CN116158258A - Intelligent harvesting device and method for hanging type ball-forming leaf vegetables - Google Patents

Abstract

The invention relates to a hanging type intelligent harvesting device and a harvesting method for bulbous leafy vegetables, which belong to the field of agricultural harvesting machinery. The front end of the harvesting device is provided with a mechanical arm, which includes a clamping and conveying device, a conveying and collecting device and a root cutting device, and the clamping and conveying device is used to extract and convey the bulbous leafy vegetables to the conveying and collecting device. The invention can adjust the distance between the conveyor belts to realize the harvesting of different types of bulbous leafy vegetables, and has a high degree of generalization; it adopts the technology of extracting first and then cutting the roots and cooperating with nitrogen spring wheels, gas springs and automatic holding mechanism to assist in harvesting , Efficient and accurate for picking and transporting bulbous leafy vegetables with inconsistent height and plant spacing; relying on the spring shaft cutter of the root cutting device to achieve accurate cutting of the roots of bulbous leafy vegetables and reduce the damage rate of bulbous leafy vegetables; The collection device realizes the grading of the size of the head leafy vegetables through the distance between the transmission rollers. Only one person can complete the harvesting operation, with high work efficiency and short operation time.

Description

A hanging type intelligent harvesting device and harvesting method for bulbous leafy vegetables

technical field

The invention relates to a hanging type intelligent harvesting device and a harvesting method of head-heading leafy vegetables, which belong to the technical field of agricultural harvesting machinery.

Background technique

At present, my country is the largest producer and consumer of vegetables in the world. Vegetables are an important agricultural product indispensable to the lives of urban and rural residents, and ensuring the supply of vegetables is a major livelihood issue. As a typical vegetable, bulbous leafy vegetables refer to vegetables with tender leaves as edible parts. Because of their rich nutrition, they are deeply loved by consumers and are an indispensable source of nutrition for Chinese residents.

However, as the phenomenon of aging in rural areas becomes increasingly prominent, there is a shortage of rural labor, and the production process of headed leafy vegetables is labor-intensive, and the cost of agricultural production continues to rise. The production of headed leafy vegetables is "difficult to employ" and "expensive" and other problems Increasingly prominent, there is an urgent need to speed up the mechanized production process of head-heading leafy vegetables. The patent with the application number CN202210329799.3 discloses a cabbage picking method and a cabbage picking system. The cabbage leaf bulbs are picked one by one by the mechanical arm set on the self-propelled chassis, which avoids the cabbage leaf bulbs in the continuous harvesting process. Pushing each other is beneficial to reduce the damage on the surface of leaf balls. The patent with the application number CN201911047327.3 discloses a suspended cabbage harvesting mechanical system. Each device in the mechanical system can be used as a whole or alone with a supporting tractor, and is suitable for cabbage, cabbage, cauliflower and other head vegetables of different varieties and row spacing. Mechanized segmented harvesting and combined harvesting. The patent with the application number CN201810056997.0 discloses an all-in-one Chinese cabbage picking and collecting machine, which has a high level of intelligence for automatic picking, cleaning and collecting, and solves the problems of low manual picking efficiency, cumbersome steps, and heavy workload.

However, the generalization degree of the existing head vegetable harvesting machinery is low, and the adaptability to different types of head leaf vegetables is poor; the head leaf vegetables with inconsistent height and plant spacing cannot be accurately clamped, and the cutting height is improper. The damage rate is high, resulting in a large waste; some processes still need manual assistance, and the work efficiency is low and time-consuming.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a hanging type intelligent harvesting device and harvesting method for head vegetables, which can adjust the distance between conveyor belts and realize harvesting of different types of head vegetables, with a high degree of generalization ;Using the technology of extracting first and then cutting the roots, combined with nitrogen spring wheels, gas springs and automatic clamping mechanisms, and installing mechanical arms to assist in harvesting, it can efficiently and accurately pick and transport bulbous leafy vegetables with inconsistent heights and plant distances, and at the same time Reduce the occurrence of blocking and slipping when pulling out; rely on the spring shaft cutter of the root cutting device to achieve accurate cutting of the roots of headed leafy vegetables and reduce the damage rate of headed leafy vegetables; The size grading of ball leafy vegetables requires only one person to complete the harvesting operation, with high work efficiency and short operation time.

The present invention adopts following technical scheme:

A hanging type intelligent harvesting device for head vegetables, the harvesting device is connected with a tractor, the tractor inputs power to the intelligent harvesting device for head vegetables, the front end of the harvesting device is provided with a mechanical arm, and the harvesting device includes a clamping and conveying device, a conveying and collecting device The device and the root cutting device, the clamping and conveying device is used to extract and transport the bulbous leafy vegetables to the transmission and collection device, the root cutting device is used to cut the roots of the bulbous leafy vegetables, the transmission and collection device is connected with the clamping and conveying device, Used for conveying and collecting bulbous leafy vegetables.

When the invention works, harvesting starts from one side, and the tractor walks on one side of the open space to harvest row by row without causing damage to vegetables.

The mechanical arm of the present invention can detect the position of the head-like leafy vegetables in front, and when the row-spacing deviation of the head-like leafy vegetables is too large, the mechanical arm pulls out the head-like leafy vegetables with too large row-spacing deviation and puts them into the profiling conveyor belt to transport them backward. At the same time, it can clean up obstacles in the harvesting direction, reduce missed harvests, and reduce the impact of inconsistent row spacing and obstacles on harvesting.

