JP3889149B2 - Leaf vegetable harvesting equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In the present invention, when planted leaf vegetables are sandwiched between a pair of right and left clamping belts, the rhizome is cut, and when leaf vegetables are transported and stored, it is determined whether the leaf vegetables are immature or suitable, and only suitable mature vegetables are used. The present invention relates to a leaf vegetable harvesting apparatus which is cut and harvested.
[0002]
[Prior art]
In a leaf vegetable harvesting device that grips leaf vegetables in a well-known planting state with a pair of right and left clamping belts, cuts the rhizome part, and transports and stores leaf vegetables, the crops that are planted in the field are harvested all at once. Most of the things.
[0003]
On the other hand, a harvesting device for discriminating whether a planted leaf vegetable is immature or suitable is harvested in Japanese Patent Application Laid-Open No. 9-191747 by the present applicant and the inventors. In this harvesting device, a pair of left and right clamping belts are opened and closed for each leaf vegetable, and the size of the leaf vegetable when closed and the clamping force at that time are detected to determine whether it is immature or suitable. there were.
[0004]
[Problems to be solved by the invention]
As described above, when the pair of left and right clamping belts are opened and closed to determine whether the leaf vegetables are immature or suitable, there is a problem that it takes time to determine and the harvesting work efficiency is reduced. In particular, when determining whether the leafy vegetables are immature or appropriate, and then cutting the appropriate rhizome part, and transporting the cut leafy vegetables to the rear of the aircraft to determine whether they are immature or appropriate Needed to be done quickly.
The present invention has been made to solve the above problems.
[0005]
[Means for Solving the Problems]
To accomplish the above object, the rhizome part was cut to hold the leaf vegetables planting state left and right pair of holding belts, the harvesting apparatus for transporting accommodate leaf vegetables, tension to at least inside the clamping belt A tension pulley is provided to detect the size of the leaf vegetable from the movement of the tension pulley when the leaf vegetable is clamped by the clamping belt, and it is determined whether the leaf vegetable is immature or suitable from the detection value. When the determination means and the determination means determine that they are mature, they move in a direction perpendicular to the ridge, and when the determination means determines that they are immature, move to a position parallel to the ridge groove direction. Thus, it is characterized by comprising cutting means for leaving immature leaf vegetables in the field while continuously running, and cutting the root vegetable part of only suitable ripe leaf vegetables.
[0006]
In addition to the above features, when the determination means is provided at the rear of the clamping belt and the determination means determines that the maturity is appropriate, the tip is moved to the action position of the cut leafy vegetables, and the determination means is immature. In the case of determination, a conveying pinching belt is provided that conveys the cut leaf vegetables toward the rear upper side of the machine body by opening the tip of the uncut leaf vegetables and moving to a non-operation position. And
[0009]
[Action]
With the above configuration, the leaf vegetable harvesting apparatus of the present invention performs the following actions.
[0010]
(1). By sandwiching the leaf vegetables with an arbitrary force with the clamping belt, detecting the size of the leaf vegetables from the belt interval at that time, and determining whether the leaf vegetables are immature or suitable, it is possible to quickly determine whether the leaf vegetables are immature or appropriate. Therefore, it is possible to make a quick determination, and it becomes possible to efficiently select and harvest only suitable ripe leaf vegetables.
[0011]
(2). A detecting means for sandwiching leaf vegetables with an arbitrary force with a sandwiching belt, detecting the size of the leaf vegetables from the belt interval at that time, and a determining means for determining whether the leaf vegetables are immature or appropriate from the detection value of the detecting means, Leave the immature leaf vegetables in the field, and determine whether the leaf vegetables are immature or suitable from the detection value of the detection means by providing a cutting means for cutting only the appropriate leaf vegetables and a transport means for transporting the cut leaf vegetables. The immature leaf vegetables are left in the field, and only a suitable leaf vegetable is cut at the rhizome, and the continuous operation of transporting and storing the cut leaf vegetables can be efficiently performed.
[0012]
(3). The cutting means is moved in a direction perpendicular to the ridge when cutting and parallel to the ridge direction when not cutting, so that immature leaf vegetables remain in the field while continuously running, and only suitable mature leaf vegetables are left. By cutting the rhizome part, there is no waste in the cutting operation of the cutting means, and it operates quickly and cuts the rhizome part of only suitable mature vegetables. Further, by fixing the cutting means to the state at the time of cutting, simultaneous harvesting for continuous harvesting is possible.
[0013]
(4). From the judgment result of the judging means, the cutting belt vegetable is moved to the working position for the cut leafy vegetables, and the cut leafy vegetables are conveyed to the rear upper side of the machine, and are conveyed for the uncut leafy vegetables. By opening the front end portion of the clamping belt and moving it to the non-operating position, the conveying clamping belt conveys only the cut leaf vegetables toward the rear upper side of the machine body and does not convey the uncut leaf vegetables.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be specifically described with reference to the accompanying drawings.
[0015]
3 and 4, reference numeral 1 denotes a leaf vegetable harvester equipped with a mechanism according to the present invention. In this embodiment, the leaf vegetable harvester is used to harvest lettuce A of leaf vegetables planted in the basket N of the field F. The leaf vegetable harvesting machine 1 is provided with a pair of left and right crawlers 2 and 2, and as shown in detail in FIGS. The potentiometer 4 as a detection means for detecting the size of the leaf vegetable A from the interval between the belts 3 and 3 at that time, and the detection value of the potentiometer 4 determines whether the leaf vegetable A is immature or suitable There are provided a programmable controller (not shown) as determination means for performing the cutting and a cutting means including a cutting blade 5 that cuts only the mature leaf vegetables A while leaving the immature leaf vegetables A in the field.
[0016]
The detection sandwiching belt 3 is wound endlessly on pulleys 3b and 3b that are pivotally supported at the front and rear ends of the support frame 3a arranged in the front-rear direction. The tension pulley 3c that applies tension to the outer tension pulley 3d and the outer tension pulley 3d that applies tension to the outer side are always tensioned. It is narrower than the size. The potentiometer 4 is attached to the rotation base of the inner tension pulley 3c. Then, when the sandwiching belts 3 and 3 for detection pass through both sides of the leaf vegetable A as the machine moves, the potentiometer 4 detects whether the size of the leaf vegetable A is suitable or immature, and is determined by the programmable controller. The
[0017]
The cutting blade 5 (cutting means) comprises a knife-like blade body, the base end portion of which is supported so as to be rotatable in the horizontal direction by the rotating shaft 5a, and is the size of the leaf vegetable A sandwiched by the detection sandwiching belts 3 and 3. It is possible to rotate between a cutting position for cutting the rhizome part of lettuce A determined to be appropriate from the detection result of the potentiometer 4 and a non-cutting position for retreating from the row of lettuce A. A rotary actuator 5b is attached to the rotary shaft 5a, and the cutting blade 5 moves in a direction perpendicular to the ridge N when cutting and parallel to the ridge direction when not cutting, thereby moving the machine body. The immature lettuce A is left in the field while being continuously run, and the rhizome part of only the appropriate ripe lettuce A is cut.
[0018]
In other words, when the lettuce A clamped by the detection clamping belts 3 and 3 is detected as suitable by the potentiometer 4, the rotary actuator 5b is actuated by a command from the programmable controller to move the cutting blade 5 to the cutting position. When the leaf vegetable A is determined to be immature, the cutting blade 5 is moved to the non-cutting position. The detection clamping belts 3 and 3, the potentiometer 4, the cutting blade 5 and the like are supported by the link mechanism 6 so as to be movable up and down with respect to the machine body.
[0019]
The lettuce A cut by the cutting blade 5 and discharged rearward from the detection sandwiching belts 3 and 3 is received behind the detection sandwiching belts 3 and 3, and is sandwiched and conveyed rearward and obliquely upward. Conveying means comprising a pair of left and right conveying sandwiching belts 7 is provided.
[0020]
As shown in FIGS. 2 (a) and 2 (b), the conveying sandwiching belts 7 and 7 include front pulleys 7b that are pivotally supported at the front and rear end portions of the support frame 7a disposed in the front-rear direction. It is wound endlessly around the rear pulley 7c that also serves as a rotating shaft. A tension spring 7d is interposed between the support frames 7a and 7a, and the distance between the front sides of the conveyance sandwiching belts 7 and 7 against the tensile force of the tension spring 7d is determined by a command from the programmable controller. A conveyor belt rotation cylinder 7e is provided which is opened larger than the size of A and is in an inoperative state, and is in a free state and is narrowed by an elastic force of the tension spring 7d to be in an activated state.
[0021]
And lettuce A cut | disconnected by the cutting blade 5 by the command from a programmable controller, and was discharged | emitted back from the detection clamping belts 3 and 3 by the command from a programmable controller by the conveyance belt rotation cylinder 7e, the conveyance clamping belt 7 , 7 is moved to the working position, receives the lettuce A, and is conveyed toward the rear upper side of the machine body. For the uncut lettuce A, by a command from the programmable controller, the conveying belt rotating cylinder 7e The leading end portions of the conveying belts 7 and 7 are opened and moved to the non-operating position, and the lettuce A is not conveyed.
[0022]
Behind the conveying sandwiching belts 7 and 7 is provided a conveying conveyor 8 that receives the lettuce A that is conveyed and discharged by the conveying sandwiching belts 7, 7, holds this, and conveys it further obliquely upward in the rear direction. ing. The conveyor 8 is composed of a pair of left and right sandwiching conveyor belts 8a, 8a and a lower conveyor belt 8b disposed below the sandwiching conveyor belts 8a, 8a. The sandwiching and conveying belt 8a is wound endlessly around pulleys 8d and 8d that are pivotally supported at the front and rear ends of a support frame 8c that is arranged in the front-rear direction. Is tensioned by two inner tension pulleys 8e for applying tension and one outer tension pulley 8f for applying tension to the outside.
[0023]
The transporting belts 7 and 7 and the transporting conveyor 8 are such that when the detecting belts 3 and 3, the potentiometer 4, the cutting blade 5, and the like are moved up and down by the link mechanism 6, they are rotated up and down in conjunction with this. Is pivotally supported via a rotating shaft 9. A loading platform 10 for storing lettuce A transported by the transport conveyor 8 and the lower transport belt 8b is provided below the end portions of the sandwiching transport belts 8a and 8a and the lower transport belt 8b of the transport conveyor 8.
[0024]
Next, operation | movement of the leaf vegetable harvesting machine 1 of the said structure is demonstrated.
[0025]
The leaf vegetable harvesting machine 1 is introduced into the row of lettuce A planted in the row N of the field F with the detection sandwiching belts 3 and 3 facing each other to drive each part and advance the machine. Then, each lettuce A in the row is clamped with an arbitrary force by the detection clamping belts 3, 3, and the size of the lettuce A is detected from the distance between the belts 3, 3 at that time, that is, the rotation angle of the potentiometer 4. If the rotation angle (detected value) is equal to or less than a predetermined angle, lettuce A is determined to be immature, and if it is equal to or greater than the predetermined angle, lettuce A is determined to be appropriate. When lettuce A is mature, the rotary actuator 5b is actuated by a command from the programmable controller to move the cutting blade 5 to the cutting position to cut the rhizome, and when lettuce A is determined to be immature, the cutting is performed. The blade 5 is moved to the non-cutting position and left in the field.
[0026]
The lettuce A cut by the cutting blade 5 and discharged rearward from the detection sandwiching belts 3 and 3 is moved to the position where the leading ends of the transporting sandwiching belts 7 and 7 are operated by the transport belt rotating cylinder 7e in response to a command from the programmable controller. Is transferred to the rear and upper part of the machine body, and for the uncut leafy vegetables A, the front end portions of the conveying clamping belts 7 and 7 are moved by the conveying belt rotating cylinder 7e in response to a command from the programmable controller. Opened and moved to the non-acting position, lettuce A is not transported. The lettuce A transported by the transporting sandwiching belts 7 and 7 is taken over by the sandwiching and transporting belts 8a and 8a, transported further obliquely upward to the rear, discharged, and stored in the loading platform 10 via the lower transporting belt 8b. .
[0027]
The leaf vegetable harvester 1 according to the present invention can be widely applied not only to lettuce A but also to other leaf vegetables.
[0028]
【The invention's effect】
As described above, according to the leaf vegetable harvesting apparatus of the present invention, the following effects can be obtained.
[0029]
(1). The leaf vegetables are pinched with an arbitrary force by the holding belt, the size of the leaf vegetables is detected from the belt interval at that time, and it is determined whether the leaf vegetables are immature or suitable, so that the force can be applied without opening and closing the holding belt. By sandwiching leafy vegetables, it is possible to quickly determine in a short time whether the leafy vegetables are immature or suitable from the size at that time, and it is possible to efficiently select and harvest only suitablely mature leafy vegetables.
[0030]
(2). A detecting means for sandwiching leaf vegetables with an arbitrary force with a sandwiching belt, detecting the size of the leaf vegetables from the belt interval at that time, and a determining means for determining whether the leaf vegetables are immature or appropriate from the detection value of the detecting means, Since immature leaf vegetables are left in the field, it consists of a cutting means that cuts only suitable leaf vegetables and a conveying means that conveys the cut leaf vegetables, so it is determined from the detection value of the detection means whether the leaf vegetables are immature or suitable, The immature leaf vegetables can be left in the field, and the continuous operation of transporting and storing the cut leaf vegetables can be efficiently performed by cutting the rhizome part of only the appropriate leaf vegetables.
[0031]
(3). The cutting means is moved in a direction perpendicular to the ridge when cutting and parallel to the ridge direction when not cutting, so that immature leaf vegetables remain in the field while continuously running, and only suitable mature leaf vegetables are left. Since the rhizome is cut, there is no waste in the cutting operation of the cutting means, and the rhizome can be cut only by suitable action and leafy vegetables. Further, by fixing the cutting means in the state at the time of cutting, simultaneous harvesting that continuously harvests is also possible.
[0032]
(4). From the judgment result of the judging means, the cutting belt vegetable is moved to the working position for the cut leafy vegetables, and the cut leafy vegetables are conveyed to the rear upper side of the machine, and are conveyed for the uncut leafy vegetables. Since the leading end of the clamping belt is opened and moved to the non-operating position, the conveying clamping belt conveys only the cut leaf vegetables toward the rear upper side of the machine body and does not convey uncut leaf vegetables. Moreover, since leaf vegetables can be clamped with the front-end | tip of a conveyance clamping belt, compared with the system which does not rotate opening / closing rotation of the front-end | tip of a conveyance clamping belt, leaf vegetables can be clamped by moderate force at a position close | similar to the ground.
[Brief description of the drawings]
FIG. 1 is a plan view (a) and a side view (b) of a detection clamping belt and a cutting device.
FIG. 2 is a plan view (a) and a side view (b) of a conveyance clamping belt.
FIG. 3 is a schematic plan view of the entire leaf vegetable harvester according to the present invention.
FIG. 4 is a schematic side view of the same.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Leaf vegetable harvesting machine 2 Crawler 3 Nipping belt for leaf vegetable size detection 3a Support frame 3b Pulley 3c Tension pulley that applies tension to the inside 3d Tension pulley that applies tension to the outside 4 Potentiometer (detection means)
DESCRIPTION OF SYMBOLS 5 Cutting blade (cutting means) 5a Rotating shaft 5b Rotary actuator 6 Link mechanism 7 Conveying clamping belt 7a Support frame 7b Front pulley 7c Rear pulley that also serves as a rotating shaft 7d Tension spring 7e Conveying belt rotating cylinder 8 Conveying conveyor 8a Conveying belt 8b Lower conveying belt 8c Support frame 8d Pulley 8e Inner tension pulley 8f Outer tension pulley 9 Rotating shaft 10 Loading platform A Lettuce (leaf vegetables)
F Field N

Claims (2)

In a harvesting device that holds leafy vegetables in a planted state with a pair of right and left clamping belts, cuts the rhizome part, and conveys and stores leafy vegetables,
A tension pulley that applies tension at least to the inside of the clamping belt, and detecting means for detecting the size of the leaf vegetables from movement of the tension pulley when the leaf vegetables are clamped by the clamping belt;
Determination means for determining whether the leaf vegetables are immature or appropriate from the detection value of the detection means;
When the determination means is determined to be ripe, it moves in a direction perpendicular to the ridge, and when the determination means determines that it is immature, by moving to a position parallel to the ridge groove direction, Cutting means for cutting immature leaf vegetables while leaving them in the field while cutting continuously, and cutting the root vegetable portion of only suitable leaf vegetables;
A leaf vegetable harvesting apparatus characterized by comprising: Provided at the rear of the clamping belt, when the determination means determines that it is ripe, the tip is moved to the action position of the cut leafy vegetables, and when the determination means determines that it is immature, it is not cut 2. The conveyance pinching belt is provided to convey the cut leaf vegetables toward the rear upper side of the machine body by opening the tip of the leaf vegetables and moving to a non-acting position. Leaf vegetable harvesting equipment.

Images