阅读说明：本技术 一种自行走韭菜收割机 (Self-walking Chinese chive harvester ) 是由 郭志伟 刘长鹏 苗仁龙 刘广飞 于 2018-07-11 设计创作，主要内容包括：本发明涉及一种自行走韭菜收割机,包括机械结构部分和自动控制电气部分,机械结构部分包含履带式车身、料仓,拢割装置和海绵传送带组；所述拢割装置包括拢型机构和电动割刀；自动控制电气部分包括单片机、安装在履带式车身一侧的激光传感器、安装在电动割刀旁且和电动割刀同高度的测距传感器、安装在电动割刀上的光电传感器,所述激光传感器、测距传感器、光电传感器与单片机电连接；上述各电器元件均与供电电源连接。本发明不仅适用于低矮棚作业使用,而且适用于高棚作业；能实现在低矮棚(近90cm矮棚)进行循迹自行走,并完成韭菜收割、收集传输等工作任务。(The invention relates to a self-walking Chinese chive harvester which comprises a mechanical structure part and an automatic control electric part, wherein the mechanical structure part comprises a crawler-type vehicle body, a storage bin, a gathering and cutting device and a sponge conveying belt group; the gathering and cutting device comprises a gathering mechanism and an electric cutter; the automatic control electric part comprises a single chip microcomputer, a laser sensor arranged on one side of the crawler-type vehicle body, a distance measuring sensor arranged beside the electric cutting knife and at the same height as the electric cutting knife, and a photoelectric sensor arranged on the electric cutting knife, wherein the laser sensor, the distance measuring sensor and the photoelectric sensor are electrically connected with the single chip microcomputer; and all the electrical components are connected with a power supply. The invention is not only suitable for the operation of low and short shed, but also suitable for the operation of high shed; the tracking self-walking in a low shed (nearly 90cm short shed) can be realized, and the work tasks of harvesting, collecting and transmitting the Chinese chives and the like can be completed.)

1. The utility model provides a from walking leek harvester which characterized in that: the automatic cutting machine comprises a mechanical structure part and an automatic control electric part, wherein the mechanical structure part comprises a crawler type vehicle body (14) driven by a direct current motor, a storage bin (7) arranged above the tail part of the crawler type vehicle body (14), and a cutting device arranged at the front end of the crawler type vehicle body (14); the gathering and cutting device comprises a gathering mechanism (10) driven by a steering engine (8) and an electric cutting knife (15) which is arranged below the gathering mechanism (10) and driven by a cutting knife adjusting motor (12) and a cutting knife motor (5); a sponge conveying belt group which is obliquely arranged on the vehicle body chassis (11) and is connected with the vehicle body tail bin at the high-end upwarping position is arranged between the bin (7) and the gathering and cutting device;

the automatic control electric part comprises a single chip microcomputer positioned in an electric control box (9), a laser sensor (1) arranged on one side of a crawler-type vehicle body (14), a distance measuring sensor (2) arranged beside an electric cutting knife (15) and having the same height with the electric cutting knife (15), and a photoelectric sensor (13) arranged on the electric cutting knife (15), wherein the laser sensor (1), the distance measuring sensor (2), the photoelectric sensor (13), a direct current motor, a steering engine (8) and a cutting knife motor (5) are all electrically connected with the single chip microcomputer; the electrical components are all connected with a power supply;

the laser sensor comprises: the distance between the vehicle body on each side and the leek on the corresponding side is detected, and the vehicle body is convenient to adjust to move forwards along the leek ridges;

the distance measuring sensor: the spacing distance between the cutting knife and the ground is conducted, and the height signal detection of the cutting knife is realized;

the photoelectric sensor comprises: the detection of the vegetable gathering amount of the front gathering mechanism is realized, and the front-back distance of the cutting knife is further adjusted.

2. The self-propelled leek harvester according to claim 1, wherein: the electric cutting knife (15) is divided into an upper blade and a lower blade, the cutting knife motor (5) adopts a direct current motor, the upper blade and the lower blade drive an eccentric wheel to run through the direct current motor, and the rotary motion is converted into the reciprocating motion of the upper blade and the lower blade.

3. A self-propelled leek harvester according to claim 2, wherein: the cutting knife adjusting motor (12) adopts a stepping motor, and the upper blade and the lower blade of the electric cutting knife (15) are driven by the stepping motor to realize front-back and up-down adjustment.

4. The self-propelled leek harvester according to claim 1, wherein: sponge conveyer belt group includes two sponge conveyer belts (4) that arrange side by side and transport opposite direction, and every sponge conveyer belt (4) include by direct current motor driven driving shaft, driven shaft and the sponge belt of cover on driving shaft and driven shaft.

