阅读说明：本技术 矮式红花仿形采收机及采收方法 (Low-type safflower profiling harvester and harvesting method ) 是由 张振国 赵敏义 杨双平 韩长杰 郭俊先 张学军 邢振宇 郭全峰 张苗苗 许冬雪 于 2021-09-29 设计创作，主要内容包括：本发明涉及一种矮式红花仿形采收机及采收方法。采收机包括手推式机架,以及安装在手推式机架上的植株梳理装置和花丝采收系统；植株梳理装置为两组左右对称且结构相同的植株梳理机构,能够将分布范围外的红花聚拢到采收范围内；花丝采收系统包括花丝采摘机构和花丝收集机构；花丝收集机构包括花丝收集箱,以及连接在花丝收集箱上的花丝收集软管和负压风机；花丝采摘机构包括多花采摘末端执行器单体、末端执行器运动电缸和末端执行器仿形安装架。本发明的多花采摘末端执行器单体根据果球分布规律,拟形布置,分区采摘,同时对不同高度的果球进行采摘操作,从而减轻工作人员负重,省略人工对花步骤,实现对多个果球进行采收操作,提高花丝采收效率。(The invention relates to a short safflower profiling harvester and a harvesting method. The harvesting machine comprises a hand-push type rack, and a plant carding device and a filament harvesting system which are arranged on the hand-push type rack; the plant carding devices are two groups of plant carding mechanisms which are bilaterally symmetrical and have the same structure, and can gather the safflower outside the distribution range into the harvesting range; the filament harvesting system comprises a filament picking mechanism and a filament collecting mechanism; the filament collecting mechanism comprises a filament collecting box, a filament collecting hose and a negative pressure fan, wherein the filament collecting hose is connected to the filament collecting box; the filament picking mechanism comprises a plurality of filament picking end effector monomers, an end effector moving electric cylinder and an end effector profiling mounting frame. The multi-flower picking end effector monomer is arranged in a simulated manner and picked in a subarea manner according to the fruit ball distribution rule, and meanwhile, picking operation is carried out on the fruit balls with different heights, so that the load of workers is reduced, the manual flower aligning step is omitted, the picking operation of the plurality of fruit balls is realized, and the filament picking efficiency is improved.)

1. A short type safflower profiling harvester is characterized by comprising a hand-push type frame (1), a plant carding device (2) and a filament harvesting system (3), wherein the plant carding device and the filament harvesting system are installed on the hand-push type frame (1);

the hand-push type rack (1) comprises a support frame (1-1), a walking mechanism (1-2), a harvesting device mounting frame (1-3) and a push rod (1-4);

the support frame (1-1) comprises a front cross beam (1-1-1), a rear cross beam (1-1-2), a left longitudinal beam (1-1-3), a right longitudinal beam (1-1-4) and support legs (1-1-5), wherein the front cross beam (1-1-1), the left longitudinal beam (1-1-3), the rear cross beam (1-1-2) and the right longitudinal beam (1-1-4) are connected end to form a rectangular frame; the top ends of four vertically arranged supporting legs (1-1-5) are fixedly connected with four corners of the rectangular frame, and the bottom ends of the four vertically arranged supporting legs are respectively provided with a travelling mechanism (1-2);

two harvesting device mounting frames (1-3) which are bilaterally symmetrical and parallel to the left longitudinal beam (1-1-3) and the right longitudinal beam (1-1-4) are respectively and fixedly connected between the two left supporting legs (1-1-5) and between the two right supporting legs (1-1-5); the push rod (1-4) is fixedly connected with the rear end of the rear cross beam (1-1-2);

the plant carding devices (2) are two groups of plant carding mechanisms which are symmetrical left and right and have the same structure, and can gather the safflower outside the distribution range into the harvesting range;

the filament harvesting system (3) comprises a filament picking mechanism (3-1) and a filament collecting mechanism (3-2);

the filament collecting mechanism (3-2) comprises a filament collecting box (3-2-2), a filament collecting hose (3-2-1) and a negative pressure fan (3-2-3), wherein the filament collecting hose (3-2-2) is connected to the filament collecting box (3-2-2); the filament collecting box (3-2-2) is fixedly connected to the rectangular frame of the support frame (1-1);

the filament picking mechanism (3-1) comprises a multi-flower picking end effector single body (3-1-1), an end effector moving electric cylinder (3-1-2) and an end effector profiling mounting rack (3-1-3);

the end effector copying mounting frame (3-1-3) is fixedly connected to the harvesting device mounting frame (1-3), a plurality of end effector moving electric cylinders (3-1-2) are fixedly connected to the end effector copying mounting frame (3-1-3), each end effector moving electric cylinder (3-1-2) is fixedly connected with a multi-flower picking end effector monomer (3-1-1), and all the multi-flower picking end effector monomers (3-1-1) form a semi-ellipsoidal picking surface corresponding to a short safflower plant canopy, so that full coverage of safflower plant fruit balls is realized;

the end effector movement electric cylinder (3-1-2) comprises an electric cylinder motor (3-1-2-1), an electric cylinder sleeve (3-1-2-2), an electric cylinder push rod (3-1-2-3) and an electric cylinder mounting seat (3-1-2-4); the electric cylinder mounting seat (3-1-2-4) is fixedly connected to the end effector copying mounting frame (3-1-3); the electric cylinder sleeve (3-1-2-2) is fixedly connected to the electric cylinder mounting seat (3-1-2-4); the electric cylinder push rod (3-1-2-3) is arranged inside the electric cylinder sleeve (3-1-2-2) and is connected with the electric cylinder motor (3-1-2-1);

the multi-flower picking end effector monomer (3-1-1) comprises an end effector shell (3-1-1-1), a multi-target flower aligning device (3-1-1-2), a filament cutting device (3-1-1-3) and a capacitance detection device (3-1-1-4);

the end effector housing (3-1-1-1) is divided into three chambers: the multi-target pattern aligning chamber (3-1-1-1-1), the filament cutting and collecting chamber (3-1-1-1-2) and the cutting motor mounting chamber (3-1-1-1-3); the filament cutting and collecting chamber (3-1-1-1-2) is positioned above the multi-target register chamber (3-1-1-1-1) and is separated from each other by a partition plate (3-1-1-1-4); the cutting motor installation chamber (3-1-1-1-3) is positioned at one side of the multi-target register chamber (3-1-1-1-1) and the filament cutting and collecting chamber (3-1-1-1-2); the bottom of the multi-target pattern aligning cavity (3-1-1-1-1) is an aligning bottom plate (3-1-1-1-5); the top of the filament cutting and collecting chamber (3-1-1-1-2) is provided with a flower collecting cover (3-1-1-1-6), and the flower collecting cover (3-1-1-1-6) is provided with a filament collecting port (3-1-1-1-7) connected with a filament collecting hose (3-2-1);

the multi-target pattern aligning device (3-1-1-2) comprises a plurality of pattern aligning covers (3-1-1-2-1) arranged in an array; the pattern matching cover (3-1-1-2-1) is arranged in the multi-target pattern matching chamber (3-1-1-1-1) and fixedly connected between the partition plate (3-1-1-1-4) and the pattern matching bottom plate (3-1-1-1-5) and is communicated up and down;

the capacitance detection device (3-1-1-4) is arranged at the upper part of the register cover (3-1-1-2-1) and is used for detecting whether the filament reaches a cutting position;

a necking separation net (3-1-1-2-2) is arranged at the cutting opening of each patterned cover pair (3-1-1-2-1), and the necking separation net (3-1-1-2-2) is fixedly connected to the partition plate (3-1-1-1-4);

the filament cutting device (3-1-1-3) comprises a cutting motor (3-1-1-3-1) arranged in a cutting motor installation chamber (3-1-1-1-3), and a left cutting knife (3-1-1-3-2) and a right cutting knife (3-1-1-3-3) arranged in a filament cutting collection chamber (3-1-1-1-2);

the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3) are both blades with arc-shaped cross sections, and the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3) are arranged on two sides of the partition plate (3-1-1-1-4) in a bilateral symmetry manner; the tail ends of the left cutter (3-1-1-3-2) and the right cutter (3-1-1-3-3) extend into the cutting motor installation chamber (3-1-1-1-3) and are respectively and vertically and fixedly connected with the edges of the front end faces of the left cutter disc (3-1-1-3-2-2) and the right cutter disc (3-1-1-3-3-2); the center of the rear end face of the left cutter disc (3-1-1-3-2-2) is fixedly connected with a left cutter shaft (3-1-1-3-2-1), and the center of the rear end face of the right cutter disc (3-1-1-3-3-2) is fixedly connected with a right cutter shaft (3-1-1-3-3-1); a left cutting knife gear (3-1-1-3-4) is fixedly connected to the left cutting knife shaft (3-1-1-3-2-1), a right cutting knife gear (3-1-1-3-5) is fixedly connected to the right cutting knife shaft (3-1-1-3-3-1), and the left cutting knife gear (3-1-1-3-4) and the right cutting knife gear (3-1-1-3-5) are meshed with each other; the driving gear on the power output shaft of the cutting motor (3-1-1-3-1) is meshed with the left cutter gear (3-1-1-3-4) or the right cutter gear (3-1-1-3-5).

