CN118120457A

CN118120457A - Integrated celery cabbage harvester and celery cabbage harvesting method

Info

Publication number: CN118120457A
Application number: CN202410466540.2A
Authority: CN
Inventors: 李国彦; 于金帅; 徐肇楠; 杨舒媛; 李欣瑶
Original assignee: Taiyuan University of Technology
Current assignee: Taiyuan University of Technology
Priority date: 2024-04-18
Filing date: 2024-04-18
Publication date: 2024-06-04

Abstract

The invention provides an integrated Chinese cabbage harvester, which belongs to the technical field of agricultural machinery and comprises a travelling device, a rotary root cutting lifting device, a conveying device and a collecting device; the rotary root cutting and lifting device comprises a rotary lifting mechanism, a clamping mechanism and a cutting mechanism; the rotary lifting mechanism comprises a rotary frame and a rotary frame driving assembly; the two rotating frames are rotatably arranged on two sides of the walking device and are driven to rotate by the rotating frame driving assembly; a plurality of cantilevers are arranged on each rotating frame, and a clamping mechanism and a cutting mechanism are arranged at the end part of each cantilever; the conveying device and the collecting device are arranged on the walking device; the conveying device is arranged below the highest position of the rotating frame and above the collecting device. The integrated Chinese cabbage harvester can improve the technical problems that the manual Chinese cabbage harvesting machine has low working efficiency, high labor intensity and high operation cost, and the manual harvesting quality and the operation efficiency are difficult to ensure.

Description

Integrated celery cabbage harvester and celery cabbage harvesting method

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly discloses an integrated Chinese cabbage harvester and a Chinese cabbage harvesting method.

Background

The picking of the cabbages belongs to labor intensive work, but the whole industrialization degree and the harvest mechanization level are low, at present, the cabbages are cut off from the rhizomes by mainly utilizing a cutter manually, and then the operations of manual picking, carrying, leaf peeling, sorting and the like are performed, so that the working efficiency is low, the labor intensity is high, the working cost is high, and the manual harvest quality and the working efficiency are difficult to guarantee.

Disclosure of Invention

The invention provides an integrated Chinese cabbage harvester and a Chinese cabbage harvesting method, which are used for solving the technical problems of low working efficiency, high labor intensity, high operation cost, and difficult guarantee of manual harvesting quality and operation efficiency in manual harvesting of Chinese cabbages.

The invention provides an integrated Chinese cabbage harvester which comprises a travelling device, a rotary root cutting lifting device, a conveying device and a collecting device, wherein the travelling device is connected with the rotary root cutting lifting device; the rotary root cutting and lifting device comprises a rotary lifting mechanism, a clamping mechanism and a cutting mechanism; the rotary lifting mechanism comprises a rotary frame and a rotary frame driving assembly; the two rotating frames are rotatably arranged on two sides of the walking device and are driven to rotate by the rotating frame driving assembly; a plurality of cantilevers are arranged on each rotating frame, and a clamping mechanism and a cutting mechanism are arranged at the end part of each cantilever; the clamping mechanism comprises two clamping hands which are oppositely arranged and a clamping hand driving assembly for driving the clamping hands to open or close, and the two clamping hands are used for clamping the stems of the cabbages; the cutting mechanism comprises two oppositely arranged cutting hands and a cutting hand driving assembly for driving the cutting hands to open or close, and the two cutting hands are used for cutting off the root parts of the cabbages; the conveying device and the collecting device are arranged on the walking device; the conveying device is located below the highest position of the rotating frame, the clamping hand located above the collecting device is opened, the celery cabbage clamped by the clamping hand falls into the conveying device, and the celery cabbage is conveyed into the collecting device by the conveying device.

In the integrated Chinese cabbage harvester, the clamping mechanism further comprises a clamping frame; the clamping frame is arranged at the end part of the cantilever; each clamping hand comprises clamping plates and clamping plate connecting rods, a plurality of clamping plates are arranged in parallel, the clamping plate connecting rods sequentially penetrate through and are connected into a whole, two clamping plates positioned on the outermost layer are rotationally connected with the clamping frame, and a gear structure is arranged on a single clamping plate positioned on the outermost layer; the gear structures of the two clamping hands are meshed with each other and are a driving gear structure and a driven gear structure respectively, and the driving gear structure is driven by the clamping hand driving assembly to rotate; the inner side of the clamping plate is provided with concave-convex interval clamping teeth.

