is connected to one end of the screening assembly, and is used for collecting and digging rhizoma coptidis to the screening assembly. The screening assembly is used for receiving the rhizoma coptidis and making sundries attached to the rhizoma coptidis discharged from the screening holes. The collecting assembly is arranged at the end of the screening assembly away from the collecting and digging assembly, and is used for collecting the rhizoma coptidis screened by the screening assembly. The lifting assembly is connected to the collecting assembly and the screening assembly, and is used for driving the screening assembly to move between the ground and the collecting assembly. The rhizoma coptidis collecting and digging robot has the beneficial effects of improving the collection efficiency and the collection quality of the rhizoma coptidis.

Description

Technical Field

[0001] This application relates to the field of mining equipment technology, specifically to a Coptis chinensis mining robot. Background Technology

[0002] Coptis chinensis, a "golden herb" in the treasure trove of traditional Chinese medicine, plays an irreplaceable role in clearing heat and drying dampness, purging fire and detoxifying. Currently, the harvesting of Coptis chinensis is mostly carried out manually or semi-mechanized. Manual harvesting is labor-intensive and inefficient, while semi-mechanized harvesting methods still involve a long overall process and offer limited efficiency improvements. Utility Model Content

[0003] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a Coptis chinensis harvesting robot to solve the technical problem of low harvesting efficiency of Coptis chinensis in known technologies.

[0004] To achieve the above-mentioned technical objectives, this application adopts the following technical solution:

[0005] This application provides a Coptis chinensis harvesting robot, including a screening component, a harvesting component, a collection component, and a lifting component. The screening component has multiple screening holes. The harvesting component is connected to one end of the screening component and is used to harvest Coptis chinensis to the screening component. The screening component is used to receive the Coptis chinensis and discharge any debris attached to the Coptis chinensis through the screening holes. The collection component is located at the end of the screening component opposite to the harvesting component and is used to collect the Coptis chinensis after screening. The lifting component connects the collection component and the screening component and is used to move the screening component between near the ground and near the collection component.

[0006] In some embodiments, the screening assembly includes a mounting frame, a vibrating element, and a screening plate; the mounting frame is connected to the lifting assembly, and one end of the mounting frame opposite to the collecting assembly is connected to the harvesting assembly; the screening plate is located between the harvesting assembly and the collecting assembly, and the screening plate has multiple screening holes; one end of the vibrating element is connected to the mounting frame, and the other end of the vibrating element is connected to the screening plate, and is used to drive the screening plate to vibrate, so as to cause the Coptis chinensis carried by the screening plate to vibrate, and cause the impurities attached to the Coptis chinensis to fall from the screening holes.

[0007] In some embodiments, there are two mounting frames, which are spaced apart along the extension direction of the harvesting assembly, and the two mounting frames are respectively connected to both ends of the harvesting assembly; there are multiple vibrating elements, and each mounting frame is connected to both sides of the screening plate through multiple vibrating elements.

[0008] In some embodiments, the lifting assembly includes a first lifting arm and a second lifting arm, one end of the first lifting arm is rotatably connected to the collecting assembly, the first lifting arm extends downward along the direction of gravity, one end of the second lifting arm is rotatably connected to the other end of the first lifting arm, the second lifting arm extends toward the harvesting assembly, and the other end of the second lifting arm is connected to the screening assembly.

[0009] In some embodiments, the collecting component includes a transmission component and a storage component; one end of the transmission component is disposed corresponding to the end of the screening component away from the collecting component, and the storage component is located at the end of the transmission component away from the screening component; the transmission component is used to receive and transmit the Coptis chinensis after screening by the screening component, and to transport the Coptis chinensis to the storage component, and the storage component is used to store the Coptis chinensis.

[0010] In some embodiments, the transmission component includes a transmission belt and a plurality of partitions. The transmission belt is disposed between the inlet of the screening component and the inlet of the storage component. The plurality of partitions are spaced apart on the transmission belt along the spacing direction between the screening component and the storage component. A partition groove is formed between two adjacent partitions and the transmission belt. The partition groove is used to accommodate the Coptis chinensis.

[0011] In some embodiments, the storage component includes a bottom wall, a first side wall, and two second side walls. The bottom wall, the first side wall, and the two second side walls form a storage cavity for receiving the Coptis chinensis transmitted by the transmission component. The first side wall is located at one end of the bottom wall near the transmission component, and the end of the first side wall facing away from the bottom wall is correspondingly located to the transmission component. The two second side walls are located on both sides of the bottom wall along a second direction, and the two second side walls are respectively connected to the two ends of the first side wall. The ends of the two second side walls facing away from the first side wall form an outlet communicating with the storage cavity. An inlet communicating with the storage cavity is formed between the first side wall and the two second side walls.

[0012] In some embodiments, the storage component is rotatably configured relative to the transmission component to receive the Coptis chinensis or to discharge the Coptis chinensis from the outlet.

[0013] In some embodiments, the Coptis chinensis harvesting robot further includes a walking component located on the side of the screening component away from the harvesting component. The walking component includes walking wheels and a support plate. The walking wheels are disposed on the bottom side of the support plate. The collecting component is disposed on the support plate. The lifting component is rotatably connected to the support plate.

[0014] In some embodiments, the harvesting assembly includes a rotating shaft and multiple sets of digging teeth; the multiple sets of digging teeth are sequentially connected to the rotating shaft along its axial direction; each set of digging teeth includes multiple digging teeth arranged circumferentially around the rotating shaft; each digging tooth includes a first tooth segment and a second tooth segment, one end of the first tooth segment is connected to the rotating shaft, the other end of the first tooth segment extends in a direction opposite to the rotating shaft, one end of the second tooth segment is connected to the first tooth segment, and the second tooth segment is inclined relative to the first tooth segment along the circumferential direction of the rotating shaft; along the circumferential direction of the rotating shaft, the first tooth segment has a first edge and a second edge arranged opposite to each other, the second tooth segment has a third edge and a fourth edge arranged opposite to each other, the included angle between the first edge and the third edge is an obtuse angle, and the second edge and the fourth edge are connected by a rounded transition.

[0015] Compared with known technologies, the Coptis chinensis harvesting robot provided in this application, during the harvesting process, has a lifting component that moves a screening component closer to the ground, and a harvesting component that digs the Coptis chinensis from the soil to the screening component. The screening component receives and screens the Coptis chinensis, allowing soil and other impurities from the roots to be discharged through the screening holes. After the screening component completes screening, the lifting component moves the screening component closer to the collecting component, allowing the Coptis chinensis to be transported from the screening component to the collecting component, thus completing the collection of the screened Coptis chinensis. After the Coptis chinensis on the screening component is collected, the lifting component moves the screening component closer to the ground to perform the next harvest of Coptis chinensis. Therefore, the Coptis chinensis harvesting device of this application, through the lifting component, can simultaneously realize multiple functions of harvesting, shaking off soil, and conveying Coptis chinensis through the screening component and the harvesting component, so that the harvesting, shaking off soil, and collecting processes of Coptis chinensis can all be completed automatically, which can significantly improve the harvesting efficiency of Coptis chinensis. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the Coptis chinensis harvesting robot provided in the embodiments of this application.

[0017] Figure 2 This is a side view of the Coptis chinensis harvesting robot provided in the embodiments of this application.

[0018] Figure 3 This is a schematic diagram of the harvesting component provided in the embodiments of this application.

[0019] Figure 4 This is an axis view of the harvesting component provided in the embodiments of this application.

[0020] Figure 5 This is a schematic diagram of the structure of the harvesting tooth provided in the embodiments of this application.

[0021] Figure 6 This is a schematic diagram of the structure of a harvesting component provided in another embodiment of this application.

[0022] Figure 7 This is a schematic diagram of the structure of the harvesting component and the screening component provided in the embodiments of this application.

[0023] Figure 8 This is a schematic diagram of the lifting component provided in the embodiments of this application.

[0024] Figure 9 This is a schematic diagram of the structure of the transmission component provided in the embodiments of this application.

[0025] Figure 10 This is a schematic diagram of the structure of the storage component provided in the embodiments of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Coptis chinensis harvesting robot; 10. Harvesting component; 11. Rotating shaft; 111. First end; 112. Second end; 12. Harvesting tooth assembly; 121. Harvesting tooth; 1211. First tooth segment; 12111. First edge; 12112. Second edge; 1212. Second tooth segment; 12121. Third edge; 12122. Fourth edge; 1213. First surface; 1214. Second surface; 122. Adjusting ring; 20. Screening component; 21. Mounting frame; 22. Vibrating component; 23. Screening plate; 231. Screening hole; 30. Collection component; 31. Conveying component; 311. Conveyor belt; 312. Separator; 3121. Base plate; 3122. Divider 313. Partition plate; 314. Divider groove; 315. First support column; 316. Second support column; 317. First horizontal section; 318. Second horizontal section; 32. Storage component; 321. Bottom wall; 322. First side wall; 323. Second side wall; 324. Storage cavity; 325. Inlet; 326. Outlet; 327. Support part; 40. Lifting component; 41. First lifting arm; 42. Second lifting arm; 43. Buffer part; 50. Traveling component; 51. Support plate; 52. Traveling wheel; 53. First pivot; 54. Connecting arm; 55. Second pivot; 56. Third pivot; X, First direction; Y, Second direction; Z, Third direction; W, Circumferential direction; R, Radial direction. Detailed Implementation

