CN112119758A

CN112119758A - Electric leaf vegetable harvester

Info

Publication number: CN112119758A
Application number: CN202011253035.8A
Authority: CN
Inventors: 宁晓峰; 刘娜; 佟文玉; 徐际童; 金海榕; 田素博; 宫元娟; 张健飞; 李创业; 王晓雷
Original assignee: Shenyang Agricultural University
Current assignee: Shenyang Agricultural University
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2020-12-25
Anticipated expiration: 2040-11-11
Also published as: CN112119758B

Abstract

Electronic leaf dish harvester belongs to leaf dish and reaps technical field, especially relates to an electronic leaf dish harvester. The invention provides an electric leaf vegetable harvester with a good using effect. The invention comprises a handle, a switch box and a main control box, and is characterized in that the handle is connected with a control signal input port of the main control box through the switch box, and a control signal output port of the main control box is respectively connected with a control signal input port of a walking motor on a leaf vegetable harvester main body, a control signal input port of a blade motor on the leaf vegetable harvester main body and a control signal input port of a conveyor belt motor on the leaf vegetable harvester main body.

Description

Electric leaf vegetable harvester

Technical Field

The invention belongs to the technical field of leaf vegetable harvesting, and particularly relates to an electric leaf vegetable harvester.

Background

Harvesting is an important link of leaf vegetable production, not only influences the appearance quality of products, but also has certain influence on the cost and the transportation of the products, and is very important for the comprehensive utilization and the economic benefit improvement of the leaf vegetables. Therefore, a leaf vegetable harvester with good use effect needs to be designed.

Disclosure of Invention

The invention aims at the problems and provides the electric leaf vegetable harvester with good use effect.

In order to achieve the purpose, the invention adopts the following technical scheme that the automatic control device comprises a handle, a switch box and a main control box, and is characterized in that the handle is connected with a control signal input port of the main control box through the switch box, and a control signal output port of the main control box is respectively connected with a control signal input port of a walking motor on a leaf vegetable harvester main body, a control signal input port of a cutting edge motor on the leaf vegetable harvester main body and a control signal input port of a conveyor belt motor on the leaf vegetable harvester main body.

As a preferable scheme, the handle of the invention adopts a speed-regulating rotating handle, the ADJ _1 end of the speed-regulating rotating handle is connected with PA1 through a resistor R91, the JT end of the speed-regulating rotating handle is respectively connected with one end of the control end of a relay K4 and the cathode of a diode D20, the other end of the control end of K4 is respectively connected with the anodes of GND1 and D20, one end of a K4 controlled switch is connected with +24V, and the other end of the K4 controlled switch is connected with +24V _ BAT +.

As another preferred scheme, the switch box comprises three two-gear E-TEN1221 rocker switches S2-S4, two WTH118/10K-2W potentiometers R104 and R105 and a three-gear E-TEN1322 rocker switch S1; the 2 pin of S1, one ends of S2-S4, one end of R104 and one end of R105 are connected with the +5V end of the speed-regulating rotating handle, the 3 pin of S1 is connected with PB8 through a resistor R82, the 1 pin of S1 is connected with PB6 through a resistor R85, the other end of S2 is connected with PB9 through a resistor R81, the other end of S3 is connected with PB5 through a resistor R87, the other end of S4 is connected with PB3 through a resistor R89, the other end of R104 is connected with PA2 through a resistor R93, and the other end of R105 is connected with PA3 through a resistor R95.

As another preferable scheme, the main control box of the present invention comprises a power supply part, a controller, a traveling motor driving part, a blade motor driving part, a buzzer, an LED display part and a belt conveyor motor driving part, wherein an electric power output port of the power supply part is respectively connected with a power supply port of the controller and a power supply port of the traveling motor driving part, the power port of the cutting edge motor driving part, the power port of the buzzer, the power port of the LED display part and the power port of the conveyor belt motor driving part are connected, the control signal output port of the controller is respectively connected with the control signal input port of the walking motor driving part, the control signal input port of the cutting edge motor driving part, the control signal input port of the buzzer, the control signal input port of the LED display part and the control signal input port of the conveyor belt motor driving part, and the control signal input port of the controller is connected with the handle.

As another preferred scheme, the power supply part comprises a URB2405YMD chip U2, an AMS1117-3.3 chip U3 and an LM2576SX-12 chip U4, wherein Vin-of the U2 is connected with GND1, Vin + of U2 is connected with +24V, Vout-of the U2 is connected with GND, Vout + of the U2 is connected with +5V, 3 pin of U3 is connected with +5V, 1 pin of the U3 is connected with GND, 2 and 4 pins of the U3 are connected with +3.3V, 1 pin of the U4 is connected with +24V, 3 and 5 pins of the U4 are connected with GND1, 2 pins of the U4 are connected with +12V through an inductor L1, and 4 pins of the U4 are connected with + 12V.