In the integrated Chinese cabbage harvester, the cutting mechanism further comprises a cutting frame; the cutting frame is arranged at the end part of the cantilever; each cutting hand comprises a cutting plate I, a cutting plate II and a cutting connecting rod, wherein the first end of the cutting plate I is rotationally connected with the cutting frame and is provided with a gear structure, the second end of the cutting plate I is rotationally connected with the first end of the cutting plate II, the first end of the cutting connecting rod is rotationally connected with the cutting frame, and the second end of the cutting connecting rod is rotationally connected with the cutting plate II; the gear structures of the two cutting hands are meshed with each other and are a driving gear structure and a driven gear structure respectively, and the driving gear structure is driven by the cutting hand driving assembly to rotate; the second end of the cutting plate II is provided with a cutting blade.

In the integrated Chinese cabbage harvester, the conveying device comprises a conveying track and a belt conveying mechanism; the conveying track is positioned below the highest position of the rotating frame and above the belt conveying mechanism; the belt conveying mechanism comprises a belt, a belt driving roller, a belt driven roller, a belt frame and a belt driving assembly; the belt is sleeved on the belt driving roller and the belt driven roller; the two ends of the belt driving roller and the belt driven roller are rotatably arranged on the belt frame; the belt drive roller is driven to rotate by a belt drive assembly.

In the integrated celery cabbage harvester, the belt conveying mechanism further comprises a tensioning block, a tensioning block mounting piece and a tensioning positioning piece; the belt frame is provided with a belt driven roller mounting hole, a tensioning block mounting hole I and a tensioning positioning hole I, wherein the belt driven roller mounting hole is an arc-shaped hole, and the tensioning block mounting hole I and the tensioning positioning hole I are circular holes; the end part of the belt driven roller passes through the belt driven roller mounting hole; the tensioning block is provided with a tensioning block mounting hole II and a tensioning positioning hole II, the tensioning block mounting hole II is a circular hole and deviates from the center of the tensioning block, and the tensioning positioning hole II is an arc hole; the tensioning block mounting piece penetrates through the tensioning block mounting hole I and the tensioning block mounting hole II, and the tensioning block is rotatably mounted on the belt frame; the tensioning locating piece passes through the tensioning locating hole I and the tensioning locating hole II.

In the integrated Chinese cabbage harvester, the collecting device comprises a sorting slope and a collecting frame; the sorting slope is obliquely arranged and is positioned below the belt conveying mechanism, above the collecting frame, and the highest position of the sorting slope is positioned below the discharge hole of the belt, and is provided with a deceleration strip and at least two blanking holes with different sizes; the size of the blanking hole is gradually increased from high to low; the below of every blanking hole all is provided with the collection frame.

In the integrated Chinese cabbage harvester, the collecting device further comprises a collecting base, a collecting frame positioning piece and a pressure sensor; each blanking hole corresponds to a plurality of collecting frames which are arranged in the collecting base along the direction perpendicular to the sorting slope; the bottom surface of each collecting frame is provided with a roller, and the side wall is provided with a collecting frame positioning hole; the collecting frame locating piece is arranged on the walking device and inserted into or separated from the collecting frame locating hole through expansion and contraction; the pressure sensor is arranged on the collecting base and is positioned in the projection range of the blanking hole in the collecting base.

In the integrated Chinese cabbage harvester, the traveling device comprises a traveling frame, traveling wheels arranged below the traveling frame and a traveling motor for driving the traveling wheels to rotate; the rotating frame driving assembly comprises a rotating frame connecting shaft, a driven gear, a driving gear and a rotating frame motor; the rotating frame connecting shafts penetrate through the left side and the right side of the walking frame, and two ends of the rotating frame connecting shafts are respectively connected with the two rotating frames; the driven gear is sleeved on the rotating frame connecting shaft and meshed with the driving gear; the driving gear is driven by the rotating frame motor to rotate; each rotating frame is provided with four cantilevers which are arranged in a cross shape; the clamping hand driving assembly comprises a clamping hand motor, and the clamping hand motor is arranged on the clamping frame; the cutting hand driving assembly comprises a cutting hand motor, and the cutting hand motor is arranged on the cutting frame; the conveying rail is connected with the top surface of the walking frame through a rail bracket; the belt frame is connected with the walking frame, and the belt is arranged along the front-back direction of the walking frame; the belt drive assembly includes a belt motor; the sorting slope is connected with the walking frame, and the bottom of the front end and the rear end are high; the collecting base is arranged on the walking frame, and each blanking hole in the collecting base corresponds to a plurality of collecting frames and is arranged along the left-right direction of the walking frame; the collecting frame positioning piece is a collecting frame electric push rod.

The integrated Chinese cabbage harvester further comprises a central control unit, a visual camera for identifying the plant spacing of the Chinese cabbage, a force sensor for detecting the cutting force of a cutting hand and a limit switch for detecting the highest position of the rotating frame; the pressure sensor, the walking motor, the rotating frame motor, the clamping hand motor, the cutting hand motor, the belt motor, the vision camera, the force sensor and the limit switch are all connected with the central control unit.

The invention also provides a Chinese cabbage harvesting method, which is carried out by adopting the integrated Chinese cabbage harvester and comprises the following steps:

The central control unit controls the running motor to start, the whole machine runs, the vision camera recognizes the plant spacing of the Chinese cabbage and feeds back signals to the central control unit, the central control unit controls the rotating frame motor to start, the rotating frame rotates, the rotating speed of the rotating frame is controlled according to the plant spacing of the Chinese cabbage and is matched with the running speed of the whole machine, when the whole machine runs to the front of the Chinese cabbage, one cantilever of the rotating frame is at the lowest position, a clamping hand Zhang Kaiwei on the cantilever is combined outside the stem of the Chinese cabbage, a cutting hand Zhang Kaiwei is combined outside the root of the Chinese cabbage, then the clamping hand is combined to clamp the stem of the Chinese cabbage, the cutting hand is combined to cut the root of the Chinese cabbage, the force sensor detects the cutting force of the cutting hand in real time and feeds back signals to the central control unit, the central control unit judges whether the root of the Chinese cabbage is cut off according to the signals of the force sensor, when the root of the Chinese cabbage is cut off, the rotation of the rotating frame lifts the clamped celery cabbage to the highest position, a limit switch is triggered, the central control unit controls the clamping hand to open, the celery cabbage falls onto the belt along the conveying track, the central control unit controls the belt motor to start, the celery cabbage is conveyed to a discharge hole of the belt to fall into a sorting slope, the celery cabbage is decelerated through a deceleration belt, a passing blanking hole falls into a collecting frame right below, the pressure sensor detects the weight of the collecting frame in real time and feeds signals back to the central control unit, the central control unit judges that the collecting frame is full, the collecting frame is controlled to shrink, and is stopped, the collecting frame filled with the celery cabbage is moved from the position right below the blanking hole, the collecting frame which is not filled with the celery cabbage is moved to the position right below the blanking hole, the collecting frame is inserted into the collecting frame positioning hole, the collecting frame which is not filled with the celery cabbage is fixed, and the celery cabbage is continuously collected.

Compared with the prior art, the invention has the following beneficial effects.

According to the planting mode and characteristics of the Chinese cabbage, the invention provides the Chinese cabbage harvester integrating root cutting, clamping, conveying and sub-packaging, the root cutting and clamping lifting are realized by utilizing the rotary root cutting lifting device, and the machine can be matched with the speed of the travelling device, so that the adaptability is improved, and the overall efficiency and the mechanical utilization rate are improved; and carry out the pertinence to rotation type root cutting hoisting device, conveyor and collection device and optimize, adopt the modularized design, make its manufacturing, cost of maintenance greatly reduced, the structure is simpler and is convenient for install and remove, and convenient transportation carries, finally satisfies the production requirement of chinese cabbage high efficiency, low loss, festival cost, gain, improves that manual harvest chinese cabbage exists work efficiency low, intensity of labour is big, the operation cost is high, the technical problem that manual harvest quality and operating efficiency are also difficult to guarantee.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an integrated celery cabbage harvester;

