阅读说明：本技术 一种用于白菜收获机械的末端执行器 (End effector for Chinese cabbage harvesting machine ) 是由 尹冬雪 刘伟 陈雷 李建峰 史林溪 于 2019-11-21 设计创作，主要内容包括：本发明涉及一种用于白菜收获机械的末端执行器,属于农业机械领域,所述末端执行器包括两个相对平行设置的支架、位置调节装置、动力装置和收集装置；所述位置调节装置包括纵向滑道、横向滑道以及液压系统；所述动力装置设置在支架的顶端；所述动力装置包括丝杠、联轴器和丝杠电机；所述丝杠由顶端向下延伸至底端；所述联轴器和丝杠电机位于丝杠的顶端；所述收集装置包括转刀、转轴、轴承座和转刀电机；所述转刀电机设置在所述丝杠的底端,通过轴承座与转轴连接；转轴位于两个支架之间且与丝杠垂直；所述转刀设置在转轴上,随转轴同向转动。所述末端执行器采用两个尖齿插入到白菜根部的土壤中,通过翻转将白菜拔起,最大程度上减小了对白菜的损伤。(The invention relates to an end effector for a Chinese cabbage harvesting machine, which belongs to the field of agricultural machinery and comprises two brackets, a position adjusting device, a power device and a collecting device, wherein the two brackets are arranged in parallel relatively; the position adjusting device comprises a longitudinal slideway, a transverse slideway and a hydraulic system; the power device is arranged at the top end of the bracket; the power device comprises a lead screw, a coupler and a lead screw motor; the lead screw extends downwards from the top end to the bottom end; the coupler and the lead screw motor are positioned at the top end of the lead screw; the collecting device comprises a rotary cutter, a rotating shaft, a bearing seat and a rotary cutter motor; the rotary cutter motor is arranged at the bottom end of the lead screw and is connected with the rotating shaft through a bearing seat; the rotating shaft is positioned between the two brackets and is vertical to the screw rod; the rotary cutter is arranged on the rotating shaft and rotates along with the rotating shaft in the same direction. The end effector is inserted into soil at the root of the Chinese cabbage by adopting two sharp teeth, and the Chinese cabbage is pulled up by overturning, so that the damage to the Chinese cabbage is reduced to the maximum extent.)

1. The utility model provides an end effector for chinese cabbage harvesting machinery, end effector is connected with chinese cabbage harvesting machinery which characterized in that: the end effector comprises two brackets (11) which are arranged in parallel relatively, a position adjusting device, a power device and a collecting device; the position adjusting device is arranged on the outer side of the bracket (11); the position adjusting device comprises a longitudinal slideway (8), a transverse slideway (8) and a hydraulic system, wherein the transverse slideway (8) is connected with the longitudinal slideway (8) in a sliding manner through a movable sliding block (9); the power device is arranged at the top end of the bracket (11); the power device comprises a lead screw (3), a coupler (4) and a lead screw motor (5); the screw rod (3) extends downwards from the top end to the bottom end; the coupler (4) and the lead screw motor (5) are positioned at the top end of the lead screw (3);

the collecting device comprises a rotary cutter (1), a rotating shaft (2), a bearing seat (13) and a rotary cutter motor (12); the rotary cutter motor (12) is arranged at the bottom end of the lead screw (3) and is connected with the rotating shaft (2) through a bearing seat (13); the rotating shaft (2) is positioned between the two brackets (11) and is vertical to the screw rod (3);

the rotary cutter (1) comprises a baffle and an insertion part positioned at the end of the baffle; the insertion part consists of two sharp teeth which are arranged at intervals; the rotary cutter (1) is arranged on the rotating shaft (2) and rotates along with the rotating shaft (2) in the same direction.

2. The end effector for a cabbage harvesting machine as claimed in claim 1, wherein: the end effector further comprises a transmission device, and the transmission device is positioned at the rear end of the end effector; the conveying device comprises a conveying belt (6), belt wheels positioned at two ends of the conveying belt (6) and a motor for driving the belt wheels to rotate in the same direction; the conveyor belt (6) is positioned between the two brackets (11) and below the rotary cutter (1); the belt wheel is parallel to the rotating shaft (2).

3. The end effector for a cabbage harvesting machine as claimed in claim 1, wherein: the rotary cutter (1) comprises a baffle, an upper insertion part and a lower insertion part, wherein the upper insertion part and the lower insertion part are positioned at two ends of the baffle, and the upper insertion part and the lower insertion part are perpendicular to the baffle and opposite in extension direction.

4. The end effector for a cabbage harvesting machine as claimed in claim 1, wherein: the end effector is connected with a Chinese cabbage harvesting machine through a suspension part (7).

Technical Field

The invention belongs to the technical field of agricultural equipment, and particularly relates to a Chinese cabbage harvesting machine.

Background

Chinese cabbage is one of the vegetables which have large planting area and are eaten more. Especially, the reserves of cabbage in winter in northern areas are large. Chinese cabbage belongs to the head-forming leaf vegetable, and the whole process from sowing to harvesting accounts for more than half of the total labor amount, so that the labor intensity is high, and the labor cost is high. At present, due to the planting amount of vegetable growers, the high price and the unstable operation of a Chinese cabbage harvesting machine, most of the Chinese cabbage harvesting field adopts manual harvesting, the Chinese cabbage needs to be stooped over for a long time during harvesting to be pulled out, picked up, carried and the like, the labor intensity is very high, and a large amount of manpower and material resources are consumed.

At present, most of end effectors of the Chinese cabbage harvesters adopt annular belts which rotate oppositely to directly contact with the Chinese cabbage bodies and pull out the Chinese cabbage bodies by virtue of friction, the harvesting modes are very easy to damage the surfaces of the Chinese cabbage, so that the Chinese cabbage is rotten, the yield and the quality are reduced, and the integrated Chinese cabbage harvesters are expensive and cannot be born by common vegetable growers; in addition, the Chinese cabbages are righted and clamped by the clamping mechanisms with symmetrical sides, the roots of the Chinese cabbages are cut off by the high-speed rotating disc cutters which are symmetrically arranged, the Chinese cabbages are easily damaged in the root cutting process due to uneven growth of the Chinese cabbages, the rotting of the Chinese cabbages is affected, the economic value of the Chinese cabbages is affected, and the Chinese cabbage roots left in the field need to be subjected to secondary treatment, so that time and labor are wasted.

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide an end effector for a Chinese cabbage harvesting machine, which is improved in that two sharp teeth are inserted into soil at the root of a Chinese cabbage, the Chinese cabbage is pulled up by overturning, the Chinese cabbage is pulled up by adopting a linear motion mode until the Chinese cabbage is contacted, and the damage to the Chinese cabbage is reduced to the maximum extent by pulling up the Chinese cabbage.

In order to achieve the purpose, the invention adopts the specific scheme that:

an end effector for a cabbage harvesting machine, the end effector being connected to the cabbage harvesting machine; the end effector comprises two brackets, a position adjusting device, a power device and a collecting device which are arranged in parallel relatively; the position adjusting device is arranged on the outer side of the bracket; the position adjusting device comprises a longitudinal slideway, a transverse slideway in sliding connection with the longitudinal slideway through a movable sliding block and a hydraulic system; the power device is arranged at the top end of the bracket; the power device comprises a lead screw, a coupler and a lead screw motor; the lead screw extends downwards from the top end to the bottom end; the coupler and the lead screw motor are positioned at the top end of the lead screw;

the collecting device comprises a rotary cutter, a rotating shaft, a bearing seat and a rotary cutter motor; the rotary cutter motor is arranged at the bottom end of the lead screw and is connected with the rotating shaft through a bearing seat; the rotating shaft is positioned between the two brackets and is vertical to the screw rod;

the rotary cutter comprises a baffle and an insertion part positioned at the end of the baffle; the insertion part consists of two sharp teeth which are arranged at intervals; the rotary cutter is arranged on the rotating shaft and rotates along the same direction of the rotating shaft;

as a further optimization of the above solution, the end effector further comprises a transmission device, and the transmission device is located at the rear end of the end effector; the conveying device comprises a conveying belt, belt wheels positioned at two ends of the conveying belt and a motor for driving the belt wheels to rotate; the conveyor belt is positioned between the two brackets and below the rotary cutter; the belt wheel is parallel to the rotating shaft.

As a further optimization of the above scheme, the rotary cutter comprises a baffle plate, and an upper insertion part and a lower insertion part which are positioned at two ends of the baffle plate, wherein the upper insertion part and the lower insertion part are both perpendicular to the baffle plate and extend in opposite directions.

As a further optimization of the scheme, the end effector is connected with the Chinese cabbage harvesting machine through the suspension part.

The invention has the advantages that:

(1) the Chinese cabbage harvesting is carried out by adopting the insertion and rolling type matching technology for the first time, the complex control degree of the harvesting machine is reduced, the manufacturing cost is low, and the maintenance is convenient.

(2) The device can be matched with a tractor for use, and is conveyed to a designated collecting device through a conveying belt for collection, or only Chinese cabbage and land can be separated and collected in addition.

(3) The harvesting device is directly inserted into the soil on two sides of the root and is not in direct contact with the Chinese cabbage, so that the damage of a mechanical device to the Chinese cabbage is avoided.

Has the advantages that:

the Chinese cabbage harvesting machine performs Chinese cabbage harvesting in a mode of matching insertion and turnover, has a simple mechanical structure, is low in manufacturing cost, is convenient to maintain, and is more acceptable to vegetable growers. The device can be matched with the conveying belt to effectively collect the Chinese cabbages, can also omit conveying and only pile the Chinese cabbages and the land separation belt in situ, and vegetable growers can select a collection mode as required. The harvesting device is not in direct contact with the Chinese cabbages, avoids damage to the Chinese cabbages, and is beneficial to the transportation and storage of the Chinese cabbages.

Drawings

FIG. 1 is a cabbage-like drawing; in the figure, A represents the diameter of the root of the Chinese cabbage, B represents the depth of the root into the soil, C represents the width of the Chinese cabbage body, and D represents the overall height;

FIG. 2 is a view showing the overall assembly structure of the end effector described in embodiment 1;

FIG. 3 is a side view of the end effector of example 1 as it begins harvesting;

FIG. 4 is a side view of a cabbage when inverted using the end effector described in example 1;

FIG. 5 is a side view of the end effector of example 1 used to slide cabbage; wherein E is 200 mm;

FIG. 6 is a side view of the return knife after the cabbage has been collected by the end effector of example 1;

FIG. 7 is a view showing the overall assembly structure of the end effector described in embodiment 2;

in the figure: 1. rotating a cutter; 2. a rotating shaft; 3. a lead screw; 4. a coupling; 5. a wire cylinder motor; 6. a conveyor belt; 7. a suspension member; 8. a longitudinal slideway; 9. moving the slide block; 10. a transverse slideway; 11. a support; 12. a rotary cutter motor; 13. a bearing seat; 14. chinese cabbage.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention.