CN116830886A - Broccoli picking machine and picking method thereof - Google Patents

Abstract

The invention discloses a broccoli picking machine and a picking method thereof. According to the invention, a fixed plate of the lifting device is fixed with a vehicle body, a lifting mechanism is arranged on the fixed plate, and the lifting mechanism drives a supporting plate I of the supporting and clamping device to lift; in the picking device, a picking manipulator and a cutting tool are arranged on a fixed column, the picking manipulator is driven by a first driving motor, and the cutting tool is driven by a driving piece; in the trimming device, a circular arc rack and a circular arc groove formed in a circular arc base form a sliding pair, a cutter base is fixed on the circular arc rack, a cutter movable plate and the cutter base form the sliding pair, the trimming blade is connected with the cutter base through a second spring, and the trimming blade is fixed with the cutter movable plate. According to the invention, the pruning tool is used for pruning the lateral branches and the lateral buds on the stems of the broccoli, and the cutting tool and the picking manipulator are used for picking and collecting the broccoli, so that the integral automation of the pruning, picking and collecting of the broccoli is realized, and the working efficiency is improved.

Description

Broccoli picking machine and picking method thereof

Technical Field

The invention belongs to the technical field of broccoli picking, and particularly relates to a broccoli picking machine and a broccoli picking method.

Background

Along with the improvement of living conditions, people pay more attention to the physical health of individuals, and the broccoli is a common vegetable which is rich in cellulose and vitamins and has higher edible value. In recent years, the demands and planting scale of the broccoli are continuously enlarged, most of the existing broccoli picking modes are manually picked and trimmed, and some broccoli automatic picking devices are also available on the market, but the broccoli picked by the machine is not trimmed, and the lateral branches and the lateral buds of the stem part of the broccoli need to be manually trimmed, so that the problem of low treatment efficiency exists, and further the picking efficiency of a broccoli planter is low, and the income is damaged.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a broccoli picking machine and a picking method thereof.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention relates to a broccoli picking machine which comprises a vehicle body, a lifting device, a picking device, a trimming device and a supporting and clamping device. The lifting device comprises a fixed plate, a lifting mechanism and a contact mechanism; the fixed plate is vertically fixed at the front end of the vehicle body, and is provided with a lifting mechanism which drives a supporting plate I of the supporting and clamping device to lift; the contact mechanism comprises an electric telescopic rod I and a soft contact ring, a connecting plate which is horizontally arranged is fixed at the upper end of the fixing plate, a cylinder body of the electric telescopic rod I is fixed with the connecting plate, a piston rod of the electric telescopic rod I faces downwards and is fixed with the soft contact ring which is horizontally arranged, and a pressure sensor I is arranged on the soft contact ring. Wherein, the front end of the vehicle body is positioned at one side of the lifting device and is detachably fixed with a collecting basket.

The picking device comprises a fixed column, a first driving motor, a driving piece, a cutting tool and a picking manipulator; the fixed column is vertically fixed on the first supporting plate; the cutting tool comprises a cutting blade and a first gear, the first gear is sleeved on the fixed column through a round hole formed in the first gear and is supported on a convex ring integrally formed on the fixed column, the first gear and the fixed column form a revolute pair and are driven by a driving piece, and the cutting blade is horizontally fixed on the upper end face of the first gear; the picking manipulator is located the top of cutting tool, and the picking manipulator includes pneumatic claw and electric telescopic handle II, driving motor I's output shaft down to it is fixed with the fixed column, electric telescopic handle II's cylinder body level is fixed on driving motor I's casing, is equipped with pneumatic claw on electric telescopic handle II's the piston rod, and pneumatic claw's clamping jaw I inboard is equipped with pressure sensor II. In the initial state, the pneumatic claw is positioned above the collecting basket.

The supporting and clamping device comprises a supporting mechanism and a clamping mechanism; the supporting mechanism comprises a first supporting plate, a second supporting plate, guide rails and a spring telescopic rod, wherein the second supporting plate is fixed on the first supporting plate through a supporting column, the first supporting plate and the second supporting plate are horizontally arranged in parallel, the distance between the two guide rails is fixed on the second supporting plate, a second horizontally arranged gear is hinged in each guide rail, and the first supporting plate is provided with a vertically arranged spring telescopic rod.

The clamping mechanism comprises a connecting rod, a movable block and a clamping jaw assembly; the connecting rod is horizontally fixed on the spring telescopic rod, and the integrally formed cylindrical rod on the movable block and the first hole formed in the connecting rod form a sliding pair and are connected with the connecting rod through the first spring; the two clamping jaw assemblies are symmetrically arranged on the connecting rod, each clamping jaw assembly comprises a movable pull rod, a first connecting rod, a second connecting rod and a second clamping jaw, two ends of the movable pull rod are respectively hinged with the middle part of the first connecting rod and the connecting rod, two ends of the first connecting rod are respectively hinged with the movable block and the rear end of the second clamping jaw, and two ends of the second connecting rod are respectively hinged with the movable block and the middle part of the second clamping jaw; and a pressure sensor III is arranged at the front end of the movable block.

The trimming device comprises a trimming cutter and a rotating mechanism; the rotating mechanism comprises a circular arc base, a third gear and a circular arc rack, wherein a circular arc groove formed in the circular arc base is formed by the circular arc rack and a circular arc groove formed in the circular arc base which is horizontally arranged, a U-shaped plate which is horizontally arranged is fixed in the middle of the outer side of the circular arc base, two inner sides of arms of the U-shaped plate and two guide rails respectively form a sliding pair, straight racks are fixed on the outer sides of the two arms of the U-shaped plate, the two straight racks and the two gears respectively form a gear pair, and a driving motor II drives one gear II; the outer side of the circular arc base is equidistantly hinged with n gears which are horizontally arranged along the circumferential direction, n is more than or equal to 2, the gears pass through notches formed in corresponding positions on the circular arc base and form a gear pair with the circular arc racks, and two gears with the farthest distance are respectively driven by a driving motor.

The trimming cutter comprises a cutter base, a cutter movable plate, a buffer rod, a trimming blade and a contact wheel; the cutter base is vertically fixed on the circular arc-shaped rack, a cylindrical rod integrally formed on the cutter movable plate and a hole II formed on the cutter base form a sliding pair, and the sliding pair is connected with the cutter base through a spring II; the buffer rods and a hole III formed in the cutter movable plate form a sliding pair and are connected with the cutter movable plate through a spring III, the buffer rods are horizontally provided with two buffer rods which are arranged at intervals up and down, one buffer rod is provided with a pressure sensor IV, and a contact wheel is arranged between the two buffer rods; the trimming blade is fixed with the cutter movable plate and is arranged at an included angle, and a distance sensor is arranged at the upper end of the cutter movable plate.

Preferably, the vehicle body comprises wheels and a frame chassis, and the wheels are hinged at four corners of the frame chassis; the collecting basket and the fixing plate are both fixed with the frame chassis.

Preferably, the lifting mechanism comprises an L-shaped lifting bottom plate, a connecting roller and a chain transmission mechanism, wherein two chain wheels of the chain transmission mechanism are arranged at an upper-lower interval and form a revolute pair with a fixed plate, the left end and the right end of the fixed plate are respectively provided with the chain transmission mechanism, the two chain transmission mechanisms are driven by a driving motor in a four-synchronous way, the L-shaped lifting bottom plate and the fixed plate form a sliding pair, and the sliding pair is fixed with chains in the two chain transmission mechanisms through the connecting roller which is horizontally arranged; the first supporting plate is fixed on the L-shaped lifting bottom plate.

Preferably, the driving piece comprises a mechanism base and a servo motor, wherein the mechanism base is fixed with the fixed column, a shell of the servo motor is fixed with the mechanism base, and a gear IV fixed on an output shaft of the servo motor is meshed with the gear I.

Preferably, the spring telescopic rod comprises a supporting rod and a straight rod, the supporting rod is fixed on the first supporting plate, and the straight rod and a hole IV formed in the supporting rod form a sliding pair and are connected with the supporting rod through a spring IV; the connecting rod is fixed with the straight rod.

Preferably, the contact wheel comprises a hemisphere, a rotating shaft, mounting rings and rolling shafts, two ends of the rotating shaft and two buffer rods respectively form a revolute pair, two mounting rings which are arranged at intervals are fixed on the rotating shaft, two rolling shafts which are symmetrically and coaxially arranged are fixed on the mounting rings, the rolling shafts and hemispheres form the revolute pair, and each group of two hemispheres which are positioned on the same side on the two mounting rings are connected through a contact belt.

More preferably, the annular protrusion integrally formed on the contact strip is embedded in an annular groove formed on the hemisphere.

The invention discloses a picking method of a broccoli picking machine, which comprises the following steps:

the first step, after the lifting mechanism drives the supporting plate to descend by a preset distance I, the vehicle body moves forward, the stem of the target broccoli is positioned between the two clamping jaws II, along with the forward movement of the vehicle body, the movable block is contacted with the lower end of the stem of the target broccoli and moves backwards along the hole, the first spring is compressed, the two movable pull rods push the corresponding first connecting rod to rotate forwards, the first connecting rod drives the second connecting rod and the clamping jaws II to rotate forwards, the two clamping jaws II clamp the lower end of the stem of the target broccoli, when the pressure value detected by the pressure sensor III is in the preset pressure range I, the vehicle body stops moving forward, and the contact mechanism is positioned right above the broccoli.

And step two, the controller controls the piston rod of the electric telescopic rod I to extend, and the soft contact ring is contacted with the top of the broccoli until the pressure value detected by the pressure sensor I is within a preset pressure range II.

And thirdly, the controller controls the driving motor to drive the corresponding gear II to rotate, the two gears II are respectively meshed with the two straight racks on the U-shaped plate, the arc-shaped base is driven to move forwards, the contact wheel is contacted with the middle part of the stalk of the broccoli, the buffer rod and the cutter movable plate are further pushed to move backwards along the hole III and the hole II respectively, the spring III and the spring II are compressed, and when the pressure value detected by the pressure sensor IV is within the preset pressure range III, the controller controls the driving motor II to stop working.

Step four, the controller controls the two driving motors to synchronously drive the corresponding gears III to be meshed with the arc-shaped racks, the arc-shaped racks rotate around stems of broccoli along the arc-shaped grooves, so that the pruning cutter is driven to rotate around the stems of broccoli, and meanwhile, the lifting mechanism drives the supporting plate I to lift, so that the pruning cutter is driven to lift, the pruning cutter is driven to do spiral lifting movement, and the pruning blade cuts lateral branches and lateral buds on the stems of broccoli; the first supporting plate moves upwards, the spring telescopic rod is shortened, and the height of the clamping mechanism is kept unchanged; when the distance sensor detects that the distance between the upper end of the movable cutter plate and the connecting plate reaches a preset distance II, the lifting mechanism stops working, the controller controls the three driving motors to continue working until the arc-shaped rack and the trimming cutter rotate to the initial position, the controller controls the piston rod of the first electric telescopic rod to shorten to the initial position, controls the second driving motor to drive the corresponding gear II, the U-shaped plate drives the arc-shaped base to move backwards to the initial position, the contact wheel is separated from the stem of the broccoli, and meanwhile, the buffer rod and the movable cutter plate move forwards to the initial state along the third hole and the second hole respectively due to the restoring force of the third spring and the second spring, so that trimming of lateral branches and side buds on the stem of the broccoli is completed.

Fifthly, the controller controls the driving motor to drive the picking manipulator to rotate forward 180 degrees; then the controller controls the piston rod of the second electric telescopic rod to extend until the stem of the broccoli is positioned between the first clamping jaws of the pneumatic claw, and controls the first clamping jaws of the pneumatic claw to move oppositely to clamp the stem of the broccoli until the pressure value detected by the second pressure sensor is within a preset pressure range IV; then the driving piece drives the gear to drive the cutting blade to rotate 360 degrees, the cutting blade cuts the broccoli, the first driving motor of the controller controls the first driving picking manipulator to rotate reversely for 180 degrees, the picking manipulator drives the broccoli to move to the upper part of the collecting basket, the pneumatic claw releases the broccoli, the broccoli falls into the collecting basket, picking and collecting of the broccoli are completed, and the second piston rod of the electric telescopic rod is controlled by the controller to be shortened to an initial state.

Step six, the vehicle body moves backwards, the movable block is separated from the bottom of the stem of the target broccoli, the movable block moves forwards along the hole under the action of the restoring force of the first spring, the corresponding first connecting rod is pulled by the two movable pull rods to rotate backwards, the second connecting rod and the second clamping jaw are driven by the first connecting rod to rotate backwards to an initial state, meanwhile, the spring telescopic rod stretches and returns to the initial state, and the supporting plate is driven by the lifting mechanism to descend to the initial height.

The invention has the following beneficial effects:

1. according to the invention, the rotary mechanism and the lifting mechanism drive the pruning tool to do spiral lifting motion around the broccoli stalks, and the pruning blade of the pruning tool prunes the lateral branches and the lateral buds on the broccoli stalks without manually pruning, so that the processing efficiency is improved; when the distance between the upper end of the cutter movable plate and the connecting plate reaches a preset distance II, the lifting mechanism stops working, after the pruning cutter completes pruning, the picking manipulator clamps stems of broccoli, the driving piece drives the cutting blade to rotate 360 degrees to cut the broccoli, the broccoli is placed into the collecting basket through the picking manipulator, picking and collecting of the broccoli are completed, manual picking and collecting are not needed, picking efficiency is improved, and meanwhile, the height of the picked broccoli is basically consistent; the invention realizes the integrated automation of pruning, picking and collecting the broccoli, improves the working efficiency and liberates the labor force.

2. The invention is provided with the contact wheel which is used for stabilizing the broccoli stalks in the pruning process of the pruning tool, and simultaneously, the friction force between the contact belt and the broccoli stalks drives the hemispheres and the rotating shaft to rotate around the central axis of the rotating shaft and drive the hemispheres to rotate around the central axis of the corresponding rolling shaft, so that the friction force between the pruning tool and the broccoli stalks is reduced, and the pruning tool is prevented from being influenced by side branches and side buds on the broccoli stalks and being incapable of pruning the broccoli.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the vehicle body, the lifting device and the collecting basket according to the present invention;

FIG. 3 is a schematic view of the structure of the picking device, the trimming device and the supporting and clamping device according to the present invention;

FIG. 4 is a schematic view of the picking apparatus of the present invention;

FIG. 5 is a schematic view of the structure of the picking apparatus and the supporting and clamping apparatus of the present invention;

FIG. 6 is a schematic view of a clamping mechanism according to the present invention;

FIG. 7 is a top view of the trimming device of the present invention;

FIG. 8 is a cross-sectional view of the trimming cutter of the present invention;

FIG. 9 is a schematic view of the contact wheel of the present invention;

FIG. 10 is a partial cross-sectional view of the contact wheel of the present invention;

fig. 11 is an enlarged view of a portion a in fig. 10.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, the broccoli picking machine of the present invention comprises a body 1, a lifting device 2, a picking device 3, a trimming device 4 and a supporting and clamping device 5.