FIG. 2 is a schematic view of the walking device, rotary root cutting and lifting device and collecting device of FIG. 1;

FIG. 3 is a schematic view of the clamping mechanism and cutting mechanism;

FIG. 4 is a schematic view of a clamping mechanism;

Fig. 5 is a schematic structural view of the belt conveying mechanism.

Wherein: 1.1-a walking frame; 1.2-travelling wheels;

2.1.1-rotating rack; 2.1.2-rotating frame connecting shafts; 2.1.3-driven gears; 2.1.4-drive gear; 2.1.5-rotating frame motors; 2.2.1-clamping frames; 2.2.2-clamping plates; 2.2.3-clamping plate links; 2.3.1-cutting rack; 2.3.2-cutting plate I; 2.3.3-cutting plate II; 2.3.4-cutting links;

3.1-a conveying track; 3.2.1-belt; 3.2.2-belt drive rolls; 3.2.3-belt driven rollers; 3.2.4-belt rack; 3.2.5-tensioning blocks;

4.1-sorting ramp; 4.1.1-deceleration strips; 4.1.2-blanking holes; 4.2-a collection frame; 4.3-collecting base; 4.4-collecting frame electric push rod.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

The embodiment provides an integrated Chinese cabbage harvester, including running gear, rotation type root cutting hoisting device, conveyor, collection device, well accuse unit, be used for discernment chinese cabbage plant interval's vision camera, be used for detecting the force transducer of cutting hand cutting force in the rotation type root cutting hoisting device, be used for detecting the limit switch of rotation type root cutting hoisting device in the highest position of revolving rack 2.1.1.

The walking device comprises a walking frame 1.1, a walking wheel 1.2 arranged below the walking frame 1.1 and a walking motor for driving the walking wheel 1.2 to rotate.

The rotary root cutting and lifting device comprises a rotary lifting mechanism, a clamping mechanism and a cutting mechanism; the rotary lifting mechanism comprises a rotary frame 2.1.1 and a rotary frame driving assembly; the two rotating frames 2.1.1 are rotatably arranged on two sides of the running gear and are driven to rotate by the rotating frame driving assembly; a plurality of cantilevers are arranged on each rotating frame 2.1.1, and a clamping mechanism and a cutting mechanism are arranged at the end part of each cantilever; the clamping mechanism comprises two clamping hands which are oppositely arranged and a clamping hand driving assembly for driving the clamping hands to open or close, and the two clamping hands are used for clamping the stems of the cabbages; the cutting mechanism comprises two oppositely arranged cutting hands and a cutting hand driving assembly for driving the cutting hands to open or close, and the two cutting hands are used for cutting off the root of the celery cabbage.

Specifically, the rotating frame driving assembly comprises a rotating frame connecting shaft 2.1.2, a driven gear 2.1.3, a driving gear 2.1.4 and a rotating frame motor 2.1.5; the rotating frame connecting shaft 2.1.2 passes through the left side and the right side of the walking frame 1.1, and the two ends are respectively connected with the two rotating frames 2.1.1; the driven gear 2.1.3 is sleeved on the rotating frame connecting shaft 2.1.2 and meshed with the driving gear 2.1.4; the driving gear 2.1.4 is driven to rotate by the rotating frame motor 2.1.5; each rotating frame 2.1.1 is provided with four cantilevers which are arranged in a cross shape.

Specifically, the clamping mechanism further comprises a clamping frame 2.2.1; the clamping frame 2.2.1 is arranged at the end part of the cantilever; each clamping hand comprises clamping plates 2.2.2 and clamping plate connecting rods 2.2.3, a plurality of clamping plates 2.2.2 are arranged in parallel, the clamping plate connecting rods 2.2.3 sequentially penetrate through and are connected into a whole, two clamping plates 2.2.2 positioned at the outermost layer are rotationally connected with the clamping frame 2.2.1, a gear structure is arranged on a single clamping plate 2.2.2 positioned at the outermost layer, and concave-convex clamping teeth are arranged on the inner side of the clamping plates 2.2.2; the gear structures of the two clamping hands are meshed with each other, the driving gear structure and the driven gear structure are respectively arranged, the driving gear structure is driven to rotate by a clamping hand driving assembly, the clamping hand driving assembly comprises a clamping hand motor, the clamping hand motor is arranged on a clamping frame 2.2.1, and an output shaft is connected with the driving gear structure.

Specifically, the cutting mechanism further comprises a cutting frame 2.3.1; the cutting frame 2.3.1 is arranged at the end part of the cantilever; each cutting hand comprises a cutting plate I2.3.2, a cutting plate II 2.3.3 and a cutting connecting rod 2.3.4, wherein a first end of the cutting plate I2.3.2 is in rotary connection with the cutting frame 2.3.1 and is provided with a gear structure, a second end of the cutting plate I2.3.2 is in rotary connection with a first end of the cutting plate II 2.3.3, a second end of the cutting plate II 2.3.3 is provided with a cutting blade, a first end of the cutting connecting rod 2.3.4 is in rotary connection with the cutting frame 2.3.1, and a second end of the cutting connecting rod 2.3.4 is in rotary connection with the cutting plate II 2.3.3; the gear structures of the two cutting hands are meshed with each other and are a driving gear structure and a driven gear structure respectively, and the driving gear structure is driven by the cutting hand driving assembly to rotate; the cutting hand drive assembly comprises a cutting hand motor, the cutting hand motor is arranged on a cutting frame 2.3.1, and an output shaft is connected with a driving gear structure.

The conveying device and the collecting device are arranged on the walking device; the conveying device is located below the highest position of the rotating frame 2.1.1, the clamping hand located above the collecting device is opened, the celery cabbage clamped by the clamping hand falls into the conveying device, and the celery cabbage is conveyed into the collecting device by the conveying device.

Specifically, the conveying device comprises a conveying track 3.1 and a belt conveying mechanism; the conveying track 3.1 is positioned below the highest position of the rotating frame 2.1.1, and the upper part of the belt conveying mechanism is connected with the top surface of the travelling frame 1.1 through a track bracket; the belt conveying mechanism comprises a belt 3.2.1, a belt driving roller 3.2.2, a belt driven roller 3.2.3, a belt frame 3.2.4, a belt driving assembly, a tensioning block 3.2.5, a tensioning block mounting piece and a tensioning positioning piece; the belt frame 3.2.4 is connected with the walking frame 1.1, and the belt 3.2.1 is arranged along the front-back direction of the walking frame 1.1; the belt 3.2.1 is sleeved on the belt driving roller 3.2.2 and the belt driven roller 3.2.3; the belt frame 3.2.4 is provided with a belt driving roller mounting hole, a belt driven roller mounting hole, a tensioning block mounting hole I and a tensioning positioning hole I, wherein the belt driven roller mounting hole is an arc-shaped hole, and the belt driving roller mounting hole, the tensioning block mounting hole I and the tensioning positioning hole I are circular holes; the end part of the belt driving roller 3.2.2 rotates through the belt driving roller mounting hole; the end part of the belt driven roller 3.2.3 rotates to pass through the belt driven roller mounting hole; the tensioning block 3.2.5 is provided with a tensioning block mounting hole II and a tensioning positioning hole II, the tensioning block mounting hole II is a circular hole and deviates from the center of the tensioning block 3.2.5, and the tensioning positioning hole II is an arc hole; the tensioning block mounting piece penetrates through the tensioning block mounting hole I and the tensioning block mounting hole II, and the tensioning block 3.2.5 is rotatably mounted on the belt frame 3.2.4; the tensioning positioning piece passes through the tensioning positioning hole I and the tensioning positioning hole II; pushing the tensioning block 3.2.5 to rotate around the tensioning block mounting piece to apply force to the belt driven roller 3.2.3, so that the belt driven roller 3.2.3 moves along the belt driven roller mounting hole to tension the belt 3.2.1; the belt driving assembly comprises a belt motor, an output shaft is connected with the belt driving roller 3.2.2, and the belt driving roller 3.2.2 is driven to rotate. The tensioning block mounting and tensioning positioning member may be a bolt or pin or the like.

Specifically, the collecting device comprises a sorting slope 4.1, a collecting frame 4.2, a collecting base 4.3, a collecting frame positioning piece and a pressure sensor; the sorting inclined 4.1 slope is obliquely arranged and is connected with the walking frame 1.1, the bottom of the front end and the rear end are high, the sorting inclined 4.1 slope is positioned below the belt conveying mechanism, the collecting frame 4.2 is positioned above the belt conveying mechanism, the highest part of the sorting inclined 4.1 slope is positioned below a discharge hole of the belt 3.2.1, and a deceleration strip 4.1.1 and at least two blanking holes 4.1.2 with different sizes are arranged; the rolling speed of the cabbages is reduced by arranging the deceleration strip 4.1.1, and the damage of the cabbages when the cabbages fall into frames is reduced; the size of the blanking hole 4.1.2 is gradually increased from high to low so as to screen cabbages with different sizes; the collecting base 4.3 is arranged on the walking frame 1.1; each blanking hole 4.1.2 corresponds to a plurality of collecting frames 4.2, and the collecting frames 4.2 are arranged in the collecting base 4.3 along the direction perpendicular to the sorting slope 4.1, namely along the left-right direction of the walking frame 1.1; the bottom surface of each collecting frame 4.2 is provided with a roller, and the side wall is provided with a collecting frame positioning hole; the collecting frame positioning piece is arranged on the walking device, and is inserted into or separated from the collecting frame positioning hole by telescoping by adopting the collecting frame electric push rod 4.4; the pressure sensor is arranged on the collecting base 4.3 and is positioned in the projection range of the blanking hole 4.1.2 on the collecting base 4.3. When the pressure sensor senses that the collecting frame 4.2 positioned right below the blanking hole 4.1.2 is full of cabbages, the collecting frame electric push rod 4.4 contracts and is separated from the collecting frame positioning hole, the collecting frame 4.2 full of cabbages is removed from the position, the collecting frame 4.2 without cabbages is moved to the position, the collecting frame electric push rod 4.4 stretches out and is inserted into the collecting frame positioning hole, the collecting frame 4.2 without cabbages is fixed, and the cabbages are continuously collected.

Example 2

The embodiment provides a method for harvesting Chinese cabbage, which is performed by the integrated Chinese cabbage harvester according to the embodiment 1, and comprises the following steps:

The central control unit controls the running motor to start, the whole machine runs, the vision camera recognizes the plant spacing of the Chinese cabbage and feeds back signals to the central control unit, the central control unit controls the rotating frame motor 2.1.5 to start, the rotating frame 2.1.1 rotates, the rotating speed of the rotating frame 2.1.1 is controlled according to the plant spacing of the Chinese cabbage to match with the running speed of the whole machine, when the whole machine runs to the front of the Chinese cabbage, a cantilever of the rotating frame 2.1.1 is at the lowest position, a clamping hand Zhang Kaiwei on the cantilever is combined outside the stem of the Chinese cabbage, a cutting hand Zhang Kaiwei is combined outside the root of the Chinese cabbage, then the clamping hand is folded to clamp the stem of the Chinese cabbage, the cutting hand is folded to cut off the root of the Chinese cabbage, the force sensor detects the cutting force of the cutting hand in real time and feeds back signals to the central control unit, the central control unit judges whether the root of the Chinese cabbage is cut off or not according to the signals of the force sensor, when the root of the Chinese cabbage is cut off, the rotation of the rotating frame 2.1.1 lifts the clamped Chinese cabbage to the highest position, a limit switch is triggered, a central control unit controls the clamping hand to open, the Chinese cabbage falls onto a belt 3.2.1 along a conveying track 3.1, the central control unit controls a belt motor to start, the Chinese cabbage falls into a sorting slope 4.1 from a discharge hole of the belt 3.2.1, the Chinese cabbage is decelerated through a deceleration belt 4.1.1, a passing blanking hole 4.1.2 falls into a collecting frame 4.2 right below, a pressure sensor detects the weight of the collecting frame 4.2 in real time and feeds signals back to the central control unit, the central control unit controls the collecting frame electric push rod 4.4 to shrink and stop after judging that the collecting frame 4.2 is full, the collecting frame 4.2 full of Chinese cabbage is moved from the position right below the blanking hole 4.1.2, the collecting frame electric push rod 4.4 is extended, the collecting frame electric push rod 4.2 which is not full of Chinese cabbage is inserted into a collecting frame positioning hole to fix the Chinese cabbage, and continuously collecting the Chinese cabbage.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. An integrated Chinese cabbage harvester is characterized by comprising a travelling device, a rotary root cutting lifting device, a conveying device and a collecting device;

the rotary root cutting lifting device comprises a rotary lifting mechanism, a clamping mechanism and a cutting mechanism;

the rotary lifting mechanism comprises a rotary frame and a rotary frame driving assembly;

The two rotating frames are rotatably arranged on two sides of the walking device and are driven to rotate by the rotating frame driving assembly;

A plurality of cantilevers are arranged on each rotating frame, and a clamping mechanism and a cutting mechanism are arranged at the end part of each cantilever; the clamping mechanism comprises two clamping hands which are oppositely arranged and a clamping hand driving assembly for driving the clamping hands to open or close, wherein the two clamping hands are used for clamping the stems of the cabbages;

The cutting mechanism comprises two oppositely arranged cutting hands and a cutting hand driving assembly for driving the cutting hands to open or close, wherein the two cutting hands are used for cutting off the root parts of the cabbages;

the conveying device and the collecting device are arranged on the traveling device;

The conveying device is located below the highest position of the rotating frame, the clamping hand located above the collecting device is opened, the celery cabbage clamped by the clamping hand falls into the conveying device, and the celery cabbage is conveyed into the collecting device by the conveying device.

2. The integrated chinese cabbage harvester of claim 1, wherein the gripping mechanism further comprises a gripping rack;

the clamping frame is arranged at the end part of the cantilever;

each clamping hand comprises clamping plates and clamping plate connecting rods, a plurality of clamping plates are arranged in parallel, the clamping plate connecting rods sequentially penetrate through and are connected into a whole, two clamping plates positioned on the outermost layer are rotationally connected with the clamping frame, and a gear structure is arranged on a single clamping plate positioned on the outermost layer;

the gear structures of the two clamping hands are meshed with each other and are a driving gear structure and a driven gear structure respectively, and the driving gear structure is driven by the clamping hand driving assembly to rotate;

The inner side of the clamping plate is provided with concave-convex interval clamping teeth.

3. The integrated chinese cabbage harvester of claim 2, wherein the cutting mechanism further comprises a cutting rack;

the cutting frame is arranged at the end part of the cantilever;

Each cutting hand comprises a cutting plate I, a cutting plate II and a cutting connecting rod, wherein the first end of the cutting plate I is rotationally connected with the cutting frame and is provided with a gear structure, the second end of the cutting plate I is rotationally connected with the first end of the cutting plate II, the first end of the cutting connecting rod is rotationally connected with the cutting frame, and the second end of the cutting connecting rod is rotationally connected with the cutting plate II; the gear structures of the two cutting hands are meshed with each other and are a driving gear structure and a driven gear structure respectively, and the driving gear structure is driven by the cutting hand driving assembly to rotate;

the second end of the cutting plate II is provided with a cutting blade.

4. An integrated chinese cabbage harvester according to claim 3, wherein the conveying means comprises a conveying track and a belt conveying mechanism;

the conveying track is positioned below the highest position of the rotating frame, and is positioned above the belt conveying mechanism;

The belt conveying mechanism comprises a belt, a belt driving roller, a belt driven roller, a belt frame and a belt driving assembly; the belt is sleeved on the belt driving roller and the belt driven roller;

the two ends of the belt driving roller and the belt driven roller are rotatably arranged on the belt frame;

the belt drive roller is driven to rotate by a belt drive assembly.