Preferably, the clamping and conveying device includes two left and right frames, a profiling conveyor belt, and an automatic tightening mechanism, and the distance between the two frames can be adjusted;

The rear end of each frame is equipped with a rear end large axle wheel, and the front end is equipped with a front end large axle wheel through an automatic tightening mechanism. There are multiple small axle wheels installed at intervals on both sides of the frame. The front end large axle wheel and the rear end large axle wheel A profiling conveyor belt is set between the axle wheels, and the profiling conveyor belt is in contact with multiple small axle wheels. A hydraulic motor is installed at the rear end of the frame to drive the rotation of the large axle wheel at the rear end, thereby driving the profiling conveyor belt to rotate. ;

The automatic tightening mechanism is used to open the front ends of the two profiling conveyor belts outwards, and is used to tighten the knotted leafy vegetables;

The frame is in the inclined shape with the front low and the rear high. The profiling conveyor belt is equipped with profiling grooves. The profiling grooves are preferably in line with the shape of the bulbous leafy vegetables, so as to achieve better lifting, and the profiling space can be used for knotting. The ball leaf vegetables play a protective role, the two profiling conveyor belts move synchronously, and the profiling grooves of the two profiling conveyor belts are set in pairs, which are used to hold the ball leaf vegetables tightly;

The front and bottom of the two racks are equipped with hydrogen spring wheels, and a gas spring is installed between the rack and the tractor; the hydrogen spring wheels and the gas spring cooperate with each other to realize the height adjustment of the clamping and conveying device, and accurately clamp the balls with inconsistent heights leafy vegetables;

The lower part of the front of the frame is provided with a collection direction auxiliary plate, and the driver drives the harvester so that the single row of headed leafy vegetables is within the two collection direction auxiliary plates, reducing the influence of inconsistent row spacing of the headed leafy vegetables; A guide wheel is installed, and an extraction plate is arranged on the guide wheel, and the guide wheel and the extraction plate rotate clockwise.

Preferably, a telescopic plate, a telescopic tube and a ball screw are arranged between the two frames, the telescopic rod and the telescopic plate can be telescopic, and the ball screw is used to fix the distance between the two frames;

Both ends of the expansion plate and the expansion tube are fixedly installed on the frame. The expansion plate and the expansion tube can be shortened or extended to drive the expansion or contraction of the position between the left and right frames. The structure can adopt the existing structure, as long as it can be stretched. , when adjusted to a proper position, the two racks can be fixed by manually rotating the ball screw.

Preferably, the guide wheel is hinged to the frame through a connecting rod, and the height of the guide wheel can be adjusted and locked at a certain height.

Preferably, one end of the automatic clasping mechanism is fixedly installed on the frame, and the other end is slidably arranged on the front large axle wheel;

The automatic tightening mechanism includes a four-bar mechanism, a spring pull ring and a spring. The four-bar mechanism includes two short rods and two long rods. The shaft wheel is slidingly connected. Specifically, the two ends of the short rod are provided with arc-shaped snap rings, and the outer edge of the front-end large shaft wheel is provided with a circular card slot, and the arc-shaped snap ring is set in the circular card slot of the front-end large shaft wheel. ;

Two long rods are hinged between the two short rods, and the long rod located on the outside is fixedly provided with the spring pull ring, and a spring is connected between the spring pull ring and the frame. outward force.

Preferably, the conveying and collecting device includes a support frame, a conveyor belt, a drive roller, a common collection box and a long collection box, baffles are arranged on both sides of the conveyor belt, and the baffles on both sides are fixedly connected to the support frame, and the conveyor belt The rotation depends on the input power of the tractor, and is used to convey the bulbous leafy vegetables sent by the clamping and conveying device. The front end of the conveyor belt is provided with a retaining sleeve, and the rear end is provided with a vegetable retainer;

The front ends of the baffles on both sides are provided with bosses, the baffle sleeve and the bosses are rotatably connected, and a connecting plate is fixed on the baffle sleeve, and bolt holes are arranged on the connecting plate for clamping and conveying devices. The rear end of the frame is connected; the clamping conveying device is connected to the conveying and collecting device through a retaining sleeve, the front end of the retaining sleeve is connected to the clamping conveying device, and the rear end is connected to the conveying and collecting device;

Multiple transmission rollers are installed on the support frame, and the adjacent transmission rollers are equally spaced. The transmission rollers rely on the input power of the tractor, and the chain drive drives the rotation. A long collection box is installed at the bottom of the transmission rollers to collect the knots falling from the gap between the transmission rollers. ball leafy vegetables;

An ordinary collection box is arranged at the end of the conveying roller, which is used to collect large-sized head-shaped leafy vegetables that have not fallen from the gap between the conveying rollers;

Preferably, the drawing plate, the vegetable retaining plate, the baffle plate and the headed leafy vegetables are all rubber materials; the outer surfaces of the profiling conveyor belt, the conveyor belt, and the driving drum are all rubber materials, so as to reduce damage to the leafy vegetables.

Preferably, the root cutting device includes a knife rest, a position sensor, a spring shaft cutter and a motor transmission system, the knife rest is fixedly installed on the bottom of the two frames of the clamping and conveying device, and four position sensors are arranged on the knife rest , used for real-time detection of the position of the bulbous leafy vegetable closest to the position of the knife holder;

The position sensor is a common proximity position sensor (such as a sensor from Festo), which detects the bulbous leafy vegetables closest to the position of the knife holder in real time. The detection principle can refer to the prior art;

The motor transmission system is arranged on the frame, used to drive the spring shaft cutter to extend and cut off the upper edge of the root of the headed leafy vegetables. When the nearest headed leafy vegetables reach the position of the spring shaft cutter, the signal is transmitted to the motor The transmission system, the motor transmission system drives the spring shaft cutter to extend out and cut off the upper edge of the root of the bulbous leafy vegetables (before harvesting, the height of the profiling conveyor belt should be adjusted so that the bulbous leafy vegetables reach the position of the spring shaft cutter) , the position of the cutter just corresponds to the upper edge of the root of the bulbous leafy vegetable, so as to ensure that the cutter can accurately cut the part that needs to be cut).

