WO2020147197A1 - 一种叶菜有序收获的同机打捆系统及实现方法 - Google Patents

一种叶菜有序收获的同机打捆系统及实现方法 Download PDF

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Publication number
WO2020147197A1
WO2020147197A1 PCT/CN2019/079603 CN2019079603W WO2020147197A1 WO 2020147197 A1 WO2020147197 A1 WO 2020147197A1 CN 2019079603 W CN2019079603 W CN 2019079603W WO 2020147197 A1 WO2020147197 A1 WO 2020147197A1
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Prior art keywords
orderly
bundling
head
leafy vegetables
strap
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PCT/CN2019/079603
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English (en)
French (fr)
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刘继展
常国政
毛罕平
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Jiangsu University
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Jiangsu University
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Priority to CH01447/20A priority Critical patent/CH716237B1/de
Publication of WO2020147197A1 publication Critical patent/WO2020147197A1/zh
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D37/00—Reaper-binders
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D37/00—Reaper-binders
    • A01D37/04—Reaper-binders conveying the stalks in vertical position
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A01D45/28—Harvesting of standing crops of spinach

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  • the invention relates to the field of agricultural equipment, in particular to a same machine bundling system for orderly harvesting of leafy vegetables and an implementation method thereof.
  • the Chinese patent discloses an orderly, leafy vegetables
  • the disorderly universal harvester scheme realizes the orderly stacking of leafy vegetables from upright to lateral through the clamping and conveying mode of the conveyor belt twisting.
  • the above methods are difficult to change the problem of limited collection and loading due to looseness.
  • it is difficult to ensure an orderly effect under the complex ground and unsteady and vibration conditions of the fuselage.
  • the Chinese patent discloses a leafy vegetable plant harvester scheme, which uses a surrounding conveyor chain with a splint to transport the cut leafy vegetables horizontally, and then transports them to the temporary storage area along the side and falls into the storage bag; the scheme has a complicated structure , And the lateral transportation after cutting is difficult and the transportation volume is small.
  • the large-scale leafy vegetable harvester in developed countries by adding a number of labor on the machine body, completes manual bundling and collection at the leafy vegetable harvesting and conveying outlets.
  • the labor cost is huge and it is difficult to adapt to small-scale planting and greenhouses, greenhouses and other facilities. Job requirements.
  • the existing automatic bundling machine has a complicated structure and large size, and it is difficult to realize synchronous bundling of leafy vegetables in multiple rows within the limited body width of the harvester.
  • the purpose of the present invention is to provide a single-machine bundling system for orderly harvesting of leafy vegetables and an implementation method thereof, which realizes the automatic and orderly multi-row harvesting of leafy vegetables, and the single-machine bundling system has a simple structure and a small size.
  • a single-machine bundling system for orderly harvesting of leafy vegetables includes a controller, a collection door opening and closing module, A strapping module and a distribution module, the distribution module and the strapping module are fixed on the upper side of the bottom plate in sequence along the longitudinal direction, the collection door opening and closing module is installed on the lower side of the bottom plate, the bottom plate is installed with a side plate, and the side plate is installed with The limit switch connected with the controller, the limit switch is consistent with the height of the blade on the high score dial.
  • N openings are provided on the bottom plate, and the size of the openings is larger than the diameter of the leaf vegetable bundle.
  • the distribution module includes N high-point shifting heads and N low-pointing shifting heads, a pair of high-pointing shifting heads and a pair of low-pointing shifting heads are alternately arranged in turn, and each distribution head includes a rotating shaft and a balance
  • the upper and lower blades are arranged around the rotating shaft.
  • the lower surface of the high-resolution shift head blade is 1 to 2 mm higher in the vertical direction than the upper surface of the corresponding low-resolution shift head blade.
  • the horizontal distance between the centerline of the rotating shaft is equal to the width of the conveying opening of the branch clamping and orderly conveying system and the maximum opening of the bundling mechanism, and the three horizontal positions correspond to each other.
  • the longitudinal distance between the rotating shaft and the delivery port of the branch-clamping ordered delivery system is consistent with the blade length m.
  • the longitudinal distance between the rotating shaft and the nail outlet groove of the binding mechanism is not greater than And not less than the radius of the shaft.
  • the binding mechanism includes a strap and a drawstring binding head.
  • the drawstring binding head includes a crochet hook and a concave supporting piece that are clamped in the inside.
  • the concave supporting piece is fixed with a point-touch limit switch, and the drawstring
  • the crochet hook drops to position A and the touch limit switch is triggered to stop the draw-tape stitching head and continue to press down.
  • the draw-tape stitching head completes the first downward pressing and sets one end of the strap.
  • Hook the controller drives the movement of the linear moving parts to make the crochet support plate reach the position C'from the initial position, and the strap binding head completes the second pressing action to complete the binding and cutting of the strap.
  • the side plate is provided with a rectangular slot into which the rotating arm extends.
  • a method for realizing the same-machine bundling system for orderly harvesting of leafy vegetables includes the following steps:
  • Step 1 The cutter cuts the leafy vegetables, and the leafy vegetables are clamped by the branch clamping and orderly conveying system and divided into N rows to be continuously and orderly conveyed to each exit;
  • Step 2 The leafy vegetables continuously enter the distribution module under the power of the conveying system, the distribution head of the distribution module is passively rotated, and each row of leafy vegetables is divided into separate leafy vegetable clusters every 90° of the distribution head;
  • Step three the linear moving part is driven by the single rack-double gear transmission mechanism to drive the rotating arms on both sides to swing for the first time, and the rotating arm drives the belt binding head to press down for the first time, and the crochet hook falls to position A to trigger the touch limit.