2. The low-profile safflower profiling harvester according to claim 1, wherein said plant carding mechanism comprises a carding device bearing seat (2-1), a carding plate (2-2) and a carding device driving motor (2-3); two carding device bearing blocks (2-1) are respectively and fixedly connected to two supporting legs (1-1-5) on one side; the carding device driving motor (2-3) is fixedly connected to the harvesting device mounting frame (1-3);

the carding plate (2-2) comprises a carding plate body (2-2-1), a plate body connecting plate (2-2-2) and a carding plate rotating shaft (2-2-3); two coaxial carding plate rotating shafts (2-2-3) are respectively and fixedly connected to the outer side of the carding plate body (2-2-1) through a plate body connecting plate (2-2-2), and the carding plate rotating shafts (2-2-3) are arranged in a bearing seat (2-1) of the carding device through bearings; the power output shaft of the carding device driving motor (2-3) is connected with the carding plate rotating shaft (2-2-3) through a coupler;

the carding plate body (2-2-1) is bent up and down along the horizontal central line of the carding plate body and is divided into an upper plate body (2-2-1-1) and a lower plate body (2-2-1-2), and the included angle alpha between the upper plate body (2-2-1-1) and the lower plate body (2-2-1-2)₂150 to 155 degrees; when the card is not in a carding state, the included angle alpha between the lower plate body (2-2-1-2) and the vertical direction₁Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body (2-2-1-2) and the vertical direction₁Is 52 to 55 degrees.

3. The short type safflower profiling harvester according to claim 1, wherein ten multi-flower picking end effector monomers (3-1-1) are arranged in the short type safflower profiling harvester, every five multi-flower picking end effector monomers (3-1-1) form a picking row, and the two picking rows are symmetrically arranged in an end effector profiling mounting frame (3-1-3); dividing the dwarf safflower plant canopy into five harvesting areas in sequence according to the inclination angle distribution rule of the single safflower ball: first harvesting zone OC₁A second recovery area OC₂A third recovery area OC₃And a fourth recovery area OC₄And a fifth recovery zone OC₅(ii) a Five multi-flower picking end effector monomers (3-1-1) in the picking row correspond to the five picking areas one by one; wherein, it is connected with a first recovery area OC₁And a fifth recovery zone OC₅A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector single body (3-1-1)₁Is 25 degrees to 27 degrees; with a second recovery zone OC₂And a fourth recovery zone OC₄A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector single body (3-1-1)₂10 to 12 degrees; and thirdHarvesting area OC₃The longitudinal axis of the corresponding multi-flower picking end effector monomer (3-1-1) is parallel to the vertical direction;

using the central line C of safflower plant₆The function of the longitudinal axis of five multi-flower picking end effector monomers (3-1-1) in the picking row is determined by taking the intersection point with the ground as the circle center, the horizontal direction as the u axis and the vertical direction as the w axis respectively as follows:

with a first recovery zone OC₁The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: -1.927 u-47.71;

with a second recovery zone OC₂The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: -4.695 u-133.01;

and a third recovery area OC₃The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: u is 0;

with a fourth recovery zone OC₄The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: w is 4.695 u-133.01;

with a fifth recovery zone OC₅The longitudinal axis function of the corresponding multi-flower picking end effector monomer (3-1-1) is: w is 1.927 u-47.71.

4. The low-profile safflower profiling harvester according to claim 3, wherein the width of the multi-flower picking end effector monomer (3-1-1) is L₁Then is communicated with a third recovery area OC₃The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is L₁(ii) a With a second recovery zone OC₂And a fourth recovery zone OC₄The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is 2 xL₁cosβ₂(ii) a With a first recovery zone OC₁And a fifth recovery zone OC₅The horizontal coverage length of the corresponding multi-flower picking end effector monomer (3-1-1) is 2 xL₁cosβ₁(ii) a In the harvesting state, the edges of the five multi-flower picking end effector monomers (3-1-1) in the picking row are tightly attached, and the total horizontal coverage length L₁+2×L₁cosβ₁+2×L₁cosβ₂The distribution length D of the fruit balls of the plants is more than or equal to that of the fruit balls of the plants.

5. The low-profile safflower profiling harvester according to claim 1, wherein the flower inlet diameter D of the flower aligning cover (3-1-1-2-1) on the flower aligning base plate (3-1-1-1-5)₁Is larger than the diameter D of the cutting opening on the spacing plate (3-1-1-1-4)₂(ii) a The pair of flower covers (3-1-1-2-1) is divided into the following parts from bottom to top: a flower inlet area (3-1-1-2-1-1) and a fruit fixing area (3-1-1-2-1-2); the flower inlet area (3-1-1-2-1-1) is in an outer ellipsoid shape; the fruit fixing area (3-1-1-2-1-2) is in a round table shape, and the included angle alpha between the generatrix of the round table and the bottom surface₄Is 78 degrees to 85 degrees; the diameter D of the flower inlet₁For stretching the safflower filament phi₁1.1-1.3 times of the diameter of the flower inlet₁50-62 mm; diameter D of the cut₂Is the diameter phi of fruit ball₂1.1 to 1.3 times of the diameter of the filament cutting opening D₂Is 26 to 50 mm.

6. The low-profile safflower profiling harvester according to claim 1, wherein the multi-target register device (3-1-1-2) comprises four register covers (3-1-1-2-1), and the center distance L of the flower inlet of the adjacent register covers (3-1-1-2-1)₂The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired covers (3-1-1-2-1) are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.

7. The low-profile safflower harvester according to claim 1, wherein the distance L of the screen bars of the necking screen (3-1-1-2-2)₃To a diameter of necking phi₃0.8-0.85 times of the total weight of the powder; the cutting knife length L of the left cutting knife (3-1-1-3-2) and the right cutting knife (3-1-1-3-3)₄110-120 mm; wedge angle alpha of cutter₃Is 18 to 22 degrees.

8. The low-profile safflower profiling harvester according to claim 1, wherein said capacitive detection means (3-1-1-4) comprise a capacitive sensor (3-1-1-4-1) and a sensor conduit (3-1-1-4-2); the fruit fixing area (3-1-1-2-1-2) at the upper part of the flower cover (3-1-1-2-1) is provided with a detection device connector (3-1-1-2-1-3) for connecting the capacitive sensor (3-1-1-4-1) in a threaded manner, and the sensor line tube (3-1-1-4-2) is respectively connected with the capacitive sensor (3-1-1-4-1) and a power supply and information control system (4).

9. The low-type safflower profiling harvester according to claim 1, further comprising a power supply and information control system (4), wherein the power supply and information control system (4) comprises a battery pack (4-1), an electric control system (4-2), a complete machine switch (4-3) and a touch screen operating system (4-4) which are arranged on a support frame (1-1); the battery assembly (4-1), the whole machine switch (4-3) and the touch screen operating system (4-4) are connected with the electric control system (4-2); the battery component (4-1) and the electric control system (4-2) are respectively connected with the carding device driving motor (2-3), the end effector moving electric cylinder (3-1-2), the cutting motor (3-1-1-3-1) and the capacitance detection device (3-1-1-4).

10. A method of low profile safflower harvesting using a low profile safflower harvester according to claims 1 to 9, comprising the steps of:

s1, pushing the low-type safflower profiling harvester above the low-type safflower plant to enable all multi-flower picking end effector monomers (3-1-1) to form a semi-ellipsoidal harvesting surface and fully cover a crown layer of the low-type safflower plant;

s2, a complete machine switch (4-3) is turned on, a touch screen control system (4-4) is operated, an electric control system (4-2) starts a carding device driving motor (2-3), power is transmitted to a carding plate body (2-2-1) through a carding plate rotating shaft (2-2-3) and drives the carding plate body (2-2-1) to rotate, and the safflower outside the harvesting range is gathered in the harvesting range;

s3, starting an electric cylinder motor (3-1-2-1) of an end effector moving electric cylinder (3-1-2), and driving an electric cylinder push rod (3-1-2-3) to move downwards along an electric cylinder sleeve (3-1-2-2) to drive each multi-flower picking end effector monomer (3-1-1) to move downwards; the fruit balls enter a flower aligning cover (3-1-1-2-1) of the multi-target flower aligning device (3-1-1-2-2), enter a fruit fixing area (3-1-1-2-1-2) through a flower entering area (3-1-1-2-1-1-1), the necking of the fruit balls is blocked by a necking separation net (3-1-1-2-2) and cannot pass through the necking separation net (3-1-1-2-2), the flower filaments enter the upper part of the necking separation net (3-1-1-2-2), and the fruit balls are located in the fruit fixing area (3-1-1-2-2); each capacitance sensor (3-1-1-4-1) of each multi-flower picking end effector monomer (3-1-1) continuously detects the medium in the register cover (3-1-1-2-1);

when the electric cylinder push rod (3-1-2-3) reaches the maximum stroke and all the capacitance detection devices (3-1-1-4) do not detect the third capacitance C3, the electric cylinder push rod does not enter a harvesting state, and the electric cylinder push rod (3-1-2-3) restores to the initial state to prepare for next harvesting;

when any one of the following conditions is met, stopping the movement of the electric cylinder push rod (3-1-2-3), enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;

the first condition is as follows: when the electric cylinder push rod (3-1-2-3) reaches the maximum stroke and the at least one capacitive sensor (3-1-1-4-1) detects a third capacitance C3;

and a second condition: when the electric cylinder push rod (3-1-2-3) does not reach the maximum stroke, all the capacitance sensors (3-1-1-4-1) detect the third capacitance C3;

s4, the electric control system (4-2) enters a harvesting state, a cutting motor (3-1-1-3-1) of the filament cutting device (3-1-1-3) is started to drive a left cutting knife (3-1-1-3-2) and a right cutting knife (3-1-1-3-3) to rotate, and the safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose (3-2-1) through a filament collecting cover (3-1-1-1-6) and enter a filament collecting box (3-2-2), and filament harvesting is completed;

s5, after the filament harvesting is completed, the electric control system (4-2) finishes the harvesting state, the end effector moves the electric cylinder (3-1-2) to execute the reset stroke, the electric cylinder push rod (3-1-2-3) returns to the initial state, the electric control system (4-2) finishes the harvesting state and enters the standby state, and the plant carding device (2) resets to prepare for the next harvesting.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a short safflower profiling harvester and a harvesting method.

Background

The dwarf safflower has stronger drought resistance than the high-potential safflower due to good adaptability, has lower requirement on the environment in the planting process, and is widely planted in Xinjiang. At present, the safflower filament is mainly harvested manually, and because the short safflower plant height is lower and the fruit ball distribution is comparatively dispersed, picking personnel need to bend over the body and stoop for working, the labor intensity is high, the production efficiency is low, and the benign development of the safflower industry is hindered.

With the rapid development of agricultural mechanization, the demand for mechanized safflower harvesting is higher and higher. At present, most of handheld safflower harvesting machines are backpack type, so that the load of picking personnel is increased, and the efficiency is lower; although there is a three-degree-of-freedom truss type safflower picking device (chinese patent application publication No. CN111296072A), a positioning and clamping device composed of a plurality of positioning and clamping mechanisms arranged in a semicircular manner moves downward through the positioning and clamping device, when the positioning and clamping mechanism contacts with a safflower ball, a pressure sensor is stressed and detects the safflower ball, and an end effector moves to a detection position for picking. Although the device realizes coverage detection of the distribution range of the safflower fruit balls, the picking efficiency is slower because only a single end effector is provided, and the positioning and clamping device is integrated and lacks flexibility for detecting the fruit balls with different heights; in addition, the self-propelled full-coverage multi-target safflower filament picking robot (Chinese patent application publication No. CN111955165A) divides the range of the safflower fruit balls into regions, and arranges a plurality of end effector monomers in the regions, but the flower aligning area covered by the end effector monomers is only slightly larger than one fruit ball, and the arranged end effector monomers cannot detect whether safflower exists at all positions in the picking range, so that the picking rate is reduced.

Disclosure of Invention

Aiming at the technical problems, the invention aims to provide a dwarf safflower profiling harvester and a harvesting method, wherein a multi-flower picking end effector monomer adopts a multi-pair flower mouth fusion design, so that the distribution of fruit balls is covered in a range area, and flowers can be simultaneously aligned and a plurality of fruit balls can be picked; the hand-push type machine is adopted, so that the burden of picking personnel is reduced; the multi-flower picking end effector monomer is arranged in a simulated manner according to the fruit ball distribution rule, is picked in a partition manner, and simultaneously picks fruit balls with different heights, so that the weight of workers is reduced, the manual flower aligning step is omitted, the harvesting operation of the multiple fruit balls is realized, and the filament harvesting efficiency is improved.

In order to achieve the purpose, the invention provides the following technical scheme:

a short safflower profiling harvester comprises a hand-push type frame 1, and a plant carding device 2 and a filament harvesting system 3 which are arranged on the hand-push type frame 1.

The hand-push type rack 1 comprises a support frame 1-1, a walking mechanism 1-2, a harvesting device mounting frame 1-3 and a push rod 1-4.

The support frame 1-1 comprises a front cross beam 1-1-1, a rear cross beam 1-1-2, a left longitudinal beam 1-1-3, a right longitudinal beam 1-1-4 and support legs 1-1-5, wherein the front cross beam 1-1-1, the left longitudinal beam 1-1-3, the rear cross beam 1-1-2 and the right longitudinal beam 1-1-4 are connected end to form a rectangular frame; the top ends of the four vertically arranged supporting legs 1-1-5 are fixedly connected with four corners of the rectangular frame, and the bottom ends are provided with a travelling mechanism 1-2.

Two harvesting device mounting frames 1-3 which are bilaterally symmetrical and parallel to the left longitudinal beam 1-1-3 and the right longitudinal beam 1-1-4 are respectively and fixedly connected between the two left supporting legs 1-1-5 and between the two right supporting legs 1-1-5; the push rod 1-4 is fixedly connected with the rear end of the rear cross beam 1-1-2.

Plant carding unit 2 is two sets of bilateral symmetry and the same plant carding mechanism of structure, can gather together the safflower outside the distribution range to the within range of gathering.

The filament harvesting system 3 comprises a filament picking mechanism 3-1 and a filament collecting mechanism 3-2.

The filament collecting mechanism 3-2 comprises a filament collecting box 3-2-2, a filament collecting hose 3-2-1 and a negative pressure fan 3-2-3, wherein the filament collecting hose is connected to the filament collecting box 3-2-2; the filament collecting box 3-2-2 is fixedly connected to the rectangular frame of the support frame 1-1.

The filament picking mechanism 3-1 comprises a multi-flower picking end effector monomer 3-1-1, an end effector moving electric cylinder 3-1-2 and an end effector profiling mounting frame 3-1-3.

The end effector copying mounting frame 3-1-3 is fixedly connected to the harvesting device mounting frame 1-3, the end effector moving electric cylinders 3-1-2 are fixedly connected to the end effector copying mounting frame 3-1-3, each end effector moving electric cylinder 3-1-2 is fixedly connected to one multi-flower picking end effector monomer 3-1-1, and all the multi-flower picking end effector monomers 3-1-1 form a semi-ellipsoidal harvesting surface corresponding to the short safflower plant canopy, so that full coverage of the safflower plant fruit balls is realized.

The end effector movement electric cylinder 3-1-2 comprises an electric cylinder motor 3-1-2-1, an electric cylinder sleeve 3-1-2-2, an electric cylinder push rod 3-1-2-3 and an electric cylinder mounting seat 3-1-2-4; the electric cylinder mounting seat 3-1-2-4 is fixedly connected to the end effector copying mounting frame 3-1-3; the electric cylinder sleeve 3-1-2-2 is fixedly connected to the electric cylinder mounting seat 3-1-2-4; the electric cylinder push rod 3-1-2-3 is arranged inside the electric cylinder sleeve 3-1-2-2 and is connected with the electric cylinder motor 3-1-2-1.

The multi-flower picking end effector monomer 3-1-1 comprises an end effector shell 3-1-1-1, a multi-target flower aligning device 3-1-1-2, a filament cutting device 3-1-1-3 and a capacitance detection device 3-1-1-4.

The end effector housing 3-1-1-1 is divided into three chambers: the multi-target pattern aligning chamber 3-1-1-1-1, the filament cutting and collecting chamber 3-1-1-2 and the cutting motor mounting chamber 3-1-1-1-3; the filament cutting and collecting chamber 3-1-1-1-2 is positioned above the multi-target pattern aligning chamber 3-1-1-1 and is separated from each other by a partition plate 3-1-1-1-4; the cutting motor installation chamber 3-1-1-1-3 is positioned at one side of the multi-target pattern aligning chamber 3-1-1-1-1 and the filament cutting and collecting chamber 3-1-1-2; the bottom of the multi-target pattern aligning cavity 3-1-1-1-1 is an aligning bottom plate 3-1-1-1-5; the top of the filament cutting and collecting chamber 3-1-1-1-2 is provided with a flower collecting cover 3-1-1-6, and the flower collecting cover 3-1-1-1-6 is provided with a filament collecting port 3-1-1-7 connected with a filament collecting hose 3-2-1.

The multi-target pattern aligning device 3-1-1-2 comprises a plurality of pattern aligning covers 3-1-1-2-1 which are arranged in an array; the pattern matching cover 3-1-1-2-1 is arranged in the multi-target pattern matching chamber 3-1-1-1, is fixedly connected between the partition board 3-1-1-1-4 and the pattern matching bottom board 3-1-1-5, and is communicated up and down.

The capacitance detection device 3-1-1-4 is arranged at the upper part of the patterned cover 3-1-1-2-1 and is used for detecting whether the filament reaches the cutting position.

The shredding opening of each patterned shade 3-1-1-2-1 is provided with a necking separation net 3-1-1-2-2, and the necking separation net 3-1-1-2-2 is fixedly connected to the partition plate 3-1-1-1-4.

The filament cutting device 3-1-1-3 comprises a cutting motor 3-1-1-3-1 arranged in a cutting motor installation chamber 3-1-1-1-3, and a left cutting knife 3-1-1-3-2 and a right cutting knife 3-1-1-3-3 arranged in a filament cutting collection chamber 3-1-1-1-2.

The left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are both blades with arc cross sections, and the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are arranged on the two sides of the partition plate 3-1-1-1-4 in a bilateral symmetry manner; the tail ends of the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 extend into the cutting motor installation chamber 3-1-1-1-3 and are respectively and vertically and fixedly connected with the edge of the front end face of the left cutter disc 3-1-1-3-2 and the right cutter disc 3-1-1-3-3-2; the center of the rear end face of the left cutter disc 3-1-1-3-2-2 is fixedly connected with a left cutter shaft 3-1-1-3-2-1, and the center of the rear end face of the right cutter disc 3-1-1-3-3-2 is fixedly connected with a right cutter shaft 3-1-1-3-3-1; a left cutter gear 3-1-1-3-4 is fixedly connected to the left cutter shaft 3-1-1-3-2-1, a right cutter gear 3-1-1-3-5 is fixedly connected to the right cutter shaft 3-1-1-3-3-1, and the left cutter gear 3-1-1-3-4 and the right cutter gear 3-1-1-3-5 are meshed with each other; the driving gear on the power output shaft of the cutting motor 3-1-1-3-1 is meshed with the left cutter gear 3-1-1-3-4 or the right cutter gear 3-1-1-3-5.

The plant carding mechanism comprises a carding device bearing seat 2-1, a carding plate 2-2 and a carding device driving motor 2-3; two carding device bearing blocks 2-1 are respectively and fixedly connected to two supporting legs 1-1-5 on one side; the carding device driving motor 2-3 is fixedly connected to the harvesting device mounting frame 1-3.

The carding plate 2-2 comprises a carding plate body 2-2-1, a plate body connecting plate 2-2-2 and a carding plate rotating shaft 2-2-3; two coaxial carding plate rotating shafts 2-2-3 are respectively and fixedly connected to the outer side of the carding plate body 2-2-1 through a plate body connecting plate 2-2-2, and the carding plate rotating shafts 2-2-3 are arranged in a bearing seat 2-1 of the carding device through bearings; and a power output shaft of the carding device driving motor 2-3 is connected with the carding plate rotating shaft 2-2-3 through a coupler.

The carding plate body 2-2-1 is bent up and down along the horizontal central line and is divided into an upper plate body 2-2-1-1 and a lower plate body 2-2-1-2, and the included angle alpha between the upper plate body 2-2-1-1 and the lower plate body 2-2-1-2₂150 to 155 degrees; when the card is not in a carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction₁Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction₁Is 52 to 55 degrees.

The short type safflower profiling harvester is provided with ten multi-flower picking end effector monomers 3-1-1 in total, every five multi-flower picking end effector monomers 3-1-1 form a picking row, and two rows of picking rows are symmetrically arranged in the end effector profiling mounting frame 3-1-3; dividing the dwarf safflower plant canopy into five harvesting areas in sequence according to the inclination angle distribution rule of the single safflower ball: first harvesting zone OC₁A second recovery area OC₂A third recovery area OC₃And a fourth recovery area OC₄And a fifth recovery zone OC₅(ii) a Five multi-flower picking end effector monomers 3-1-1 in the picking row correspond to five picking areas one by one; wherein, it is connected with a first recovery area OC₁And a fifth recovery zone OC₅A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1₁Is 25 degrees to 27 degrees; with a second recovery zone OC₂And a fourth recovery zone OC₄A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1₂10 to 12 degrees; and a third recovery area OC₃The longitudinal axis of the corresponding multi-flower picking end effector monomer 3-1-1 is parallel to the vertical direction.

Using the central line C of safflower plant₆The function of the longitudinal axis of five multi-flower picking end effector monomers 3-1-1 in the picking row is determined as follows by taking the intersection point with the ground as the circle center, taking the horizontal direction as the u axis and taking the vertical direction as the w axis respectively:

with a first recovery zone OC₁The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -1.927 u-47.71;

with a second recovery zone OC₂The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -4.695 u-133.01;

and a third recovery area OC₃The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: u is 0;

with a fourth recovery zone OC₄The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 4.695 u-133.01;

with a fifth recovery zone OC₅The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 1.927 u-47.71.

The width of the multi-flower picking end effector monomer 3-1-1 is L₁Then is communicated with a third recovery area OC₃The corresponding horizontal coverage length of the multi-flower picking end effector monomer 3-1-1 is L₁(ii) a With a second recovery zone OC₂And a fourth recovery zone OC₄The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2L₁cosβ₂(ii) a With a first recovery zone OC₁And a fifth recovery zone OC₅The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL₁cosβ₁(ii) a In the harvesting state, the edges of the five multi-flower picking end effector monomers 3-1-1 in the picking row are tightly attached, and the total horizontal coverage length L₁+2×L₁cosβ₁+2×L₁cosβ₂The distribution length D of the fruit balls of the plants is more than or equal to that of the fruit balls of the plants.

The diameter D of the flower inlet of the flower-aligning cover 3-1-1-2-1 on the flower-aligning bottom plate 3-1-1-1-5₁Is larger than the diameter D of the cutting opening on the spacing plate 3-1-1-1-4₂(ii) a The pair of flower covers 3-1-1-2-1 is divided into the following parts from bottom to top: a flower inlet area 3-1-1-2-1-1 and a fruit fixing area 3-1-1-2-1-2; the flower inlet area 3-1-1-2-1-1 is in an outer ellipsoid shape; the fruit fixing area 3-1-1-2-1-2 is in a round table shape, and an included angle alpha between a generatrix of the round table and the bottom surface₄Is 78 degrees to 85 degrees; the diameter D of the flower inlet₁For stretching the safflower filament phi₁1.1-1.3 times of the diameter of the flower inlet₁50-62 mm; diameter D of the cut₂Is the diameter phi of fruit ball₂1.1 to 1.3 times of the diameter of the filament cutting opening D₂Is 26 to 50 mm.

The multi-target pattern aligning device 3-1-1-2 comprises four pattern aligning covers 3-1-1-2-1, and the center distance L of the pattern inlet of the adjacent pattern aligning covers 3-1-1-2-1₂The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired flower covers 3-1-1-2-1 are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.

The screen bar distance L of the necking separation net 3-1-1-2-2₃To a diameter of necking phi₃0.8-0.85 times of the total weight of the powder; the cutting knife length L of the left cutting knife 3-1-1-3-2 and the right cutting knife 3-1-1-3-3₄110-120 mm; wedge angle alpha of cutter₃Is 18 to 22 degrees.

The capacitance detection device 3-1-1-4 comprises a capacitance sensor 3-1-1-4-1 and a sensor line tube 3-1-1-4-2; the fruit fixing area 3-1-1-2 at the upper part of the paired covers 3-1-1-2-1 is provided with a detection device connector 3-1-1-2-1-3 for connecting the capacitive sensor 3-1-1-4-1 in a threaded manner, and the sensor line pipe 3-1-1-4-2 is respectively connected with the capacitive sensor 3-1-1-4-1 and a power supply and information control system 4.

The low-type safflower profiling harvester further comprises a power supply and information control system 4, wherein the power supply and information control system 4 comprises a battery pack 4-1, an electric control system 4-2, a complete machine switch 4-3 and a touch screen operating system 4-4 which are arranged on the support frame 1-1; the battery assembly 4-1, the complete machine switch 4-3 and the touch screen operating system 4-4 are connected with the electric control system 4-2; the battery component 4-1 and the electric control system 4-2 are respectively connected with a carding device driving motor 2-3, an end effector moving electric cylinder 3-1-2, a cutting motor 3-1-1-3-1 and a capacitance detection device 3-1-1-4.

A low safflower profiling harvesting method by using a low safflower profiling harvester comprises the following steps:

s1, pushing the low-type safflower profiling harvester above the low-type safflower plants to enable all multi-flower picking end effector monomers 3-1-1 to form a semi-ellipsoidal harvesting surface and fully cover the crown layers of the low-type safflower plants;

s2, starting a complete machine switch 4-3, operating a touch screen control system 4-4, starting a carding device driving motor 2-3 by an electric control system 4-2, transmitting power to a carding plate body 2-2-1 through a carding plate rotating shaft 2-2-3 and driving the carding plate body 2-2-1 to rotate, and gathering the safflower outside a harvesting range into the harvesting range;

s3, starting an electric cylinder motor 3-1-2-1 of an end effector moving electric cylinder 3-1-2, and enabling an electric cylinder push rod 3-1-2-3 to move downwards along an electric cylinder sleeve 3-1-2-2 to drive each multi-flower picking end effector monomer 3-1-1 to move downwards; the fruit balls enter the flower aligning cover 3-1-1-2-1 of the multi-target flower aligning device 3-1-1-2-1, enter the fruit fixing area 3-1-1-2-1-2 through the flower entering area 3-1-1-2-1-1, the necking of the fruit balls is blocked by the necking separation net 3-1-1-2-2, the fruit balls cannot pass through the necking separation net 3-1-1-2-2, the filaments enter the upper part of the necking separation net 3-1-1-2-2, and the fruit balls are located in the fruit fixing area 3-1-1-2-1-2; each capacitance sensor 3-1-1-4-1 of each multi-flower picking end effector monomer 3-1-1 continuously detects the medium in the paired covers 3-1-1-2-1;

when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and all the capacitance detection devices 3-1-1-4 do not detect the third capacitance C3, the electric cylinder push rod 3-1-2-3 does not enter a harvesting state, and the electric cylinder push rod 3-1-2-3 is restored to the initial state to prepare for next harvesting;

when any one of the following conditions is met, stopping the movement of the electric cylinder push rod 3-1-2-3, enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;

the first condition is as follows: when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and the at least one capacitive sensor 3-1-1-4-1 detects the third capacitance C3;

and a second condition: when the electric cylinder push rod 3-1-2-3 does not reach the maximum stroke, all the capacitance sensors 3-1-1-4-1 detect a third capacitance C3;

s4, the electric control system 4-2 enters a harvesting state, a cutting motor 3-1-1-3-1 of the filament cutting device 3-1-1-3 is started to drive a left cutter 3-1-1-3-2 and a right cutter 3-1-1-3-3 to rotate, and the safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose 3-2-1 through a filament collecting cover 3-1-1-6 and enter a filament collecting box 3-2-2, and filament harvesting is completed;

s5, after the filament harvesting is completed, the electric control system 4-2 finishes the harvesting state, the end effector moves the electric cylinder 3-1-2 to execute the reset stroke, the electric cylinder push rod 3-1-2-3 returns to the initial state, the electric control system 4-2 finishes the harvesting state and enters the standby state, the plant carding device 2 resets and is ready for the next harvesting.

Compared with the prior art, the invention has the beneficial effects that:

1. the design of the end effector register device is optimized by analyzing the distribution rule of the dwarf safflower plants and fruit balls. The multi-target flower aligning device 3-1-1-2 can cover the picking area, and the multi-ball flower aligning without manual assistance can be realized.

2. The copying subareas of the safflower are realized by reasonably arranging the end effectors; different end effector inclinations are designed aiming at different regional safflower fruit ball inclinations, vertical register synchronous harvesting of different inclination fruit balls in different regions is realized, and harvesting efficiency is improved.

3. The capacitance sensor 3-1-1-4-1 detects the medium inside the pair of the flower covers 3-1-1-2-1 at any time. Whether the filament reaches the cutting position is detected through a second capacitor C2 and a third capacitor C3, wherein the second capacitor C2 and the third capacitor C3 are different from the fruit ball in the detection range. When the third capacitor C3 is detected, the filament passes through the detection position and enters the cutting position through the necking separation net 3-1-1-2-2, and the electric control system 4-2 controls the filament cutting device 3-1-1-3 to cut the filament, so that automatic detection and automatic cutting of the filament are realized.

4. Because partial safflower is deviated from the row line when being planted or a few fruit balls exceed the distribution range of the fruit balls, a carding mechanism is added according to the collection range of the end effector; after the carding plate 2 reaches the carding position, the included angle between the lower plate body 2-2-1-2 and the vertical direction is a carding angle alpha₁And gathering the fruit balls beyond the harvesting range within the harvesting range.

Drawings

FIG. 1 is a schematic view of the architecture of the low profile safflower harvester of the present invention;

fig. 2 is a schematic structural view of the hand-push type stand 1 of the present invention;

FIG. 3 is a schematic view of the plant grooming device 2 of the present invention;

FIG. 4 is a schematic view of the construction of carding wire 2-2 of the present invention;

FIG. 5 is a schematic diagram of the filament harvesting system 3 of the present invention;

FIG. 6 is a schematic structural view of the filament picking mechanism 3-1 of the present invention;

FIG. 7 is a schematic representation of dwarf safflower plants;

FIG. 8 is a schematic view of the horizontal distribution of dwarf red flower bulbs and the horizontal distance z between the nearest red flower bulbs;

FIG. 9 is a schematic size diagram of a safflower fruit ball;

FIG. 10 is a schematic view of the installation angle of the filament picking mechanism 3-1 of the present invention;

FIG. 11 is a schematic structural view of the multiple flower picking end effector monomer 3-1-1 and end effector moving electric cylinder 3-1-2 of the present invention;

FIG. 12 is a schematic structural view of a multiple flower picking end effector monomer 3-1-1 of the present invention;

FIG. 13 is a schematic perspective view of the multi-target registration device 3-1-1-2 of the present invention;

FIG. 14 is a schematic cross-sectional view of the register 3-1-1-2-1 of the present invention;

FIG. 15 is a schematic diagram of the distribution of individual dwarf safflower plants in the form of pellets of Ficus carica;

FIG. 16 is a schematic structural view of a safflower fruit ball;

FIG. 17 is a schematic view of the arrangement of the register covers 3-1-1-2-1 of the multi-target register device 3-1-1-2 of the present invention;

FIG. 18 is a schematic view of the construction of a necking screen 3-1-1-2-2 of the present invention;

FIG. 19 is a schematic view of the structure of the filament cutting device 3-1-1-3 of the present invention;

FIG. 20 is a schematic view of the structure of the left cutter 3-1-1-3-2 of the present invention;

FIG. 21 is a schematic view of the structure of the capacitance detection device 3-1-1-4 of the present invention;

FIG. 22 is a schematic view of the installation of the capacitive sensor 3-1-1-4-1 of the present invention;

FIG. 23 is a schematic diagram of the power and information control system 4 of the present invention;

fig. 24 is a flow chart of the recovery method of the present invention.