As another preferable scheme, the controller adopts an STM32F103C8T6 chip U1, pins 10-17 of U1 are correspondingly connected with PA 0-PA 7 respectively, pins 29-33 of U1 are correspondingly connected with PA 8-PA 12 respectively, pins 25-28 of U1 are correspondingly connected with PB 12-PB 15 respectively,

pins

21 and 22 of U1 are correspondingly connected with PB10 and PB11 respectively,

pins

45 and 46 of U1 are correspondingly connected with PB8 and PB9 respectively, pins 39-43 of U1 are correspondingly connected with PB 3-PB 7 respectively, and

pins

18 and 19 of U1 are correspondingly connected with PB0 and PB1 respectively.

As another preferable scheme, the walking motor driving part of the invention comprises EL357N (B) (TA) -G chips OP3, OP4, wherein the anode of the input end of OP3 is connected with PA5, the cathode of the input end of OP3 is grounded, the collector of the output end of OP3 is respectively connected with one end of the control end of +24V, JQX-13F/24V/LY2N-J relay K1, the other end of the control end of K1 is connected with the collector of NPN triode Q1, the base of Q1 is connected with the emitter of the output end of OP3 through resistor R7, and the emitter of Q1 is connected with GND 1;

the anode of the input end of OP4 is connected with PA6, the cathode of the input end of OP4 is grounded, the collector of the output end of OP4 is respectively connected with one end of the control end of +24V, JQX-13F/24V/LY2N-J relay K2, the other end of the control end of K2 is connected with the collector of an NPN triode Q2, the base of Q2 is connected with the emitter of the output end of OP4 through a resistor R15, and the emitter of Q2 is connected with GND 1.

As another preferred solution, the walking motor driving portion of the present invention includes a TLP250 chip OP1 and LNC07R085H field effect transistors Q3 to Q5, a pin 2 of OP1 is connected to PA15 through a resistor R22, a pin 8 of OP 15 is connected to +12V,

pins

6 and 7 of OP 15 are connected to G poles of Q15 to Q15 through a resistor R15, a pin 5 of OP 15 is connected to S poles of Q15 to Q15 and a pin 5 of LM324 15 chip U15, D poles of Q15 to Q15 are connected to a first B end of a controlled end of K15, a second B end of the controlled end of K15 is connected to a first a end of the controlled end of K15, a second a end of the controlled end of K15 is connected to a second a end of controlled ends of X15 and K15, a first a controlled end of a third a controlled end of K15, a controlled end of the controlled end of K15 is connected to a controlled end of X15, and a second end of a controlled end 15 is connected to a controlled end 15, a controlled end of a controlled end 15, and a second;

u8 has 6 pins connected to one end of resistor R41 and one end of resistor R50, R41 has the other end connected to pin 4 of +12V, U8, R50 has the other end connected to pin 11 of GND1 and U8 and one end of resistor R46, U8 has 7 pins connected via LED E7 to the anode of input end of EL357N (B) (TA) -G chip OP9, OP9 has cathode connected to the other end of R46, OP9 has collector connected to +3.3V, and OP9 has emitter connected to PB 10.

As another preferable scheme, the knife-edge motor driving part of the invention comprises EL357N (B) (TA) -G chip OP6, OP6 input anode connected to PA7, OP6 input cathode connected to GND through resistor R29, OP6 output collector connected to JQX-13F/24V/LY2N-J collector K3 control end, first a end of +24V, K3 controlled end, first B end of K3 controlled end, and capacitor C29 respectively, C29 other end connected to K3 controlled end, second B end of K3 controlled end, and DR1 through resistor R12, K3 control end other end connected to NPN triode Q6 collector, Q6 base connected to OP6 output emitter through resistor R28, Q6 emitter connected to 1;

DR2 is respectively connected with one end of a resistor R56, one end of a resistor R31 and a pin 10 of an LM324DT chip U8, a pin 9 of U8 is respectively connected with one end of a resistor R32 and one end of a resistor R23, the other end of R32 is connected with GND1, the other end of R23 is respectively connected with a pin 4 of +12V, U8, a pin 8 of U8 is connected with the anode of the input end of an EL357N (B) (TA) -G chip OP10 through a light emitting diode E5, the cathode of the input end of OP10 is connected with GND1 through a resistor R35, the collector of the output end of OP10 is connected with +3.3V, and the emitter of the output.