[0028] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0029] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is said to be "set on" another component, it can be directly set on the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] Some embodiments of this application are described in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] In known technologies, Coptis chinensis is mainly harvested manually or semi-mechanized. Manual harvesting relies on individual vine removal, soil shaking, and leaf cutting, which is labor-intensive and extremely inefficient. During large-scale cultivation, labor costs rise sharply, and the harvest is easily affected by fluctuations in planting time and manpower availability, potentially missing the optimal harvest period and reducing the quality and yield of the harvested Coptis chinensis. Semi-mechanized harvesting tends to focus on a single harvesting step, but still requires manual assistance and involves multiple steps. The simplification of procedures is limited, and the reduction in manpower is limited, resulting in limited overall improvement in harvesting efficiency.

[0033] To address some known technical problems related to the low harvesting efficiency of Coptis chinensis, this application provides a Coptis chinensis harvesting robot, which can improve the harvesting efficiency of Coptis chinensis.

[0034] It should be noted that the Coptis chinensis harvesting robot described in this application is used for, but not limited to, the harvesting of Coptis chinensis. For ease of explanation, this application only uses the application of the Coptis chinensis harvesting robot to Coptis chinensis as an example. The principle of the Coptis chinensis harvesting robot in the harvesting of other types of economic crops is essentially the same as that in the harvesting of Coptis chinensis, and will not be elaborated here.

[0035] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of the Coptis chinensis harvesting robot 1 in one embodiment of this application, with reference to [other relevant information]. Figure 2The Coptis chinensis harvesting robot 1 includes a harvesting component 10, a screening component 20, a collection component 30, and a lifting component 40. The harvesting component 10 is connected to one end of the screening component 20 and is used to harvest Coptis chinensis to the screening component 20. The screening component 20 has multiple screening holes 231. The screening component 20 is used to receive the Coptis chinensis and allow any attached impurities to be discharged through the screening holes 231. The collection component 30 is located at the end of the screening component 20 away from the harvesting component 10 and is used to collect the Coptis chinensis after screening by the screening component 20. The lifting component 40 connects the collection component 30 and the screening component 20, and is used to move the screening component 20 between near the ground and near the collection component 30.

[0036] According to the Coptis chinensis harvesting robot 1 of this application, during the harvesting process, the lifting component 40 moves the screening component 20 closer to the ground, and the harvesting component 10 digs the Coptis chinensis from the ground to the screening component 20. The screening component 20 receives and screens the Coptis chinensis, so that soil and other impurities from the roots are discharged through the screening holes 231. After the screening component 20 completes screening, the lifting component 40 moves the screening component 20 closer to the collecting component 30, so that the Coptis chinensis is transported from the screening component 20 to the collecting component 30, thereby completing the collection of the screened Coptis chinensis. After the Coptis chinensis on the screening component 20 is collected, the lifting component 40 moves the screening component 20 back closer to the ground to perform the next Coptis chinensis harvest. Therefore, the Coptis chinensis harvesting device of this application can simultaneously realize the functions of harvesting, shaking off soil and conveying Coptis chinensis by the lifting component 40 and the screening component 20 and the harvesting component 10. This allows the harvesting process of Coptis chinensis, such as harvesting, shaking off soil and collecting, to be completed automatically. Compared with the known technology that first pulls up the roots of Coptis chinensis and then performs a secondary process of soil removal, the harvesting efficiency of Coptis chinensis can be greatly improved.

[0037] For ease of description, this embodiment defines a first direction X, a second direction Y, and a third direction Z. The first direction X is parallel to the length direction of the harvesting component 10. The second direction Y is perpendicular to the first direction X, and the harvesting component 10, the screening component 20, and the collecting component 30 are distributed along the second direction Y. The third direction Z is the direction of gravity. The third direction Z is perpendicular to both the first direction X and the second direction Y. In other embodiments, the first direction X, the second direction Y, and the third direction Z can also be arranged obliquely to each other.

[0038] See Figure 1 and Figure 2In this embodiment, the Coptis chinensis harvesting robot 1 also includes a walking component 50. The walking component 50 is located on the side of the screening component 20 opposite to the harvesting component 10. The walking component 50 includes a support plate 51 and walking wheels 52. The walking wheels 52 are located on the bottom side of the support plate 51, the collecting component 30 is located on the support plate 51, and the lifting component 40 is rotatably connected to the support plate 51. The walking component 50 enables automatic walking and harvesting of Coptis chinensis in the planting area, improving harvesting efficiency. There are two sets of walking wheels 52, which are respectively constructed as front wheels and rear wheels.

[0039] In this embodiment, see Figure 3 The harvesting assembly 10 includes a rotating shaft 11 and multiple sets of harvesting teeth 12. The axial direction of the rotating shaft 11 is parallel to a first direction X. The multiple sets of harvesting teeth 12 are sequentially connected to the rotating shaft 11 along its axial direction. (See also: [link to fitting details]) Figure 4 The mining tooth assembly 12 includes multiple mining teeth 121, which are arranged around the rotating shaft 11 in the circumferential direction W. The mining tooth 121 includes a first tooth segment 1211 and a second tooth segment 1212. One end of the first tooth segment 1211 is connected to the rotating shaft 11, and the other end of the first tooth segment 1211 extends in a direction away from the rotating shaft 11. One end of the second tooth segment 1212 is connected to the first tooth segment 1211, and the second tooth segment 1212 is inclined relative to the first tooth segment 1211 along the circumferential direction W of the rotating shaft 11. Along the circumferential direction W of the rotating shaft 11, the first tooth segment 1211 has a first edge 12111 and a second edge 12112 that are opposite to each other, and the second tooth segment 1212 has a third edge 12121 and a fourth edge 12122 that are opposite to each other. The included angle between the first edge 12111 and the third edge 12121 is an obtuse angle, and the second edge 12112 and the fourth edge 12122 are connected by a circular arc transition.

[0040] In this way, multiple digging teeth 12 can simultaneously dig Coptis chinensis along the axial direction of the rotation axis 11, thereby improving the digging efficiency. Simultaneously, multiple digging teeth 121 can extract Coptis chinensis from the soil during rotation and transport it to the screening component 20 for subsequent screening. A V-shaped cutting edge is formed between the first edge 12111 and the third edge 12121 of the first tooth segment 1211 and the second tooth segment 1212. This creates a wedge-shaped cutting effect through double straight surfaces, increasing the contact area between the digging teeth 121 and the Coptis chinensis root system, reducing the pressure per unit area on the root system, thus reducing the possibility of root breakage during digging and improving the digging success rate. Furthermore, the second edge 12112 and the fourth edge 12122 are connected by a rounded transition, forming a continuous streamlined structure. This reduces the possibility of the digging teeth 121 being too sharp relative to the soil and damaging the rhizome, further improving the harvesting quality. Furthermore, the arc structure between the second edge 12112 and the fourth edge 12122 can reduce the possibility of soil adhering to the harvesting teeth and reduce the friction between the soil and the harvesting teeth, thereby reducing the movement resistance of the harvesting teeth, improving the energy utilization rate of the harvesting assembly 10 and improving the harvesting efficiency.

[0041] Specifically, the harvesting assembly 10 also includes a drive component (not shown in the figure). The drive component is connected to the rotating shaft 11 to drive the rotating shaft 11 to rotate. The drive component can be constructed as a motor or other drive mechanism.

[0042] In one embodiment, the first edge 12111 is straight, the third edge 12121 is straight, the second edge 12112 is arc-shaped, and the fourth edge 12122 is arc-shaped.

[0043] In one embodiment, the extension of the tangent of the fourth edge 12122 at the junction of the fourth edge 12122 and the rotation shaft 11 passes through the center of the cross section of the rotation shaft 11.

[0044] In one embodiment, along the radial direction R of the rotation axis 11, the thickness of the mining tooth 121 along the axial direction of the rotation axis 11 gradually decreases in the direction away from the rotation axis 11.

[0045] This design results in a thicker connection between the digging tooth 121 and the rotating shaft 11, while the end of the digging tooth 121 facing away from the connecting shaft is thinner, roughly forming a blade-like structure that is thinner at the front and thicker at the back. This reduces resistance as the thin blade at the tip of the digging tooth 121 cuts into the soil, facilitating rapid penetration of the topsoil and increasing the success rate of harvesting Coptis chinensis. The thicker base of the digging tooth 121 ensures its rigidity, reducing the possibility of deformation and extending its overall lifespan.

[0046] In one embodiment, see Figure 5 Along the inclined direction of the second tooth segment 1212, the thickness of the digging tooth 121 along the axial direction of the rotation shaft 11 gradually decreases in the direction close to the first edge 12111 and the third edge 12121. In this way, the thickness of the digging tooth 121 gradually decreases on the side facing the soil, which can further improve the overall sharpness of the digging tooth 121 while ensuring strength.