Preferably, the spring shaft cutter includes a cutter assembly, a fixed baffle, a spring baffle and a knife return spring, the cutter assembly includes a sliding plate, vertical bars are arranged at both ends of the sliding plate, and the two vertical bars A spring shaft is fixedly connected between them;

The fixed baffle is fixedly installed on the knife holder, and the upper end of the fixed baffle is slidably connected with the sliding plate of the cutter assembly. Preferably, a sliding groove is arranged in the sliding plate, and a raised line is arranged on the upper end of the fixed baffle, and the raised line is connected with the sliding plate. Groove fit to achieve sliding connection;

The spring baffle is fixedly connected with the fixed baffle, and a through hole is arranged on the spring baffle, and the size of the through hole is larger than the outer diameter of the spring shaft, and the spring shaft can move through the through hole. A knife return spring is arranged between the vertical bars, and one end of the knife return spring is fixed to the spring baffle, and the other end is fixed to the vertical bar at the front end of the sliding plate.

A harvesting method of a hanging-type intelligent harvesting device for bulbous leafy vegetables. Before work, according to the different types of harvested bulbous leafy vegetables, manually adjust the ball screw to change the distance between the profiling conveyor belts. Adjust the height of the guide wheel, adjust the proper guiding height, and realize the gripping and conveying of different kinds of bulbous leafy vegetables;

When working, the driver drives the tractor in a low gear to drive the harvesting device to harvest in a single row forward. The guide wheels guide and guide the bulbous leafy vegetables. In order to reduce the influence of inconsistent row spacing of head and ball leafy vegetables, the automatic holding mechanism is acted by the spring force to form an opening shape, thereby driving the front end of the profiling conveyor belt into an opening shape, and the head and ball leafy vegetables enter the first pair of profiling grooves at the front end middle (the height of the profiling groove should be consistent with the height of the bulbous leafy vegetables growing in the ground), and hold the bulbous leafy vegetables tightly and continuously transport them backwards. , its height is constantly increasing, so as to realize the pulling out of the head leafy vegetables and continue to transmit them backwards, and the roots of the head leafy vegetables are always facing downward;

During the backward transmission, the displacement sensor of the root cutting device detects the position of the bulbous leafy vegetables closest to the position of the knife holder in real time, and when the nearest bulbous leafy vegetables reach the position of the spring shaft cutter, the signal is transmitted to the motor drive system , the motor transmission system drives the spring shaft cutter to stretch out and cut off the upper edge of the root of the bulbous leafy vegetable. After the cutting is completed, the motor transmission system stops outputting power, and the spring shaft cutter automatically retracts;

The root-cut bulbous leafy vegetables are conveyed to the conveying and collecting device by the profiling conveyor belt, and enter the conveyor belt. The outer wrapping leaves of the bulbous leafy vegetables fall off automatically (after the root is cut, the outer wrapping leaves connected to the upper edge of the root lose their fixation and automatically falling off), the leafy vegetables after de-leafing are conveyed to the rear end along the conveyor belt. Enter the long collection box along the gap of the transmission roller, and the large headed leafy vegetables are transferred to the ordinary collection box by the transmission roller, so as to realize the grading of vegetable size and grade, and complete the harvesting task.

Both the nitrogen spring wheel and the gas spring can adopt the existing structure. The nitrogen spring wheel and the gas spring are matched. At normal height, the force generated by the nitrogen spring wheel and the gas spring is balanced. The spring wheel is stretched, the force generated is reduced, the gas spring is stretched, and the clamping and conveying device is lowered, and the height is automatically adjusted. If it is higher than the normal height, the opposite is true, so as to realize the automatic adjustment of the height of the clamping and conveying device, and realize the height of the inconsistent ball. Accurate gripping and conveying of leafy vegetables.

Preferably, the root cutting steps of the spring shaft cutter are: S1, the position sensor detects the position; S2, transmits the signal to the motor transmission system; S3, the motor transmission system drives the root cutting device to automatically eject the knife; S4, realizes the bulbous leafy vegetable root Accurate cutting; S5, the cutting is completed, the motor transmission system stops output power, the cutter is retracted by the spring force, and S1 to S5 are executed in sequence.

The working process of the spring shaft cutter is as follows: the fixed baffle and the spring baffle are fixed, the motor transmission system drives the cutter assembly to extend forward, and cuts the root of the knotted leafy vegetable. At the same time, the return spring is in a stretched state , When the motor transmission system stops driving or retracts, due to the retraction force of the return spring, the cutter assembly automatically retracts backwards and returns to the initial state.

Preferably, the working process of the automatic tightening mechanism is:

The automatic tightening mechanism is acted by the spring force to form an opening shape, thereby driving the front end of the profiling conveyor belt to become an opening shape. As the harvesting device advances, the clamping force on the bulbous leafy vegetables gradually increases. When the spring force is reached, the front end of the four-bar mechanism of the automatic clamping mechanism overcomes the spring force and begins to shrink toward the middle. Since the front end of the rack can rotate , the gap at the front end of the profiling conveyor belt is reduced to realize the complete clamping of the head vegetables. post delivery.

The automatic clamping mechanism can realize the accurate clamping of bulbous leafy vegetables with inconsistent plant spacing, and reduce the impact caused by inconsistent plant spacing. The profiling conveyor belt is consistent with the bulbous leafy vegetables, and the lifting and profiling space can be better realized It can play a protective role in heading leafy vegetables.

For the non-exhaustive parts of the present invention, all can refer to the prior art.

The beneficial effects of the present invention are:

The present invention adopts the technical means of extracting first and then cutting the roots, and utilizes the outer wrapping leaves of the bulbous leafy vegetables to reduce the damage of the bulbous leafy vegetables in the process of clamping and conveying; Versatility of leafy vegetables; the profiling conveyor belt is used to better lift and the profiling space can protect the leafy vegetables; the automatic clamping mechanism is used to cooperate with gas springs and nitrogen spring wheels The height adjustment mechanism is equipped with a mechanical arm to assist in harvesting. It can accurately and efficiently clamp and transport bulbous leafy vegetables with different plant distances and heights, and at the same time reduce blocking and slipping during extraction; the root cutting device is equipped with a position sensor. , accurately cut the roots of head vegetables, reduce the damage to head vegetables due to inconsistent cutting heights, and obtain head vegetables with outsourcing leaves removed; The small knotted leafy vegetables enter the long collection box by the distance between the transmission rollers, and the small knotted leafy vegetables that cannot pass the distance are transported into the ordinary collection box by the transmission roller, so as to realize the grading of vegetable sizes; when the present invention works, only need One person controls and drives to complete the harvesting operation of headed leafy vegetables, which reduces labor intensity and is of great significance for realizing the mechanization of headed leafy vegetables.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute an improper limitation of the present application.

Fig. 1 is a combination schematic diagram of a bulbous leaf vegetable intelligent harvesting device and a tractor;

Fig. 2 is the structural representation of the clamping and conveying device of the intelligent harvesting device for bulbous leafy vegetables;

Fig. 3 is the structural representation of the conveying and collecting device of the bulb class leaf vegetable intelligent harvesting device;

Fig. 4 is the structural representation of the root cutting device of the bulb class leafy vegetable intelligent harvesting device;

Fig. 5 is a schematic diagram of the lower structure of the clamping and conveying device of the intelligent harvesting device for bulbous leafy vegetables;

Fig. 6 is the structural representation of the spring shaft cutter of root cutting device;

Fig. 7 is a structural schematic diagram of the automatic clamping mechanism of the clamping and conveying device;

Fig. 8 is a flow chart of the steps of automatically springing the knife and cutting the roots of the intelligent harvesting device for bulbous leafy vegetables.

In the figure, 1-tractor, 2-gas spring, 3-collection direction auxiliary plate, 4-automatic holding mechanism, 5-profiling conveyor belt, 6-ball screw, 7-small shaft wheel, 8-rear end large shaft Wheels, 8'- front large axle wheel, 9-hydraulic motor, 10-frame, 11-motor transmission system, 12-expandable plate, 13-expandable tube, 14-hydrogen spring wheel, 15-guide wheel, 16-lead Pulling plate, 17-stop sleeve, 18-baffle plate, 19-conveyor belt, 20-cutting plate, 21-drive roller, 22-support frame, 23-long collection box, 24-common collection box, 25-knife holder, 26-spring shaft cutter, 27-position sensor, 28-spring pull ring, 29-spring, 30-four-bar mechanism, 31-knife return spring, 32-cutter assembly, 33-fixed baffle, 34-spring shaft , 35-mechanical arm, 36-spring baffle, 37-sliding plate, 38-vertical bar.

Detailed ways:

In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the implementation of this specification, but not limited thereto. The inventions that are not described in detail shall be based on conventional techniques in the art.

Example 1

A hanging type intelligent harvesting device for head vegetables, as shown in Figure 1-8, the harvesting device is connected to a tractor 1, and the tractor 1 inputs power to the intelligent harvesting device for head vegetables, and the front end of the harvesting device is provided with a mechanical arm 35 , the harvesting device includes a clamping and conveying device, a conveying and collecting device and a root cutting device, the clamping and conveying device is used to extract and transport the bulbous leafy vegetables to the conveying and collecting device, and the root cutting device is used to cut the roots of the bulbous leafy vegetables , the conveying and collecting device is connected with the clamping and conveying device, and is used for conveying and collecting the bulbous leafy vegetables.

When the invention works, harvesting starts from one side, and the tractor walks on one side of the open space to harvest row by row without causing damage to vegetables.

The mechanical arm of the present invention can detect the position of the head-like leafy vegetables in front, and when the row-spacing deviation of the head-like leafy vegetables is too large, the mechanical arm pulls out the head-like leafy vegetables with too large row-spacing deviation and puts them into the profiling conveyor belt to transport them backward. At the same time, it can clean up obstacles in the harvesting direction, reduce missed harvests, and reduce the impact of inconsistent row spacing and obstacles on harvesting.

Example 2

A kind of suspension type leaf vegetable intelligent harvesting device, as described in Embodiment 1, the difference is that, as shown in Figure 2, the clamping and conveying device includes two frames 10 on the left and right, a profiling conveyor belt 5, an automatic holding Tightening mechanism 4, the distance between the two frames 10 can be adjusted;

The rear end of each frame 10 is all equipped with a rear end large shaft wheel 8, and the front end is equipped with a front end large shaft wheel 8' (with the advancing direction of the harvesting device as the front) by the automatic holding mechanism 4, and the space between the two sides of the frame 10 is A plurality of small shaft wheels 7 are installed, a profiling conveyor belt 5 is arranged between the front end large shaft wheel 8' and the rear end large shaft wheel 8, and the profiling conveyor belt 5 contacts with a plurality of small shaft wheels 7. The end is provided with a hydraulic motor 9, which is used to drive the large shaft wheel 8 at the rear end to rotate, and then drive the profiling conveyor belt to rotate;

The automatic tightening mechanism is used to open the front ends of the two profiling conveyor belts outwards, and is used to tighten the knotted leafy vegetables;

Frame 10 is the inclination shape that front is low and rear is high, and profiling conveyer belt 5 is provided with profiling groove, and profiling groove preferably coincides with the shape of bulb class leafy vegetables, better realizes lifting, and profiling space can To protect the bulbous leafy vegetables, the two profiling conveyor belts move synchronously, and the profiling grooves of the two profiling conveyor belts are set in pairs, which are used to hold the bulbous leafy vegetables tightly;

The front and bottom of the two frames are equipped with hydrogen spring wheels 14, and gas springs 2 are set between the frame 10 and the tractor 1; Highly inconsistent headed leafy vegetables;

The lower part of the front of the frame 10 is provided with two collection direction auxiliary boards 3, and the driver drives the harvester so that the single row of headed leafy vegetables is within the two collection direction auxiliary boards, reducing the influence of inconsistent row spacing of the headed leafy vegetables; One side is equipped with guide wheel 15, is provided with drawing plate 16 on the guide wheel, and guide wheel 15 rotates clockwise.