Wherein the reference numerals are:

1 hand-push type rack 1-1 support frame

1-1-1 front beam 1-1-2 rear beam

1-1-3 left longitudinal beam and 1-1-4 right longitudinal beam

1-1-5 supporting leg 1-2 walking mechanism

1-2-1 universal wheel 1-2-2 linear wheel

1-3 harvesting device mounting rack 1-4 push rod

2 plant carding unit 2-1 carding unit bearing frame

2-2 carding plate 2-2-1 carding plate body

2-2-1-1 upper plate body 2-2-1-2 lower plate body

2-2-2 plate body connecting plate 2-2-3 carding plate rotating shaft

2-3 carding unit driving motor

3-1 filament picking mechanism of 3 filament picking system

3-1-1-1 multi-flower picking end effector monomer 3-1-1-1 end effector shell

3-1-1-1-1 multi-target chamber for aligning 3-1-1-1-2 filament cutting and collecting chamber

3-1-1-1-3 cutting motor installation chamber 3-1-1-1-4 partition plate

3-1-1-1-5 pairs of flower bottom plates and 3-1-1-1-6 flower collecting covers

3-1-1-1-7 filament collecting port 3-1-1-2 multi-target flower aligning device

3-1-1-2-1 paired flower covers 3-1-1-2-1-1 flower inlet area

3-1-1-2 fruit fixing area 3-1-1-2-1-3 detection device connector

3-1-1-2-2 necking separation net 3-1-1-3 filament cutting device

3-1-1-3-1 cutting motor 3-1-1-3-2 left cutting knife

3-1-1-3-2-1 left cutter shaft 3-1-1-3-2-2 left cutter disc

3-1-1-3-3 right cutting knife 3-1-1-3-3-1 right cutting knife shaft

3-1-1-3-3-2 right cutting knife disc 3-1-1-3-4 left cutting knife gear

3-1-1-3-5 right cutting knife gear 3-1-1-4 capacitance detection device

3-1-1-4-1 capacitive sensor 3-1-1-4-2 sensor line tube

3-1-2 end effector moving electric cylinder 3-1-2-1 electric cylinder motor

3-1-2-2 electric cylinder sleeve 3-1-2-3 electric cylinder push rod

3-1-2-4 electric cylinder mounting base 3-1-3 end effector profiling mounting rack

3-2 filament collecting mechanism 3-2-1 filament collecting hose

3-2-2 filament collecting box 3-2-3 negative pressure fan

4 power and information control system 4-1 battery pack

4-2 electric control system 4-3 complete machine switch

4-4 touch screen operating system alpha₁The included angle between the lower plate body and the vertical direction

α₂The included angle between the upper plate body and the lower plate body is D, and the fruit balls are distributed with long diameters

E fruit ball distribution minor diameter H₁Height of dwarf safflower plant

z₁～z₁₀Closest horizontal distance between adjacent fruit balls OC₁First harvesting zone

OC₂Second recovery zone OC₃Third recovery zone

OC₄Fourth recovery zone OC₅The fifth recovery zone

Φ₁Filament spreading diameter phi₂Diameter of fruit ball

Φ₃Dip angle of theta ball of necking diameter

β₁First angle of inclination of harvest beta₂Second angle of harvest

H₂Fruit ball height L₁End effector width

L₂Center distance L of flower inlet₃Distance of screen bars

L₄Length of cutting knife alpha₃Wedge angle of cutter

α₄Fruit fixing area included angle C₆Center line of safflower plant

G vertical direction D₁Diameter of flower inlet

D₂Diameter of the cut

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

As shown in figure 1, the dwarf safflower profiling harvester comprises a hand-push type frame 1, and a plant carding device 2, a filament harvesting system 3 and a power supply and information control system 4 which are arranged on the hand-push type frame 1.

As shown in figure 2, the hand-push type frame 1 comprises a support frame 1-1, a walking mechanism 1-2, a harvesting device mounting frame 1-3 and a push rod 1-4.

The support frame 1-1 comprises a front cross beam 1-1-1, a rear cross beam 1-1-2, a left longitudinal beam 1-1-3, a right longitudinal beam 1-1-4 and support legs 1-1-5, wherein the front cross beam 1-1-1, the left longitudinal beam 1-1-3, the rear cross beam 1-1-2 and the right longitudinal beam 1-1-4 are connected end to form a rectangular frame; the top ends of the four vertically arranged supporting legs 1-1-5 are fixedly connected with four corners of the rectangular frame, and the bottom ends are provided with a travelling mechanism 1-2.

The traveling mechanisms 1-2 positioned on the two front supporting legs 1-1-5 are universal wheels 1-2-1; the running mechanisms 1-2 on the two supporting legs 1-1-5 at the rear part are straight-line wheels 1-2-2.

Two harvesting device mounting frames 1-3 which are bilaterally symmetrical and parallel to the left longitudinal beam 1-1-3 and the right longitudinal beam 1-1-4 are respectively and fixedly connected between the two left supporting legs 1-1-5 and between the two right supporting legs 1-1-5. The push rod 1-4 is fixedly connected with the rear end of the rear cross beam 1-1-2.

The plant carding device 2 is two groups of plant carding mechanisms which are symmetrical left and right and have the same structure. As shown in figure 3, the plant carding mechanism comprises a carding device bearing seat 2-1, a carding plate 2-2 and a carding device driving motor 2-3; two carding unit bearing blocks 2-1 are respectively and fixedly connected with two supporting legs 1-1-5 on one side. The carding device driving motor 2-3 is fixedly connected to the harvesting device mounting frame 1-3.

As shown in FIG. 4, the carding plate 2-2 comprises a carding plate body 2-2-1, a plate body connecting plate 2-2-2 and a carding plate rotating shaft 2-2-3; two coaxial carding plate rotating shafts 2-2-3 are respectively and fixedly connected to the outer side of the carding plate body 2-2-1 through a plate body connecting plate 2-2-2, and the carding plate rotating shafts 2-2-3 are arranged in a bearing seat 2-1 of the carding device through bearings; and a power output shaft of the carding device driving motor 2-3 is connected with the carding plate rotating shaft 2-2-3 through a coupler.

The carding plate body 2-2-1 is bent up and down along the horizontal central line and is divided into an upper plate body 2-2-1-1 and a lower plate body 2-2-1-2, wherein the upper plate body 2The included angle alpha between-2-1-1 and the lower plate body 2-2-1-2₂150 to 155 degrees; when the card is not in a carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction₁Is 25 to 30 degrees; when in carding state, the included angle alpha between the lower plate body 2-2-1-2 and the vertical direction₁Is 52-55 degrees, and can gather the safflower outside the distribution range into the harvesting range.

As shown in FIG. 5, the filament harvesting system 3 includes a filament picking mechanism 3-1 and a filament collecting mechanism 3-2.

The filament collecting mechanism 3-2 comprises a filament collecting box 3-2-2, a filament collecting hose 3-2-1 and a negative pressure fan 3-2-3, wherein the filament collecting hose is connected to the filament collecting box 3-2-2; the filament collecting box 3-2-2 is fixedly connected to the rectangular frame of the support frame 1-1.

As shown in FIG. 6, the filament picking mechanism 3-1 comprises a multi-flower picking end effector single body 3-1-1, an end effector moving electric cylinder 3-1-2 and an end effector profiling mounting frame 3-1-3.