  • Position switch each direct-moving member stops driving the strap stitching head to continue to press down, completes the first press and hooks one end of the strap, and then each strapping mechanism is opened to the maximum state, and the strap stitching head will The strap is pulled out;
  • Step 4 When the upper leaf of the high-resolution dial triggers the limit switch, each leaf vegetable cluster pushes the strap to wrap each leaf vegetable cluster, the controller receives the trigger signal of the limit switch and then controls the direct moving part, and the turning arm performs the second One swing, the pull-tape binding head presses down for the second time, and the nail pin is pressed out of the nail slot to bind the strap. At the same time, the concave support piece engages with the blade to cut the strap to complete a bundle of leafy vegetables;
  • Step 5 The opening and closing module of the collection door is activated, the opening is opened, and the bundled leaf vegetable bundles fall into the collection area from the opening to complete a collection of leaf vegetable bundles;
  • Step 6 After the cutter cuts the leafy vegetables, the distribution module performs continuous distribution of the leafy vegetables. Each strapping module periodically pulls out the straps, staples and cuts the straps, and the openings are periodically opened and closed to complete the continuous and automatic leafy vegetables. Bundle and collect.
  • the invention utilizes the conveying power clamped by the branches to realize the passive distribution of the distribution module; and uses the mechanical power to complete the opening and closing of the binding module.
  • the same machine automatic bundling and collection operation of orderly harvesting of multiple rows of leaf vegetables is realized with very few power components.
  • the same machine bundling system for orderly harvesting of leafy vegetables has a compact structure, simple and reliable control method, and is easy to integrate with an orderly harvester.
  • Figure 1 is a schematic structural diagram of the same machine bundling system for orderly harvesting leafy vegetables according to the present invention
  • Figure 2 is a schematic diagram of the distribution module structure
  • Figure 3 is a schematic diagram of the structure of the dividing head
  • Figure 3 (a) is a schematic diagram of the structure of the upper dividing head
  • Figure 3 (b) is a schematic diagram of the structure of the lower dividing head
  • Figure 4 is a schematic diagram of the structure of the strapping module
  • FIG. 5 is a detailed schematic diagram of the structure of the strapping module
  • Figure 6 is a schematic diagram of the structure of the drawstring binding head
  • Figure 7 is a detailed schematic diagram of the structure of the drawstring binding head
  • Figure 8 is a detailed schematic diagram of the front side of the nail-out groove
  • Figure 9 is a schematic diagram of the bottom plate
  • Figure 10 is a schematic diagram of the folding structure at the bottom of the collection box.
  • the leafy vegetables are clamped by the branch clamping and orderly conveying system 7 and divided into N rows and transported in the direction of v.
  • the leafy vegetables are harvested in an orderly manner.
  • the same machine bundling system is installed at the exit of the branch clamping and orderly conveying system 7.
  • the same machine bundling system for orderly harvesting of leafy vegetables consists of a controller, a collection area 1, a collection door opening and closing module 2, a bottom plate 3, It consists of a strapping module 4, a distribution module 5 and a side plate 8.
  • the collection door opening and closing module 2 includes an opening and closing baffle, a motor, a rack and pinion transmission mechanism and a linear slider guide.
  • the motor drives the gear to rotate and then drives the rack to move ,
  • the rack is fixedly connected with the closing baffle through the linear slider guide rail to realize the opening and closing of the collection door opening and closing module 2;
  • the bottom plate 3 is fixed with the bottom conveying surface 11 of the branch clamping and orderly conveying system 7, and they are located on the same plane.
  • the strapping module 4 and the distribution module 5 are installed on the upper side of the bottom plate 3.
  • the branch clamping and orderly conveying system 7, the distribution module 5, and the strapping module 4 are arranged in the longitudinal direction.
  • the collection door opening and closing module 2 is installed on the lower side of the bottom plate 3.
  • the motor and the linear slide rail are installed on the bottom plate 3), the collection area 1 is fixedly installed below the bottom plate 3.
  • the collection area 1 is equipped with a drawer-like collection box, the bottom of the collection box has a folding structure 33, and the collection box relies on the folding structure 33 Supported on the bottom side plate, the folding structure 33 also has a track function to realize the push and pull action of the collection box, and complete the removal and replacement of the collection box, as shown in FIG. 10.
  • the branch clamping and orderly conveying system 7 consists of a horizontal conveying mechanism, 2N vertical conveying mechanisms, and N cutting mechanisms (the cutting mechanism includes a grain divider and a cutter 6.
  • the function of the grain divider is to distribute leaf vegetables to the corresponding In the conveyor belt, the cutter 6 is used for cutting)
  • 2N vertical conveying mechanisms are each two as a group, each group is fixed on the horizontal conveying mechanism at equal intervals, and the horizontal conveying belt is divided into N rows, N horizontal A cutting mechanism is installed at the end of the conveying mechanism.
  • the horizontal conveying mechanism is composed of a driving wheel, a driven wheel and a horizontal conveying belt.
  • the vertical conveying mechanism is composed of a driving wheel, a driven wheel and a vertical conveying belt.
  • the leafy vegetables are under the action of the cutting mechanism. After cutting is completed, two vertical conveyor belts clamp a row of leafy vegetables from the direction of the cutting mechanism to the direction of the same machine bundling system to prevent the leafy vegetables from tipping during the ascent process.
  • the transportation power of the leafy vegetables comes from the horizontal conveying mechanism and the vertical conveying mechanism. Two parts.
  • the distribution module 5 is composed of N high-score dials 10a and N low-scores dials 10b, each pair of high-score dials 10a and each pair of low-score dials 10b alternate in turn Arrangement, each high-point shifting head 10a and low-point shifting head 10b are composed of a rotating shaft 13, four upper blades 12a, and four lower blades 12b. The four upper blades 12a and the four lower blades 12b are evenly distributed at 90° intervals.
  • the length m of the upper blade 12a and the lower blade 12b are both equal to the maximum opening L 1 of the strapping mechanism ( Figure 4), the lower surface of the upper blade 12a of the high-point dial 10a is 1 to 2mm higher in the vertical direction than the upper surface of the upper blade 12a of the low-point dial 10b, and the lower blade 12b of the high-point dial 10a The lower surface is higher than the upper surface of the lower blade 12b of the low split head 10b by 1 to 2 mm in the vertical direction.
  • the side plate 8 is vertically installed on both sides of the bottom plate 3 and the branch clamping and orderly conveying system 7.
  • a limit switch 9 is installed on the side plate 8, and the limit switch 9 is connected to the controller;
  • the height of the switch 9 relative to the bottom plate 3 is the same as the height of the blade 12a of the high-resolution dial 10a relative to the bottom plate 3;
  • the side plate 8 is provided with a rectangular slot for the rotating arm 14 to extend.
  • each strapping module 4 is composed of a single rack-double gear transmission mechanism, a direct-moving member and two strapping mechanisms.
  • the direct-moving member is driven by a single rack-double gear transmission mechanism.
  • the swivel arm 14 of the baling mechanism swings.
  • the direct-moving member can be an electric push rod 23 ( Figure 5), and the direct-moving member is fixed on the bottom plate 3;
  • the single-rack-double-gear transmission mechanism consists of a rack 17
  • the rack 17 is installed in parallel with the electric push rod 23.
  • the rack 17 is fixedly connected by the connecting shaft of the electric push rod 23 and the linear slider guide rail installed on the support 20.
  • Each strapping mechanism is composed of a rotating arm 14, a belt guide groove 15, a belt box 16, a strap 19, a nail outlet slot 21, a drawstring binding head 22, and a blade 28.
  • Each strapping module 4 has two strapping mechanisms.
  • the belt guide groove 15 is installed symmetrically, the rotating arm 14 and the belt guide groove 15 are connected by the transmission shaft of the gear 18, the rotating arm 14 can rotate with the rotation of the gear 18, the belt box 16 is fixedly connected to the end of the belt guide groove 15, and the belt guide groove 15 is fixedly installed on the bottom plate 3 through the support 20;
  • the nail outlet groove 21 is a rectangular groove, and is installed side by side with the belt groove 15 and flush with the front side of the belt groove 15, the length of the nail groove 21 is the belt groove Half of 15, the blade 28 is installed on the nail groove support frame at the front end of the nail outlet 21.
  • the blade 28 engages with the concave support piece 29 of the drawstring binding head 22 to cut off the strap 19, and the strap 19 is installed in the tape box 16.
  • the drawstring binding head 22 is built in the inner side of the front end of the rotating arm 14.
  • the drawstring binding head 22 is composed of a crochet needle 24, a nail groove impact plate 25, a point-touch limit switch 26, a concave support piece 29, a crochet support rod 30 and a spring.
  • the crochet needle The support plate 30 has a U-shaped structure. The two sides of the shell of the drawstring binding head 22 are fixedly connected to the two sides of the crochet support plate 30 and the arm housing 31 through the through holes 34.
  • the crochet support plate 30 is also connected to The lower end of the arm housing 31 is connected by a threaded hole 35, the hook 24, the nail groove impact plate 25, the concave support piece 29 and the spring are clamped inside the housing of the drawstring staple head 22, and the nail groove impact plate 25 The side is connected with the spring and acted on.
  • the crochet pin 24 and the nail groove impact plate 25 are arranged side by side and they are connected by a rectangular limit hole.
  • the crochet needle 24 and the nail groove impact plate 25 are both located above the concave support piece 29, which is located on the spring.
  • a point-touch limit switch 26 is fixedly installed on the concave support piece 29, and the height of the point-touch limit switch 26 will be pressed down by 1mm when the hook 24 is completely dropped.
  • the nail groove impact plate 25 corresponds to the nail output groove 21 and collides.
  • the top end of the nail-out groove 21 is connected to the impact auxiliary rod 27 through a thread.
  • the crochet pin 24 drops to position A to trigger the point-touch limit switch 26.
  • the controller After receiving the trigger signal of the point-touch limit switch 26, the controller sends a command to make each straight
  • the moving part stops driving the belt binding head 22 to continue pressing down, completing the first pressing down and hooking one end of the strap 19.
  • the controller drives the linear motion elements to move the crochet support plate 30 from the initial position to the position C', and the strap stapling head 22 completes the second pressing action to complete the binding. Stapling and cutting of belt 19.
  • the longitudinal distance between the outlet of the branch clamping and orderly conveying system 7 and the centerline of the rotating shaft 13 is consistent with the blade length m, and the longitudinal distance between the centerline of the rotating shaft 13 and the nail slot 21 is not greater than And not less than the radius of the shaft 13.
  • a pair of high-point shifting heads 10a and a pair of low-point shifting heads 10b correspond to the same strapping module 4.
  • the horizontal distance between the centerline of the rotating shaft 13 is equal to the width w of the conveying port and the maximum opening L 1 of the strapping mechanism, and the three horizontal positions correspond.
  • the bottom plate 3 has N openings 32 in total, and the position of the opening 32 corresponds to the position of the leaf vegetable bundle, and the size of the opening 32 is larger than the diameter of the leaf vegetable bundle.
  • the implementation method of the same machine bundling system for orderly harvesting of leafy vegetables includes the following steps:
  • Step 1 The whole leafy vegetable harvester and its bundling system start and move forward.
  • the cutter 6 cuts the leafy vegetables, and the branch clamping orderly conveying system 7 clamps the leafy vegetables and divides them into N rows. The sequence is conveyed to each exit along the v direction;
  • Step two the leafy vegetables continuously enter the distribution module 5 under the power of the branch clamping and orderly conveying system 7, and the high distribution heads 10a and low distribution heads 10b of the distribution module 5 push force during leaf vegetable transportation. Passively rotates under the action of, each high-point shifting head 10a and low-point shifting head 10b separate each row of leafy vegetables into separate leafy vegetable clusters every 90° rotation;
  • Step 3 The linear moving parts of each strapping module 4 are driven by the single rack-double gear transmission mechanism to drive the rotating arms 14 on both sides to swing for the first time, and the rotating arms 14 drive the strap binding head 22 to press down for the first time, and the crochet 24 Falling to position A triggers the point-touch limit switch 26, each direct-moving member stops driving the strap binding head 22 to continue to press down, completes the first press down and hooks one end of the strap 19; and then each binding mechanism Expand to the maximum state, and draw the binding head 22 to pull out the strap 19;
  • Step 4 When the upper blade 12a of the distribution head 10a triggers the limit switch 9, it indicates that the distribution module 5 has completed the distribution of N groups of leafy vegetable clusters and sent them to each binding module 4, and each leafy vegetable cluster pushes the band 19 to wrap around.
  • Each leafy vegetable cluster after receiving the trigger signal of the limit switch 9, the controller sends a command to the direct moving parts of each strapping module 4, and the direct moving parts of each strapping module 4 drive both sides through a single rack-double gear transmission mechanism
  • the rotating arm 14 swings for the second time, and the rotating arm 14 drives the strap binding head 22 to press down for the second time.
  • the nail out slot 21 presses out the nail pin to bind the strap 19, and at the same time, the concave support piece 29 engages with the blade 28.
  • the band 19 is cut off to complete a bundle of leafy vegetables;
  • Step 5 the collection door opening and closing module 2 is activated, the opening 32 of the bottom plate 3 is opened, and the bundled leaf vegetable bundles fall into the collection area 1 through the opening 32 to complete a collection of leaf vegetable bundles;
  • Step 6 After the cutter 6 cuts the leafy vegetables, the orderly conveying system 7 continuously conveys the leafy vegetables, so that the distribution module 5 performs continuous distribution of the leafy vegetables.
  • Each strapping module 4 periodically pulls out the strap 19, binds and cuts the strap 19.
  • the opening 32 of the bottom plate 3 is periodically opened and closed to complete the continuous automatic bundling and collection of leaf vegetables.

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Abstract

一种叶菜有序收获的同机打捆系统及实现方法。该同机打捆系统由控制器、收集区（1）、收集门启闭模块（2）、底板（3）、捆扎模块（4）、分拨模块（5）和侧板（8）构成，被切割叶菜由分行夹持有序输送系统（7）夹持多行有序向上输送，连续推入分拨模块（5），使其旋转将各行叶菜分隔为单独叶菜簇，各捆扎模块（4）第一次摆动下压将绑带（19）钩出并包绕各叶菜簇，各捆扎模块（4）第二次摆动下压将绑带（19）订合切断，进而底板开口（32）打开使叶菜捆落入收集区（1），完成叶菜打捆收集。通过被动分拨、开合捆扎、下落收集动作相互协同，仅依靠极少动力元件实现多行叶菜有序收获的同机自动捆扎收集，结构紧凑，控制简单可靠，易于和有序收获机集成。

Description

一种叶菜有序收获的同机打捆系统及实现方法 技术领域
本发明涉及农业装备领域，特别涉及一种叶菜有序收获的同机打捆系统及实现方法。
背景技术
目前各类蔬菜的种植面积越来越大，但叶菜、特别是非结球类、鳞茎类叶菜的收获包装问题成为蔬菜种植者面临的一大难题。现有的叶菜无序收获机方案，侧重于有序的收割和向上输送，而输送后离散抛出，造成杂乱铺放、松散收集且装载量有限。机械化收获后收集的无序化，给后续的收集、运输和处理造成了困难。中国专利公开了叶菜有序收获及收集装置，在叶菜夹持输送后的出口处，叶菜由竖立式变为平躺于输送带上；中国专利公开了一种叶菜蔬菜有序、无序通用收获机方案，通过输送带扭转的夹持输送方式，实现叶菜由直立转为侧向的有序堆放。上述方式均难以改变由于松散造成的收集装载量有限问题，同时在田间复杂的地面和机身不平稳、振动条件下很难保证有序的效果。中国专利公开了一种叶菜类植株收割机方案，采用带夹板的四周型输送链，将切割后的叶菜横向输送，进而沿侧面输送至暂存区并落入收纳袋；该方案结构复杂，且切割后横向输送难度大、输送量小。发达国家的大型叶菜有序收获机，通过在机身上增加若干劳动力，在叶菜收获、输送出口处完成人工捆扎和收集，劳动力耗费巨大，难以适应小规模种植和温室、大棚等设施内的作业要求。
目前叶菜包装均为收获后在处理区域完成，需经过收获、无序收集、无序运输，再有序化和完成捆扎、装袋、封膜等处理，环节复杂，难度大。现有的各类叶菜自动捆扎机亦难以满足各类普通叶菜、辛香叶菜有序收获的同机捆扎作业需要，主要存在以下问题：
(1)有序收获后叶菜为连续夹持输送状态，而现有自动打捆机均需人工分捆喂入，自动捆扎机仅实现自动打捆的单一动作；
(2)现有自动打捆机结构复杂、尺寸大，难以实现在收获机有限机身宽度内的叶菜多行同步打捆。
发明内容
本发明的目的在于提供一种叶菜有序收获的同机打捆系统及实现方法，实现叶菜的自动化有序多行收获，且同机打捆系统结构简单、尺寸较小。
为了解决以上技术问题，本发明采用的具体技术方案如下：
一种叶菜有序收获的同机打捆系统，包括控制器、收集门启闭模块、
Figure PCTCN2019079603-appb-000001
个捆扎模块以及分拨模块，所述分拨模块和捆扎模块沿纵向依次固定在底板上侧，所述底板下侧安装收集门启闭模块，所述底板安装有侧板，侧板上安装有与控制器相连的限位开关，限位开关与高分拨头上叶片的高度一致。
上述方案中，所述底板上设有N个开口，开口的尺寸大于叶菜捆的直径。
上述方案中，所述分拨模块包括N个高分拨头和N个低分拨头，一对高分拨头和一对低分拨头依次交错布置，每个分拨头包括转轴以及均布于转轴四周的上叶片、下叶片，上下叶片均为4个，且上下叶片在竖直方向相对应；叶片的长度m为捆扎模块中打捆机构最大开口的
Figure PCTCN2019079603-appb-000002
其中高分拨头叶片的下表面比相对应的低分拨头叶片的上表面在竖直方向高1～2mm。
上述方案中，所述转轴中心线的横向间距与分行夹持有序输送系统的输送口宽度以及打捆机构的最大开口相等，且三者横向位置对应。
上述方案中，所述转轴与分行夹持有序输送系统输送口的纵向距离与叶片长度m一致。
上述方案中，所述转轴与打捆机构的出钉槽的纵向距离不大于
Figure PCTCN2019079603-appb-000003
且不小于转轴的半径。
上述方案中，所述打捆机构包括绑带、拉带订合头，拉带订合头包括卡接在其内部的钩针、凹型支撑片，凹型支撑片上固定点触式限位开关，拉带订合头第一次下压时，钩针下落至位置A触发点触式限位开关使拉带订合头停止继续下压，拉带订合头完成第一次下压并将绑带的一端钩住；控制器驱动各直动件运动使钩针支撑板从初始位置到达位置C’，拉带订合头完成第二次下压动作，完成绑带的订合和切断。
上述方案中，所述侧板上开有供转臂伸入的矩形槽。
一种叶菜有序收获的同机打捆系统的实现方法，包含以下步骤：
步骤一，切割器切割叶菜，由分行夹持有序输送系统夹持叶菜并分为N行连续有序输送至各出口处；
步骤二，叶菜在所述输送系统的动力推动下连续进入分拨模块，分拨模块的分拨头被动旋转，分拨头每旋转90°将各行叶菜分隔为单独的叶菜簇；
步骤三，直动件经单齿条-双齿轮传动机构带动两侧转臂进行第一次摆动，转臂带动拉带订合头第一次下压，钩针下落至位置A触发点触式限位开关，各直动件停止带动拉带订合头继续下压，完成第一次下压并将绑带的一端钩住，进而各打捆机构张开至最大状态，拉带订合头将绑带拉出；
步骤四，当高分拨头的上叶片触发限位开关，各叶菜簇推动绑带包绕各叶菜簇，控制器接收限位开关的触发信号后控制直动件，转臂进行第二次摆动，拉带订合头第二次下压，出钉槽压出钉针将绑带订合，同时凹型支撑片与刀片啮合将绑带切断，完成一次打捆叶菜；
步骤五，收集门启闭模块启动，开口打开，打捆完成的叶菜捆由开口落入收集区中，完成一次叶菜捆的收集；
步骤六，切割器切割叶菜后，分拨模块进行叶菜的连续分拨，各捆扎模块周期性拉出绑带、订合和切断绑带，开口周期性启闭，完成叶菜的连续自动打捆和收集。
本发明具有益效果为：
本发明利用分行夹持的输送动力，实现分拨模块的被动分拨；利用机械动力完成捆扎模块的开合捆扎。通过被动分拨、开合捆扎、下落收集动作的相互协同，依靠极少动力元件实现多行叶菜有序收获的同机自动捆扎收集的作业。叶菜有序收获的同机打捆系统结构紧凑，控制方法简单可靠，易于和有序收获机集成。
附图说明
图1为本发明叶菜有序收获的同机打捆系统的结构示意图；
图2为分拨模块结构示意图；
图3为分拨头的结构示意图，图3(a)为上分拨头的结构示意图，图3(b)为下分拨头的结构示意图；
图4为捆扎模块结构示意图；
图5为捆扎模块结构细节示意图；
图6为拉带订合头结构示意图；
图7为拉带订合头结构细节示意图；
图8为出钉槽前侧细节示意图；
图9为底板示意图；
图10为收集箱底部的折口结构示意图。
图中：1.收集区，2.收集门启闭模块，3.底板，4.捆扎模块，5.分拨模块，6.切割器， 7.分行夹持有序输送系统，8.侧板，9.限位开关，10a.高分拨头，10b.低分拨头，11.输送底面，12a.上叶片，12b.下叶片，13.转轴，14.转臂，15.导带槽，16.带盒，17.齿条，18.齿轮，19.绑带，20.支座，21.出钉槽，22.拉带订合头，23.电动推杆，24.钩针，25.钉槽冲击板，26.点触式限位开关，27.冲击辅助杆，28.刀片，29.凹型支撑片，30.钩针支撑板，31.壳体，32.开口，33.折口，34.通孔，35.螺纹孔。
具体实施方式
下面结合附图和具体实施例，对本发明的技术方案作进一步详细说明。
如图1所示，叶菜有序收获机完成叶菜切割后，由分行夹持有序输送系统7夹持叶菜并分为N行有序沿v的方向输送，叶菜有序收获的同机打捆系统安装于分行夹持有序输送系统7的出口处。图1中，叶菜有序收获的同机打捆系统由控制器、收集区1、收集门启闭模块2、底板3、
Figure PCTCN2019079603-appb-000004
个捆扎模块4、分拨模块5和侧板8构成，其中收集门启闭模块2包括启闭挡板、电机、齿轮齿条传动机构及直线滑块导轨，电机带动齿轮转动进而带动齿条移动，齿条通过直线滑块导轨与闭合挡板进行固连，实现收集门启闭模块2的开合；底板3与分行夹持有序输送系统7的输送底面11固定，两者位于同一平面，捆扎模块4和分拨模块5安装于底板3上侧，分行夹持有序输送系统7、分拨模块5、捆扎模块4沿纵向依次布置，收集门启闭模块2安装于底板3下侧(电机和直线滑块导轨均安装在底板3上)，收集区1固定安装在底板3的下方，收集区1设有抽屉状的收集箱，收集箱底部具有折口结构33，收集箱依靠折口结构33支撑在底部侧板上，折口结构33同时具有轨道作用，实现收集箱的推拉动作，完成收集箱的取出、更换，如图10所示。
分行夹持有序输送系统7由水平输送机构、2N个竖直输送机构、N个切割机构(切割机构包括分禾器和切割器6，分禾器的作用是把叶菜分拨到对应的输送带内，切割器6用来切割)组成，2N个竖直输送机构每两个为一组，每组等间距地固定在水平输送机构上，将水平输送带分隔为N行，N个水平输送机构的末端安装有切割机构，其中水平输送机构由主动轮、从动轮及水平输送带组成，竖直输送机构由主动轮、从动轮及竖直输送带组成，叶菜在切割机构的作用下完成切割，两个竖直输送带夹持一行叶菜从切割机构方向往同机打捆系统方向运输，防止叶菜在上升过程中倾倒，叶菜的运输动力来自水平输送机构和竖直输送机构两部分。
如图2和图3所示，分拨模块5由N个高分拨头10a和N个低分拨头10b组成，每一对高分拨头10a和每一对低分拨头10b依次交错布置，每个高分拨头10a和低分拨头 10b均由转轴13、四个上叶片12a、四个下叶片12b构成，四个上叶片12a和四个下叶片12b间隔90°均布于转轴13四周，且四个上叶片12a和四个下叶片12b在竖直方向相对应；上叶片12a和下叶片12b的长度m均为打捆机构最大开口L 1的
Figure PCTCN2019079603-appb-000005
(图4)，其中高分拨头10a的上叶片12a的下表面比低分拨头10b的上叶片12a的上表面在竖直方向高1～2mm，高分拨头10a的下叶片12b的下表面比低分拨头10b的下叶片12b的上表面在竖直方向高1～2mm。
如图1、2所示，侧板8垂直安装于底板3及分行夹持有序输送系统7的两侧，侧板8上安装有限位开关9，限位开关9与控制器相连；限位开关9相对于底板3的高度与高分拨头10a上叶片12a相对于底板3的高度一致；侧板8上开有矩形槽，该矩形槽可供转臂14伸入。
如图4所示，每个捆扎模块4由一套单齿条-双齿轮传动机构、一个直动件和两个打捆机构组成，直动件通过一套单齿条-双齿轮传动机构带动打捆机构的转臂14摆动，在本实施例中，直动件可以为电动推杆23(图5)，直动件固定在底板3上；单齿条-双齿轮传动机构由齿条17和齿轮18构成，齿条17的安装方向与电动推杆23平行，齿条17由电动推杆23的连接轴及安装于支座20上的直线滑块导轨进行固连，齿条17与齿轮18啮合，齿轮18通过传动轴与转臂14连接，转臂14的旋转中心与齿条17中心重合。每个打捆机构由转臂14、导带槽15、带盒16、绑带19、出钉槽21、拉带订合头22、刀片28构成，每个捆扎模块4中两打捆机构的导带槽15对称安装，转臂14与导带槽15通过齿轮18的传动轴连接，转臂14可随齿轮18的转动而转动，带盒16与导带槽15末端固定连接，导带槽15通过支座20固定安装于底板3上；出钉槽21为矩形槽状，与导带槽15并列安装且与导带槽15的前侧齐平，出钉槽21的长度为导带槽15的一半，刀片28安装于出钉槽21前端的钉槽支撑架上，刀片28与拉带订合头22的凹型支撑片29啮合，切断绑带19，绑带19安装于带盒16内，经由导带槽15，从出钉槽21拉出，拉带订合头22内置于转臂14前端内侧。
如图6所示，拉带订合头22由钩针24、钉槽冲击板25、点触式限位开关26、凹型支撑片29、钩针支撑杆30及弹簧组成，如图7所示，钩针支撑板30为U型结构，拉带订合头22的壳体两侧与钩针支撑板30的两侧及转臂壳体31依次通过通孔34相固连，钩针支撑板30还通过螺纹与转臂壳体31最下端通过螺纹孔35相连接，钩针24、钉槽冲击板25、凹型支撑片29及弹簧卡接在拉带订合头22的壳体内部，且钉槽冲击板25 下侧与弹簧相连并发生作用，钩针24、钉槽冲击板25并排布置且两者通过矩形限位孔连接，钩针24和钉槽冲击板25均位于凹型支撑片29上方，凹型支撑片29位于弹簧上方，凹型支撑片29上固定安装点触式限位开关26，点触式限位开关26的高度在钩针24完全下落时会被下压1mm。拉带订合头22下压时钉槽冲击板25与出钉槽21对应并发生碰撞。如图8所示，出钉槽21顶端通过螺纹连接冲击辅助杆27。
由图6所示，拉带订合头22第一次下压时，钩针支撑板30随同壳体31运动到达位置C，钉槽冲击板25碰撞冲击辅助杆27并被冲击辅助杆27挤压缩回，钉槽冲击板25带动弹簧发生形变，同时通过矩形限位孔位置的改变带动钩针24下落至位置A，钩针24与钩针支撑板30发生啮合将绑带19的一端钩住；拉带订合头22第二次下压时，钩针支撑板30随同壳体31运动到达位置C’，钉槽冲击板25碰撞冲击辅助杆27并被冲击辅助杆27挤压缩回，钉槽冲击板25带动弹簧发生形变，同时通过矩形限位孔位置的改变带动钩针24弹回至位置A’，出钉槽21压出钉针将绑带19订合，同时凹型支撑片29到达位置B’，从而与刀片28啮合将绑带19切断。拉带订合头22第一次下压时，钩针24下落至位置A触发点触式限位开关26，控制器在接收到点触式限位开关26的触发信号后，发送命令使各直动件停止带动拉带订合头22继续下压，完成第一次下压并将绑带19的一端钩住。拉带订合头22第二次下压时，控制器驱动各直动件运动使钩针支撑板30从初始位置到达位置C’，拉带订合头22完成第二次下压动作，完成绑带19的订合和切断。
如图4所示，分行夹持有序输送系统7的出口与转轴13中心线的纵向距离和叶片长度m一致，转轴13中心线与出钉槽21的纵向距离不大于
Figure PCTCN2019079603-appb-000006
且不小于转轴13的半径。
一对高分拨头10a和一对低分拨头10b对应同一个捆扎模块4，转轴13中心线的横向间距与输送口宽度w以及打捆机构的最大开口L 1相等，且三者横向位置对应。
如图9所示，底板3共有N个开口32，开口32的位置与叶菜打捆位置对应，开口32的尺寸大于叶菜捆的直径。
如图1-6所示，叶菜有序收获的同机打捆系统的实现方法，包括以下步骤：
步骤一，叶菜有序收获机及其同机打捆系统整机启动并前进作业，切割器6切割叶菜，由分行夹持有序输送系统7夹持叶菜并分为N行连续有序沿v的方向输送至各出口处；
步骤二，叶菜在分行夹持有序输送系统7的动力推动下连续进入分拨模块5，分拨模块5的各高分拨头10a和低分拨头10b在叶菜输送时推挤力的作用下被动旋转，各高 分拨头10a和低分拨头10b每旋转90°将各行叶菜分隔为单独的叶菜簇；
步骤三，各捆扎模块4的直动件经单齿条-双齿轮传动机构带动两侧转臂14进行第一次摆动，转臂14带动拉带订合头22第一次下压，钩针24下落至位置A触发点触式限位开关26，各直动件停止带动拉带订合头22继续下压，完成第一次下压并将绑带19的一端钩住；进而各打捆机构张开至最大状态，拉带订合头22将绑带19拉出；
步骤四，当分拨头10a的上叶片12a触发限位开关9，表明分拨模块5已完成N组叶菜簇的分拨并送入各捆扎模块4，各叶菜簇推动绑带19包绕各叶菜簇；控制器在接收到限位开关9的触发信号后发送命令给各捆扎模块4的直动件，各捆扎模块4的直动件经单齿条-双齿轮传动机构带动两侧转臂14进行第二次摆动，转臂14带动拉带订合头22第二次下压，出钉槽21压出钉针将绑带19订合，同时凹型支撑片29与刀片28啮合将绑带19切断，完成一次打捆叶菜；
步骤五，收集门启闭模块2启动，底板3的开口32打开，打捆完成的叶菜捆由开口32落入收集区1中，完成一次叶菜捆的收集；
步骤六，切割器6切割叶菜后，有序输送系统7连续输送，使分拨模块5进行叶菜的连续分拨，各捆扎模块4周期性拉出绑带19、订合和切断绑带19，底板3的开口32周期性启闭，完成叶菜的连续自动打捆和收集。
本发明虽然已经给出了一些实施例，但是本领域的技术人员应当理解，在不脱离本发明精神的情况下，可以对本发明的实施例进行改变。上述实施例只是示例性的，不应以本发明的实施例作为本发明权利范围的限定。

Claims (9)

  1. 一种叶菜有序收获的同机打捆系统，其特征在于，包括控制器、收集门启闭模块(2)、
    Figure PCTCN2019079603-appb-100001
    个捆扎模块(4)以及分拨模块(5)，所述分拨模块(5)和捆扎模块(4)沿纵向依次固定在底板(3)上侧，所述底板(3)下侧安装收集门启闭模块(2)，所述底板(3)安装有侧板(8)，侧板(8)上安装有与控制器相连的限位开关(9)，限位开关(9)与高分拨头上叶片的高度一致，其中N是分行夹持有序输送系统(7)的行数。
  2. 根据权利要求1所述的叶菜有序收获的同机打捆系统，其特征在于，所述底板(3)上设有N个开口(32)，开口(32)的尺寸大于等于叶菜捆的直径。
  3. 根据权利要求1所述的叶菜有序收获的同机打捆系统，其特征在于，所述分拨模块(5)包括N个高分拨头(10a)和N个低分拨头(10b)，一对高分拨头(10a)和一对低分拨头(10b)依次交错布置，每个分拨头包括转轴(13)以及均布于转轴(13)四周的上叶片(12a)、下叶片(12b)，上下叶片均为4个，且上下叶片在竖直方向相对应；叶片的长度m为捆扎模块(4)中打捆机构最大开口宽度L 1的
    Figure PCTCN2019079603-appb-100002
    其中高分拨头(10a)叶片的下表面比相对应的低分拨头(10b)叶片的上表面在竖直方向高1～2mm。
  4. 根据权利要求3所述的叶菜有序收获的同机打捆系统，其特征在于，所述转轴(13)中心线的横向间距与分行夹持有序输送系统(7)的输送口宽度w以及打捆机构的最大开口L 1相等，且三者横向位置对应。
  5. 根据权利要求4所述的叶菜有序收获的同机打捆系统，其特征在于，所述转轴(13)与分行夹持有序输送系统(7)输送口的纵向距离与叶片长度m一致。
  6. 根据权利要求4所述的叶菜有序收获的同机打捆系统，其特征在于，所述转轴(13)与打捆机构的出钉槽(21)的纵向距离不大于
    Figure PCTCN2019079603-appb-100003
    且不小于转轴(13)的半径。
  7. 根据权利要求1所述的叶菜有序收获的同机打捆系统，其特征在于，所述打捆机构包括绑带(19)、拉带订合头(22)，拉带订合头(22)包括卡接在其内部的钩针(24)、凹型支撑片(29)，凹型支撑片(29)上固定点触式限位开关(26)，拉带订合头(22)第一次下压时，钩针(24)下落至位置A触发点触式限位开关(26)使拉带订合头(22)停止继续下压，拉带订合头(22)完成第一次下压并将绑带(19)的一端钩住；控制器驱动各直动件运动使钩针支撑板(30)从初始位置到达位置C’，拉带订合头(22)完成第二次下压动作，完成绑带(19)的订合和切断。
  8. 根据权利要求1-7任意一项权利要求所述的叶菜有序收获的同机打捆系统，其特征在于，所述侧板(8)上开有供转臂(14)伸入的矩形槽。
  9. 一种根据权利要求8所述的叶菜有序收获的同机打捆系统的实现方法，其特征在于，包含以下步骤：
    步骤一，切割器(6)切割叶菜，由分行夹持有序输送系统(7)夹持叶菜并分为N行连续有序输送至各出口处；
    步骤二，叶菜在所述输送系统(7)的动力推动下连续进入分拨模块(5)，分拨模块(5)的分拨头被动旋转，分拨头每旋转90°将各行叶菜分隔为单独的叶菜簇；
    步骤三，直动件经单齿条-双齿轮传动机构带动两侧转臂(14)进行第一次摆动，转臂(14)带动拉带订合头(22)第一次下压，钩针(24)下落至位置A触发点触式限位开关(26)，各直动件停止带动拉带订合头(22)继续下压，完成第一次下压并将绑带(19)的一端钩住，进而各打捆机构张开至最大状态，拉带订合头(22)将绑带(19)拉出；
    步骤四，当高分拨头的上叶片触发限位开关(9)，各叶菜簇推动绑带(19)包绕各叶菜簇，控制器接收限位开关(9)的触发信号后控制直动件，转臂(14)进行第二次摆动，拉带订合头(22)第二次下压，出钉槽(21)压出钉针将绑带(19)订合，同时凹型支撑片(29)与刀片(28)啮合将绑带(19)切断，完成一次打捆叶菜；
    步骤五，收集门启闭模块(2)启动，开口(32)打开，打捆完成的叶菜捆由开口(32)落入收集区(1)中，完成一次叶菜捆的收集；
    步骤六，切割器(6)切割叶菜后，分拨模块(5)进行叶菜的连续分拨，各捆扎模块(4)周期性拉出绑带(19)、订合和切断绑带(19)，开口(32)周期性启闭，完成叶菜的连续自动打捆和收集。
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