Example 3

A kind of suspension type leaf vegetable intelligent harvesting device, as described in embodiment 2, the difference is that a telescopic plate 12, a telescopic tube 13 and a ball screw 6 are arranged between the two frames, a telescopic rod 12 and a telescopic plate 13 can be telescopic, and the ball screw 6 is used to fix the distance between the two racks;

Both ends of the expansion plate and the expansion tube are fixedly installed on the frame. The expansion plate and the expansion tube can be shortened or extended to drive the expansion or contraction of the position between the left and right frames. The structure can adopt the existing structure, as long as it can be stretched. , when adjusted to a proper position, the two racks can be fixed by manually rotating the ball screw.

The guide wheel 15 is hinged with the front end of the frame 10 through a connecting rod, and the height of the guide wheel can be adjusted and locked at a certain height.

Example 4

A hanging type intelligent harvesting device for bulbous leafy vegetables, as described in Embodiment 3, the difference is that, as shown in Figure 7, one end of the automatic holding mechanism 4 is fixedly installed on the frame 10, and the other end is slidably arranged on the front end On the big shaft wheel 8';

The automatic tightening mechanism comprises a four-bar mechanism 30, a spring pull ring 28 and a spring 29, wherein the four-bar mechanism 30 comprises two short bars and two long bars, and the whole is a parallelogram, wherein one short bar is fixed on the frame 10, and the other The short rod is slidably connected with the front end large shaft wheel 8'. Specifically, the two ends of the short rod are provided with arc-shaped snap rings, and the outer edge of the front end large shaft wheel is provided with a circular card slot, and the arc-shaped snap ring is set on the front end large shaft. in the circular slot of the wheel;

Two long rods are hinged between the two short rods, and the long rod positioned at the outside is fixedly provided with a spring pull ring 28, which connects a spring 29 between the spring pull ring 28 and the frame, and the spring makes the automatic holding mechanism form an open shape, giving the front end of the four-bar mechanism an outward force.

Example 5

A kind of hanging type leaf vegetable intelligent harvesting device, as described in embodiment 4, the difference is that, as shown in Figure 3, the transmission and collection device includes a support frame 22, a conveyor belt 19, a driving drum 21, and a common collection box 24 And long collection box 23, conveyor belt 19 both sides are provided with baffle plate 18, fixedly connect between the baffle plate 18 of both sides and support frame 22, the rotation of conveyor belt 19 relies on tractor input power, is used for conveying and clamping conveying device and sends For leafy vegetables, the front end of the conveyor belt 19 is provided with a retaining sleeve 17, and the rear end is provided with a vegetable blocking plate 20;

The front ends of the baffle plates 18 on both sides are provided with bosses, the stop sleeve 17 and the boss are rotatably connected, and a connecting plate is fixedly arranged on the stop sleeve 17, and a bolt hole is arranged on the connecting plate for clamping and conveying. The rear end of the frame of the device is connected; the clamping and conveying device is connected to the transmission and collection device through a retaining sleeve, the front end of the retaining sleeve is connected to the clamping and conveying device, and the rear end is connected to the transmission and collection device;

A plurality of transmission rollers 21 are installed on the support frame 22, and the distance between adjacent transmission rollers 21 is equal. The transmission rollers 21 rely on the input power of the tractor, and the chain drive drives the rotation. Heading leafy vegetables falling in the gap;

The common collecting box 24 is arranged at the end of the conveying roller 21, which is used to collect the large-sized head and bulb leafy vegetables that do not fall from the gap between the conveying rollers;

Pulling plate 16, dish blocking plate 20, baffle plate 18 are all rubber materials at the contacting place with knotting leafy vegetables; Copy conveyor belt 5, conveyer belt 19, driving drum 21 outer surfaces are all rubbery materials, reduce to leafy vegetables damage.

Example 6

A kind of hanging type leafy vegetable intelligent harvesting device, as described in embodiment 5, the difference is that, as shown in Figure 4, the root cutting device includes a knife rest 25, a position sensor 27, a spring shaft cutter 26 and a motor Transmission system 11, knife rest 25 are fixedly installed on the bottom of the two frames of the clamping conveying device, and four position sensors 27 are arranged on the knife rest 25, which are used to detect in real time the position of the nearest bulbous leafy vegetables from the position of the knife rest;

The position sensor 27 is a common proximity position sensor (such as the sensor of Festo), which detects in real time the nearest bulbous leafy vegetables from the knife rest position, and the detection principle can refer to the prior art;

The motor transmission system 11 is arranged on the frame 10, and is used to drive the spring shaft cutter to stretch out and cut off the position of the upper edge of the root of the headed leafy vegetable. When the nearest headed leafy vegetable reaches the position of the spring shaft cutter, the transmission signal To the motor transmission system 11, the motor transmission system 11 drives the spring shaft cutter to stretch out and cut off the upper edge of the root of the bulbous leafy vegetables (before harvesting, the height of the profiling conveyor belt should be adjusted so that the bulbous leafy vegetables reach the spring shaft During the position of the cutter, the position of the cutter just corresponds to the upper edge of the root of the bulbous leafy vegetable, so as to ensure that the cutter can accurately cut the position to be cut).

Example 7

A kind of suspension type leaf vegetable intelligent harvesting device, as described in Embodiment 6, the difference is that, as shown in Figure 6, the spring shaft cutter 26 includes a cutter assembly 32, a fixed baffle 33, a spring baffle 36 and knife return spring 31, the cutter assembly 32 includes a slide plate 37, the front and rear ends of the slide plate are provided with vertical bars 38, and a spring shaft 34 is fixedly connected between the two vertical bars 38;

The fixed baffle 33 is fixedly installed on the knife rest 25, and the upper end of the fixed baffle 33 is slidably connected with the sliding plate 37 of the cutter assembly. Preferably, the sliding plate 37 is provided with a sliding groove, and the upper end of the fixed baffle is provided with a protruding bar. The strip is matched with the sliding groove to realize the sliding connection;

The spring baffle 36 is fixedly connected with the fixed baffle 33, and the spring baffle 36 is provided with a through hole, the size of the through hole is greater than the outer diameter of the spring shaft 34, the spring shaft 34 can move through the through hole, the spring baffle 36 and the sliding plate Knife return spring 31 is set between the vertical bars of the 37 front ends (cutter extension direction is the front), and knife return spring 31 one end is fixed on spring baffle plate 36, and the other end is fixed on the vertical bar 38 of slide plate front end.

Example 8

A harvesting method of a hanging-type intelligent harvesting device for bulbous leafy vegetables. Before work, according to the different types of harvested bulbous leafy vegetables, manually adjust the ball screw 6 to change the distance between the profiling conveyor belts 5, Manually adjust the height of the guide wheel 15, adjust the appropriate guiding height, and realize the gripping and conveying of different types of bulbous leafy vegetables;

When working, the driver drives the tractor in a low gear to drive the harvesting device to harvest in a single row forward. The guide wheels 15 guide and guide the bulbous leafy vegetables. The driver controls the direction so that the single row of bulbous leafy vegetables in the farmland can be assisted in the two collection directions. Within the plate 3, the influence of the inconsistent line spacing of the head leafy vegetables is reduced, and the automatic holding mechanism is acted by the force of the 4 springs to form an opening shape, thereby driving the front end of the profiling conveyor belt into an open shape, and the head leafy vegetables enter the first pair of front ends. In the profiling groove (the height of the profiling groove should be consistent with the height of the bulbous leafy vegetables growing in the ground), and hold the bulbous leafy vegetables to continuously transport backwards. During the conveying process, its height is continuously increased, so that the headed leafy vegetables can be pulled out and continue to be transported backwards, and the roots of the headed leafy vegetables are always facing downward;

In the backward transmission process, the displacement sensor 27 of the root cutting device detects in real time the position of the nearest bulbous leafy vegetable from the knife rest position, and when the nearest bulbous leafy vegetable reaches the position of the spring shaft cutter 26, the transmission signal is sent to the motor The transmission system 11, the motor transmission system 11 drives the spring shaft cutter to stretch out and cut off the upper edge of the root of the bulbous leafy vegetable. After the cutting is completed, the motor transmission system 11 stops output power, and the spring shaft cutter automatically retracts;

The head-cut leafy vegetables after the root cutting are transported to the transmission collection device by the profiling conveyor belt 5, enter the conveyor belt, and the outer wrapping leaves of the head-cut leafy vegetables come off automatically (after the root cutting, the outer wrapping leaves connected to the upper edge of the root lose the fixation) come off automatically), the head-like leafy vegetables after the leaves are removed are transmitted to the rear end along the conveyer belt 19, and due to the blocking of the baffle plate 18 and the dish blocking plate 20, the head-like leafy vegetables after the leaves are removed enter the driving drum 21, and the small ones The knotted leafy vegetables enter the long collection box 23 along the gap of the transmission drum 21, and the big knotted leafy vegetables are transferred to the common collection box 24 by the transmission drum 21, so as to realize the classification of vegetable sizes and grades, and complete the harvesting task.

Both the nitrogen spring wheel and the gas spring can adopt the existing structure. The nitrogen spring wheel and the gas spring are matched. At normal height, the force generated by the nitrogen spring wheel and the gas spring is balanced. The spring wheel is stretched, the force generated is reduced, the gas spring is stretched, and the clamping and conveying device is lowered, and the height is automatically adjusted. If it is higher than the normal height, the opposite is true, so as to realize the automatic adjustment of the height of the clamping and conveying device, and realize the height of the inconsistent ball. Accurate gripping and conveying of leafy vegetables.

Example 9

A harvesting method of a hanging type leafy vegetable intelligent harvesting device, as described in Embodiment 8, the difference is that the root cutting step of the spring shaft cutter is: S1, the position sensor detects the position; S2, transmits the signal to Motor transmission system; S3, the motor transmission system drives the root cutting device to automatically eject the knife; S4, realizes accurate cutting of the root of the bulbous leafy vegetable; S5, the cutting is completed, the motor transmission system stops output power, and the cutter is retracted by the spring force, S1 Steps to S5 are executed sequentially.

The working process of the spring shaft cutter is: the fixed baffle 33 and the spring baffle 36 are fixed, the motor transmission system 11 drives the cutter assembly 32 to stretch out forward, and cuts the root of the knotted leafy vegetable. 31 is in a stretched state, when the motor transmission system 11 stops driving or retracts, due to the retracting force of the knife return spring 31, the cutter assembly automatically retracts 32 and gets back to the initial state.

Example 10

A kind of harvesting method of hanging type leafy vegetable intelligent harvesting device, as described in embodiment 8, the difference is that the working process of the automatic holding mechanism is:

The automatic tightening mechanism is affected by the spring force to form an opening, thereby driving the front end of the profiling conveyor belt 5 to become an opening, and the leafy vegetables of the ball type enter the profiling conveyor belt at the automatic tightening mechanism. Because the front end opening is large and the end opening is small, As the harvesting device advances, the clamping force on the bulbous leafy vegetables increases gradually. When the force of the spring is reached, the front end of the four-bar mechanism of the automatic holding mechanism overcomes the spring force and begins to shrink toward the middle. Because the front end of the frame can Turning, the gap at the front end of the profiling conveyor belt is reduced, and the complete clamping of the bulbous leafy vegetables is realized. After the bulbous leafy vegetables are completely clamped, the squeezing force is the maximum, and then the bulbous leafy vegetables are pulled out. Transport backwards.

The automatic clamping mechanism can realize the accurate clamping of bulbous leafy vegetables with inconsistent plant spacing, and reduce the impact caused by inconsistent plant spacing. The profiling conveyor belt is consistent with the bulbous leafy vegetables, and the lifting and profiling space can be better realized It can play a protective role in heading leafy vegetables.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a suspension type knot ball leaf dish intelligence harvesting apparatus, its characterized in that, harvesting apparatus is connected with the tractor, and the harvesting apparatus front end is provided with the arm, and harvesting apparatus includes centre gripping conveyor, conveying collection device and root cutting device, and centre gripping conveyor is used for getting knot ball leaf dish and carries to conveying collection device, and root cutting device is used for cutting root to knot ball leaf dish, and conveying collection device is connected with centre gripping conveyor for it conveys and collects to knot ball leaf dish.

2. The intelligent harvesting device for the leaf vegetables in the suspended type knot ball according to claim 1, wherein the clamping and conveying device comprises a left rack, a right rack, a profiling conveying belt and an automatic enclasping mechanism, and the distance between the two racks can be adjusted;

the rear end of each frame is provided with a rear end large shaft wheel, the front end is provided with a front end large shaft wheel through an automatic enclasping mechanism, a plurality of small shaft wheels are arranged at intervals on two sides of the frame, a profiling conveyer belt is arranged between the front end large shaft wheel and the rear end large shaft wheel, the profiling conveyer belt is contacted with the plurality of small shaft wheels, and the rear end of the frame is provided with a hydraulic motor for driving the rear end large shaft wheel to rotate so as to drive the profiling conveyer belt to rotate;

the automatic enclasping mechanism is used for opening the front ends of the two profiling conveying belts outwards and is used for enclasping the spherical leaf vegetables;

the frame is in an inclined shape with a lower front part and a higher rear part, the profiling conveyor belts are provided with profiling grooves which are preferably matched with the shape of the spherical leaf vegetables, the two profiling conveyor belts synchronously move, and the profiling grooves of the two profiling conveyor belts are arranged in pairs and are used for holding the spherical leaf vegetables tightly;

the bottoms of the front ends of the two frames are respectively provided with a hydrogen spring wheel, and a gas spring is arranged between the frame and the tractor;

the front lower part of the frame is provided with a collecting direction auxiliary plate, one side in front of the frame is provided with a guide wheel, the guide wheel is provided with a drawing plate, and the guide wheel and the drawing plate rotate clockwise.

3. The intelligent harvesting device for the leaf vegetables with the suspended knot ball according to claim 2, wherein a telescopic plate, a telescopic pipe and a ball screw are arranged between the two frames, the telescopic rod and the telescopic plate can be telescopic, and the ball screw is used for fixing the distance between the two frames;

preferably, the guide wheel is hinged with the frame through a connecting rod, and the height of the guide wheel can be adjusted and locked at a certain height.

4. The intelligent harvesting device for the leaf vegetables in the suspended type knot ball according to claim 2, wherein one end of the automatic enclasping mechanism is fixedly arranged on the frame, and the other end of the automatic enclasping mechanism is arranged on the front end large shaft wheel in a sliding manner;

the automatic enclasping mechanism comprises a four-bar mechanism, a spring pull ring and a spring, wherein the four-bar mechanism comprises two short bars and two long bars, the whole parallelogram is formed, one short bar is fixed on the frame, the other short bar is in sliding connection with the front end large shaft wheel, in particular, arc-shaped clamping rings are arranged at two ends of the short bar, a circular clamping groove is formed in the outer edge of the front end large shaft wheel, and the arc-shaped clamping rings are clamped in the circular clamping groove of the front end large shaft wheel;

two long rods are hinged between the two short rods, the long rods positioned on the outer side are fixedly provided with the spring pull rings, springs are connected between the spring pull rings and the frame, and the springs enable the automatic holding mechanism to be in an opening shape, so that the front end of the four-rod mechanism is provided with an outward force.

5. The intelligent harvesting device for the spherical leaf vegetables, which is suspended in the invention, is characterized in that the conveying and collecting device comprises a supporting frame, a conveying belt, a transmission roller, a common collecting box and a long collecting box, wherein baffles are arranged on two sides of the conveying belt, the baffles on two sides are fixedly connected with the supporting frame, the rotation of the conveying belt is used for conveying the spherical leaf vegetables sent by the clamping and conveying device by virtue of the input power of a tractor, a blocking sleeve is arranged at the front end of the conveying belt, and a chopping board is arranged at the rear end of the conveying belt;

the front ends of the baffle plates on the two sides are respectively provided with a boss, the baffle sleeve is rotatably connected with the bosses, a connecting plate is fixedly arranged on the baffle sleeve, and the connecting plate is provided with a bolt hole for being connected with the rear end of the rack of the clamping and conveying device;

a plurality of transmission rollers are arranged on the support frame, the adjacent transmission rollers are equidistant, the transmission rollers roll from front to back by virtue of the input power of a tractor, and a long collecting box is arranged at the bottom of the transmission rollers and is used for collecting the nodulized leaf vegetables falling from the gaps of the transmission rollers;

the tail end of the conveying roller is provided with a common collecting box for collecting large-size noduliform leaf vegetables which do not fall from the gap of the conveying roller;

preferably, the contact parts of the pulling plate, the chopping board and the baffle plate and the bulb leaf vegetables are all made of rubber materials; the outer surfaces of the profiling conveyer belt, the conveyer belt and the transmission roller are all made of rubber materials.

6. The intelligent harvesting device for the spherical leaf vegetables, which is suspended in the invention, is characterized in that the root cutting device comprises a cutter rest, a position sensor, a spring shaft cutter and a motor transmission system, wherein the cutter rest is fixedly arranged at the bottoms of two frames of the clamping and conveying device, and four position sensors are arranged on the cutter rest and used for detecting the position of the spherical leaf vegetables closest to the position of the cutter rest in real time;

the motor transmission system is arranged on the frame and used for driving the spring shaft cutter to extend out and cut off the upper edge position of the root of the spherical leaf vegetable, and when the nearest spherical leaf vegetable reaches the position of the spring shaft cutter, signals are transmitted to the motor transmission system which drives the spring shaft cutter to extend out and cut off the upper edge of the root of the spherical leaf vegetable.

7. The intelligent harvesting device for the leaf vegetables with the suspended knot ball as claimed in claim 6, wherein the spring shaft cutter comprises a cutter assembly, a fixed baffle, a spring baffle and a cutter return spring, the cutter assembly comprises a sliding plate, vertical rods are arranged at the front end and the rear end of the sliding plate, and a spring shaft is fixedly connected between the two vertical rods;

the fixed baffle is fixedly arranged on the tool rest, the upper end of the fixed baffle is in sliding connection with the sliding plate of the cutter assembly, preferably, a sliding groove is formed in the sliding plate, and the upper end of the fixed baffle is provided with a convex strip which is matched with the sliding groove to realize sliding connection;

the spring baffle is fixedly connected with the fixed baffle, a through hole is formed in the spring baffle, the size of the through hole is larger than the outer diameter of the spring shaft, the spring shaft can move through the through hole, a cutter return spring is arranged between the spring baffle and the vertical rod at the front end of the sliding plate, one end of the cutter return spring is fixed to the spring baffle, and the other end of the cutter return spring is fixed to the vertical rod at the front end of the sliding plate.

8. The method for harvesting the intelligent hanging type knot-shaped leaf vegetable harvesting device according to any one of claims 1-7, wherein before working, according to different types of the knot-shaped leaf vegetables, the ball screw is manually adjusted by manpower, so that the distance between profile modeling conveying belts is changed, the height of the guide wheel is manually adjusted by manpower, the proper guiding and guiding height is adjusted, and the purpose of adapting to the clamping and conveying of different types of knot-shaped leaf vegetables is achieved;

when the harvester works, a driver drives the harvesting device to harvest the spherical leaf vegetables in a single row forwards by adopting a low-speed driving tractor, the guide wheels guide and guide the spherical leaf vegetables in a single row in a farmland, the driver controls the direction to enable the spherical leaf vegetables in the single row to be in the auxiliary plates in two collecting directions, the influence of inconsistent row spacing of the spherical leaf vegetables is reduced, the automatic holding mechanism is acted into an opening shape under the action of spring force, the front end of the profiling conveying belt is driven to be in an opening shape, the spherical leaf vegetables enter a first pair of profiling grooves at the front end, the spherical leaf vegetables are held tightly and are continuously and backwardly conveyed, and the height of the profiling conveying belt is continuously increased in the conveying process because the front part and the rear part of the profiling conveying belt are low, so that the spherical leaf vegetables are pulled out and continuously and backwardly conveyed;

in the backward transmission process, a displacement sensor of the root cutting device detects the position of the spherical leaf vegetable closest to the position of the cutter frame in real time, when the closest spherical leaf vegetable reaches the position of the spring shaft cutter, a signal is transmitted to a motor transmission system, the motor transmission system drives the spring shaft cutter to extend out and cut off the upper edge of the root of the spherical leaf vegetable, the cutting is completed, the motor transmission system stops outputting power, and the spring shaft cutter automatically withdraws;

the root-cut nodulized leaf vegetables are conveyed to a conveying and collecting device by a profiling conveying belt, enter the conveying belt, the outer side of each nodulized leaf vegetable is wrapped with leaves and automatically fall off, the defoliated nodulized leaf vegetables are conveyed to the rear end along the conveying belt, the defoliated nodulized leaf vegetables enter a transmission roller due to the blocking of a baffle and a chopping board, the small-sized nodulized leaf vegetables enter a long collecting box along the gap of the transmission roller, the large-sized nodulized leaf vegetables are conveyed to a common collecting box by the transmission roller, and the grading of the vegetable size grade is achieved, so that the harvesting task is completed.

9. The harvesting method of the intelligent harvesting device for the leaf vegetables with the suspended knot ball according to claim 8, wherein the working process of the spring shaft cutter is as follows: the fixed baffle is fixed with the spring baffle, the motor transmission system drives the cutter assembly to extend forwards to cut the root of the spherical leaf vegetable, meanwhile, the cutter return spring is in a stretching state, and when the motor transmission system stops driving or retracts, the cutter assembly automatically retracts backwards due to the retracting force of the cutter return spring and returns to an initial state.

10. The harvesting method of the intelligent harvesting device for the leaf vegetables with the hanging type knot ball according to claim 8, wherein the working process of the automatic enclasping mechanism is as follows:

the automatic enclasping mechanism is acted by spring force to form an opening, thereby driving the front end of the profiling conveyer belt to form an opening, the spherical leaf vegetables enter the profiling conveyer belt at the automatic enclasping mechanism, the front end opening is large, the tail end opening is small, the clamping force suffered by the spherical leaf vegetables is gradually increased along with the advance of the harvesting device, after the spring force is achieved, the front end of the four-bar mechanism of the automatic enclasping mechanism starts to shrink towards the middle against the spring force, the front end of the frame can rotate, the gap at the front end of the profiling conveyer belt is reduced, the spherical leaf vegetables are completely clamped, the extrusion force suffered by the spherical leaf vegetables is maximum after the spherical leaf vegetables are completely clamped, and then the spherical leaf vegetables are pulled out and then conveyed backwards.

Images