CN116830886B - Broccoli picking machine and picking method thereof - Google Patents

Abstract

The invention discloses a broccoli picking machine and a picking method thereof. The invention discloses a picking device, which comprises a fixing plate, a lifting mechanism, a picking manipulator, a cutting tool, a driving piece, a trimming device, a trimming blade and a cutter base, wherein the fixing plate of the lifting device is fixed with a vehicle body, the lifting mechanism is arranged on the fixing plate and drives a supporting plate I of a supporting and clamping device to lift, the picking manipulator and the cutting tool are arranged on a fixing column, the picking manipulator is driven by the driving motor I, the cutting tool is driven by the driving piece, the trimming device comprises a circular arc rack and a circular arc groove formed in a circular arc base, the cutter base is fixed on the circular arc rack, the cutter movable plate and the cutter base form a sliding pair, and the trimming blade is connected with the cutter movable plate through a spring II. 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 fixing plate, a lifting mechanism and a contact mechanism, wherein the fixing plate is vertically fixed at the front end of a vehicle body, the lifting mechanism is arranged on the fixing plate, the lifting mechanism drives a supporting plate I of a 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, wherein the fixed column is vertically fixed on a 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 the driving piece, the cutting blade is horizontally fixed on the upper end face of the first gear, the picking manipulator is located above the cutting tool, the picking manipulator comprises a pneumatic claw and a second electric telescopic rod, an output shaft of the first driving motor faces downwards and is fixed with the fixed column, a cylinder body of the second electric telescopic rod is horizontally fixed on a shell of the first driving motor, a pneumatic claw is arranged on a piston rod of the second electric telescopic rod, and a pressure sensor is arranged on the inner side of a clamping claw of the second 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, wherein the supporting mechanism comprises a first supporting plate, a second supporting plate, guide rails and a spring telescopic rod, 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 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 clamping jaw assemblies, wherein the connecting rod is horizontally fixed on a spring telescopic rod, a cylindrical rod integrally formed on the movable block and a hole I formed in the connecting rod form a sliding pair and are connected with the connecting rod through a spring I, the connecting rod is provided with two symmetrically arranged clamping jaw assemblies, each clamping jaw assembly comprises a movable pull rod, a connecting rod I, a connecting rod II and a clamping jaw II, two ends of the movable pull rod are respectively hinged with the middle part of the connecting rod I and the connecting rod, two ends of the connecting rod I are respectively hinged with the movable block and the rear end of the clamping jaw II, two ends of the connecting rod II are respectively hinged with the middle parts of the movable block and the clamping jaw II, and the front end of the movable block is provided with a pressure sensor III.

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

The trimming cutter comprises a cutter base, a cutter movable plate, buffer rods, trimming blades and contact wheels, wherein the cutter base is vertically fixed on an arc-shaped rack, a cylindrical rod integrally formed on the cutter movable plate and a hole II formed in the cutter base form a sliding pair and are 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 provided with two buffer rods which are horizontally arranged at an upper and lower interval, a pressure sensor IV is arranged on one buffer rod, the contact wheels are arranged between the two buffer rods, the trimming blades are fixed with the cutter movable plate and are 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, the wheels are hinged at four corners of the frame chassis, and the collecting basket and the fixing plate are fixed with the frame chassis.

Preferably, the lifting mechanism comprises an L-shaped lifting bottom plate, connecting rollers and chain transmission mechanisms, wherein two chain wheels of the chain transmission mechanisms are arranged at intervals up and down and form revolute pairs with a fixed plate, the left end and the right end of the fixed plate are respectively provided with the chain transmission mechanisms, 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 sliding pairs, the L-shaped lifting bottom plate and the fixed plate are fixed with chains in the two chain transmission mechanisms through the connecting rollers which are horizontally arranged, and 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, 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, and 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.

The controller controls the two driving motors to synchronously drive the corresponding gears III to be meshed with the arc racks, the arc racks rotate around the broccoli stalks along the arc grooves, the trimming cutter is driven to rotate around the broccoli stalks, the lifting mechanism drives the supporting plate I to lift, the trimming cutter is driven to spirally lift, the trimming blade cuts the lateral branches and the side buds on the broccoli stalks, the supporting plate I moves upwards, the spring telescopic rod is shortened, the height of the clamping mechanism is kept unchanged, when the distance sensor detects that the distance between the upper end of the movable plate of the cutter and the connecting plate reaches a preset distance II, the lifting mechanism stops working, the controller controls the two driving motors III to continuously work until the arc racks and the trimming cutter rotate to an initial position, the controller controls the piston rod of the electric telescopic rod I to be shortened to the initial position, and controls the driving motor II to drive the corresponding gears to enable the U-shaped plate to drive the circular base to move backwards to the initial position, the wheels are separated from the broccoli stalks, and the buffer rod and the broccoli stalks move forwards to the initial position, and the contact holes are formed by the spring III and the spring II, and the contact rods and the movable plate II move forwards to the side buds to the initial position, and the side bud trimming holes are completed.

The controller controls the driving motor to drive the picking manipulator to rotate forward 180 degrees, then controls the piston rod of the electric telescopic rod II to extend until stems of broccoli are located between the first clamping jaws of the pneumatic claw, controls the first clamping jaws of the pneumatic claw to move oppositely to clamp the stems of the broccoli until the pressure value detected by the pressure sensor II is within a preset pressure range IV, then drives the driving piece to drive the cutting blade to rotate 360 degrees, the cutting blade cuts the broccoli, the controller controls the driving motor I to drive the picking manipulator to rotate reversely 180 degrees, the picking manipulator drives the broccoli to move to the position 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 controller controls the piston rod of the electric telescopic rod II to shorten 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 pruning tool is driven to spirally ascend around the broccoli stalks through the rotating mechanism and the lifting mechanism, the pruning blade of the pruning tool is used for pruning lateral branches and lateral buds on the broccoli stalks without manual pruning, so that the processing efficiency is improved, when the distance between the upper end of the movable plate of the tool and the connecting plate reaches a preset distance II, the lifting mechanism stops working, after the pruning tool finishes pruning, the stem of the broccoli is clamped by the picking manipulator, the cutting blade is driven to rotate for 360 degrees through the driving piece to cut the broccoli, and then the broccoli is placed into the collecting basket through the picking manipulator to finish the picking and collecting of the broccoli, so that the picking efficiency is improved, meanwhile, the height of the picked broccoli is ensured to be basically consistent.

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 comprises a lifting mechanism, a fixing plate 24 and a contact mechanism 25, wherein the fixing plate 24 is vertically fixed at the front end of the vehicle body 1, the lifting mechanism is arranged on the fixing plate 24, the lifting mechanism drives a supporting plate I511 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 comprises a fixed column, a first driving motor, a driving piece 31, a cutting tool 32 and a picking manipulator 33, wherein the fixed column is vertically fixed on a first supporting 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 an opened round hole 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, the cutting blade 321 is horizontally fixed on the upper end face of the first gear 322, the picking manipulator 33 is positioned above the cutting tool 32, the picking manipulator 33 comprises a pneumatic claw 331 and a second electric telescopic rod 332, an output shaft of the driving motor is downward and is fixed with the fixed column, a cylinder body of the second electric telescopic rod 332 is horizontally fixed on a shell of the first driving motor, a claw 331 is arranged on a piston rod of the second electric telescopic rod 332, and a second pressure sensor is arranged on the inner side of the clamping claw 331. 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 comprises a supporting mechanism 51 and a clamping mechanism 52, wherein the supporting mechanism 51 comprises a first supporting plate 511, a second supporting plate 512, guide rails 513, a second gear 514 and a spring telescopic rod 515, the second supporting plate 512 is fixed on the first supporting plate 511 through a supporting column, the first supporting plate 511 and the second supporting plate 512 are horizontally arranged in parallel, the two guide rails 513 are fixed on the second supporting plate 512 at intervals, a second horizontally arranged gear 514 is hinged in each guide rail 513, and a vertically arranged spring telescopic rod 515 is arranged on the first supporting plate 511.

As shown in fig. 6, the clamping mechanism 52 comprises a connecting rod 521, a movable block 523 and a clamping jaw assembly, wherein the connecting rod 521 is horizontally fixed on a spring telescopic rod 515, a cylindrical rod integrally formed on the movable block 523 and a hole I formed in the connecting rod 521 form a sliding pair and are connected with the connecting rod 521 through a spring I522, two clamping jaw assemblies which are symmetrically arranged are arranged on the connecting rod 521, the clamping jaw assembly comprises a movable pull rod 524, a connecting rod I525, a connecting rod II 526 and a clamping jaw II 527, two ends of the movable pull rod 524 are respectively hinged with the middle part of the connecting rod I525 and the connecting rod 521, two ends of the connecting rod I525 are respectively hinged with the rear ends of the movable block 523 and the clamping jaw II 527, two ends of the connecting rod II 526 are respectively hinged with the middle parts of the movable block 523 and the clamping jaw II 527, and a pressure sensor III 528 is arranged at the front end of the movable block 523.

As shown in fig. 3 and 7, the trimming device 4 comprises a trimming cutter 41 and a rotating mechanism 42, the rotating mechanism 42 comprises a circular arc base 421, three gears 422 and a circular arc rack 423, the circular arc rack 423 and a circular arc groove formed in the circular arc base 421 which is horizontally arranged form a sliding pair, a horizontally arranged U-shaped plate is fixed in the middle of the outer side of the circular arc base 421, straight racks are fixed on the outer sides of two arms of the U-shaped plate and two guide rails 513 respectively, two straight racks and two gears 514 respectively form a gear pair, a driving motor II drives one of the gears 514 to drive the U-shaped plate to move forwards and backwards, three gears 422 which are horizontally arranged are equidistantly hinged on the outer side of the circular arc base 421 in the circumferential direction, the gears 422 penetrate through a notch formed in a corresponding position on the circular arc base 421 and the circular arc rack 423 form a gear pair, and the two gears 422 farthest from the two gears 422 are respectively driven by one driving motor III.

As shown in FIG. 8, the trimming cutter 41 comprises a cutter base 411, a cutter movable plate 412, a buffer rod 413, a contact wheel 414 and a trimming blade 415, wherein the cutter base 411 is vertically fixed on a circular arc-shaped rack 423, a cylindrical rod integrally formed on the cutter movable plate 412 and a hole II formed in the cutter base 411 form a sliding pair and are connected with the cutter base 411 through a spring II, the buffer rod 413 and a hole III formed in the cutter movable plate 412 form a sliding pair and are connected with the cutter movable plate 412 through a spring III, the buffer rod 413 is provided with two buffer rods which are horizontally arranged at intervals up and down, one buffer rod 413 is provided with a pressure sensor IV, the contact wheel 414 is arranged between the two buffer rods 413, the contact wheel 414 is used for reducing the friction force with the broccoli stalks while stabilizing the broccoli stalks in the trimming process of the trimming cutter 41, the trimming cutter 41 is prevented from being influenced by side branches and side buds on the broccoli stalks and cannot trim the broccoli, the trimming blade 415 is fixed with the cutter movable plate 412 and is arranged at an included angle, and the upper end of the cutter movable plate 412 is provided with a distance sensor 416.

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, the wheels 11 can be driven by an in-wheel motor, and the collecting basket 13 and the fixing plate 24 are fixed with 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 chain transmission mechanisms 23 are arranged at the left end and the right end of the fixed plate 24, the two chain transmission mechanisms 23 are driven by a driving motor in a four-synchronous mode, the L-shaped lifting bottom plate 22 and the fixed plate 24 form a sliding pair and are fixed with chains in the two chain transmission mechanisms through the connecting roller 21 which is horizontally arranged, and a first supporting plate 511 is fixed on the L-shaped lifting bottom 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, 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, and the connecting rod 521 is fixed with the straight rod.

As a preferred embodiment, as shown in fig. 9, 10 and 11, the contact wheel 414 includes a contact belt 4141, hemispheres 4142, a rotating shaft 4143, a mounting ring 4144 and a rolling shaft 4145, wherein two ends of the rotating shaft 4143 and two buffer rods 413 form a revolute pair respectively, two mounting rings 4144 arranged at intervals are fixed on the rotating shaft 4143, two rolling shafts 4145 symmetrically and coaxially arranged are fixed on the mounting ring 4144, the rolling shaft 4145 and the hemispheres 4142 form a revolute pair, and each group of two hemispheres 4142 on the same side of the two mounting rings 4144 are connected through the 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 trimming cutter 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 trimming cutter 41 and the broccoli stalks, the first supporting plate 511 moves upwards, the clamping mechanism 52 clamps the stalks of the target broccoli, the spring telescopic rod 515 is shortened, 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 cutter movable plate 412 and the connecting plate reaches the second preset distance, the lifting mechanism stops working, the controller controls the three driving motors to continue working until the circular arc racks 423 and the trimming cutter 41 rotate to the initial position, the piston rod of the first driving motor is controlled to shorten to the initial position, the second driving corresponding gear 514 is controlled to enable the U to drive the base 421 to move backwards to the initial position, the third supporting plate 414 and the second spring telescopic rod is separated from the first contact plate and the second contact plate are separated from the third spring plate and the second contact plate and the second spring plate are restored to the initial hole due to the fact that the third spring telescopic rod and the second driving plate are separated from the first hole and the second hole are simultaneously moved to the first hole and the second hole, respectively, trimming the lateral branches and the lateral buds on the broccoli stalks.

The controller controls the driving motor I to drive the picking manipulator 33 to rotate forward 180 degrees, then controls the controller to control the piston rod of the electric telescopic rod II 332 to extend until stems of broccoli are located between the two clamping jaws I of the pneumatic claw 331, controls the two clamping jaws I of the pneumatic claw 331 to move oppositely to clamp the stems of the broccoli until a pressure value detected by the pressure sensor II is within a preset pressure range IV, then drives the gear I322 to drive the cutting blade 321 to rotate 360 degrees, the cutting blade 321 cuts the broccoli, the controller controls the driving motor I to drive the picking manipulator 33 to rotate reversely 180 degrees, the picking manipulator 33 drives the broccoli to move to the position above the collecting basket 13, the pneumatic claw 331 releases the broccoli, the broccoli falls into the collecting basket 13 to finish picking and collecting of the broccoli, and controls the piston rod of the electric telescopic rod II 332 to shorten 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 broccoli picking machine comprises a machine body, a lifting device and a picking device, and is characterized by further comprising a trimming device, a supporting and clamping device, wherein the lifting device comprises a fixing plate, a lifting mechanism and a contact mechanism, the fixing plate is vertically fixed at the front end of the machine body, the lifting mechanism is arranged on the fixing plate and 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 a collecting basket is detachably fixed at one side of the front end of the machine body, which is positioned on the lifting device;

The picking device comprises a fixed column, a first driving motor, a driving piece, a cutting tool and a picking manipulator, wherein the fixed column is vertically fixed on a 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 the driving piece, the cutting blade is horizontally fixed on the upper end face of the first gear, the picking manipulator is positioned above the cutting tool, the picking manipulator comprises a pneumatic claw and an electric telescopic rod, an output shaft of the first driving motor faces downwards and is fixed with the fixed column, a cylinder body of the electric telescopic rod is horizontally fixed on a shell of the first driving motor, a pneumatic claw is arranged on a piston rod of the second electric telescopic rod, and a pressure sensor is arranged on the inner side of a clamping jaw of the first pneumatic claw;

The supporting and clamping device comprises a supporting mechanism and a clamping mechanism, wherein the supporting mechanism comprises a first supporting plate, a second supporting plate, guide rails and a spring telescopic rod, 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 horizontally arranged gear II is hinged in each guide rail, and a vertically arranged spring telescopic rod is arranged on the first supporting 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, a cylindrical rod integrally formed on the movable block and a hole I formed on the connecting rod form a sliding pair and are connected with the connecting rod through a spring I, two clamping jaw assemblies which are symmetrically arranged are arranged on the connecting rod, each clamping jaw assembly comprises a movable pull rod, a connecting rod I, a connecting rod II and a clamping jaw II, two ends of the movable pull rod are respectively hinged with the middle part of the connecting rod I and the connecting rod, two ends of the connecting rod I are respectively hinged with the rear ends of the movable block and the clamping jaw II, and two ends of the connecting rod II are respectively hinged with the middle parts of the movable block and the clamping jaw II;

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

The trimming cutter comprises a cutter base, a cutter movable plate, buffer rods, trimming blades and contact wheels, wherein the cutter base is vertically fixed on an arc-shaped rack, a cylindrical rod integrally formed on the cutter movable plate and a hole II formed in the cutter base form a sliding pair and are 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 provided with two buffer rods which are horizontally arranged at an upper and lower interval, a pressure sensor IV is arranged on one buffer rod, the contact wheels are arranged between the two buffer rods, the trimming blades are fixed with the cutter movable plate and are arranged at an included angle, and a distance sensor is arranged at the upper end of the cutter movable plate.

2. The machine of claim 1, wherein the body comprises wheels and a frame chassis, the wheels are hinged at four corners of the frame chassis, and the collecting basket and the fixing plate are fixed with the frame chassis.

3. The broccoli picking machine according to claim 1, wherein the lifting mechanism comprises an L-shaped lifting base plate, a connecting roller and a chain transmission mechanism, wherein two chain wheels of the chain transmission mechanism are arranged at intervals up and down 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 mode, the L-shaped lifting base plate and the fixed plate form a sliding pair and are fixed with chains in the two chain transmission mechanisms through the connecting roller which is horizontally arranged, and the first supporting plate is fixed on the L-shaped lifting base plate.

4. The machine of claim 1, wherein the driving member comprises a mechanism base and a servo motor, the mechanism base is fixed with the fixed column, a housing of the servo motor is fixed with the mechanism base, and a fourth gear fixed on an output shaft of the servo motor is meshed with the first gear.

5. The broccoli picking machine of 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, 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, and the connecting rod is fixed with the straight rod.

6. The broccoli picking machine of claim 1, wherein the contact wheel comprises a hemisphere, a rotating shaft, a mounting ring and rolling shafts, two ends of the rotating shaft and two buffer rods form a revolute pair respectively, 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 of the two mounting rings are connected through a contact belt.

7. The machine of claim 6, wherein the annular protrusions of the contact strip are embedded in annular grooves formed on the hemispheres.

8. The picking method of a broccoli picking machine according to any one of claims 1 to 7, characterized by comprising the following specific 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;

The controller controls the two driving motors to synchronously drive the corresponding gears III to be meshed with the arc racks, the arc racks rotate around the stems of broccoli along the arc grooves, the pruning cutter is driven to rotate around the stems of broccoli, meanwhile, the lifting mechanism drives the supporting plate I to lift, and then drives the pruning cutter II to lift, the pruning cutter is in spiral lifting motion, the pruning cutter cuts lateral branches and side buds on the stems of broccoli, wherein the supporting plate I moves upwards, the spring telescopic rod is shortened, the height of the clamping mechanism is kept unchanged, when the distance sensor detects that the distance between the upper end of the movable plate of the cutter and the connecting plate reaches a preset distance II, the lifting mechanism stops working, the controller controls the two driving motors III to continuously work until the arc racks and the pruning cutter rotate to an initial position, the controller controls the piston rod of the electric telescopic rod I to be shortened to the initial position, and controls the driving motor II to drive the U-shaped plate to drive the arc base to move backwards to the initial position, the wheels are separated from the stems of broccoli and the buffer rod and the side buds of the broccoli are separated from the initial position, and the buffer rod and the contact rods and the side buds of the broccoli move forwards to the initial position are contacted with the two side buds and the side buds of the broccoli respectively due to the action of the spring III and the spring II;

The controller controls the driving motor I to drive the picking manipulator to rotate forward 180 degrees, then controls the piston rod of the electric telescopic rod II to extend until stems of broccoli are positioned between the two clamping jaws I of the pneumatic claw, controls the two clamping jaws I of the pneumatic claw to move oppositely to clamp the stems of the broccoli until the pressure value detected by the pressure sensor II is within a preset pressure range IV, then drives the driving member to drive the cutting blade to rotate 360 degrees, the cutting blade cuts the broccoli, the controller controls the driving motor I to drive the picking manipulator to rotate reversely 180 degrees, the picking manipulator drives the broccoli to move to the position 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 controls the piston rod of the electric telescopic rod II to shorten 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.