5. The integrated chinese cabbage harvester of claim 4, wherein the belt conveyor further comprises a tensioning block, a tensioning block mount and a tensioning positioning element;

the belt frame is provided with a belt driven roller mounting hole, a tensioning block mounting hole I and a tensioning positioning hole I, wherein the belt driven roller mounting hole is an arc-shaped hole, and the tensioning block mounting hole I and the tensioning positioning hole I are circular holes;

the end part of the belt driven roller passes through the belt driven roller mounting hole;

The tensioning block is provided with a tensioning block mounting hole II and a tensioning positioning hole II, the tensioning block mounting hole II is a circular hole and deviates from the center of the tensioning block, and the tensioning positioning hole II is an arc hole;

The tensioning block mounting piece penetrates through the tensioning block mounting hole I and the tensioning block mounting hole II, and the tensioning block is rotatably mounted on the belt frame;

the tensioning locating piece passes through the tensioning locating hole I and the tensioning locating hole II.

6. An integrated chinese cabbage harvester according to claim 5, wherein the collection means comprises a sorting ramp and a collection frame;

the sorting slope is obliquely arranged below the belt conveying mechanism, above the collecting frame, and at the highest position below the discharge hole of the belt, a deceleration strip and at least two blanking holes with different sizes are arranged;

the size of the blanking hole is gradually increased from high to low;

The below of every blanking hole all is provided with the collection frame.

7. The integrated chinese cabbage harvester of claim 6, wherein the collection device further comprises a collection base, a collection frame positioning member and a pressure sensor;

Each blanking hole corresponds to a plurality of collecting frames which are arranged in the collecting base along the direction perpendicular to the sorting slope;

The bottom surface of each collecting frame is provided with a roller, and the side wall is provided with a collecting frame positioning hole;

the collecting frame locating piece is arranged on the walking device and is inserted into or separated from the collecting frame locating hole through expansion and contraction;

the pressure sensor is arranged on the collecting base and is positioned in the projection range of the blanking hole in the collecting base.

8. The integrated chinese cabbage harvester of claim 7, wherein the traveling device comprises a traveling frame, traveling wheels mounted below the traveling frame, and a traveling motor for driving the traveling wheels to rotate;

The rotating frame driving assembly comprises a rotating frame connecting shaft, a driven gear, a driving gear and a rotating frame motor;

The rotating frame connecting shafts penetrate through the left side and the right side of the walking frame, and two ends of the rotating frame connecting shafts are respectively connected with the two rotating frames;

the driven gear is sleeved on the rotating frame connecting shaft and meshed with the driving gear;

the driving gear is driven by the rotating frame motor to rotate;

each rotating frame is provided with four cantilevers which are arranged in a cross shape;

the clamping hand driving assembly comprises a clamping hand motor, and the clamping hand motor is arranged on the clamping frame;

The cutting hand driving assembly comprises a cutting hand motor, and the cutting hand motor is arranged on the cutting frame;

The conveying rail is connected with the top surface of the walking frame through a rail bracket;

the belt frame is connected with the walking frame, and the belt is arranged along the front-back direction of the walking frame;

the belt drive assembly includes a belt motor;

The sorting slope is connected with the walking frame, and the bottom of the front end and the rear end are high;

The collecting base is arranged on the walking frame, and each blanking hole in the collecting base corresponds to a plurality of collecting frames and is arranged along the left-right direction of the walking frame;

the collecting frame positioning piece is a collecting frame electric push rod.

9. The integrated celery cabbage harvester of claim 8, further comprising a central control unit, a vision camera for identifying the distance between celery cabbage plants, a force sensor for detecting the cutting force of a cutting hand, and a limit switch for detecting the highest position of the rotating frame;

the pressure sensor, the walking motor, the rotating frame motor, the clamping hand motor, the cutting hand motor, the belt motor, the vision camera, the force sensor and the limit switch are all connected with the central control unit.

10. A method for harvesting Chinese cabbage, characterized in that the method is performed by adopting the integrated Chinese cabbage harvester according to claim 9, and comprises the following steps: