A crawler self-propelled reciprocating knock robot for wolfberry picking

Abstract

The utility model provides a caterpillar track self -propelled reciprocating knock Chinese wolfberry picking robot belongs to Chinese wolfberry picking device technical field, including gantry and set up mobile module, conveying module, sorting module and knock module on gantry, mobile module, conveying module, sorting module and knock module all install on gantry, mobile module control the movement of whole device, and mobile module includes caterpillar track frame, caterpillar track assembly, walking motor, first transmission mechanism and the seat of hanging. The utility model, knock module through reciprocating knock branch, can repeatedly knock single branch, and then knock off the Chinese wolfberry of connection tight, realize efficient collection, through this reciprocating knock type flexible Chinese wolfberry knock module, successfully realized the efficient low loss collection of Chinese wolfberry, through the collaborative work of conveying module and sorting module, realized the integration of Chinese wolfberry collection and blade separation, saved the time of subsequent screening Chinese wolfberry, significantly improved the collection efficiency and net collection rate of Chinese wolfberry.

Description

Technical Field

[0001] This utility model relates to the technical field of goji berry harvesting devices, and more specifically, to a tracked self-propelled reciprocating goji berry harvesting robot. Background Technology

[0002] The current high-quality development of the goji berry industry faces core challenges such as a shortage of human resources, relatively extensive management practices, high production costs, and low levels of full-process mechanization. Conducting research and integrating key technologies for mechanized goji berry harvesting is of great significance for comprehensively improving the industrialization level of the goji berry industry, optimizing the layout and structure of agricultural machinery, promoting the standardization of goji berry production, increasing the economic benefits for growers, and achieving the sustainable and healthy development of the goji berry industry.

[0003] In existing technologies, mechanized harvesting methods for goji berries mainly include four types: vibration, combing, pneumatic, and shearing. Currently, medium and large-sized vibration-type mechanized harvesters can meet the harvesting requirements of goji berries with high efficiency, high net harvest rate, or low damage rate, but they cannot simultaneously meet the harvesting goals of high efficiency, high net harvest rate, and low damage rate. Therefore, there is a need to propose a self-propelled gantry-type goji berry harvesting robot to solve the problems mentioned in the existing technologies. How to invent a tracked self-propelled reciprocating striking goji berry harvesting robot to solve these problems has become an urgent problem to be solved by those skilled in the art. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a tracked self-propelled reciprocating goji berry harvesting robot, which aims to solve the problem that current harvesting devices cannot simultaneously meet the harvesting goals of high efficiency, high net harvesting rate and low damage rate of goji berries.

[0005] This utility model is implemented as follows: This utility model provides a tracked self-propelled reciprocating striking goji berry harvesting robot, including a gantry frame and a moving module, a conveying module, a sorting module and a striking module set on the gantry frame. The moving module, conveying module, sorting module and striking module are all installed on the gantry frame. The mobile module controls the movement of the entire device. The mobile module includes a track frame, track assembly, walking motor, first transmission mechanism, and mounting base. The conveying module conveys goji berries and includes a conveying frame, a conveying motor, a conveyor belt, a second transmission mechanism, a base, a fish-scale plate, a fruit receiving plate, and side plates. The sorting module separates goji berries from leaves. The sorting module includes a mounting frame, a fixing frame, a fan, and a fruit box. The striking module strikes the branches on the tree. The striking module includes a striking motor, a crank-connecting rod assembly, a bearing housing, a main rod, and a connecting rod.

[0006] Preferably, the track frame is welded to the lower end of the gantry frame, the track assembly is mounted on the track frame, the travel motor is mounted on the upper end of the track frame, the track assembly and the travel motor are linked by a first transmission mechanism, and one outer wall of each of the two mounting seats is fixedly connected to the side wall of the track frame.

[0007] Preferably, the conveyor frame is installed above the two mounting seats, the conveyor motor is installed at the upper end of the conveyor frame, the conveyor belt is installed inside the conveyor frame, and the conveyor belt and the conveyor motor are linked by a second transmission mechanism.

[0008] Preferably, the base and side plates are respectively installed on both sides of the conveyor frame. The side plates are installed close to the outer wall of the gantry frame and are inclined downward toward the center of the device. Several fish scale plates are stacked on top of the base and connected to the base by pins. The fruit receiving plate is installed on top of the base and the inclination direction of the fruit receiving plate is symmetrical to that of the side plates.

[0009] Preferably, the mounting frame is fixed to one outer wall of the gantry frame, the fixing frame is installed on one outer wall of the track frame, the fan is mounted on the mounting frame, and the fruit box is installed on the fixing frame.

[0010] Preferably, the striking motor is mounted above the gantry frame, multiple bearing seats are mounted on the inner sidewall of the gantry frame, the two end sidewalls of the main rod are respectively mounted on the inner wall of the bearing seats, a connecting frame is mounted on the sidewall of the main rod, the connecting frame and the output end of the striking motor are linked by a crank-connecting rod assembly, multiple striking rods are mounted on the sidewall of the main rod, and two symmetrical main rods are connected by a connecting frame and connecting rods.

[0011] The beneficial effects of this utility model are: The striking module repeatedly strikes the branches, knocking down tightly connected goji berries and achieving efficient harvesting. This reciprocating striking flexible goji berry striking module has successfully achieved efficient and low-loss harvesting of goji berries. Through the coordinated work of the conveying module and the sorting module, the collection of goji berries and the separation of leaves are integrated, saving time in subsequent screening of goji berries and significantly improving the harvesting efficiency and net harvest rate of goji berries. Attached Figure Description

[0012] 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.

[0013] Figure 1 This is a schematic diagram of the overall structure of a tracked self-propelled reciprocating wolfberry harvesting robot provided by an embodiment of this utility model; Figure 2 This utility model provides a tracked self-propelled reciprocating goji berry harvesting robot. Figure 1 Enlarged view of the structure of region A in the middle; Figure 3 This is a schematic diagram of the walking module and conveying module in a tracked self-propelled reciprocating wolfberry harvesting robot provided by an embodiment of this utility model; Figure 4 This utility model provides a tracked self-propelled reciprocating goji berry harvesting robot. Figure 3 Enlarged view of the structure of region B in the middle; Figure 5 This is a schematic diagram of the conveying module in a tracked self-propelled reciprocating wolfberry harvesting robot provided by an embodiment of this utility model. Figure 6 This is a schematic diagram of the walking structure in a tracked self-propelled reciprocating wolfberry harvesting robot provided by an embodiment of this utility model; Figure 7 This is a schematic diagram of another perspective of the walking structure in a tracked self-propelled reciprocating wolfberry harvesting robot provided by an embodiment of this utility model. Figure 8 This is a schematic diagram of the gantry and striking module structure in a tracked self-propelled reciprocating striking wolfberry harvesting robot provided by an embodiment of this utility model; Figure 9 This is a schematic diagram of the striking module structure in a tracked self-propelled reciprocating striking goji berry harvesting robot provided by an embodiment of this utility model.

[0014] In the diagram: 1. Gantry frame; 2. Moving module; 21. Track frame; 22. Track assembly; 23. Travel motor; 24. First transmission mechanism; 25. Mounting seat; 3. Conveying module; 31. Conveying frame; 32. Conveying motor; 33. Conveying belt; 34. Second transmission mechanism; 35. Base; 36. Fish scale plate; 37. Fruit receiving plate; 38. Side plate; 4. Sorting module; 41. Mounting frame; 42. Fixing frame; 43. Fan; 44. Fruit box; 5. Striking module; 51. Striking motor; 52. Crank connecting rod assembly; 53. Bearing seat; 54. Main rod; 541. Striking rod; 542. Connecting frame; 55. Connecting rod. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0016] Example, refer to Figures 1-9 A tracked self-propelled reciprocating striking goji berry harvesting robot includes a gantry frame 1 and a moving module 2, a conveying module 3, a sorting module 4 and a striking module 5 mounted on the gantry frame 1. The moving module 2, the conveying module 3, the sorting module 4 and the striking module 5 are all mounted on the gantry frame 1. The moving module 2 controls the movement of the entire device. The moving module 2 includes a track frame 21, a track assembly 22, a walking motor 23, a first transmission mechanism 24, and a mounting base 25. The conveying module 3 conveys the goji berries. The conveying module 3 includes a conveying frame 31, a conveying motor 32, a conveying belt 33, a second transmission mechanism 34, a base 35, a fish scale plate 36, a fruit receiving plate 37, and a side plate 38. The sorting module 4 separates the goji berries and leaves. The sorting module 4 includes a mounting frame 41, a fixing frame 42, a fan 43, and a fruit box 44. The striking module 5 strikes the branches on the tree. The striking module 5 includes a striking motor 51, a crank connecting rod assembly 52, a bearing seat 53, a main rod 54, and a connecting rod 55.

[0017] Furthermore; the track frame 21 is welded to the lower end of the gantry frame 1, the track assembly 22 is installed on the track frame 21, the travel motor 23 is installed on the upper end of the track frame 21, and the track assembly 22 and the travel motor 23 are linked by a first transmission mechanism 24. One outer wall of each of the two mounting seats 25 is fixedly connected to the side wall of the track frame 21. The conveyor frame 31 is installed above the two mounting seats 25, the conveyor motor 32 is installed on the upper end of the conveyor frame 31, the conveyor belt 33 is installed inside the conveyor frame 31, and the conveyor belt 33 and the conveyor motor 32 are linked by a second transmission mechanism 34. The base 35 and the side plate 38 are respectively installed on both sides of the conveyor frame 31. The side plate 38 is installed close to the outer wall of the gantry frame 1 and is inclined downward towards the center of the device. Several fish scale plates 36 are stacked on top of the base 35. Plate 36 and base 35 are connected by a pin. Fruit receiving plate 37 is installed above base 35. The tilt direction of fruit receiving plate 37 is symmetrical to that of side plate 38. Mounting frame 41 is fixed to one outer wall of gantry frame 1. Fixing frame 42 is installed on one outer wall of track frame 21. Fan 43 is mounted on mounting frame 41. Fruit box 44 is mounted on fixing frame 42. Striking motor 51 is installed above gantry frame 1. Multiple bearing seats 53 are installed on the inner side wall of gantry frame 1. The two end side walls of main rod 54 are respectively installed on the inner wall of bearing seats 53. Connecting frame 542 is installed on the side wall of main rod 54. Connecting frame 542 and output end of striking motor 51 are linked by crank connecting rod assembly 52. ​​Multiple striking rods 541 are installed on the side wall of main rod 54. Two symmetrical main rods 54 are connected by connecting frame 542 and connecting rod 55.

[0018] It should be noted that an electrical control box is installed on one side of the gantry frame 1. All functional modules are uniformly controlled through the electrical control box. In addition, the functions of the electrical control box can also be remotely controlled via a remote control. During use, the operator controls the moving module 2 via the remote control, which in turn drives the track assembly 22 to move, thereby controlling the movement of the entire machine. At the same time, the striking module 5 is activated, so that the striking rod 541 efficiently collects the goji berries on the branches during the movement. Then, the fallen goji berries are transported to one end of the device by the conveying module 3, and then the sorting module 4 thoroughly cleans the goji berries of fruit and leaves. Finally, the clean goji berries fall into the fruit box 44 below, completing the entire goji berry harvesting process. The moving module 2 drives the movement of the entire device through the track assembly 22. The track assembly 22 is designed to adapt to uneven ground, ensuring stable movement of the device and thus improving the overall efficiency of mobile harvesting. At the same time, the striking module 5 drives the crank connecting rod assembly 52 through the striking motor 51, which in turn drives the main rod 54 to rotate axially (the crank connecting rod assembly 52 is existing technology and will not be described in detail here). The rotating main rod 54 drives the outer striking rod 541 to rotate continuously, which, in conjunction with the movement of the device, strikes the branches, causing the goji berries to separate and fall off through vibration.

[0019] It should be noted that the striking rod 541 is composed of a polyurethane rod with internal threaded steel bars. This flexible polyurethane rod can effectively prevent contact with goji berries and cause damage when striking branches, thereby reducing the harvesting damage rate of goji berries. In addition, the polyurethane rod is fixed to the threaded steel bars by threads, and the striking height can be effectively adjusted according to the height of the branches, expanding the scope of application. The striking module 5 can repeatedly strike a single branch by reciprocating the striking of the branches, thereby knocking down tightly connected goji berries and achieving efficient harvesting. Through this reciprocating striking flexible goji berry striking module 5, efficient and low-loss harvesting of goji berries has been successfully achieved. After being struck, the goji berries fall onto the fish-scale plate 36 below. Since it is mounted on the base 35 by a pin, it can rotate around the pin shaft. During the harvesting process, the trunk bounces back after passing over the fish-scale plate 36, achieving seamless fruit collection and effectively reducing the loss of goji berries. Previous methods mostly used brushes, which had problems such as goji berries not being able to slide off and fruit leakage. At the same time, the fish-scale plate 36 is made of nylon, a flexible and elastic material, which can achieve non-destructive collection of goji berries and a certain degree of rebound, improving collection efficiency. In addition, the fallen goji berries are guided onto the conveyor belt 33 by the inclined fish-scale plate 36, the fruit receiving plate 37, and the side plate 38. When the goji berries reach the sorting module 4, the fan 43 blows the lighter leaves away, and then the goji berries fall into the fruit box 44 below under the action of gravity, completing the collection. Through the coordinated work of the conveying module 3 and the sorting module 4, the collection of goji berries and the separation of leaves are integrated, saving the time of subsequent screening of goji berries and significantly improving the harvesting efficiency and net harvest rate of goji berries.

[0020] It should be noted that the specific model and specifications of the motor need to be selected and determined based on the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail here.

[0021] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tracked self-propelled reciprocating striking goji berry harvesting robot, comprising a gantry (1) and a moving module (2), a conveying module (3), a sorting module (4), and a striking module (5) mounted on the gantry (1), characterized in that, The moving module (2), conveying module (3), sorting module (4) and striking module (5) are all installed on the gantry (1); The moving module (2) controls the movement of the entire device. The moving module (2) includes a track frame (21), a track assembly (22), a walking motor (23), a first transmission mechanism (24), and a mounting base (25). The conveying module (3) conveys the goji berries. The conveying module (3) includes a conveying frame (31), a conveying motor (32), a conveying belt (33), a second transmission mechanism (34), a base (35), a fish scale plate (36), a fruit receiving plate (37), and a side plate (38). The sorting module (4) separates wolfberries and leaves. The sorting module (4) includes a mounting frame (41), a fixing frame (42), a fan (43), and a fruit box (44). The striking module (5) strikes the branches on the tree. The striking module (5) includes a striking motor (51), a crank connecting rod assembly (52), a bearing seat (53), a main rod (54), and a connecting rod (55).

2. The tracked self-propelled reciprocating wolfberry harvesting robot according to claim 1, characterized in that, The track frame (21) is welded to the lower end of the gantry frame (1), the track assembly (22) is installed on the track frame (21), the travel motor (23) is installed on the upper end of the track frame (21), the track assembly (22) and the travel motor (23) are linked by the first transmission mechanism (24), and the outer wall of one side of the two mounting seats (25) is fixedly connected to the side wall of the track frame (21).

3. The tracked self-propelled reciprocating wolfberry harvesting robot according to claim 1, characterized in that, The conveyor frame (31) is installed above two hooks (25), the conveyor motor (32) is installed at the upper end of the conveyor frame (31), the conveyor belt (33) is installed inside the conveyor frame (31), and the conveyor belt (33) and the conveyor motor (32) are linked by a second transmission mechanism (34).

4. The tracked self-propelled reciprocating wolfberry harvesting robot according to claim 3, characterized in that, The base (35) and side plate (38) are respectively installed on both sides of the conveyor frame (31). The side plate (38) is installed close to the outer wall of the gantry frame (1). The side plate (38) is inclined downward towards the center of the device. Several fish scale plates (36) are stacked on top of the base (35). The fish scale plates (36) and the base (35) are connected by pins. The fruit receiving plate (37) is installed on top of the base (35). The inclination direction of the fruit receiving plate (37) is symmetrical to that of the side plate (38).

5. The tracked self-propelled reciprocating wolfberry harvesting robot according to claim 1, characterized in that, The mounting frame (41) is fixed to one side of the outer wall of the gantry frame (1), the fixing frame (42) is installed on one side of the outer wall of the track frame (21), the fan (43) is set on the mounting frame (41), and the fruit box (44) is installed on the fixing frame (42).

6. The tracked self-propelled reciprocating wolfberry harvesting robot according to claim 1, characterized in that, The striking motor (51) is installed above the gantry frame (1), and multiple bearing seats (53) are installed on the inner side wall of the gantry frame (1). The two end side walls of the main rod (54) are respectively installed on the inner wall of the bearing seats (53). A connecting frame (542) is installed on the side wall of the main rod (54). The connecting frame (542) and the output end of the striking motor (51) are linked through a crank connecting rod assembly (52). Multiple striking rods (541) are installed on the side wall of the main rod (54). Two symmetrical main rods (54) are connected by a connecting frame (542) and a connecting rod (55).

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