As shown in fig. 2, the lifting device 2 includes a lifting mechanism, a fixing plate 24, and a contact mechanism 25; the fixed plate 24 is vertically fixed at the front end of the vehicle body 1, and a lifting mechanism is arranged on the fixed plate 24 and drives the first support plate 511 of the supporting and clamping device 5 to lift; the contact mechanism 25 comprises an electric telescopic rod I and a soft contact ring, a connecting plate which is horizontally arranged is fixed at the upper end of the fixing plate 24, a cylinder body of the electric telescopic rod I is fixed with the connecting plate, a piston rod of the electric telescopic rod I faces downwards and is fixed with the soft contact ring which is horizontally arranged, and a pressure sensor I is arranged on the soft contact ring. Wherein, the front end of the vehicle body 1 is positioned at one side of the lifting device 2 and is detachably fixed with a collecting basket 13.

As shown in fig. 3 and 4, the picking device 3 includes a fixed column, a first driving motor, a driving member 31, a cutting tool 32, and a picking manipulator 33; the fixed column is vertically fixed on the first support plate 511; the cutting tool 32 comprises a cutting blade 321 and a first gear 322, the first gear 322 is sleeved on the fixed column through a round hole formed in the first gear, and is supported on a convex ring integrally formed on the fixed column, the first gear 322 and the fixed column form a revolute pair and are driven by the driving piece 31, and the cutting blade 321 is horizontally fixed on the upper end face of the first gear 322; the picking manipulator 33 is located the top of cutting tool 32, and picking manipulator 33 includes pneumatic claw 331 and electric telescopic handle two 332, and driving motor one's output shaft down to fixed with the fixed column, electric telescopic handle two's 332 cylinder body level is fixed on driving motor one's casing, is equipped with pneumatic claw 331 on electric telescopic handle two's 332 piston rod, and pneumatic claw 331's clamping jaw one inboard is equipped with pressure sensor two. In the initial state, the pneumatic claw 331 is located above the collection basket 13.

As shown in fig. 3 and 5, the supporting and clamping device 5 includes a supporting mechanism 51 and a clamping mechanism 52; the support mechanism 51 includes a first support plate 511, a second support plate 512, a guide rail 513, a second gear 514, and a spring expansion link 515; the second support plate 512 is fixed on the first support plate 511 through a support column, the first support plate 511 and the second support plate 512 are horizontally arranged in parallel, the two guide rails 513 are fixed on the second support plate 512 at intervals, and a second horizontally arranged gear 514 is hinged in each guide rail 513; the first support plate 511 is provided with a vertically arranged spring telescopic rod 515.

As shown in fig. 6, the clamping mechanism 52 includes a connecting rod 521, a movable block 523, and a jaw assembly; the connecting rod 521 is horizontally fixed on the spring telescopic rod 515, and the integrally formed cylindrical rod on the movable block 523 and the hole I formed on the connecting rod 521 form a sliding pair and are connected with the connecting rod 521 through the spring I522; the connecting rod 521 is provided with two clamping jaw assemblies which are symmetrically arranged, each clamping jaw assembly comprises a movable pull rod 524, a first connecting rod 525, a second connecting rod 526 and a second clamping jaw 527, two ends of the movable pull rod 524 are respectively hinged with the middle part of the first connecting rod 525 and the connecting rod 521, two ends of the first connecting rod 525 are respectively hinged with the rear ends of the movable block 523 and the second clamping jaw 527, and two ends of the second connecting rod 526 are respectively hinged with the middle parts of the movable block 523 and the second clamping jaw 527; the front end of the movable block 523 is provided with a third pressure sensor 528.

As shown in fig. 3 and 7, the trimming device 4 includes a trimming cutter 41 and a rotation mechanism 42; the rotating mechanism 42 comprises a circular arc-shaped base 421, a third gear 422 and a circular arc-shaped rack 423; the circular arc racks 423 and circular arc grooves formed in the circular arc base 421 which are horizontally arranged form sliding pairs; the middle part of the outer side of the circular arc-shaped base 421 is fixedly provided with a horizontally arranged U-shaped plate, the inner sides of two arms of the U-shaped plate and two guide rails 513 respectively form sliding pairs, straight racks are fixed on the outer sides of the two arms of the U-shaped plate, the two straight racks and two gears 514 respectively form gear pairs, and a driving motor II drives one of the gears 514 to drive the U-shaped plate to move forwards and backwards; the outer side of the circular arc base 421 is equidistantly hinged with three gears 422 horizontally arranged along the circumferential direction, the gears 422 pass through notches formed in corresponding positions on the circular arc base 421 and form a gear pair with the circular arc racks 423, and two gears 422 farthest from the gears are respectively driven by a driving motor three.

As shown in fig. 8, the trimming cutter 41 includes a cutter base 411, a cutter movable plate 412, a buffer lever 413, a contact wheel 414, and a trimming blade 415; the cutter base 411 is vertically fixed on the circular arc-shaped rack 423, a cylindrical rod integrally formed on the cutter movable plate 412 and a hole II formed on the cutter base 411 form a sliding pair, and the sliding pair is connected with the cutter base 411 through a spring II; the buffer rods 413 and the holes III formed in the cutter movable plate 412 form a sliding pair and are connected with the cutter movable plate 412 through the springs III, the buffer rods 413 are provided with two buffer rods which are horizontally arranged and vertically arranged at intervals, a pressure sensor IV is arranged on one buffer rod 413, a contact wheel 414 is arranged between the two buffer rods 413, the contact wheel 414 is used for stabilizing the broccoli stalks in the pruning process of the pruning cutter 41, reducing the friction force with the broccoli stalks and preventing the pruning cutter 41 from being influenced by side branches and side buds on the broccoli stalks so as not to prune the broccoli; the trimming blade 415 is fixed to the cutter movable plate 412 at an angle, and a distance sensor 416 is provided at the upper end of the cutter movable plate 412.

As a preferred embodiment, the vehicle body 1 comprises wheels 11 and a frame chassis 12, the wheels 11 are hinged at four corners of the frame chassis 12, and the wheels 11 can be driven by an in-wheel motor; both the collection basket 13 and the fixing plate 24 are fixed to the frame chassis 12.

As a preferred embodiment, the lifting mechanism comprises a connecting roller 21, an L-shaped lifting bottom plate 22 and a chain transmission mechanism 23, wherein two chain wheels of the chain transmission mechanism 23 are arranged at intervals up and down and form a revolute pair with a fixed plate 24, the left end and the right end of the fixed plate 24 are respectively provided with the chain transmission mechanism 23, the two chain transmission mechanisms 23 are driven by a driving motor in a four-synchronous way, the L-shaped lifting bottom plate 22 and the fixed plate 24 form a sliding pair, and the sliding pair is fixed with chains in the two chain transmission mechanisms through the connecting roller 21 which is horizontally arranged; the first support plate 511 is fixed to the L-shaped lifting base plate 22.

As a preferred embodiment, the driving member 31 includes a mechanism base 311 and a servo motor 312, the mechanism base 311 is fixed to the fixed column, a housing of the servo motor 312 is fixed to the mechanism base 311, and a fourth gear fixed to an output shaft of the servo motor 312 is meshed with the first gear 322.

As a preferred embodiment, the spring telescopic rod 515 comprises a supporting rod and a straight rod, wherein the supporting rod is vertically fixed on the first supporting plate 511, and the straight rod and a hole IV formed on the supporting rod form a sliding pair and are connected with the supporting rod through a spring IV; the connecting rod 521 is fixed to the straight rod.

As a preferred embodiment, as shown in fig. 9, 10 and 11, the contact wheel 414 includes a contact band 4141, a hemispherical body 4142, a rotating shaft 4143, a mounting ring 4144 and a rolling shaft 4145; two ends of the rotating shaft 4143 and the two buffer rods 413 respectively form a revolute pair, two mounting rings 4144 which are arranged at intervals are fixed on the rotating shaft 4143, two symmetrical and coaxial rolling shafts 4145 are fixed on the mounting rings 4144, the rolling shafts 4145 and the hemispheres 4142 form the revolute pair, and each group of two hemispheres 4142 which are positioned on the same side on the two mounting rings 4144 are connected through a contact belt 4141.

More preferably, the integrally formed annular protrusion of contact strip 4141 is embedded in an annular recess formed in hemisphere 4142.

The first driving motor, the second driving motor, the third driving motor, the fourth driving motor, the servo motor 312, the first electric telescopic rod, the second electric telescopic rod 332 and the hub motor for driving the wheels are controlled by a controller, signal output ends of the first pressure sensor, the second pressure sensor, the third pressure sensor 528, the fourth pressure sensor and the distance sensor 416 are all connected with the controller, the pneumatic claw 331 is connected with the air pump through an electromagnetic reversing valve, and the electromagnetic reversing valve is controlled by the controller.

The invention discloses a picking method of a broccoli picking machine, which comprises the following steps:

step one, after the lifting mechanism drives the supporting plate one 511 to descend for a preset distance one, the vehicle body 1 advances, the stem of the target broccoli is located between the two clamping jaws two 527, along with the advance of the vehicle body 1, the movable block 523 contacts the lower end of the stem of the target broccoli and moves backwards along the hole, the spring one 522 is compressed, the two movable pull rods 524 push the corresponding connecting rods one 525 to rotate forwards, the connecting rods one 525 drive the connecting rods two 526 and the clamping jaws two 527 to rotate forwards, the two clamping jaws two 527 clamp the lower end of the stem of the target broccoli, and when the pressure value detected by the pressure sensor three 528 is within a preset pressure range one, the vehicle body 1 stops advancing, and the contact mechanism 25 is located right above the broccoli.

And step two, the controller controls the piston rod of the electric telescopic rod I to extend, and the soft contact ring is contacted with the top of the broccoli until the pressure value detected by the pressure sensor I is within a preset pressure range II.

And thirdly, the controller controls the driving motor II to drive the corresponding gear II 514 to rotate, the two gears II 514 are respectively meshed with the two straight racks on the U-shaped plate, the circular arc-shaped base 421 is driven to move forwards, the contact wheel 414 is contacted with the middle part of the stalk of the broccoli, the buffer rod 413 and the cutter movable plate 412 are further pushed to move backwards along the hole III and the hole II respectively, the spring III and the spring II are compressed, and when the pressure value detected by the pressure sensor IV is within a preset pressure range III, the controller controls the driving motor II to stop working.

Step four, the controller controls the two driving motors to synchronously drive the corresponding gears 422 to be meshed with the circular arc racks 423, the circular arc racks 423 rotate around the stems of the broccoli along the circular arc grooves, so that the pruning cutter 41 is driven to rotate around the stems of the broccoli, meanwhile, the lifting mechanism drives the first supporting plate 511 to lift, so that the pruning cutter 41 is driven to lift, the pruning cutter 41 makes spiral lifting movement, and the pruning blade 415 cuts lateral branches and lateral buds on the stems of the broccoli; in the spiral ascending movement process of the pruning tool 41, the friction force between the contact belt 4141 and the broccoli stalks in the contact wheel 414 drives the hemispheroids 4142 and the rotating shaft 4143 to rotate around the central axis of the rotating shaft 4143 and simultaneously drives each hemispheroid 4142 to rotate around the central axis of the corresponding rolling shaft 4145, so that the contact wheel 414 stabilizes the broccoli stalks and simultaneously reduces the friction force between the pruning tool 41 and the broccoli stalks, the first supporting plate 511 moves upwards, and simultaneously, the clamping mechanism 52 clamps the target broccoli stalks, the spring telescopic rod 515 is shortened, and the height of the clamping mechanism 52 is kept unchanged; when the distance sensor 416 detects that the distance between the upper end of the movable cutter plate 412 and the connecting plate reaches the preset distance II, the lifting mechanism stops working, the controller controls the three driving motors to continue working until the circular arc-shaped rack 423 and the trimming cutter 41 rotate to the initial positions, the controller controls the piston rod of the first electric telescopic rod to shorten to the initial positions, and controls the second driving motor to drive the corresponding gear II 514, so that the U-shaped plate drives the circular arc-shaped base 421 to move backwards to the initial positions, the contact wheel 414 is separated from the stems of the broccoli, and simultaneously, the buffer rod 413 and the movable cutter plate move forwards to the initial states along the third hole and the second hole respectively due to the restoring force of the third spring and the second spring, and trimming of lateral branches and side buds on the stems of the broccoli is completed.

Fifthly, the controller controls the driving motor to drive the picking manipulator 33 to rotate forward 180 degrees; then the controller controls the piston rod of the second electric telescopic rod 332 to extend until the stem of the broccoli is positioned between the first clamping jaws of the pneumatic claw 331, and controls the first clamping jaws of the pneumatic claw 331 to move oppositely to clamp the stem of the broccoli until the pressure value detected by the second pressure sensor is within a preset pressure range IV; then the first driving piece 31 drives the first gear 322 to drive the cutting blade 321 to rotate 360 degrees, the cutting blade 321 cuts the broccoli, the first driving motor is controlled by the controller to drive the picking manipulator 33 to rotate reversely by 180 degrees, the picking manipulator 33 drives the broccoli to move to the upper part of the collecting basket 13, the pneumatic claw 331 releases the broccoli, the broccoli falls into the collecting basket 13 to finish picking and collecting the broccoli, and the piston rod of the second electric telescopic rod 332 is controlled by the controller to be shortened to an initial state.

Step six, the car body 1 moves backwards, the movable block 523 is separated from the bottom of the stem of the target broccoli, the movable block 523 moves forwards along the hole due to the restoring force of the first spring 522, the two movable pull rods 524 pull the corresponding first connecting rods 525 to rotate backwards, the first connecting rods 525 drive the second connecting rods 526 and the second clamping jaws 527 to rotate backwards to an initial state, meanwhile, the spring telescopic rods 515 stretch and return to the initial state, the lifting mechanism drives the first supporting plate 511 to descend to an initial height which is higher than the height of the stem after the broccoli is picked, so that the car body 1 can pass over the stem after the broccoli is picked when going forward continuously, and the first supporting plate 511 descends by a preset distance in step one so that the clamping mechanism 52 can clamp the stem which does not need to be picked.

Claims (8)

1. The utility model provides a broccoli picking machine, includes automobile body, elevating gear and picks device, its characterized in that: the device also comprises a trimming device and a supporting and clamping device; the lifting device comprises a fixed plate, a lifting mechanism and a contact mechanism; the fixed plate is vertically fixed at the front end of the vehicle body, and is provided with a lifting mechanism which drives a supporting plate I of the supporting and clamping device to lift; the contact mechanism comprises an electric telescopic rod I and a soft contact ring, a connecting plate which is horizontally arranged is fixed at the upper end of a fixing plate, a cylinder body of the electric telescopic rod I is fixed with the connecting plate, a piston rod of the electric telescopic rod I faces downwards and is fixed with the soft contact ring which is horizontally arranged, and a pressure sensor I is arranged on the soft contact ring; wherein, the front end of the vehicle body is positioned at one side of the lifting device and is detachably fixed with a collecting basket;

the picking device comprises a fixed column, a first driving motor, a driving piece, a cutting tool and a picking manipulator; the fixed column is vertically fixed on the first supporting plate; the cutting tool comprises a cutting blade and a first gear, the first gear is sleeved on the fixed column through a round hole formed in the first gear and is supported on a convex ring integrally formed on the fixed column, the first gear and the fixed column form a revolute pair and are driven by a driving piece, and the cutting blade is horizontally fixed on the upper end face of the first gear; the picking manipulator is positioned above the cutting tool and comprises a pneumatic claw and an electric telescopic rod II, an output shaft of the driving motor I faces downwards and is fixed with the fixed column, a cylinder body of the electric telescopic rod II is horizontally fixed on a shell of the driving motor I, a piston rod of the electric telescopic rod II is provided with the pneumatic claw, and a pressure sensor II is arranged on the inner side of a clamping jaw I of the pneumatic claw; in the initial state, the pneumatic claw is positioned above the collecting basket;

the supporting and clamping device comprises a supporting mechanism and a clamping mechanism; the support mechanism comprises a first support plate, a second support plate, guide rails and a spring telescopic rod, wherein the second support plate is fixed on the first support plate through a support column, the first support plate and the second support plate are horizontally arranged in parallel, the distance between the two guide rails is fixed on the second support plate, a horizontally arranged gear II is hinged in each guide rail, and a vertically arranged spring telescopic rod is arranged on the first support plate;

the clamping mechanism comprises a connecting rod, a movable block and a clamping jaw assembly; the connecting rod is horizontally fixed on the spring telescopic rod, and the integrally formed cylindrical rod on the movable block and the first hole formed in the connecting rod form a sliding pair and are connected with the connecting rod through the first spring; the two clamping jaw assemblies are symmetrically arranged on the connecting rod, each clamping jaw assembly comprises a movable pull rod, a first connecting rod, a second connecting rod and a second clamping jaw, two ends of the movable pull rod are respectively hinged with the middle part of the first connecting rod and the connecting rod, two ends of the first connecting rod are respectively hinged with the movable block and the rear end of the second clamping jaw, and two ends of the second connecting rod are respectively hinged with the movable block and the middle part of the second clamping jaw; the front end of the movable block is provided with a third pressure sensor;

the trimming device comprises a trimming cutter and a rotating mechanism; the rotating mechanism comprises a circular arc base, a third gear and a circular arc rack, wherein a circular arc groove formed in the circular arc base is formed by the circular arc rack and a circular arc groove formed in the circular arc base which is horizontally arranged, a U-shaped plate which is horizontally arranged is fixed in the middle of the outer side of the circular arc base, two inner sides of arms of the U-shaped plate and two guide rails respectively form a sliding pair, straight racks are fixed on the outer sides of the two arms of the U-shaped plate, the two straight racks and the two gears respectively form a gear pair, and a driving motor II drives one gear II; the outer side of the circular arc-shaped base is equidistantly hinged with n gears III which are horizontally arranged along the circumferential direction, n is more than or equal to 2, the gears III pass through notches arranged at corresponding positions on the circular arc-shaped base and form a gear pair with a circular arc-shaped rack, and two gears III which are farthest in distance are respectively driven by a driving motor III;

the trimming cutter comprises a cutter base, a cutter movable plate, a buffer rod, a trimming blade and a contact wheel; the cutter base is vertically fixed on the circular arc-shaped rack, a cylindrical rod integrally formed on the cutter movable plate and a hole II formed on the cutter base form a sliding pair, and the sliding pair is connected with the cutter base through a spring II; the buffer rods and a hole III formed in the cutter movable plate form a sliding pair and are connected with the cutter movable plate through a spring III, the buffer rods are horizontally provided with two buffer rods which are arranged at intervals up and down, one buffer rod is provided with a pressure sensor IV, and a contact wheel is arranged between the two buffer rods; the trimming blade is fixed with the cutter movable plate and is arranged at an included angle, and a distance sensor is arranged at the upper end of the cutter movable plate.

2. A broccoli picking machine as set forth in claim 1 wherein: the vehicle body comprises wheels and a frame chassis, and the wheels are hinged at four corners of the frame chassis; the collecting basket and the fixing plate are both fixed with the frame chassis.

3. A broccoli picking machine as set forth in claim 1 wherein: the lifting mechanism comprises an L-shaped lifting bottom plate, a connecting roller and a chain transmission mechanism, wherein two chain wheels of the chain transmission mechanism are arranged at an upper-lower interval and form a revolute pair with the fixed plate, the left end and the right end of the fixed plate are respectively provided with the chain transmission mechanism, the two chain transmission mechanisms are driven by a driving motor in a four-synchronous mode, the L-shaped lifting bottom plate and the fixed plate form a sliding pair, and the sliding pair is fixed with chains in the two chain transmission mechanisms through the connecting roller which is horizontally arranged; the first supporting plate is fixed on the L-shaped lifting bottom plate.

4. A broccoli picking machine as set forth in claim 1 wherein: the driving piece comprises a mechanism base and a servo motor, wherein the mechanism base is fixed with the fixed column, a shell of the servo motor is fixed with the mechanism base, and a gear IV fixed on an output shaft of the servo motor is meshed with the gear I.

5. A broccoli picking machine as set forth in claim 1 wherein: the spring telescopic rod comprises a supporting rod and a straight rod, the supporting rod is fixed on the first supporting plate, and the straight rod and a hole IV formed in the supporting rod form a sliding pair and are connected with the supporting rod through a spring IV; the connecting rod is fixed with the straight rod.

6. A broccoli picking machine as set forth in claim 1 wherein: the contact wheel comprises a hemisphere, a rotating shaft, mounting rings and rolling shafts, two ends of the rotating shaft and two buffer rods respectively form a revolute pair, two mounting rings which are arranged at intervals are fixed on the rotating shaft, two symmetrical and coaxially arranged rolling shafts are fixed on the mounting rings, the rolling shafts and the hemispheres form the revolute pair, and each group of two hemispheres which are positioned on the same side on the two mounting rings are connected through a contact belt.

7. The broccoli picking machine of claim 6 wherein: the annular bulge integrally formed on the contact belt is embedded into the annular groove formed on the hemisphere.

8. A picking method of a broccoli picking machine according to any one of claims 1 to 7, characterized by: the method comprises the following steps:

the first step, after the lifting mechanism drives the supporting plate to descend for a preset distance I, the vehicle body moves forward, the stem of the target broccoli is positioned between the two clamping jaws II, along with the forward movement of the vehicle body, the movable block is contacted with the lower end of the stem of the target broccoli and moves backwards along the hole, the first spring is compressed, the two movable pull rods push the corresponding first connecting rod to rotate forwards, the first connecting rod drives the second connecting rod and the clamping jaws II to rotate forwards, the two clamping jaws II clamp the lower end of the stem of the target broccoli, when the pressure value detected by the pressure sensor III is within a preset pressure range I, the vehicle body stops moving forward, and the contact mechanism is positioned right above the broccoli;

step two, the controller controls the piston rod of the electric telescopic rod I to extend, and the soft contact ring is contacted with the top of the broccoli until the pressure value detected by the pressure sensor I is within a preset pressure range II;

step three, a controller controls a driving motor to drive a corresponding gear II to rotate, the two gears II are respectively meshed with two straight racks on a U-shaped plate, so that an arc-shaped base is driven to move forwards, a contact wheel is contacted with the middle part of a stalk of a broccoli, a buffer rod and a cutter movable plate are further pushed to move backwards along a hole III and a hole II respectively, a spring III and the spring II are compressed, and when a pressure value detected by a pressure sensor IV is within a preset pressure range III, the controller controls the driving motor II to stop working;

step four, the controller controls the two driving motors to synchronously drive the corresponding gears III to be meshed with the arc-shaped racks, the arc-shaped racks rotate around stems of broccoli along the arc-shaped grooves, so that the pruning cutter is driven to rotate around the stems of broccoli, and meanwhile, the lifting mechanism drives the supporting plate I to lift, so that the pruning cutter is driven to lift, the pruning cutter is driven to do spiral lifting movement, and the pruning blade cuts lateral branches and lateral buds on the stems of broccoli; the first supporting plate moves upwards, the spring telescopic rod is shortened, and the height of the clamping mechanism is kept unchanged; when the distance sensor detects that the distance between the upper end of the cutter movable plate and the connecting plate reaches a preset distance II, the lifting mechanism stops working, the controller controls the three driving motors to continue working until the arc-shaped rack and the trimming cutter rotate to the initial position, the controller controls the piston rod of the first electric telescopic rod to shorten to the initial position, and controls the second driving motor to drive the corresponding gear II, so that the U-shaped plate drives the arc-shaped base to move backwards to the initial position, the contact wheel is separated from the stem of the broccoli, and meanwhile, the buffer rod and the cutter movable plate move forwards to the initial state along the hole III and the hole II respectively due to the restoring force of the spring III and the spring II, and trimming of lateral branches and side buds on the stem of the broccoli is completed;

fifthly, the controller controls the driving motor to drive the picking manipulator to rotate forward 180 degrees; then the controller controls the piston rod of the second electric telescopic rod to extend until the stem of the broccoli is positioned between the first clamping jaws of the pneumatic claw, and controls the first clamping jaws of the pneumatic claw to move oppositely to clamp the stem of the broccoli until the pressure value detected by the second pressure sensor is within a preset pressure range IV; then the driving piece drives the gear to drive the cutting blade to rotate 360 degrees, the cutting blade cuts the broccoli, the first driving motor is controlled by the controller to drive the picking manipulator to rotate reversely for 180 degrees, the picking manipulator drives the broccoli to move above the collecting basket, the pneumatic claw releases the broccoli, the broccoli falls into the collecting basket, picking and collecting of the broccoli are completed, and the second piston rod of the electric telescopic rod is controlled by the controller to be shortened to an initial state;

step six, the vehicle body moves backwards, the movable block is separated from the bottom of the stem of the target broccoli, the movable block moves forwards along the hole under the action of the restoring force of the first spring, the corresponding first connecting rod is pulled by the two movable pull rods to rotate backwards, the second connecting rod and the second clamping jaw are driven by the first connecting rod to rotate backwards to an initial state, meanwhile, the spring telescopic rod stretches and returns to the initial state, and the supporting plate is driven by the lifting mechanism to descend to the initial height.