As another preferable scheme, the positive electrode of the buzzer B1 is connected to +5V, the negative electrode of the buzzer B1 is connected to the collector of an NPN triode Q7, the base of the Q7 is connected to one end of a resistor R27 and one end of a resistor R37, respectively, the other end of the R27 is connected to the PA4, and the other end of the R37 is connected to the emitters of GND and Q7, respectively.

Secondly, the LED display part of the invention comprises light emitting diodes E11 and LEDE10, the anode of E11 is connected with PA8 through a resistor R100, the cathode of E11 is connected with GND, the B end of E10 is connected with PB15 through a resistor R4, the G end of E10 is connected with PB14 through a resistor R5, and the R end of E10 is connected with PB13 through a resistor R6.

In addition, the driving part of the conveyer belt motor comprises TLP250 chips OP2, LM324DT chip U8, EL357N (B) (TA) -G chip OP7 and LNC07R085H field effect transistors Q8-Q10, wherein 3 pins of OP2 are connected with PB4 through a resistor R62, 8 pins of OP2 are connected with +12V, 6 pins and 7 pins of OP2 are respectively connected with G electrodes of Q8-Q10 through a resistor R39, 5 pins of OP2 are respectively connected with S electrodes of Q8-Q10 and 12 pins of LM324DT chip U8, D electrodes of Q8-Q10 are connected with CS1, and CS2 is connected with + 24V;

the S poles of Q8-Q10 are respectively connected with a pin 5 of OP2, one end of a resistor R55, one end of a resistor R49 and a pin 12 of U8, a pin 13 of U8 is respectively connected with one end of a resistor R20 and one end of a resistor R34, the other end of R20 is respectively connected with a pin 4 of +12V, U8, the other end of R34 is respectively connected with a pin 11 of GND1 and U8 and one end of a resistor R36, a pin 14 of U8 is connected with the anode of the input end of an EL357N (B) (TA) -G chip OP7 through a light-emitting diode E4, the cathode of the input end of OP7 is connected with the other end of R36, the collector of the output end of OP7 is connected with +3.3V, and.

The invention has the beneficial effects.

The invention can control the walking of the leaf vegetable harvester, the working of the cutting edge and the working of the conveyor belt through the handle, the switch box and the main control box, and is convenient for improving the working efficiency and the use convenience of the leaf vegetable harvester.

Drawings

The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.

FIGS. 1-6 are schematic diagrams of the circuit of the present invention.

Fig. 7, 8 and 9 are schematic structural diagrams of the main body of the leaf vegetable harvester of the invention.

Fig. 10 is a partially enlarged view of a portion a in fig. 2.

Fig. 11 is a schematic structural diagram of a cutting device of the main body of the leaf vegetable harvester.

Fig. 12 is a schematic structural diagram of a supporting device of the main body of the leaf vegetable harvester.

Fig. 13 and 14 are schematic structural views of a rear poking device of the main body of the leaf vegetable harvester.

FIG. 15 is a schematic view of a belt link according to the present invention. In fig. 15, 71 is a shaft of the first

rear roller

31, 72 is a conveyor belt, and 73 is a nip belt roller.

Fig. 16 is a schematic diagram of a relative connection structure of the flexible shaft of the invention.

Detailed Description

As shown in the figure, the invention comprises a handle 102, a switch box 101 and a main control box 100, wherein the handle is connected with a control signal input port of the main control box through the switch box, and a control signal output port of the main control box is respectively connected with a control signal input port of a walking motor (the walking motor drives a roller 70 to rotate) on a leaf vegetable harvester main body, a control signal input port of a blade motor on the leaf vegetable harvester main body and a control signal input port of a conveyor belt motor on the leaf vegetable harvester main body.

The handle adopts a speed-regulating rotating handle (a speed-regulating rotating handle adopting a XideSeng King series button can be adopted), the ADJ _1 end of the speed-regulating rotating handle is connected with PA1 through a resistor R91, the JT end of the speed-regulating rotating handle is respectively connected with one end of the control end of a relay K4 and the cathode of a diode D20, the other end of the control end of the K4 is respectively connected with the anodes of GND1 and D20, one end of a K4 controlled switch is connected with +24V, and the other end of a K4 controlled switch is connected with +24V _ BAT +.

After the system is connected with a storage battery, a power key is controlled to be pressed down, the JT has 24V voltage, the JT drives a K4 coil to attract, the main control box is connected with a 24V power supply through a normally open contact of K4, and the whole machine starts to work.