The end effector copying mounting frame 3-1-3 is fixedly connected to the harvesting device mounting frame 1-3, the end effector moving electric cylinders 3-1-2 are fixedly connected to the end effector copying mounting frame 3-1-3, each end effector moving electric cylinder 3-1-2 is fixedly connected to one multi-flower picking end effector monomer 3-1-1, and all the multi-flower picking end effector monomers 3-1-1 form a semi-ellipsoidal harvesting surface corresponding to the short safflower plant canopy, so that full coverage of the safflower plant fruit balls is realized.

As shown in FIG. 7, the height of the dwarf safflower plant is H₁The distribution range of the plant fruit balls can be similar to a semi-ellipsoid with the fruit ball distribution major diameter D of 400mm and the fruit ball distribution minor diameter E of 120 mm.

Preferably, as shown in fig. 5, 6, 8 and 9, the short safflower profiling harvester is provided with ten multi-flower picking end effector monomers 3-1-1 in total, every five multi-flower picking end effector monomers 3-1-1 form a picking row, and the two picking rows are symmetrically arranged in the end effector profiling mounting frame 3-1-3. As shown in fig. 7 and 8, the dwarf safflower plant canopy is divided into five harvesting areas in turn according to the inclination angle distribution rule of the individual safflower ball: first harvesting zone OC₁A second recovery area OC₂A third recovery area OC₃And a fourth recovery area OC₄And a fifth recovery zone OC₅(ii) a Five multi-flower picking end effector monomers 3-1-1 in the picking row correspond to five picking areas one by one. Wherein, it is connected with a first recovery area OC₁And a fifth recovery zone OC₅A first picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1₁Is 25 degrees to 27 degrees; with a second recovery zone OC₂And a fourth recovery zone OC₄A second picking inclination angle beta between the longitudinal axis and the vertical direction of the corresponding multi-flower picking end effector monomer 3-1-1₂10 to 12 degrees; and a third recovery area OC₃The longitudinal axis of the corresponding multi-flower picking end effector monomer 3-1-1 is parallel to the vertical direction.

The width of the end effector monomer 3-1-1 for picking the flowers is L₁Then is communicated with a third recovery area OC₃The corresponding horizontal coverage length of the multi-flower picking end effector monomer 3-1-1 is L₁(ii) a With a second recovery zone OC₂And a fourth recovery zone OC₄The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL₁cosβ₂(ii) a With a first recovery zone OC₁And a fifth recovery zone OC₅The horizontal coverage length of the corresponding multi-flower picking end effector monomer 3-1-1 is 2 xL₁cosβ₁(ii) a As shown in Figs. 9 and 10, in the harvesting state, the edges of the five multi-flower picking end effector units 3-1-1 in the picking row are close and the total horizontal coverage length L₁+2×L₁cosβ₁+2×L₁cosβ₂The distribution major diameter D of the plant fruit balls is more than or equal to that of the plant fruit balls, and the full coverage of the safflower plant fruit balls is realized.

As shown in fig. 10, the centerline C of safflower plant is used₆The function of the longitudinal axis of five multi-flower picking end effector monomers 3-1-1 in the picking row is determined as follows by taking the intersection point with the ground as the circle center, taking the horizontal direction as the u axis and taking the vertical direction as the w axis respectively:

with a first recovery zone OC₁The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -1.927 u-47.71; with a second recovery zone OC₂The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: -4.695 u-133.01; and a third recovery area OC₃The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: u is 0; with a fourth recovery zone OC₄The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 4.695 u-133.01; with a fifth recovery zone OC₅The longitudinal axis function of the corresponding multi-flower picking end effector monomer 3-1-1 is: w is 1.927 u-47.71.

As shown in FIG. 11, the end effector moving electric cylinder 3-1-2 comprises an electric cylinder motor 3-1-2-1, an electric cylinder sleeve 3-1-2-2, an electric cylinder push rod 3-1-2-3 and an electric cylinder mounting seat 3-1-2-4; the electric cylinder mounting seat 3-1-2-4 is fixedly connected to the end effector copying mounting frame 3-1-3; the electric cylinder sleeve 3-1-2-2 is fixedly connected to the electric cylinder mounting seat 3-1-2-4; the electric cylinder push rod 3-1-2-3 is arranged inside the electric cylinder sleeve 3-1-2-2 and is connected with the electric cylinder motor 3-1-2-1. The electric cylinder motor 3-1-2-1 is a stepping motor and can adjust the movement stroke of the electric cylinder push rod 3-1-2-3.

As shown in fig. 12, the multi-flower picking end effector monomer 3-1-1 comprises an end effector shell 3-1-1-1, a multi-target flower aligning device 3-1-1-2, a filament cutting device 3-1-1-3, and a capacitance detection device 3-1-1-4;

the end effector housing 3-1-1-1 is divided into three chambers: the multi-target pattern aligning chamber 3-1-1-1-1, the filament cutting and collecting chamber 3-1-1-2 and the cutting motor mounting chamber 3-1-1-1-3; the filament cutting and collecting chamber 3-1-1-1-2 is positioned above the multi-target pattern aligning chamber 3-1-1-1 and is separated from each other by a partition plate 3-1-1-1-4; the cutting motor installation chamber 3-1-1-1-3 is positioned at one side of the multi-target register chamber 3-1-1-1-1 and the filament cutting and collecting chamber 3-1-1-2. The bottom of the multi-target pattern aligning cavity 3-1-1-1-1 is an aligning bottom plate 3-1-1-1-5; the top of the filament cutting and collecting chamber 3-1-1-1-2 is provided with a flower collecting cover 3-1-1-6, and the flower collecting cover 3-1-1-1-6 is provided with a filament collecting port 3-1-1-7 connected with a filament collecting hose 3-2-1.

As shown in fig. 13 to 14, the multi-target register device 3-1-1-2 includes a plurality of register covers 3-1-1-2-1 arranged in an array; the pair of flower covers 3-1-1-2-1 are arranged on multiple eyesThe mark register chamber 3-1-1-1-1 is fixedly connected between the partition board 3-1-1-1-4 and the register bottom board 3-1-1-1-5 and is communicated up and down; the diameter D of the flower inlet of the flower-aligning cover 3-1-1-2-1 on the flower-aligning bottom plate 3-1-1-1-5₁Is larger than the diameter D of the cutting opening on the spacing plate 3-1-1-1-4₂. The pair of flower covers 3-1-1-2-1 is divided into the following parts from bottom to top: a flower inlet area 3-1-1-2-1-1 and a fruit fixing area 3-1-1-2-1-2; the flower inlet area 3-1-1-2-1-1 is in an outer ellipsoid shape; the fruit fixing area 3-1-1-2-1-2 is in a round table shape, and an included angle alpha between a generatrix of the round table and the bottom surface₄Is 78-85 degrees.

As shown in FIG. 15, the closest horizontal distance between adjacent fruit balls in the individual dwarf red flower plants is z₁～z₁₀The average value is z; the horizontal range of the fruit ball of the single plant dwarf safflower can be regarded as a circle with the diameter D, and the coverage length of 3-1-1L of five side-by-side multi-flower picking end effector monomers in each picking row is 5L₁Greater than fruit ball distribution major diameter D, 5L₁＞D。

As shown in FIG. 16, the Ficus carica flower spread phi₁Diameter of fruit ball phi₂Diameter of neck of phi₃Fruit ball height H₂The dip angle theta of the fruit ball is the included angle between the growth direction of the safflower filaments and the vertical direction, namely the included angle between the connecting line of the center of the bottom of the fruit ball and the center of the necking down and the vertical direction. Measured, the spread phi of the filaments of most of the carthamus tinctorius flowers₁Is 42-55 mm, and the diameter phi of the fruit ball₂22-28 mm, and a neck diameter phi₃3.5-5.5 mm, fruit ball height H₂The average value z of the nearest horizontal distance between adjacent fruit balls in the safflower plants is 18-25 mm, and is 45-55 mm.

As shown in FIG. 17, the multi-target register device 3-1-1-2 comprises four register covers 3-1-1-2-1, and the center distance L of the flower inlet of the adjacent register cover 3-1-1-2-1₂The average value z of the minimum horizontal distance between adjacent fruit balls is equal, and the value range of the average value z is 45-55 mm; the centers of the flower inlets of the four paired flower covers 3-1-1-2-1 are positioned on four vertexes of a rhombus with a vertex angle of 60 degrees.

The diameter D of the flower inlet₁For stretching the safflower filament phi₁1.1-1.3 times of the diameter of the flower inlet₁50-62 mm; diameter D of the cut₂Is the diameter phi of fruit ball₂1.1 to 1.3 times of the diameter of the filament cutting opening D₂Is 26 to 50 mm.

The capacitance detection device 3-1-1-4 is arranged at the upper part of the patterned cover 3-1-1-2-1 and is used for detecting whether the filament reaches the cutting position.

The shredding opening of each patterned shade 3-1-1-2-1 is provided with a necking separation net 3-1-1-2-2, and the necking separation net 3-1-1-2-2 is fixedly connected to the partition plate 3-1-1-1-4.

As shown in fig. 18, the screen bar distance L of the necking separation net 3-1-1-2-2₃To a diameter of necking phi₃0.8 to 0.85 times of the total weight of the powder.

As shown in FIG. 19, the cut filament cutting device 3-1-1-3 includes a cutting motor 3-1-1-3-1 disposed in a cutting motor installation chamber 3-1-1-1-3, and a left cutter 3-1-1-3-2 and a right cutter 3-1-1-3-3 disposed in a filament cutting collection chamber 3-1-1-1-2.

The left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are both blades with arc cross sections, and the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 are arranged on the two sides of the partition plate 3-1-1-1-4 in a bilateral symmetry manner; the tail ends of the left cutter 3-1-1-3-2 and the right cutter 3-1-1-3-3 extend into the cutting motor installation chamber 3-1-1-1-3 and are respectively and vertically and fixedly connected with the edge of the front end face of the left cutter disc 3-1-1-3-2 and the right cutter disc 3-1-1-3-3-2; the center of the rear end face of the left cutter disc 3-1-1-3-2-2 is fixedly connected with a left cutter shaft 3-1-1-3-2-1, and the center of the rear end face of the right cutter disc 3-1-1-3-3-2 is fixedly connected with a right cutter shaft 3-1-1-3-3-1; a left cutter gear 3-1-1-3-4 is fixedly connected to the left cutter shaft 3-1-1-3-2-1, a right cutter gear 3-1-1-3-5 is fixedly connected to the right cutter shaft 3-1-1-3-3-1, and the left cutter gear 3-1-1-3-4 and the right cutter gear 3-1-1-3-5 are meshed with each other; the driving gear on the power output shaft of the cutting motor 3-1-1-3-1 is meshed with the left cutter gear 3-1-1-3-4 or the right cutter gear 3-1-1-3-5.

As shown in fig. 20, the cutting knife length L of the left cutting knife 3-1-1-3-2 and the right cutting knife 3-1-1-3-3₄110-120 mm; wedge angle alpha of cutter₃Is 18 degrees to 22 degrees;

as shown in fig. 21 and 22, the capacitance detection device 3-1-1-4 includes a capacitance sensor 3-1-1-4-1 and a sensor line tube 3-1-1-4-2. The fruit fixing area 3-1-1-2 at the upper part of the paired covers 3-1-1-2-1 is provided with a detection device connector 3-1-1-2-1-3 for connecting the capacitive sensor 3-1-1-4-1 in a threaded manner, and the sensor line pipe 3-1-1-4-2 is respectively connected with the capacitive sensor 3-1-1-4-1 and a power supply and information control system 4. The detection distance of the capacitive sensor 3-1-1-4-1 is 8-10 mm. The capacitance sensor 3-1-1-4-1 continuously detects the medium in the patterned cover 3-1-1-2-1; when no medium exists in the register 3-1-1-2-1, the capacitance sensor 3-1-1-4-1 detects a first capacitance C1; when the filament passes through the detection range of the capacitive sensor 3-1-1-4-1, the capacitive sensor 3-1-1-4-1 detects a second capacitance C2, and when the fruit ball enters the detection range of the capacitive sensor 3-1-1-4-1, the capacitive sensor 3-1-1-4-1 detects a third capacitance C3; because the filament is a fluffy structure and has high water content, and the fruit ball is a solid structure, the difference between the second capacitor C2 and the third capacitor C3 is larger.

As shown in fig. 23, the power supply and information control system 4 includes a battery assembly 4-1 mounted on the support frame 1-1, an electric control system 4-2, a complete machine switch 4-3, and a touch screen operating system 4-4; the battery assembly 4-1, the complete machine switch 4-3 and the touch screen operating system 4-4 are connected with the electric control system 4-2; the battery component 4-1 and the electric control system 4-2 are respectively connected with a carding device driving motor 2-3, an end effector moving electric cylinder 3-1-2, a cutting motor 3-1-1-3-1 and a capacitance detection device 3-1-1-4; the electric control system 4-2 receives signals of the capacitance detection device 3-1-1-4 and controls the carding device driving motor 2-3, the end effector moving electric cylinder 3-1-2 and the cutting motor 3-1-1-3-1.

As shown in fig. 24, a method for low safflower profiling harvesting by using a low safflower profiling harvester comprises the following steps:

s1, pushing the low-type safflower profiling harvester above the low-type safflower plants to enable all multi-flower picking end effector monomers 3-1-1 to form a semi-ellipsoidal harvesting surface and fully cover the crown layers of the low-type safflower plants;

s2, starting a complete machine switch 4-3, operating a touch screen control system 4-4, starting a carding device driving motor 2-3 by an electric control system 4-2, transmitting power to a carding plate body 2-2-1 through a carding plate rotating shaft 2-2-3 and driving the carding plate body 2-2-1 to rotate, and gathering the safflower outside a harvesting range into the harvesting range;

s3, starting an electric cylinder motor 3-1-2-1 of an end effector moving electric cylinder 3-1-2, and enabling an electric cylinder push rod 3-1-2-3 to move downwards along an electric cylinder sleeve 3-1-2-2 to drive each multi-flower picking end effector monomer 3-1-1 to move downwards; the fruit balls enter the flower aligning cover 3-1-1-2-1 of the multi-target flower aligning device 3-1-1-2-1, enter the fruit fixing area 3-1-1-2-1-2 through the flower entering area 3-1-1-2-1-1, the necking of the fruit balls is blocked by the necking separation net 3-1-1-2-2, the fruit balls cannot pass through the necking separation net 3-1-1-2-2, the filaments enter the upper part of the necking separation net 3-1-1-2-2, and the fruit balls are located in the fruit fixing area 3-1-1-2-1-2; each capacitance sensor 3-1-1-4-1 of each multi-flower picking end effector monomer 3-1-1 continuously detects the medium in the paired covers 3-1-1-2-1;

when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and all the capacitance detection devices 3-1-1-4 do not detect the third capacitance C3, the electric cylinder push rod 3-1-2-3 does not enter a harvesting state, and the electric cylinder push rod 3-1-2-3 is restored to the initial state to prepare for next harvesting;

when any one of the following conditions is met, stopping the movement of the electric cylinder push rod 3-1-2-3, enabling the harvester to enter a harvesting state, and executing the step S4 to cut the filaments;

the first condition is as follows: when the electric cylinder push rod 3-1-2-3 reaches the maximum stroke and the at least one capacitive sensor 3-1-1-4-1 detects the third capacitance C3;

and a second condition: when the electric cylinder push rod 3-1-2-3 does not reach the maximum stroke, all the capacitance sensors 3-1-1-4-1 detect a third capacitance C3;

s4, the electric control system 4-2 enters a harvesting state, a cutting motor 3-1-1-3-1 of the filament cutting device 3-1-1-3 is started to drive a left cutter 3-1-1-3-2 and a right cutter 3-1-1-3-3 to rotate, and the safflower filaments are cut; after the filaments are cut, under the action of negative pressure, the filaments enter a filament collecting hose 3-2-1 through a filament collecting cover 3-1-1-6 and enter a filament collecting box 3-2-2, and filament harvesting is completed;

s5, after the filament harvesting is completed, the electric control system 4-2 finishes the harvesting state, the end effector moves the electric cylinder 3-1-2 to execute the reset stroke, the electric cylinder push rod 3-1-2-3 returns to the initial state, the electric control system 4-2 finishes the harvesting state and enters the standby state, the plant carding device 2 resets and is ready for the next harvesting.

The above embodiments are only used for illustrating the present invention, and the structure, connection mode, etc. of the components may be changed, and all equivalent changes and modifications based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.