5. The self-propelled leek harvester according to claim 1, wherein: an operation panel (6) electrically connected with the singlechip in the control box (9) is arranged on the crawler-type vehicle body (14).

6. The self-propelled leek harvester according to claim 1, wherein: the gathering mechanism (10) comprises two sets of electric pneumatic claws which are oppositely arranged.

7. The self-propelled leek harvester according to claim 1, wherein: the power supply adopts a lithium battery power supply.

Technical Field

The invention belongs to the technical field of agricultural mechanical automation equipment, and particularly relates to a self-walking Chinese chive harvester.

Background

The Chinese chives are vegetables which are clustered, the leaves of the Chinese chives are easy to damage, and the roots of the Chinese chives can be regenerated, so that the Chinese chives have high edible and health-care values. Moreover, people who have long-term leek harvesting often have working diseases such as finger arthritis and rheumatism.

With the development of agricultural mechanization, mechanical equipment has been introduced for harvesting leeks in dry land and high shed, and the mechanical equipment replaces part of manual work. However, most of the machines and tools sold and used in the market are general machines and tools for harvesting vegetables, and the harvesting operation cannot be well performed according to the characteristics of the Chinese chives, so that the Chinese chives are too high or too low in cutting stubbles, serious in blade damage and the like; the gasoline engine is adopted for dragging, so that the cost is high, and the environment is polluted; the appearance is heavy, the volume is large, the structure is complex, manual pushing and supporting operation is needed, and the automation degree is low; the product research and application are specially aimed at the low-canopy leek harvesting operation.

Disclosure of Invention

In order to solve the technical problems, the invention provides a self-walking Chinese chive harvester which is not only suitable for low-canopy operation, but also suitable for high-canopy operation; the tracking self-walking in a low shed (nearly 90cm short shed) can be realized, and the work tasks of harvesting, collecting and transmitting the Chinese chives and the like can be completed.

The invention is realized by the following technical scheme, and on one hand, the invention provides a self-walking Chinese chive harvester which comprises a mechanical structure part and an automatic control electric part, wherein the mechanical structure part comprises a crawler-type vehicle body driven by a direct current motor, a bin arranged above the tail part of the crawler-type vehicle body, and a gathering and cutting device arranged at the front end of the crawler-type vehicle body; the gathering and cutting device comprises a gathering mechanism driven by a steering engine and an electric cutting knife which is arranged below the gathering mechanism and driven by a cutting knife adjusting motor and a cutting knife motor; a sponge conveying belt group which is obliquely arranged on the chassis of the vehicle body and is connected with the bin at the tail part of the vehicle body at the tilting position at the high end is arranged between the bin and the gathering and cutting device;

the automatic control electric part comprises a single chip microcomputer, a laser sensor, a distance measuring sensor and a photoelectric sensor, wherein the single chip microcomputer is positioned in the electric control box, the laser sensor is installed on one side of the crawler-type vehicle body, the distance measuring sensor is installed beside the electric cutting knife and is at the same height as the electric cutting knife, the photoelectric sensor is installed on the electric cutting knife, and the laser sensor, the distance measuring sensor, the photoelectric sensor, the direct current motor, the steering engine and the cutting knife; the electrical components are all connected with a power supply;

the laser sensor comprises: the distance between the vehicle body on each side and the leek on the corresponding side is detected, and the vehicle body is convenient to adjust to move forwards along the leek ridges;

the distance measuring sensor: the spacing distance between the cutting knife and the ground is conducted, and the height signal detection of the cutting knife is realized;

the photoelectric sensor comprises: the detection of the vegetable gathering amount of the front gathering mechanism is realized, and the front-back distance of the cutting knife is further adjusted.

The distance to the ground is detected by the distance measuring sensor which is arranged beside the cutting knife and has the same height with the cutting knife, and the height adjustment of the stubble is realized for ensuring the growth of the Chinese chives.

The detection of the amount of the collected vegetables in front is realized through a photoelectric sensor arranged on the cutting knife, and the front-back distance of the cutting knife is further adjusted.

Preferably, the electric cutting knife is divided into an upper blade and a lower blade, the cutting knife motor adopts a direct current motor, the upper blade and the lower blade drive an eccentric wheel to run through the direct current motor, and the rotary motion is converted into the reciprocating motion of the upper blade and the lower blade. The vegetable cutting action is driven by a direct current motor.

Preferably, the cutting knife adjusting motor is a stepping motor, and the upper and lower blades of the electric cutting knife are driven by the stepping motor to realize front-back and up-down adjustment.

Three motors, namely a direct current motor, a stepping motor and a steering engine are adopted in the patent. The direct current motor is used for driving the vehicle body to walk and the cutting knife to rotate to cut vegetables. The stepping motor is used for driving the cutter to adjust back and forth and up and down. The steering engine is used for electric hand-holding control of vegetable holding. The adjusting sliding table is a sliding way for adjusting the position of the cutting knife.

Preferably, the sponge conveyer belt group includes two sponge conveyer belts that arrange side by side and transport opposite direction, and every sponge conveyer belt includes by direct current motor driven driving shaft, driven shaft and the sponge belt of cover on driving shaft and driven shaft.

Two direct current motor drive two sponge belts one and rotate clockwise, one anticlockwise, go the backward transmission through reverse strength to the dish area.

Preferably, the crawler-type vehicle body is provided with an operation panel electrically connected with the single chip microcomputer in the control box.

Preferably, the gathering mechanism comprises two sets of electric pneumatic claws which are oppositely arranged.

Preferably, the power supply adopts a lithium battery power supply.

The invention has the working principle that: according to the high electric regulation of cutting knife, the start button on the operating panel is pressed down, the machine gets into operating condition, direct current motor drags crawler-type fuselage and moves ahead before the leek ridge, the steering wheel drives the type mechanism work of holding together, draw in the leek to the eight characters entrance of sponge conveyer belt, direct current motor drives the sponge conveyer belt and carries out the leek operation of uploading of centre gripping, act on more than in step, electronic cutting knife is according to photoelectric sensor and range finding sensor sensing signal, adjust to suitable position around going on with from top to bottom, specifically be according to the leek growing situation, can set for the stubble height of cutting of leek through operating panel in advance, range finding sensor can carry out the high electric regulation of cutting knife according. In the process of collecting vegetables, when the ground is uneven, the cutter can also adjust the upper height and the lower height in real time according to the preset height in order to ensure the uniform cutting of the stubbles. The front and back adjustment is realized by sensing the amount of the collected vegetables in front through a photoelectric sensor. The growth vigor is luxuriant, the vegetable holding amount is large, signals of a photoelectric sensor are obtained in time, at the moment, a cutting knife is adjusted in a forward self-adjusting mode, the vegetables are cut in time, and the motor is prevented from being locked in rotation in the subsequent belt transmission process; and (5) carrying out chive harvesting work. The Chinese chives with roots cut off arrive in a bin at the tail part of the machine body under the transportation of a conveyor belt, and the Chinese chives are manually packed after being fully stored in the bin.

The gathering mechanism is provided with two sets of electric pneumatic claws which work alternately to ensure that more and orderly vegetables are gathered. The electric cutter can adjust the position of the cutter back and forth according to the density of the collected Chinese chives and can adjust the position of the cutter up and down according to the ground flatness, so that the stubble cutting height is ensured to be neat and uniform.

The invention has the beneficial effects that:

1) the invention relates to a Chinese chive harvesting robot capable of tracking and self-walking, which mainly comprises a furling mechanism, wherein two sets of electric air claws are matched in front of a vehicle body to realize tidy furling; due to the design of the cutting knife part, the electric cutting knife can be automatically adjusted up and down and back and forth; the intelligent sensor senses the realization of the self-tracking function of the vehicle body.

2) The lithium battery is used for supplying power, so that lead pollution is avoided, and the lithium battery is green and environment-friendly, small in structure, simple to operate and high in service performance; the production in batches can reach 3000 yuan per machine, is cheap and is beneficial to popularization; mainly solves the harvesting problem of low canopy leek farmers, improves the efficiency and reduces the occurrence of working diseases.

3) The invention is not only suitable for the operation of low and short shed, but also suitable for the operation of high shed; the tracking self-walking in a low shed (nearly 90cm short shed) can be realized, and the work tasks of harvesting, collecting and transmitting the Chinese chives and the like can be completed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a top view of the structure of the present invention;

FIG. 3 is a bottom view of the structure of the present invention;

FIG. 4 is a perspective view of the structure of the present invention;

in the figure: 1. the device comprises a laser sensor, a distance measuring sensor, a distance adjusting sliding table, a sponge conveying belt, a cutting knife motor, a cutting knife adjusting motor, an operation panel, a storage bin, a steering engine, a cutting knife adjusting motor, an electric control box, a gathering mechanism, a chassis, a base plate, a cutting knife adjusting motor, a photoelectric sensor, a crawler-type vehicle body, a cutting knife adjusting motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The application of the principles of the present invention will be further described with reference to the accompanying drawings and specific embodiments.