The switch box comprises three two-gear E-TEN1221 rocker switches S2-S4, two WTH118/10K-2W potentiometers R104 and R105 and a three-gear E-TEN1322 rocker switch S1; the 2 pin of S1, one ends of S2-S4, one end of R104 and one end of R105 are connected with the +5V end of the speed-regulating rotating handle, the 3 pin of S1 is connected with PB8 through a resistor R82, the 1 pin of S1 is connected with PB6 through a resistor R85, the other end of S2 is connected with PB9 through a resistor R81, the other end of S3 is connected with PB5 through a resistor R87, the other end of S4 is connected with PB3 through a resistor R89, the other end of R104 is connected with PA2 through a resistor R93, and the other end of R105 is connected with PA3 through a resistor R95.

The main control box comprises a power supply part, a controller, a walking motor driving part, a cutting edge motor driving part, a buzzer, an LED display part (when the cutting edge motor is overcurrent or the walking motor is overcurrent, for example, the current exceeds 20A for more than 2 seconds, the buzzer alarms and stops the motor working, the LED can be used for displaying the running state of the system, the overcurrent is red and the normal green) and the conveyer belt motor driving part, wherein the power output port of the power supply part is respectively connected with the power supply port of the controller, the power supply port of the walking motor driving part, the power supply port of the cutting edge motor driving part, the power supply port of the buzzer, the power supply port of the LED display part and the power supply port of the conveyer belt motor driving part, and the control signal output port of the controller is respectively connected with the control signal input port of the walking motor driving part, the control signal input, The control signal input port of the buzzer, the control signal input port of the LED display part and the control signal input port of the conveyor belt motor driving part are connected, and the control signal input port of the controller is connected with the handle.

The power supply part comprises a URB2405YMD chip U2, an AMS1117-3.3 chip U3 and an LM2576SX-12 chip U4, wherein the Vin-end of the U2 is connected with GND1, the Vin + end of U2 is connected with +24V, the Vout-end of U2 is connected with GND, the Vout + end of U2 is connected with +5V, the 3 pin of U3 is connected with +5V, the 1 pin of U3 is connected with GND, the 2 and 4 pins of U3 are connected with +3.3V, the 1 pin of U4 is connected with +24V, the 3 and 5 pins of U4 are connected with GND1, the 2 pin of U4 is connected with +12V through an inductor L1, and the 4 pin of U4 is connected with + 12V.

The controller adopts an STM32F103C8T6 chip U1, pins 10-17 of U1 are correspondingly connected with PA 0-PA 7 respectively, pins 29-33 of U1 are correspondingly connected with PA 8-PA 12 respectively, pins 25-28 of U1 are correspondingly connected with PB 12-PB 15 respectively,

pins

21 and 22 of U1 are correspondingly connected with PB10 and PB11 respectively,

pins

18 and 19 of U1 are correspondingly connected with PB0 and PB1 respectively.

The walking motor driving part comprises EL357N (B) (TA) -G chips OP3 and OP4, wherein the anode of the input end of OP3 is connected with PA5, the cathode of the input end of OP3 is grounded, the collector of the output end of OP3 is respectively connected with one end of the control end of a +24V, JQX-13F/24V/LY2N-J relay K1, the other end of the control end of K1 is connected with the collector of an NPN triode Q1, the base of Q1 is connected with the emitter of the output end of OP3 through a resistor R7, and the emitter of Q1 is connected with GND 1;

The walking motor driving part comprises a TLP250 chip OP1 and LNC07R085H field effect transistors Q3-Q5, wherein a pin 2 of OP1 is connected with PA15 through a resistor R22, a pin 8 of OP 15 is connected with +12V,

pins

6 and 7 of OP 15 are respectively connected with poles G of Q15-Q15 through a resistor R15, a pin 5 of OP 15 is respectively connected with poles S of Q15-Q15 and a pin 5 of an LM324 15 chip U15, poles D of Q15-Q15 are connected with a first B end of a controlled end of K15, a second B end of the controlled end of K15 is connected with a first A end of the controlled end of K15, a second A end of the controlled end of K15 is respectively connected with a second A end of X15 and the controlled end of K15, a first B end of a third A K15 controlled end of the controlled end of K15, a first A24 of the controlled end of the K15, and a second B end of the controlled end of the K15, and a controlled end of the; the X1 and the X2 are connected with the walking motor for power supply.

The knife edge motor driving part comprises an EL357N (B) (TA) -G chip OP6, the anode of the input end of OP6 is connected with PA7, the cathode of the input end of OP6 is connected with GND through a resistor R29, the collector of the output end of OP6 is respectively connected with one end of a control end of a JQX-13F/24V/LY2N-J collector K3, the first A end of a controlled end of +24V, K3, the first B end of the controlled end of K3 and one end of a capacitor C29, the other end of C29 is respectively connected with the second A end of the controlled end of K3, the second B end of the controlled end of K3 and DR1 through a resistor R12, the other end of the control end of K3 is connected with the collector of an NPN triode Q6, the base of Q6 is connected with the emitter of the output end of OP;

DR2 is respectively connected with one end of a resistor R56, one end of a resistor R31 and a pin 10 of an LM324DT chip U8, a pin 9 of U8 is respectively connected with one end of a resistor R32 and one end of a resistor R23, the other end of R32 is connected with GND1, the other end of R23 is respectively connected with a pin 4 of +12V, U8, a pin 8 of U8 is connected with the anode of the input end of an EL357N (B) (TA) -G chip OP10 through a light emitting diode E5, the cathode of the input end of OP10 is connected with GND1 through a resistor R35, the collector of the output end of OP10 is connected with +3.3V, and the emitter of the output. DR1 and DR2 are powered by blade motors.

The blade on the main body of the leaf vegetable harvester can hit soil during operation, and after the blade hits the soil, a short protection can be provided to protect the blade motor from overload. When the control is started, 24V reaches the normally open end of the K3 through the common end of the K3 to reach the positive electrode of the power supply of the blade motor, and the negative electrode of the blade motor passes through the R56 and the R31 to GND. Wherein R56 and R31 are manganese copper wire resistors with the resistance value of 0.1 ohm, and the manganese copper wire resistors with the resistance value of 0.05 ohm are used in parallel. When the motor of the knife edge is driven to the soil, the current of the motor is sharply increased due to overload and far exceeds the rated current level. At this time, the DR2 voltage is increased due to the existence of R56 and R31, the DR2 is connected with the 10 pin of the voltage comparison U8 (voltage comparator), when the 10 pin voltage of U8 exceeds the 9 pin voltage at any time, the U8 pin of U8 outputs 12V high level, the 12V output by the 10 pin of U8 enables the auxiliary side of OP10 to be conducted through E5 to OP10 to R35 to GND1, the +3.3V becomes high level through the auxiliary side PB11, PB11 is connected to the processor 22 pin, the processor 22 pin goes high, the processor starts timing, the microprocessor turns off the drive of the blade motor after the high level is maintained for more than 2 seconds, and the blade motor is overcurrent protected.

The two potentiometers (connected with the ADJ _2 and the ADJ _3 in the switch box) are respectively used for adjusting the speed of the conveyor belt and the walking speed of the main body of the leaf vegetable harvester.

The positive electrode of the buzzer B1 is connected with +5V, the negative electrode of the buzzer B1 is connected with the collector of an NPN triode Q7, the base of the Q7 is respectively connected with one end of a resistor R27 and one end of a resistor R37, the other end of the R27 is connected with a PA4, and the other end of the R37 is respectively connected with the emitters of GND and Q7.

The LED display part comprises light emitting diodes E11 and LEDE10, the anode of E11 is connected with PA8 through a resistor R100, the cathode of E11 is connected with GND, the B end of E10 is connected with PB15 through a resistor R4, the G end of E10 is connected with PB14 through a resistor R5, and the R end of E10 is connected with PB13 through a resistor R6.

The conveyer belt motor driving part comprises TLP250 chips OP2, LM324DT chips U8, EL357N (B) (TA) -G chips OP7 and LNC07R085H field effect tubes Q8-Q10, wherein the pin 3 of OP2 is connected with PB4 through a resistor R62, the pin 8 of OP2 is connected with +12V, the

pins

6 and 7 of OP2 are respectively connected with the G poles of Q8-Q10 through a resistor R39, the pin 5 of OP2 is respectively connected with the S poles of Q8-Q10 and the pin 12 of LM324DT chips U8, the D poles of Q8-Q10 are connected with CS1, and the CS2 is connected with + 24V; CS1 and CS2 are connected with the positive end and the negative end of the conveyor belt motor.

S2 can be used to switch between a manual mode in which the speed of the travel motor of the device is controlled by rotation of the rotating handle and an automatic mode in which the speed of the travel motor of the device is controlled by a control switch and a travel knob.

The rotating signal of the rotating handle is collected by a Hall element inside the rotating handle, and a signal of about 0.8-4.2V is output and transmitted to an ADC collecting pin (pin 11 of U1) of U1.

The automatic speed regulation is realized by dividing the output voltage by 0.8-4.2 through resistors (R91 and R92) to obtain 0.4-2.1V voltage, and the corresponding duty ratio is 40-100%. The PWM control is performed by a timer TIM1 inside the microprocessor, and the PWM wave is output through a PA15 (pin 38 of U1), amplified by an opto-coupler driver chip OP1 (TLP 250), and then drives 3 MOS off-transistors Q3, Q4, and Q5 connected in parallel, thereby realizing speed regulation.

The walking motor has a reversing function and has the capability of advancing and retreating. The reversing is realized by a reversing circuit consisting of two relays K1 and K2. When the walking vehicle advances, the K2 relay is closed, the K2 relay is disconnected, the power supply 24V passes from the common end of K2A to the normally open end of K2A to X1 and then passes through the motor to X2, and then passes from the normally open end of K2B to the common end of K2B to Q3, Q4, Q5 to R54 and R30 to GND1, so that the walking vehicle finishes the advancing action, and when the walking vehicle advances, the X1 end is positive, and the walking motor rotates positively. When backing, the K2 relay is disconnected, the K1 relay is attracted, a power supply 24V reaches the common end of K2A to the common end of K1B through the common end of K2A, reaches the common end of K2B to X2 through the attraction of K1, is positively connected to the walking motor, reaches the common end of X1 to K1A through the motor, reaches the common end of K1A to the normally closed end of K2B through the normally open end of K1A, reaches the common end of K2B through the normally closed end of K2B, and finishes the action of backing, the X2 end is positive when backing, and the walking motor reverses.

The handle of the invention can be arranged at the rear end of the push rod of the main body of the leaf vegetable harvester, the switch box can be arranged in the middle of the push rod of the main body of the leaf vegetable harvester, and the main control box can be arranged at the lower end of the upper part of the collection belt 40 of the main body of the leaf vegetable harvester.

The leaf vegetable harvester main body comprises a rack 00, a cutting device 20, a conveying device and a transmission device, wherein the cutting device 20 comprises a cutting edge 25 and a cutting edge motor for driving the cutting edge 25 to rotate, the cutting edge 25 is rotatably installed on the rack, the cutting edge motor is installed on the rack and is connected with a transmission shaft 21, a spline sleeve 24 is arranged on the cutting edge 25, a limiting table is arranged on the spline sleeve 24 and is used for keeping the position of the cutting edge 25, the transmission shaft 21 and the spline sleeve 24 are connected through a transmission frame 22, the transmission frame 22 is of a shell structure, a first bevel gear 23 is arranged at one end of the transmission shaft 21, a second bevel gear meshed with the first bevel gear 23 is further arranged in the transmission frame 22, a spline is arranged on the end face, far away from the first bevel gear 23, of the second bevel;

the conveying device comprises a pair of front rollers 30 arranged vertically and oppositely, a first rear roller 31 arranged horizontally, a second rear roller 32 arranged horizontally and a pair of conveyor belts (one conveyor belt is wound on the first rear roller 31, the other conveyor belt is wound on the second rear roller 32 and respectively drives the supporting devices 10 on two sides), the front rollers 30, the first rear roller 31 and the second rear roller 32 are all rotatably arranged at the front part of the frame 00 and are positioned at the rear part of the supporting devices 10, one conveyor belt is arranged on the front rollers 30 and the first rear roller 31, the other conveyor belt is arranged on the other front rollers 30 and the second rear roller 32, so that the conveyor belts are changed from a vertical conveying mode to a horizontal conveying mode (as shown in fig. 10), and a gap for clamping leafy vegetables is formed between the pair of conveyor belts;

the transmission device comprises a second driving device 34 (namely a conveyor belt motor) for driving the first rear roller 31 and the second rear roller 32 to rotate, the first rear roller 31 penetrates through the rack 00 and is connected with a first chain wheel, the second rear roller 32 penetrates through the rack 00 and is connected with a second chain wheel, the second driving device 34 penetrates through the rack 00 and is connected with a third chain wheel in a driving manner, and the first chain wheel, the second chain wheel and the third chain wheel are connected through a chain.

The leaf vegetable harvester main body further comprises an idler wheel 35 used for adjusting the gap between the conveyor belts, the idler wheel 35 is adjustably installed on the rack 00, the idler wheel 35 abuts against the conveyor belts, the idler wheel 35 is installed on two sides of the conveyor belts and used for further enhancing the process that the conveyor belts are changed from vertical transmission to horizontal transmission, meanwhile, the position of the idler wheel 35 can be adjusted so as to achieve the gap between the conveyor belts and the conveyor belts, the adjusting mode of the idler wheel 35 is adjusted through the screwing nut and the adjusting block in a matched mode, and the idler wheel 35 is screwed and positioned through the screwing nut through the adjusting shaft located in the adjusting block.

The leaf vegetable harvester main body further comprises a supporting device 10, the second driving device 34 drives a chain through a chain wheel, the chain drives a first rear roller 31 and a second rear roller 32, the second rear roller 32 drives a conveyor belt 29, the conveyor belt 29 drives the chain wheel, two sides of a shaft of the chain wheel are connected with a frame on the leaf vegetable harvester main body through a bearing 28, two ends of the shaft of the chain wheel are connected with a flexible shaft 27, the flexible shaft 27 drives the umbrella-shaped supporting device 10, the supporting device 10 comprises an umbrella-shaped supporting device which is rotatably installed on the frame 00, the supporting device is located at the front end of the harvester, and one end of the supporting device with the smaller diameter is far away from the frame 00.

The bearing 28 is located the frame bottom, also can pass through pneumatic motor and support ware drive connection, and flexible axle or trachea can be fixed on frame 00 through the binding band.

The supporting device comprises a rotating shaft 12 and a plurality of supporting rods 11 which are uniformly arranged around the axis of the rotating shaft 12, one end of each supporting rod 11 is connected to the rotating shaft 12, the other end of each supporting rod 11 is connected through a connecting ring 13, and the rotating shaft 12 is rotatably installed on the rack 00.

The support device further comprises a support plate 14, the middle part of the support rod 11 is connected to the support plate 14, and the support plate 14 is coaxially mounted on the rotating shaft 12.

The leaf vegetable harvester main body further comprises an adjusting device, the frame 00 comprises a chassis and a travelling wheel, the travelling wheel is installed on the chassis through an adjusting rod 50, the adjusting rod 50 is hinged to the frame 00, and an adjusting nut 51 used for adjusting the head raising height of the harvester is arranged on the adjusting rod 50.

The leaf vegetable harvester main body further comprises a collecting device which comprises a collecting roller rotatably mounted on the frame 00, a collecting belt 40 mounted on the collecting roller and a collecting box 41 for storing leaf vegetables, wherein the collecting box 41 is mounted at the tail end of the frame 00, the collecting belt 40 and the collecting box 41 are partially overlapped to ensure that the harvested leaf vegetables can fall into the collecting box 41, the moving tail end of the collecting belt 40 is positioned above the collecting box 41, and the collecting roller is driven by a chain wheel through the second driving device 34.

One side of the collecting box 41 is hinged to the rack 00, an angle adjuster is arranged between the collecting box 41 and the rack 00 and used for adjusting the angle of the collecting box 41, and the adjusting mode of the angle adjuster is similar to that of an adjusting device and is not described again.

The main body of the leaf vegetable harvester also comprises a rear shifting device, which comprises a first driver 64, a first connecting rod 61 connected on the first driver 64, a second driver 65, a second connecting rod 62 connected on the second driver 65, a third connecting rod 63 with two ends respectively hinged on one end of the first connecting rod 61 and one end of the second connecting rod 62, a fourth driving device 60 (the fourth driving device 60 can adopt a motor, the power ends of the fourth driving device 60 and the second driving device 34 can be connected in parallel and then connected with the output ends CS1 and CS2 of the driving part of the conveyor belt motor, namely, one driving part of the conveyor belt motor drives two motors) and a rear shifting device 66, wherein the first driver 64 is in transmission connection with the second driver 65, the rear shifting device 66 is arranged on the third connecting rod 63, the first driver 64 and the second driver 65 are chain wheels, the fourth driving device 60 is also provided with chain wheels, is connected by a chain in a transmission way.

When the automatic leaf vegetable harvesting machine works, the supporting device 10 rotates, the diameter of the front end is small, the diameter of the rear end is large, the supporting device rotates towards the opposite direction and exceeds the outer side, leaf vegetables can be vertically arranged under the driving of the supporting device, the cutting disc rotates under the driving of the cutting edge motor to cut the leaf vegetables from the root position, the cut leaf vegetables are dumped and conveyed backwards along the transmission belt, the vertical state of the transmission belt is changed into the horizontal state, the leaf vegetables can be changed into the ambiguous horizontal state, the ordered arrangement of the harvested leaf vegetables is facilitated, the leaf vegetables are conveyed to the collecting device along with the transmission belt, the leaf vegetables are further conveyed into the collecting box 41 through the collecting belt 40, the leaf vegetables falling into the collecting box 41 are further arranged to the tail end of the collecting box 41 through the rear poking device 66, the leaf vegetables are conveniently stacked, the working principle of the rear poking device is that the cutting edge motor drives the first connecting rod 61, the second driver 65 drives the second connecting rod, one end of the third connecting rod 63 is connected to the higher position of the first connecting rod 61, and the other end is connected to the lower position of the second connecting rod 62, when the first connecting rod 61 and the second connecting rod 62 are operated in a circular manner, the third connecting rod 63 is driven to perform an overall circular reciprocating motion, so as to drive the rear poking device 66 to generate a rear poking action.

The leaf vegetable harvester is controlled to move forwards and backwards through the switch box, the moving speed and the emergency stop of the leaf vegetable harvester are controlled through the handle, the blade and the conveyor belt are controlled to work through the switch box, and an operator holds a push rod of the leaf vegetable harvester body to move along with the leaf vegetable harvester body to finish the harvesting of leaf vegetables.

The speed of the leaf vegetable harvester main body and the speed of the conveying belt are adjusted through the duty ratio. The speed regulation process is as follows: by adjusting the R105 potentiometer on the switch box, a voltage of 0-1V is obtained through the voltage division of R89 and R90, the voltage PB3 is connected to the 39 pin of U1 for analog quantity acquisition, and a digital quantity variation signal along with the R105 potentiometer is obtained. The PWM pulse width modulated waveform is generated by a TIM2 timer internal to the microprocessor. The signal is output through a pin 40 PB4 of the U1, PB4 is connected with an optocoupler driver OP2, and after the PWM signal is amplified through OP2, the PWM signal drives three MOS transistors Q8, Q9 and Q10.

It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.

Claims

1. The electric leaf vegetable harvester comprises a handle, a switch box and a main control box, and is characterized in that the handle is connected with a control signal input port of the main control box through the switch box, and a control signal output port of the main control box is respectively connected with a control signal input port of a walking motor on a leaf vegetable harvester main body, a control signal input port of a cutting edge motor on the leaf vegetable harvester main body and a control signal input port of a conveyor belt motor on the leaf vegetable harvester main body.

2. The electric leaf vegetable harvester according to claim 1, wherein the main control box comprises a power supply part, a controller, a traveling motor driving part, a blade motor driving part, a buzzer, an LED display part and a conveyor belt motor driving part, wherein a power output port of the power supply part is connected with a power port of the controller, a power port of the traveling motor driving part, a power port of the blade motor driving part, a power port of the buzzer, a power port of the LED display part and a power port of the conveyor belt motor driving part, respectively, a control signal output port of the controller is connected with a control signal input port of the traveling motor driving part, a control signal input port of the blade motor driving part, a control signal input port of the buzzer, a control signal input port of the LED display part and a control signal input port of the conveyor belt motor driving part, respectively, the control signal input port of the controller is connected with the handle.

3. The electric leaf vegetable harvester according to claim 2, characterized in that the controller adopts an STM32F103C8T6 chip U1, pins 10 to 17 of U1 are correspondingly connected with PA0 to PA7, pins 29 to 33 of U1 are correspondingly connected with PA8 to PA12, pins 25 to 28 of U1 are correspondingly connected with PB12 to PB15, pins 21 and 22 of U1 are correspondingly connected with PB10 and PB11, pins 45 and 46 of U1 are correspondingly connected with PB8 and PB9, pins 39 to 43 of U1 are correspondingly connected with PB3 to PB7, and pins 18 and 19 of U1 are correspondingly connected with PB0 and PB 1.

4. The electric leaf vegetable harvester according to claim 2, wherein the walking motor driving part comprises EL357N (B) (TA) -G chips OP3, OP4, the anode of the input end of OP3 is connected with PA5, the cathode of the input end of OP3 is grounded, the collector of the output end of OP3 is respectively connected with one end of the control end of +24V, JQX-13F/24V/LY2N-J relay K1, the other end of the control end of K1 is connected with the collector of NPN triode Q1, the base of Q1 is connected with the emitter of the output end of OP3 through a resistor R7, and the emitter of Q1 is connected with GND 1;

5. The electric leaf vegetable harvester according to claim 2, wherein the knife-edge motor driving part comprises an EL357N (B) (TA) -G chip OP6, the anode of the input end of OP6 is connected with PA7, the cathode of the input end of OP6 is connected with GND through a resistor R29, the collector of the output end of OP6 is respectively connected with one end of the control end of JQX-13F/24V/LY2N-J collector K3, the first A end of the controlled end of +24V, K3, the first B end of the controlled end of K3 and one end of a capacitor C29, the other end of C29 is respectively connected with the second A end of the controlled end of K3, the second B end of the controlled end of K3 and DR1 through a resistor R12, the other end of K3 is connected with the collector of an NPN triode Q6, the base of Q6 is connected with the emitter of the OP6 output end through a resistor R28;

6. The electric leaf vegetable harvester according to claim 2, wherein the conveyor belt motor driving part comprises TLP250 chip OP2, LM324DT chip U8, EL357N (B) (TA) -G chip OP7 and LNC07R085H fets Q8-Q10, pin 3 of OP2 is connected to PB4 through resistor R62, pin 8 of OP2 is connected to +12V, pins 6 and 7 of OP2 are connected to G poles of Q8-Q10 through resistor R39, pin 5 of OP2 is connected to S poles of Q8-Q10 and pin 12 of LM324DT chip U8, D poles of Q8-Q10 are connected to CS1, and CS2 is connected to + 24V;