An intelligent leafy vegetable harvester

Abstract

The present invention discloses an intelligent leafy vegetable harvester, which uses a motor to drive a triangular crawler as a traveling mechanism, and drives the cutting, soil shaking, and conveying mechanisms to operate through the motor. It adopts two sets of conveying mechanisms. The primary conveyor conveys the cut leafy vegetables, and the secondary conveyor mechanism uses a time switch to achieve the collection of leafy vegetables in one direction to a fixed position. This machine adopts two sets of electric control systems. One set is controlled by buttons on the machine itself, and the other set realizes remote control through a remote controller. The remote controller sends signals to the control mechanism of the whole machine to enable the whole machine to automatically move forward, turn, and complete operations in the field.

Description

Technical Field

[0001] The present invention relates to a part of agricultural machinery, and particularly to an intelligent vegetable harvester. Background Art

[0002] Domestic leaf vegetable harvesters have developed rapidly. It can be retrieved that Chinese Patent CN202210671203.8 discloses a leaf vegetable harvester. This machine realizes the cutting and conveying of leaf vegetables by operating the machine and collects them into a frame. During the operation, in addition to the operator, two auxiliary personnel are required to be configured at each of the left and right ends of the machine to change the frame. During the operation process, a lot of manpower is still required; when harvesting large-leaf vegetables, it is difficult for the leaf vegetables to enter the conveyor belt after being cut purely by scissors; moreover, when the machine moves from the road surface to the field, if the ridge is large, it is not easy to cross, and an auxiliary worker is needed to help lift the machine. Summary of the Invention

[0003] The purpose of the present invention is to: aiming at the problems of high labor intensity, stuck conveying of large-leaf vegetables, and difficulty in crossing high ridges during the field operation of the above-mentioned technical machine, a large triangular crawler type intelligent vegetable harvester is proposed. Through intelligent control and secondary conveying, the labor intensity is reduced. A soil shaking conveying device is added between cutting and conveying to quickly and conveniently realize the conveying of leaf vegetables. A triangular crawler chassis is adopted, which is reliable in walking and more convenient for crossing ridges.

[0004] In order to achieve the above purpose, an intelligent leaf vegetable harvester of the present invention includes a triangular crawler walking mechanism controlled by left and right 2 groups of walking motors, a first-stage conveying mechanism controlled by a conveying motor a obliquely placed on the walking mechanism, a cutting device controlled by a cutting motor at the front end of the first-stage conveying mechanism, and a second-stage obliquely placed conveying mechanism controlled by a conveying motor b at the rear end of the first-stage conveying mechanism. A soil shaking mechanism is provided between the first-stage conveying mechanism and the cutting device, and the soil shaking mechanism is driven by a soil shaking motor. The first-stage conveying mechanism, the soil shaking mechanism, and the cutting device form a cutting table. The cutting table adjusts the height from the ground through an electric push rod. The whole machine controls the actions of each mechanism through a control mechanism. The whole machine is controlled by two sets of independent electric control systems. The two sets of independent electric control systems are the button operation of this machine and the remote control operation.

[0005] Preferably, in the remote control operating system, the analog quantity in the remote controller is sent as a signal through the transmitter in the remote controller. After the drivers of each motor in the control mechanism receive the signal, they control the rotation speed of each motor, and the control box receives the switch quantity signal transmitted by the remote controller to control the forward and reverse rotation of the electric push rod.

[0006] Preferably, during the remote control process, when the machine turns, the control mechanism controls all the motors of the cutting table and the motor b of the second-stage conveyor belt to stop operating, and the electric push rod is lifted.

[0007] Preferably, an angle sensor is provided at the lower end of the cutting table, and the electric push rod adjusts the height of the cutting table in real time according to the signal fed back by the angle sensor to achieve the profiling function.