[0047] Specifically, the mining tooth 121 has a first surface 1213 and a second surface 1214 arranged opposite to each other along the axial direction of the rotation shaft 11. The first surface 1213 and the second surface 1214 are symmetrically arranged about the radial R tangent of the rotation shaft 11. The distance between the first surface 1213 and the second surface 1214 gradually decreases along the circumferential direction W of the rotation shaft 11.

[0048] In one embodiment, see Figure 3 The rotating shaft 11 has a first end 111 and a second end 112 spaced apart along its axial direction. In the direction from the first end 111 to the second end 112, the latter set of mining teeth 12 rotates relative to the former set of mining teeth 12 in the positive direction of the circumferential W of the rotating shaft 11 by a preset angle.

[0049] In this way, multiple sets of digging teeth 12 are staggered and arranged sequentially, and the multiple digging teeth 121 are roughly spirally staggered along the axial direction of the rotating shaft 11. They can form a spatial spiral array along the axial direction of the rotating shaft 11. During the rotation of the rotating shaft 11, each set of digging teeth 12 digs Coptis chinensis in an alternating manner, which can reduce the empty space in the circumferential W of the connecting shaft. This allows the multiple digging teeth 121 to cover the rotating harvesting area more evenly, thereby improving the harvesting efficiency of Coptis chinensis. In addition, the above design can further avoid multiple digging teeth 121 cutting into the soil simultaneously, which can reduce the soil loosening rate and reduce the loosening or lodging of Coptis chinensis roots and stems caused by concentrated cutting into the soil, thereby improving harvesting stability.

[0050] Specifically, the preset angle can be between 5° and 30°. For example, the preset angle can be 5°, 10°, 15°, 20°, 25°, 30°, etc. The specific preset angle can be adjusted according to actual needs.

[0051] In one embodiment, see Figure 6 The projections of each group of mining teeth 12 along the axial direction of the rotating shaft 11 coincide with each other.

[0052] In one embodiment, multiple sets of mining teeth 12 are fixedly connected to the rotating shaft 11 to improve the overall rigidity of the harvesting assembly 10.

[0053] In one embodiment, see Figure 4Multiple mining tooth groups 12 are movably arranged along the axial direction of the rotating shaft 11, and the spacing between two adjacent mining tooth groups 12 can be adjusted.

[0054] Thus, when facing the harvesting of Coptis chinensis with different planting densities, the spacing between the digging teeth 12 can be adjusted so that the digging range of multiple digging teeth 12 is roughly similar to and matched with the planting density of Coptis chinensis, thereby reducing the harvesting omission rate and increasing the harvest volume.

[0055] In one embodiment, see Figure 4 The mining tooth assembly 12 also includes an adjusting ring 122. The adjusting ring 122 is movably sleeved on the rotating shaft 11 along the axial direction of the rotating shaft 11, and multiple mining teeth 121 are connected to the adjusting ring 122 around it.

[0056] Thus, by adjusting the spacing between two adjacent adjusting rings 122 along the axial direction of the rotating shaft 11, the distribution of the digging teeth 12 can be made roughly similar to the distribution of the Coptis chinensis plants. The adjusting rings 122 and the rotating shaft 11 can be connected by threads or detachably by fasteners to ensure the reliability of the movement of the multiple digging teeth 12 driven by the rotating shaft 11.

[0057] In this embodiment, see Figure 7 The screening component 20 includes a mounting frame 21, a vibrating element 22, and a screening plate 23. The mounting frame 21 is connected to the lifting component 40, and one end of the mounting frame 21 facing away from the collecting component 30 is connected to the harvesting component 10. The screening plate 23 is located between the harvesting component 10 and the collecting component 30, and the screening plate 23 has multiple screening holes 231. One end of the vibrating element 22 is connected to the mounting frame 21, and the other end of the vibrating element 22 is connected to the screening plate 23, and is used to drive the screening plate 23 to vibrate, so as to cause the Coptis chinensis carried on the screening plate 23 to vibrate, and cause the impurities attached to the Coptis chinensis to fall through the screening holes 231. In this way, the Coptis chinensis collected by the harvesting component 10 can fall directly onto the screening plate 23. Afterwards, the vibrating element 22 drives the screening plate 23 to vibrate relative to the mounting frame 21, which can cause the Coptis chinensis falling onto the screening plate 23 to vibrate, thereby cleaning the Coptis chinensis. This eliminates the need for conveying the Coptis chinensis harvested by the harvesting component 10 to the screening plate 23, further improving the overall harvesting efficiency of Coptis chinensis.

[0058] Among them, debris can be soil or gravel attached to the roots of Coptis chinensis.

[0059] Specifically, the maximum diameter of the sieve hole 231 is smaller than the outer diameter of the rhizome of Coptis chinensis, thus ensuring that Coptis chinensis will not be discharged from the sieve hole 231 during the vibration of the sieve plate 23.

[0060] Optionally, the screening holes 231 can be constructed as round holes, oblong holes, or irregularly shaped holes. Multiple screening holes 231 can be distributed in a horizontal and vertical array, or in other distribution methods.

[0061] In this embodiment, see Figure 7 There are two mounting frames 21, which are spaced apart along the extension direction of the harvesting assembly 10. The two mounting frames 21 are connected to both ends of the harvesting assembly 10. There are multiple vibrating elements 22, and each mounting frame 21 is connected to both sides of the screening plate 23 via multiple vibrating elements 22. This improves the overall stability of the screening plate 23, and the mounting frames 21 also act as a barrier for the Coptis chinensis, keeping it on the screening plate 23 and reducing the possibility of it falling off the sides of the screening plate 23 during vibration, thereby increasing the harvested quantity of Coptis chinensis.

[0062] Specifically, the vibrating component 22 can be a vibrating motor. During the operation of the vibrating motor, the screening plate 23 is driven to generate high-frequency vibration, which in turn drives the Coptis chinensis carried by the screening plate 23 to vibrate.

[0063] Optionally, each mounting frame 21 is connected to one side of the screening plate 23 by a plurality of vibrating elements 22 spaced apart along the length of the mounting frame 21.

[0064] In this embodiment, see Figure 8 The lifting assembly 40 includes a first lifting arm 41 and a second lifting arm 42. One end of the first lifting arm 41 is rotatably connected to the collecting assembly 30, and the first lifting arm 41 extends downward along the direction of gravity. One end of the second lifting arm 42 is rotatably connected to the other end of the first lifting arm 41, and the second lifting arm 42 extends toward the harvesting assembly 10. The other end of the second lifting arm 42 is connected to the screening assembly 20. Thus, rotation of the first lifting arm 41 drives rotation of the second lifting arm 42, which in turn drives the screening assembly 20 to move closer to the ground or closer to the collecting assembly 30 along the third direction Z, thereby conveying the harvested Coptis chinensis to the collecting assembly 30. The first lifting arm 41 can be driven by a motor or other drive component.

[0065] Specifically, see Figure 2 The first lifting arm 41 is rotatably connected to the support plate 51 via the first pivot 53.

[0066] In one embodiment, see Figure 8 The lifting assembly 40 also includes a buffer section 43. The buffer section 43 is disposed between the second lifting arm 42 and the mounting frame 21 of the screening assembly 20. In this way, the buffer section 43 can reduce the vibration transmitted from the screening plate 23 to the lifting assembly 40, so as to ensure the structural stability of the lifting assembly 40.

[0067] Specifically, the buffer part 43 can be set as an elastic column or a buffer rubber, etc.

[0068] In this embodiment, see Figure 2The collecting component 30 includes a conveying component 31 and a storage component 32. One end of the conveying component 31 is positioned opposite the end of the screening component 20 that is away from the collecting component 10, and the storage component 32 is located at the end of the conveying component 31 that is away from the screening component 20. The conveying component 31 is used to receive and convey the Coptis chinensis after screening by the screening component 20, and to transport the Coptis chinensis to the storage component 32, which is used to store the Coptis chinensis.

[0069] In this embodiment, see Figure 9 The conveying component 31 includes a conveyor belt 311 and multiple partitions 312. The conveyor belt 311 is located between the inlet 325 of the screening component 20 and the storage component 32. The multiple partitions 312 are spaced apart on the conveyor belt 311 along the spacing direction between the screening component 20 and the storage component 32. A partition groove 313 is formed between two adjacent partitions 312 and the conveyor belt 311. The partition groove 313 is used to contain Coptis chinensis. In this way, after the harvesting component 10 and the screening component 20 are activated, Coptis chinensis can be sequentially conveyed into each partition groove 313, thereby avoiding the accumulation of Coptis chinensis on the conveyor belt 311, reducing damage to Coptis chinensis during the conveying process, and improving the harvesting quality of Coptis chinensis.

[0070] Specifically, the distance between two adjacent partitions 312 along the direction of movement of the conveyor belt 311 is approximately the same as the length of the rhizome of Coptis chinensis.

[0071] In one embodiment, the partition 312 includes a base plate 3121 and a partition plate 3122. The base plate 3121 is fixedly connected to the conveyor belt 311. The partition plate 3122 extends in a direction away from the conveyor belt 311. A partition groove 313 is formed between the two partition plates 3122 of two adjacent partitions 312 and the conveyor belt 311.

[0072] In one embodiment, the surface of the conveyor belt 311 is also provided with a flexible anti-slip pad (not shown in the figure). The flexible anti-slip pad can reduce the possibility of Coptis chinensis slipping during the conveying process, thereby ensuring that Coptis chinensis is conveyed into the storage component 32 and improving the overall harvesting efficiency of Coptis chinensis.

[0073] In one embodiment, see Figure 9 See also Figure 2The transmission component 31 also includes a first support column 314 and a second support column 315. The first support column 314 and the second support column 315 are spaced apart along the second direction Y on the traveling component 50. The height of the first support column 314 is lower than the height of the second support column 315. This causes the transmission belt 311 to be inclined along the second direction Y and the third direction Z. A first horizontal segment 316 and a second horizontal segment 317 are formed at both ends of the transmission belt 311 of the transmission component 31. The first horizontal segment 316 is located along the third direction Z between the second horizontal segment 317 and the traveling component 50. This facilitates the docking of the first horizontal segment 316 with the screening component 20 and the second horizontal segment 317 with the storage component 32.

[0074] In this embodiment, see Figure 10 The storage component 32 includes a bottom wall 321, a first side wall 322, and two second side walls 323. The bottom wall 321, the first side wall 322, and the two second side walls 323 form a storage cavity 324, which is used to receive Coptis chinensis transmitted by the transmission component 31. The first side wall 322 is located at one end of the bottom wall 321 near the transmission component 31, and the end of the first side wall 322 away from the bottom wall 321 is correspondingly located to the transmission component 31. The two second side walls 323 are located on both sides of the bottom wall 321 along the second direction Y. The two second side walls 323 are respectively connected to the two ends of the first side wall 322. The ends of the two second side walls 323 away from the first side wall 322 form an outlet 326 communicating with the storage cavity 324. An inlet 325 communicating with the storage cavity 324 is formed between the first side wall 322 and the two second side walls 323. Thus, the Coptis chinensis transported by the transmission component 31 can directly enter the storage cavity 324 through the inlet 325 formed by the first sidewall 322, so as to temporarily store the Coptis chinensis during the harvesting process. After harvesting, the Coptis chinensis can be directly discharged from the storage cavity 324 through the outlet 326, thereby improving the transfer efficiency of the Coptis chinensis.

[0075] In one embodiment, the storage component 32 is rotatably configured relative to the transmission component 31 to receive or discharge Coptis chinensis from the outlet 326. Thus, during harvesting, the storage component 32 is in the receiving position, and its bottom wall 321 is tilted upwards in a third direction (Z) away from the transmission component, ensuring that the Coptis chinensis does not fall from the outlet 326 during the process of receiving it. After harvesting, the Coptis chinensis can be discharged from the outlet 326 by rotating the storage component 32, achieving high transfer efficiency.

[0076] Specifically, the storage component 32 can be rotated manually or automatically.

[0077] In one embodiment, see Figure 10The storage component 32 also includes a support portion 327. The support portion 327 is connected to the end of the bottom wall 321 opposite to the transmission component 31. The traveling component 50 also includes a second pivot 55, a connecting arm 54, and a third pivot 56. The second pivot 55 is connected to the support plate 51. The third pivot 56 is connected to the support portion 327. The two ends of the connecting arm 54 are rotatably connected to the second pivot 55 and the third pivot 56, respectively. Thus, when the storage component 32 is in the receiving position, the connecting arm 54 can reliably support the bottom wall 321 through the support portion 327, so that the bottom wall 321 is in an inclined state. After harvesting, by driving the connecting arm 54 to rotate around the second pivot 55, the storage component 32 can be rotated relative to the support plate 51, thereby discharging the Coptis chinensis from the discharge port 326.

[0078] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A Coptis chinensis harvesting robot, characterized in that, include: A screening assembly having multiple screening holes; A harvesting assembly is connected to one end of the screening assembly. The harvesting assembly is used to harvest Coptis chinensis to the screening assembly. The screening assembly is used to receive the Coptis chinensis and allow the impurities attached to the Coptis chinensis to be discharged from the screening holes. A collection component is provided at one end of the screening component away from the harvesting component, and the collection component is used to collect the Coptis chinensis after screening by the screening component; as well as A lifting assembly connects the collecting assembly and the screening assembly, and the lifting assembly is used to drive the screening assembly to move between near the ground and near the collecting assembly.

2. The Coptis chinensis harvesting robot according to claim 1, characterized in that: The screening assembly includes a mounting frame, a vibrating component, and a screening plate; The mounting bracket is connected to the lifting assembly, and the end of the mounting bracket opposite to the collecting assembly is connected to the harvesting assembly; The screening plate is located between the harvesting component and the collecting component, and the screening plate has multiple screening holes; One end of the vibrating element is connected to the mounting frame, and the other end of the vibrating element is connected to the sieve plate, and is used to drive the sieve plate to vibrate, so as to drive the Coptis chinensis carried by the sieve plate to vibrate, and cause the impurities attached to the Coptis chinensis to fall from the sieve hole.

3. The Coptis chinensis harvesting robot according to claim 2, characterized in that: The number of mounting frames is two, and the two mounting frames are spaced apart along the extension direction of the harvesting component. The two mounting frames are respectively connected to both ends of the harvesting component. The number of vibrating elements is multiple, and each mounting frame is connected to both sides of the screening plate through multiple vibrating elements.

4. The Coptis chinensis harvesting robot according to claim 1, characterized in that: The lifting assembly includes a first lifting arm and a second lifting arm. One end of the first lifting arm is rotatably connected to the collecting assembly. The first lifting arm extends downward along the direction of gravity. One end of the second lifting arm is rotatably connected to the other end of the first lifting arm. The second lifting arm extends toward the harvesting assembly. The other end of the second lifting arm is connected to the screening assembly.

5. The Coptis chinensis harvesting robot according to claim 1, characterized in that: The collection component includes a transmission component and a storage component; One end of the transmission component is correspondingly disposed to the end of the screening component that is away from the harvesting component, and the storage component is located at the end of the transmission component that is away from the screening component; The transmission component is used to receive and transmit the Coptis chinensis after being sieved by the sieving component, and to transport the Coptis chinensis to the storage component, which is used to store the Coptis chinensis.

6. The Coptis chinensis harvesting robot according to claim 5, characterized in that: The transmission component includes a transmission belt and multiple partitions. The transmission belt is located between the inlet of the screening component and the storage component. The multiple partitions are spaced apart on the transmission belt along the spacing direction between the screening component and the storage component. A partition groove is formed between two adjacent partitions and the transmission belt. The partition groove is used to accommodate the Coptis chinensis.

7. The Coptis chinensis harvesting robot according to claim 5, characterized in that: The storage component includes a bottom wall, a first side wall, and two second side walls. The bottom wall, the first side wall, and the two second side walls form a storage cavity. The storage cavity is used to receive the Coptis chinensis transmitted by the transmission component. The first side wall is located at one end of the bottom wall near the transmission component. The end of the first side wall away from the bottom wall is correspondingly located to the transmission component. The two second side walls are located on both sides of the bottom wall along a second direction. The two second side walls are respectively connected to the two ends of the first side wall. The ends of the two second side walls away from the first side wall form an outlet communicating with the storage cavity. An inlet communicating with the storage cavity is formed between the first side wall and the two second side walls.

8. The Coptis chinensis harvesting robot according to claim 7, characterized in that: The storage component is rotatably disposed relative to the transmission component to receive the Coptis chinensis or to discharge the Coptis chinensis from the outlet.

9. The Coptis chinensis harvesting robot according to claim 1, characterized in that: The Coptis chinensis harvesting robot also includes a walking component, which is located on the side of the screening component away from the harvesting component. The walking component includes a support plate and walking wheels. The walking wheels are located on the bottom side of the support plate. The collecting component is located on the support plate. The lifting component is rotatably connected to the support plate.

10. The Coptis chinensis harvesting robot according to claim 1, characterized in that: The harvesting assembly includes a rotating shaft and multiple sets of digging teeth; the multiple sets of digging teeth are sequentially connected to the rotating shaft along its axial direction; each digging tooth includes multiple digging teeth arranged circumferentially around the rotating shaft; each digging tooth includes a first tooth segment and a second tooth segment, one end of the first tooth segment is connected to the rotating shaft, the other end of the first tooth segment extends in a direction opposite to the rotating shaft, one end of the second tooth segment is connected to the first tooth segment, and the second tooth segment is inclined relative to the first tooth segment along the circumferential direction of the rotating shaft; along the circumferential direction of the rotating shaft, the first tooth segment has a first edge and a second edge arranged opposite to each other, the second tooth segment has a third edge and a fourth edge arranged opposite to each other, the included angle between the first edge and the third edge is an obtuse angle, and the second edge and the fourth edge are connected by a rounded transition.

Images