[0008] Preferably, the secondary conveying mechanism is obliquely arranged for conveying. An infrared sensor is provided at the end of the secondary conveying mechanism to detect leafy vegetables. An encoder is provided on the triangular crawler traveling mechanism. After the feedback stroke of the encoder reaches the set value, the traveling mechanism is controlled to stop. After the infrared sensor of the secondary conveying mechanism detects that there are no leafy vegetables, the secondary conveying mechanism stops and the traveling mechanism continues to work.

[0009] Preferably, the rotational speeds of all the motors on the cutting table are greater than the rotational speed of the traveling motor.

[0010] Preferably, the soil shaking mechanism includes two sets of transmission teeth that perform circular motion relative to each other, a driving gear, an idler gear, an eccentric wheel, and a connecting rod. The transmission teeth are fixed on the connecting rod. The left and right sides of the connecting rod are fixedly connected to the eccentric wheel and then connected to the driving gear. An idler gear is connected between the two driving gears.

[0011] Preferably, each set of the transmission teeth on the connecting rod has 2 teeth provided with a circular ring structure, and a grooved wheel is provided at the corresponding position of the other set of connecting rods. The circular rings of the transmission teeth perform circular motion in the grooved wheel through the driving wheel and the eccentric wheel.

[0012] Preferably, upward saw teeth are provided on the transmission teeth.

[0013] Compared with the prior art, the present invention has the following advantages: 1) The machine adopts a crawler traveling mechanism, which is convenient for crossing ridges in the field; 2) It adopts remote control operation, adds a secondary conveying mechanism, and reduces the need for manual frame replacement during machine operation; 3) The soil shaking mechanism with relative circular motion evenly conveys the leafy vegetables to the conveyor belt. Description of the Drawings

[0014] Figure 1 : Three-dimensional diagram of the intelligent leafy vegetable harvester

[0015] Figure 2 : Schematic diagram of the cutting table mechanism of the intelligent leafy vegetable harvester

[0016] Figure 3 : Schematic diagram of the soil shaking mechanism of the intelligent leafy vegetable harvester

[0017] Figure 4 : Schematic diagram of the remote control of the intelligent leafy vegetable harvester

[0018] 10 - Traveling mechanism; 20 - Primary conveying mechanism; 30 - Secondary conveying mechanism; 40 - Soil shaking mechanism

[0019] 50 - Cutting knife mechanism

[0020] 41 - Driving gear 42 - Idler gear 43 - Eccentric wheel 44 - Eccentric wheel 45 - Connecting rod

[0021] 44 - 1 - Large ring 45 - 1 - Grooved pulley Detailed implementation mode

[0022] The invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0023] As Figures 1-4 shown, the intelligent leafy vegetable harvester of the present invention adopts a triangular crawler walking mechanism 10, on which a cutting table is obliquely arranged. The cutting table includes a primary conveying mechanism 20 and a cutting knife mechanism 50. When harvesting large leafy vegetables, a soil shaking mechanism 40 can be added. The triangular crawler walking mechanism 10 is driven by two sets of left and right walking motors. The primary conveying mechanism is driven by a conveying motor a, the cutting knife mechanism is driven by a cutting knife motor. A secondary conveying mechanism 30 is obliquely arranged behind the cutting table, and the secondary conveying mechanism is driven by a motor b. The above motor drivers are all integrated in the control mechanism of the whole machine.

[0024] The middle and lower part of the cutting table is connected to the walking mechanism through an electric push rod. An angle sensor is arranged at the lower end of the cutting table. During the driving process of the whole machine, the angle sensor senses the height of the cutting table from the ground and transmits the data to the control mechanism, and the control mechanism controls the telescopic movement of the electric push rod.

[0025] The general operation of the whole machine is that after the control mechanism is integrated, each mechanism is controlled by buttons. Each button controls the operation of each motor separately to realize the operations of walking, cutting, primary conveying, and secondary conveying. This kind of operation generally requires the driver and auxiliary personnel to change the frame for operation. The machine adopts two sets of independent control systems. One is the above-mentioned operation of the machine. The other is remote control operation, and the remote distance does not exceed 2 km.

[0026] As Figure 4As shown in the figure, the remote control system sends signals from the analog quantity in the remote controller to the whole machine control mechanism through the transmitter in the remote controller. After receiving the signals, the whole machine control mechanism controls the motors of each mechanism of the whole machine (travel motor, conveyor motor a, cutting motor, soil shaking motor) to operate, realizing the forward movement, turning and operation of the whole machine. When turning, the transmitter in the remote controller sends digital signals to the control mechanism, and the control mechanism controls the electric push rod to rise or fall. During the forward movement of the whole machine, the angle sensor is combined to control the cutting table to the appropriate position for leafy vegetable cutting. When turning, the electric push rod is controlled to lift the cutting table. To facilitate the harvesting of leafy vegetables and reduce the labor intensity of manual frame changing during operation, the secondary conveyor of the whole machine adopts an intermittent switch. An encoder is provided on the triangular crawler walking mechanism, and the encoder is used to calculate the forward distance of the whole machine. An infrared sensor is provided at the end of the secondary conveyor mechanism. The forward distance is set on the remote controller. The encoder feeds back the forward distance of the machine to the control mechanism, and the control mechanism controls the start of the secondary conveyor motor. When the infrared sensor at the end of the secondary conveyor mechanism does not sense the leaves, it sends a signal to the control mechanism to control the secondary conveyor mechanism to stop moving. When the secondary conveyor mechanism is moving, the whole machine stops moving forward or turning.

[0027] The remote control system controls the operation of the whole machine as follows: The whole machine first moves to the head of the field for operation. After starting the operation, the whole machine moves forward, and all motors operate except the drive motor of the secondary conveyor mechanism. An encoder is provided on the triangular crawler walking mechanism 1, and the encoder calculates the forward distance of the whole machine. After reaching the preset distance of the remote controller, the travel motor stops operating, and the motor b of the secondary conveyor mechanism operates. The secondary conveyor mechanism is an inclined conveyor mechanism, and an infrared sensor is provided at the end. After the infrared sensor does not sense the leafy vegetables, the secondary conveyor mechanism stops operating, and the whole machine continues to move forward; when reaching the head of the field, the remote controller presses the left turn or right turn button, and the whole machine turns according to the preset setting. According to the cutting width and ridge width, it reaches the predetermined turning position. When turning, the digital signal in the control mechanism controls the electric push rod to lift. After the turning is completed, the electric push rod reaches the cutting stubble height of the leafy vegetables according to the feedback data of the angle sensor.

[0028] When harvesting large-leaf vegetables, a soil shaking mechanism 40 is provided between the first-stage conveying mechanism and the cutter mechanism of the whole machine. The soil shaking mechanism 40 drives a chain through a soil shaking motor to drive the driving gear 41 to operate. There are 4 groups of driving gears on each side of the whole machine, and they are connected by 3 groups of idler gears 42 in the middle. An eccentric wheel 43 and a connecting rod 45 are connected to the adjacent driving gear shafts. A row of transmission teeth 44 are evenly distributed on the connecting rod. For a stable structure, there is a large ring 44-1 on each side of each group of transmission teeth. A grooved pulley 45-1 is provided on the corresponding connecting rod 44. The soil shaking motor drives two groups of transmission teeth to perform circular relative motions. At the same time, the transmission teeth with large rings perform circular motions on the corresponding grooved pulleys 45-1. The transmission teeth are provided with upward sawteeth. During operation, after a group of transmission teeth drive the vegetables to complete a semi-circular motion, the other group of transmission teeth takes over and continues to complete the semi-circular upward transportation. The two groups operate interactively, and the vegetables are continuously transported upward in a semi-circular shape to the first-stage conveyor belt.

[0029] Operation plan 1: Adopt button operation for the whole machine. One person drives the vegetable harvester, and the second-stage conveying mechanism continuously conveys the vegetables to a fixed point at the edge of the field.

[0030] Operation plan 2: Remote control operation. One person starts operating from the field head through a remote control. The vegetables conveyed by the second-stage conveying mechanism are collected at fixed points through vegetable frames during operation. When turning, the remote control is used to control turning left or right. By repeating the above operations, the harvesting of vegetables in an entire field is achieved.

[0031] The above are only specific application examples of the present invention, which do not constitute any limitation to the protection scope of the invention. In addition to the above embodiments, the present invention can also have other implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. An intelligent leafy vegetable harvester, comprising a triangular crawler traveling mechanism controlled by 2 sets of traveling motors, a primary conveying mechanism controlled by a conveying motor a obliquely disposed on the traveling mechanism, a cutting device controlled by a cutting motor at the front end of the primary conveying mechanism, and a secondary conveying mechanism controlled by a conveying motor b at the rear end of the primary conveying mechanism. A soil shaking mechanism is provided between the primary conveying mechanism and the cutting device, and is characterized in that The soil shaking mechanism includes a soil shaking motor, a chain drive mechanism, and drive gears connected to one end of the chain drive mechanism. There are 4 sets of drive gears on each side (left and right), and an idler gear is connected between every two drive gears in each set. The drive gears are fixedly connected with eccentric wheels, and a connecting rod is fixedly connected between two groups of eccentric wheels. Transmission teeth are evenly distributed on the connecting rod. The soil shaking mechanism drives the chain drive mechanism through the soil shaking motor to drive the drive gears to operate, and then drives the eccentric wheels to drive the transmission teeth to perform circular motion around the eccentric shaft. The movement trajectory of the transmission teeth is a semi-circular arc. There are 2 sets of transmission teeth in the soil shaking mechanism for interactive operation. Upward sawteeth are provided on the transmission teeth. Through the upward movement of the 2 sets of transmission teeth, the leafy vegetables are shaken and conveyed upward. There are 2 transmission teeth on one set of connecting rods provided with ring structures, and a grooved wheel is provided at the corresponding position on the other set of connecting rods. The grooved wheel makes circular motion within the ring structure. The primary conveying mechanism, the soil shaking mechanism, and the cutting device form a cutting table. The cutting table adjusts its height relative to the ground through an electric push rod. The intelligent leafy vegetable harvester controls the actions of each mechanism through a control mechanism. The intelligent leafy vegetable harvester is controlled by two independent electric control systems, and the two independent electric control systems are for button operation and remote control operation of this machine.

2. The intelligent leafy vegetable harvester according to claim 1, characterized in that The remote control operation is that the analog quantity in the remote controller is sent as a signal through the transmitter in the remote controller. After the drivers of each motor in the control mechanism receive the signal, they control the rotation speed of each motor. The control box receives the switch quantity signal transmitted by the remote controller to control the forward and reverse rotation of the electric push rod.

3. The intelligent leafy vegetable harvester according to claim 1, characterized in that During the remote control process, when the machine turns, the control mechanism controls the conveying motor a, the cutting motor, the soil shaking motor, and the conveying motor b to stop operating, and the electric push rod is lifted.

4. The intelligent leafy vegetable harvester according to claim 1, characterized in that An angle sensor is provided at the lower end of the cutting table. The electric push rod adjusts the height of the cutting table in real time according to the signal fed back by the angle sensor to achieve the profiling function.

5. The intelligent leafy vegetable harvester according to claim 1, characterized in that The secondary conveying mechanism is inclined for conveying. An infrared sensor is provided at the end of the secondary conveying mechanism to detect leafy vegetables. An encoder is provided on the triangular crawler traveling mechanism. After the encoder feeds back that the travel distance is the set value, it controls the traveling mechanism to stop. After the infrared sensor of the secondary conveying mechanism detects that there are no leafy vegetables, the secondary conveying mechanism stops, and the traveling mechanism continues to work.

6. The intelligent leafy vegetable harvester according to claim 5, characterized in that The rotation speeds of the conveying motor a, the cutting motor, and the soil shaking motor are greater than the rotation speed of the traveling motor.

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