Vegetable harvesting module, vegetable harvesting apparatus, vegetable harvesting method, mechanized planting system and method

Abstract

The present application relates to the field of agricultural machinery, and in particular to a vegetable harvesting module, a vegetable harvesting device, a vegetable harvesting method, a mechanized planting system and method. The vegetable harvesting module comprises a vegetable body clamping mechanism, a root neck cutting mechanism, a cutting frame and a vegetable storage mechanism. The vegetable body clamping mechanism and the root neck cutting mechanism are located on one side of the cutting frame, and the vegetable storage mechanism is located on the side of the cutting frame away from the vegetable body clamping mechanism. The vegetable body clamping mechanism comprises a clamp and a mechanical clamping arm, the two ends of the mechanical clamping arm are connected to the clamp and the cutting frame respectively. The root neck cutting mechanism comprises a cutting tool and a cutting tool arm, the two ends of the cutting tool arm are connected to the cutting tool and the cutting frame respectively, and the cutting tool is located below the clamp. The vegetable storage mechanism is provided with a storage space, which is connected to the cutting frame at a turnover gap and is used to collect the vegetables delivered by the vegetable body clamping mechanism. The vegetable harvesting module can continuously harvest vegetables, improve the harvesting efficiency of vegetables, and reduce the harvesting loss.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more specifically, to a vegetable harvesting module, vegetable harvesting equipment, vegetable harvesting method, mechanized planting system and method. Background Technology

[0002] Mechanized harvesting of bulbous vegetables (such as flowering cabbage, lettuce, kale, and cauliflower) employs a continuous blind harvesting process. This means that instead of precisely cutting individual plants, the vegetables are randomly cut into patches and harvested as a group, then individually sorted and packaged. The problem is that the random cutting, mixed harvesting, and precise sorting and packaging processes result in significant losses and low efficiency. Summary of the Invention

[0003] The objectives of this invention include, for example, providing a vegetable harvesting module, vegetable harvesting equipment, method, mechanized planting system and method, which can continuously harvest vegetables, improve vegetable harvesting efficiency, and reduce harvesting losses.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a vegetable harvesting module, which includes a vegetable clamping mechanism, a root and neck cutting mechanism, a cutting frame, and a vegetable storage mechanism.

[0006] The cutting frame is set vertically, with the vegetable clamping mechanism and the root and neck cutting mechanism located on one side of the cutting frame, and the vegetable storage mechanism located on the side of the cutting frame away from the vegetable clamping mechanism; the cutting frame is equipped with a flip-up notch, which is used to allow the vegetable clamping mechanism to pass through so as to reach the vegetable storage mechanism;

[0007] The vegetable clamping mechanism includes a clamp and a mechanical clamping arm, with both ends of the mechanical clamping arm connected to the clamp and the cutting frame, respectively.

[0008] The root neck cutting mechanism includes a cutter and a cutter arm. The two ends of the cutter arm are connected to the cutter and the cutting frame, respectively, and the cutter is located below the clamp.

[0009] The vegetable storage mechanism is equipped with a storage space that is connected to the cutting frame at the flip-up notch, and is used to collect the vegetables delivered by the vegetable clamping mechanism.

[0010] In an optional embodiment, the vegetable harvesting module further includes a first translation mechanism connected to the cutting frame. One end of the mechanical clamping arm connected to the cutting frame is connected to the first translation mechanism, and the first translation mechanism is used to drive the mechanical clamping arm to move in a direction perpendicular to the operating direction of the vegetable harvesting module.

[0011] In an optional embodiment, the mechanical gripper arm includes a gripper arm, a tilting arm, a gripper arm tilting joint, and a tilting arm tilting joint.

[0012] The clamp is connected to one end of the clamp arm, and the other end of the clamp arm is connected to one end of the tilting arm via a clamp arm tilting joint. The other end of the tilting arm is connected to the cutting frame via a tilting arm tilting joint.

[0013] In an optional embodiment, the mechanical gripper arm further includes an auxiliary arm, one end of which is connected to the first translation mechanism, and the other end of which is connected to the end of the flipping arm for connection with the cutting frame.

[0014] Alternatively, the mechanical gripper may also include an auxiliary arm and an auxiliary arm forward and backward tilting joint, the auxiliary arm forward and backward tilting joint being connected to one end of the auxiliary arm, the other end of the auxiliary arm being connected to the auxiliary arm forward and backward tilting joint, and the auxiliary arm forward and backward tilting joint being connected to the first translation mechanism.

[0015] In an optional embodiment, the vegetable storage mechanism further includes a vegetable bundle support, a restraint supply part, a restraint pulling part, a restraint fastening part, and a restraint cutting part connected to the cutting frame.

[0016] The restraint supply section is used to release the restraint; the restraint pulling section and the restraint supply section work together to form a storage space for the restraint; the restraint pulling section, the restraint supply section, the restraint fastening section and the restraint cutting section work together to bind the vegetables in the storage space into a vegetable bundle, and the vegetable bundle bracket is used to support the vegetable bundle.

[0017] Secondly, the present invention provides a vegetable harvesting device, which includes an assembly frame, multiple vertical transfer modules for vegetable bundles, and multiple vegetable harvesting modules as described above.

[0018] Multiple vegetable harvesting modules are connected side-by-side and spaced apart to the assembly frame via the upper part of their cutting frame, and are used to perform vegetable harvesting operations below the assembly frame. Each vegetable bundle vertical transfer module corresponds to one vegetable harvesting module and is connected side-by-side to the assembly frame from the side where the vegetable storage mechanism of the vegetable harvesting module is located. Each vegetable bundle vertical transfer module is used to transfer the vegetable bundle in the corresponding vegetable storage mechanism to the top of the assembly frame.

[0019] In an optional embodiment, the vegetable harvesting equipment includes a second translation mechanism, which includes a translation track and a suspended translation unit; the translation track extends in a direction that is arranged according to the preset row direction of the target vegetable planting, and the translation track is connected to the assembly frame from below; the suspended translation unit is slidably connected to the translation track; the cutting frame is suspended and connected to the suspended translation unit;

[0020] The vertical transfer module for vegetable bundles is connected to the assembly frame from the rear of the second translation mechanism.

[0021] In an optional embodiment, the vegetable harvesting equipment further includes at least one lateral conveying mechanism for vegetable bundles, which is arranged on the upper part of the assembly frame;

[0022] Each vertical transfer module for vegetable bundles includes a first vertical frame, a vertical sprocket mechanism, a vertical chain, a lifting tray, a vegetable bundle loading mechanism, and a vegetable bundle unloading mechanism;

[0023] The first vertical frame is connected to the assembly frame from the outside of the vegetable bundle transverse conveying mechanism. The vertical sprocket mechanism includes at least two spaced sprockets, both of which are connected to the first vertical frame. A vertical chain is sleeved on the sprockets, and a lifting tray is connected to the vertical chain.

[0024] Each vegetable bundle loading mechanism corresponds to a vertical vegetable bundle transfer module, and each vegetable bundle loading mechanism is located above the corresponding vegetable storage mechanism and connected to at least one of the first vertical frame and the assembly frame. It is used to transfer the vegetable bundles in the storage space to the lifting tray.

[0025] Each vegetable bundle unloading mechanism corresponds to a vertical vegetable bundle transfer module. The vegetable bundle unloading mechanism is used to transfer the vegetable bundles transported by the corresponding vertical vegetable bundle transfer module to the vegetable bundle horizontal transfer mechanism. The vegetable bundle horizontal transfer mechanism is used to transfer the received vegetable bundles to a preset collection point.

[0026] In an optional embodiment, the vegetable harvesting equipment further includes at least one lateral conveying mechanism for vegetable bundles, which is arranged on the upper part of the assembly frame;

[0027] Each vertical transfer module for vegetable bundles includes a second vertical frame, a vertical track, a lifting mechanism, and a vegetable bundle clamping mechanism;

[0028] The second vertical frame is connected to the assembly frame from the outside of the vegetable bundle transverse conveying mechanism. The vertical rail is connected to the second vertical frame. The lifting mechanism is connected to the vertical rail in a vertically movable manner. The vegetable bundle clamping mechanism is connected to the lifting mechanism and is used to grab the vegetable bundles in the storage space as the lifting mechanism descends. Then, as the lifting mechanism rises, the vegetable bundles are released to the vegetable bundle transverse conveying mechanism. The vegetable bundle transverse conveying mechanism is used to transfer the received vegetable bundles to a preset concentration point.

[0029] In an optional implementation, the vegetable harvesting equipment also includes a gantry-type traveling and turning frame and a rotating column unit;

[0030] The gantry crane includes a suspended crane beam and a traveling and turning unit, which together form a rotation space. The traveling and turning unit is arranged on at least two opposite sides of the suspended crane beam and is used to drive the suspended crane beam to move at least along a first direction or a second direction, wherein the first direction is perpendicular to the second direction.

[0031] The rotating column unit is arranged in a rotating space. Its upper end is rotatably connected to the suspension frame beam, and its lower end is connected to the assembly frame. The vegetable harvesting equipment is suspended and housed in the rotating space. The rotating column unit is used to drive the rotation of the assembly frame.

[0032] Thirdly, the present invention provides a vegetable harvesting method, implemented using the aforementioned vegetable harvesting equipment, comprising:

[0033] When the traveling and turning unit is started for the first time, it moves forward in the first direction. The vegetable harvesting equipment, towed by the gantry traveling and turning frame, moves forward along the vegetable harvesting direction on the existing work belt to carry out vegetable harvesting operations until it reaches the first work end point.

[0034] The second start-up of the walking and turning unit moves along the second direction, transferring the vegetable harvesting equipment to another work area, and then starts the rotating column unit to rotate the vegetable harvesting equipment 180 degrees in the working direction;

[0035] The third start of the traveling and turning unit moves backward along the first direction. The vegetable harvesting equipment, towed by the gantry traveling and turning frame, performs vegetable harvesting operations in the opposite direction to the vegetable harvesting operation on the previous work belt until it reaches the second work end point.

[0036] The fourth time the walking and turning unit is started, it moves along the second direction to transfer the vegetable harvesting equipment to another work zone. The rotating column unit is started again to rotate the working direction of the vegetable harvesting equipment 180 degrees again.

[0037] Repeat the above steps until the harvesting operation is completed.

[0038] In an optional implementation, the steps of transferring the vegetable harvesting equipment to another work zone and adjusting the working direction of the vegetable harvesting equipment include:

[0039] First, start the rotating column unit to rotate the vegetable harvesting equipment 180 degrees; then start the traveling and turning unit to move left or right, and the vegetable harvesting equipment will be transferred to another work area under the drag of the gantry traveling and turning frame.

[0040] Alternatively, first start the traveling and turning unit to move left or right, and the vegetable harvesting equipment will be transferred to another work area under the drag of the gantry traveling and turning frame; then start the rotating column unit to rotate the vegetable harvesting equipment 180 degrees.

[0041] Fourthly, the present invention provides a mechanized planting system, which includes a seed spacing unit and the aforementioned vegetable harvesting equipment.

[0042] The seed spacing placement unit includes multiple seed wire spacing placement mechanisms and multiple rolled seed wire spacing structures. The target vegetable seeds are fixed on the seed wire spacing structures according to the preset planting spacing. The seed wire spacing placement mechanisms are arranged on the assembly frame in a one-to-one correspondence with the vegetable harvesting modules in the vegetable harvesting equipment. The multiple seed wire spacing structures are connected to the multiple seed wire spacing placement mechanisms in a one-to-one correspondence.

[0043] Alternatively, the seed spacing unit includes a seed surface material spacing mechanism and a seed surface material spacing structure; the seed surface material spacing mechanism is arranged on the assembly frame, and the seed surface material spacing structure is connected to the seed surface material spacing mechanism. The seed surface material spacing structure includes multiple rows of seeds, and each row of seeds corresponds one-to-one with a vegetable harvesting module.

[0044] Fifthly, the present invention provides a mechanized planting method, implemented using the mechanized planting system as described in the foregoing embodiments, comprising:

[0045] Start the traveling and turning unit in the gantry traveling and turning frame to position the seed and wire spacing placement mechanism in the preset initial position; place the seed and wire spacing structure into the preset cultivation bed according to the preset row spacing for the target vegetable planting;

[0046] Alternatively, start the traveling and turning unit in the gantry traveling and turning frame to position the seed material spacing structure placement mechanism in the preset initial position; place the seed material spacing structure onto the preset cultivation bed.

[0047] The beneficial effects of the embodiments of the present invention include:

[0048] This vegetable harvesting module includes a vegetable clamping mechanism, a root and neck cutting mechanism, a cutting frame, and a vegetable storage mechanism. The cutting frame is vertically arranged, with the vegetable clamping mechanism and root and neck cutting mechanism located on one side of the cutting frame, and the vegetable storage mechanism located on the side of the cutting frame opposite to the vegetable clamping mechanism. The cutting frame is equipped with a flip-up notch for the vegetable clamping mechanism to pass through and reach the vegetable storage mechanism. The vegetable clamping mechanism includes a clamp and a mechanical clamping arm, with both ends of the mechanical clamping arm connected to the clamp and the cutting frame, respectively. The root and neck cutting mechanism includes a cutter and a cutter arm, with both ends of the cutter arm connected to the cutter and the cutting frame, and the cutter located below the clamp. The vegetable storage mechanism includes a storage space connected to the cutting frame at the flip-up notch, used to collect the vegetables delivered by the vegetable clamping mechanism. The vegetable harvesting module can continuously and accurately harvest vegetables, improving harvesting efficiency and reducing harvesting losses. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a first-view structural diagram of a vegetable harvesting module according to an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the structure of a vegetable cutting component that makes up the vegetable harvesting module in an embodiment of the present invention;

[0052] Figure 3 This is a structural schematic diagram of a vegetable harvesting module from a second perspective in an embodiment of the present invention;

[0053] Figure 4 This is a structural schematic diagram of a vegetable harvesting module from a third-view perspective in an embodiment of the present invention;

[0054] Figure 5 This is a first-view structural schematic diagram of the vegetable harvesting module in other embodiments of the present invention;

[0055] Figure 6 This is a first-view structural schematic diagram of the vegetable harvesting equipment in an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of the vegetable harvesting equipment from a second perspective in an embodiment of the present invention;

[0057] Figure 8 This is a structural schematic diagram of the vegetable harvesting equipment from a third-person perspective in an embodiment of the present invention;

[0058] Figure 9 This is a schematic diagram of the structure of the gantry-type traveling and turning frame and the rotating column unit in an embodiment of the present invention;

[0059] Figure 10 This is a schematic diagram of the vegetable harvesting equipment from a first-person perspective in an embodiment of the present invention.

[0060] Figure 11 This is a schematic diagram of the vegetable harvesting equipment in use from a second perspective in an embodiment of the present invention;

[0061] Figure 12 This is a schematic diagram of the structure of the mechanized planting system in an embodiment of the present invention;

[0062] Figure 13 This is a schematic diagram of the structure of the mechanized planting system in other embodiments of the present invention;

[0063] Figure 14 This is a side view of a vegetable harvesting device in another embodiment of the present invention.

[0064] Icons: 100-Vegetable cutting component; 101-Cutter; 102-Cutter arm; 103-Clamp; 104-Clamp arm; 105-Flipping arm; 106-Clamp arm forward / backward flipping joint; 107-Flipping arm forward / backward flipping joint; 108-Auxiliary arm; 109-Auxiliary arm forward / backward flipping joint; 110-Vegetable clamping mechanism; 120-Root and neck cutting mechanism; 1301-Flipping notch; 130-Cutting frame; 140-First translation mechanism; 200-Vegetable harvesting module; 201 1-Roller; 2012-Free end of restraint component; 2013-Membrane material restraint component; 201-Restraint component; 210-Vegetable storage mechanism; 211-Storage space; 212-Vegetable bundle bracket; 213-Restraint component supply section; 214-Restraint component pulling section; 215-Restraint component fastening section; 216-Restraint component cutting section; 220-Second translation mechanism; 221-Translation track; 222-Suspension translation unit; 300-Vegetable harvesting equipment; 301-Rotating hanging column connection structure; 3 10-Assembly frame; 320-Vertical transfer module for vegetable bundles; 321-First vertical frame; 322-Vertical sprocket mechanism; 323-Vertical sprocket; 324-Vertical chain; 325-Lifting pallet; 326-Second vertical frame; 327-Vertical track; 328-Lifting mechanism; 329-Vegetable bundle clamping mechanism; 330-Vegetable bundle palletizing mechanism; 340-Vegetable bundle transverse conveying mechanism; 350-Vegetable bundle unloading mechanism; 360-Vegetable box conveying mechanism; 370-Vegetable bundle boxing station 380 - Vegetable box temporary storage platform; 400 - Gantry-type walking and turning frame; 401 - Rotating profile; 402 - Vegetable harvesting module and vegetable bundle vertical transfer module arrangement area; 403 - Rotating space; 410 - Suspended frame beam; 420 - Walking and turning unit; 500 - Rotating hanging column unit; 600 - Mechanized planting system; 610 - Seed wire spacing structure; 620 - Seed wire spacing placement mechanism; 630 - Seed surface material spacing structure; 640 - Seed surface material spacing placement mechanism. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0068] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0069] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0070] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0071] Please refer to Figures 1-5 This embodiment provides a vegetable harvesting module 200, which includes a vegetable body clamping mechanism 110, a root and neck cutting mechanism 120, a cutting frame 130, and a vegetable storage mechanism 210.

[0072] The cutting frame 130 is vertically arranged. The vegetable clamping mechanism 110 and the root and neck cutting mechanism 120 are located on one side of the cutting frame 130, and the vegetable storage mechanism 210 is located on the side of the cutting frame 130 away from the vegetable clamping mechanism 110. The cutting frame 130 is equipped with a flip-up notch 1301, which is used to allow the vegetable clamping mechanism 110 to pass through so as to reach the vegetable storage mechanism 210.

[0073] The food clamping mechanism 110 includes a clamp 103 and a mechanical clamping arm, with both ends of the mechanical clamping arm connected to the clamp 103 and the cutting frame 130, respectively.

[0074] The root neck cutting mechanism 120 includes a cutter 101 and a cutter arm 102. The two ends of the cutter arm 102 are respectively connected to the cutter 101 and the cutting frame 130, and the cutter 101 is located below the clamp 103.

[0075] The vegetable storage mechanism 210 is provided with a storage space 211, which is connected to the cutting frame 130 at the flip-out notch 1301 and is used to collect the vegetables delivered by the vegetable clamping mechanism 110.

[0076] Please refer to Figures 1-5 The working principle of the vegetable harvesting module 200 is as follows:

[0077] The vegetable harvesting module 200 includes a vegetable body clamping mechanism 110, a root neck cutting mechanism 120, and a cutting frame 130, which together form a vegetable cutting assembly 100. The vegetable body clamping mechanism 110 includes a clamp 103 and a mechanical clamping arm, with both ends of the mechanical clamping arm connected to the clamp 103 and the cutting frame 130, respectively. The root neck cutting mechanism 120 includes a cutter 101 and a cutter arm 102, with both ends of the cutter arm 102 connected to the cutter 101 and the cutting frame 130, and the cutter 101 is located below the clamp 103.

[0078] The vegetable body clamping mechanism 110 and the root neck cutting mechanism 120 are both connected to the cutting frame 130. The vegetable body clamping mechanism 110 is used to clamp the root stem or other parts of the vegetable to be cut, and the root neck cutting mechanism 120 is used to cut the clamped vegetable. After the vegetable clamped by the vegetable body clamping mechanism 110 is cut by the root neck cutting mechanism 120, the vegetable body clamping mechanism 110 can also transfer the separated vegetable to a preset position (storage space 211).

[0079] Specifically, to achieve the aforementioned clamping of vegetables and the transfer of separated vegetables to a preset position, the vegetable clamping mechanism 110 includes a clamp 103 and a mechanical clamping arm. The two ends of the mechanical clamping arm are connected to the clamp 103 and the cutting frame 130, respectively. The clamp 103 is used for clamping the vegetables, while the mechanical clamping arm is used to move the clamp 103 to different positions in space, allowing the clamp 103 to move to a position where it can clamp the vegetables or to a position where it can deliver the separated vegetables to the preset position. Therefore, when setting the mechanical clamping arm, it can be adapted to the position where the vegetables are clamped and the position where the vegetables are delivered to the preset position, allowing the clamp 103 to change positions between the two aforementioned positions to meet the usage requirements.

[0080] The root and neck cutting mechanism 120 includes a cutter 101 and a cutter arm 102. The two ends of the cutter arm 102 are connected to the cutter 101 and the cutting frame 130, respectively, and the cutter 101 is located below the clamp 103. The cutter 101 is used to cut the part of the vegetable held by the clamp 103 from its root and stem part, thereby separating the vegetable. Based on this, when the cutter 101 is cutting, in order to enable the cutter 101 to cut the root and stem, the position of the cutter 101 can be adjusted by the movement of the cutter arm 102 so that the position of the cutter 101 corresponds to the position of the vegetable held by the clamp 103, so as to accurately complete the cutting work.

[0081] It should be noted that, as can be seen from the above, when harvesting vegetables, the clamp 103 and the cutter 101 need to work together to complete the clamping, cutting and delivery of the vegetables. Therefore, when configuring the mechanical clamp arm and the cutter arm 102, the spatial degree of freedom of the mechanical clamp arm and the cutter arm 102 can be adaptively set according to the actual application requirements, the type of vegetables, and the range of motion of the clamp 103 and the cutter 101. That is, the mechanical clamp arm and the cutter arm 102 can meet the requirements of use by adjusting the configured movable joints and movable structures.

[0082] Therefore, the vegetable cutting component 100 can clamp, cut and deliver vegetables during the harvesting process through the aforementioned structure, thereby enabling continuous and precise harvesting of vegetables, improving the efficiency of precise vegetable harvesting and reducing harvesting losses.

[0083] Based on the aforementioned vegetable cutting component 100, the vegetable harvesting module 200 further includes a vegetable storage mechanism 210; the vegetable storage mechanism 210 is connected to the cutting frame 130 and is located on the side of the cutting frame 130 away from the vegetable clamping mechanism 110; the vegetable storage mechanism 210 includes a storage space 211, which is used to collect the vegetables delivered by the vegetable clamping mechanism 110.

[0084] The vegetable harvesting module 200 is used for harvesting and storing vegetables. It includes the aforementioned vegetable cutting component 100 for cutting vegetables and a vegetable storage mechanism 210 for receiving vegetables cut by the vegetable cutting component 100. The vegetable storage mechanism 210 is located on the side of the cutting frame 130 away from the vegetable holding mechanism 110. After the vegetables held by the vegetable holding mechanism 110 are cut, the clamp 103 can move to the side of the cutting frame 130 away from the vegetable holding mechanism 110 through the flipping notch 1301 under the action of the mechanical clamp arm. The vegetables are then released into the vegetable storage mechanism 210. Since the vegetable storage mechanism 210 includes a storage space 211, multiple vegetables can be collected through the storage space 211 to carry out continuous harvesting and storage during the harvesting process.

[0085] Furthermore, the cutting frame 130 is vertically arranged, with the vegetable clamping mechanism 110 and the root neck cutting mechanism 120 located on one side of the cutting frame 130. The cutting frame 130 is equipped with a flip-up notch 1301, which is used for the passage of the vegetable clamping mechanism 110. In this arrangement, the vegetable clamping mechanism 110 and the root neck cutting mechanism 120 are located on one side of the cutting frame 130, while the other side of the cutting frame 130 is used to receive the vegetables delivered by the vegetable clamping mechanism 110. Moreover, in order to avoid interference between the mechanical clamping arm and the clamp 103 and the cutting frame 130 during the movement of the mechanical clamping arm and the clamp 103 relative to the cutting frame 130, the cutting frame 130 is equipped with a flip-up notch 1301.

[0086] It should be noted that one vegetable storage unit 210 can correspond to one vegetable cutting component 100. Its purpose is to accurately store the vegetable pieces cut by each vegetable cutting component 100, that is, to store them by the number of pieces, by weight, or by stacking method, so as to facilitate quantitative or standardized packaging for direct supply to customers with different needs. For example, a larger storage space 211 can be provided for vegetables needed by public canteens; a smaller storage space 211 can be provided for vegetables needed by households.

[0087] Furthermore, in this embodiment, during the vegetable harvesting process, in order to facilitate adjusting the vegetable cutting component 100 to a suitable position for clamping and cutting the vegetables, the vegetable cutting component 100 may also include a first translation mechanism 140 connected to the cutting frame 130. The mechanical clamping arm is connected at one end to the first translation mechanism 140, and the first translation mechanism 140 is used to drive the mechanical clamping arm to move in a direction perpendicular to the working direction of the vegetable cutting component 100. Therefore, in addition to the mechanical clamping arm and the cutting arm 102 respectively driving the clamp 103 and the cutting tool 101 to adjust their positions, the position of the clamp 103 and the cutting tool 101 can also be adjusted relative to the cutting frame 130 by the first translation mechanism 140, thereby quickly adjusting the position of the clamp 103 and the cutting tool 101. Furthermore, the first translation mechanism 140 enables the clamp 103, clamp arm 104, flip arm 105, clamp arm forward and backward flip joint 106, and flip arm forward and backward flip joint 107 to reciprocate left or right in a direction perpendicular to the two-dimensional space, so that the clamp 103 can arrange the free vegetables clamped each time into a preset cube in a preset space.

[0088] Based on the above, please refer to Figures 1-5 In this embodiment, to enable the mechanical gripper to have multiple degrees of freedom of movement in space, the mechanical gripper includes a gripper arm 104, a tilting arm 105, a gripper arm tilting joint 106, and a tilting arm tilting joint 107. A gripper 103 is connected to one end of the gripper arm 104, and the other end of the gripper arm 104 is connected to one end of the tilting arm 105 via the gripper arm tilting joint 106. The other end of the tilting arm 105 is connected to the cutting frame 130 via the tilting arm tilting joint 107. Therefore, when adjusting the position of the gripper 103 using the mechanical gripper, the movement of the gripper arm tilting joint 106 and the tilting arm tilting joint 107 allows the gripper arm 104 and the tilting arm 105 to move in space, thereby adjusting the position of the gripper 103.

[0089] Furthermore, based on the aforementioned mechanical gripper structure, in other embodiments of the present invention, the mechanical gripper may further include an auxiliary arm 108, one end of which is connected to the first translation mechanism 140, and the other end of which is connected to the end of the flipping arm 105 for connection with the cutting frame 130; or, the mechanical gripper may further include an auxiliary arm 108 and an auxiliary arm forward / backward flipping joint 109, the flipping arm forward / backward flipping joint 107 being connected to one end of the auxiliary arm 108, the other end of which is connected to the auxiliary arm forward / backward flipping joint 109, and the auxiliary arm forward / backward flipping joint 109 being connected to the first translation mechanism 140. That is, in this embodiment, the range of motion of the mechanical gripper can be expanded by adding movable joints. It should be noted that the plant spacing of different types of bulb vegetables varies greatly. Some bulb vegetables are planted relatively sparsely (such as large cabbage). The purpose of setting up the auxiliary arm 108 and the auxiliary arm forward and backward flipping joint 109 is to expand the forward and backward flipping range of the vegetable clamping mechanism 110, so as to adapt to the clamping operation of vegetables with larger plant spacing.

[0090] When configuring the vegetable storage mechanism 210, the vegetable storage mechanism 210 includes a vegetable bundle support 212 connected to the cutting frame 130, a binding member supply part 213, a binding member pulling part 214, a binding member fastening part 215, and a binding member cutting part 216; the binding member supply part 213 is used to release the binding member 201; the binding member pulling part 214 and the binding member supply part 213 are used together to make the binding member 201 form a storage space 211; the binding member pulling part 214, the binding member supply part 213, the binding member fastening part 215, and the binding member cutting part 216 are used together to bind the vegetables in the storage space 211 into vegetable bundles, and the vegetable bundle support 212 is used to support the vegetable bundles. It should be noted that the vegetable bundle holder 212 is used to support the weight of the free vegetables. The binding element 201 can be a wire binding element 201 (such as rope or strap), a film binding element 2013 (such as film), or a mesh binding element 201 (such as foam netting). The binding element supply section 213, binding element pulling section 214, binding element fastening section 215, and binding element cutting section 216 used in the vegetable storage mechanism 210 will differ accordingly when using different binding elements 201 to bind the vegetables. The binding element supply section 213 includes the binding element 201 and the winding device 20. 11. One end of the restraint member 201 is fixed to the unwinder 2011. The restraint member 201 can be rolled up and installed in the restraint member supply section 213. The restraint member supply section 213 cooperates with the restraint member pulling section 214. The restraint member pulling section 214 can clamp the free end 2012 of the restraint member and release it from the restraint member supply section 213 by a certain length. The middle of the restraint member 201 of this length is recessed downward to form a storage space 211, or the storage space 211 is formed by the downward pressure of the free vegetables. Because of the vegetable bundle bracket 212 at the bottom, the length of the restraint member 201 used for each bundle of vegetables is limited. For stem vegetables, multiple individual vegetable bodies can be placed in the storage space 211 and tied into a bundle with the restraint member 201. For ball vegetables, individual vegetable bodies can be placed in the storage space 211 and tied into a bundle with the restraint member 201.

[0091] In summary, during the harvesting process, the cutting tool 101 and clamp 103 are positioned vertically relative to each other when performing clamping and fixing and root neck cutting operations on the target vegetables. The vegetable body clamping mechanism 110 and the root neck cutting mechanism 120 can move forward or backward synchronously in the vegetable cutting operation direction (as shown by mark A in the figure) by relying on the cutting frame 130.

[0092] The gripper arm forward and backward tilting joint 106 and the tilting arm forward and backward tilting joint 107 work together to enable the gripper arm 104 and the tilting arm 105 to reciprocate forward or backward in the two-dimensional space. The gripper 103 can transfer the clamped and cut free vegetables to the preset space and release them to the other side of the cutting frame 130 as the gripper arm 104 and the tilting arm 105 tilt backward. Furthermore, it can return to the standby state for performing the operation of clamping the target vegetables as the gripper arm 104 and the tilting arm 105 tilt forward.

[0093] It should be noted that the vegetable cutting component 100 provided in this embodiment performs the cutting operation based on the premise that the target vegetable planting row is on a preset straight line. That is, the vegetable cutting component 100 and the vegetable planting process are deeply integrated and used in conjunction. Since the target vegetable planting row is on a straight line, when the cutting frame 130 carries the vegetable body clamping mechanism 110 and the root neck cutting mechanism 120 and moves forward along the target vegetable planting row to align with the target vegetables, it will inevitably touch each individual target vegetable on the row. The vegetable body clamping mechanism 110 and the root neck cutting mechanism 120 are also used in conjunction. In terms of the operation sequence, the clamping action is performed first and then the cutting action is performed.

[0094] The cutting frame 130 is a vertical component with a set height. Its height range is sufficient to accommodate the vegetable clamping mechanism 110, the root and neck cutting mechanism 120, and the vegetable storage mechanism 210. It can also accommodate the forward and backward rotation range of the vegetable clamping mechanism 110. In order not to hinder the forward and backward rotation of the vegetable clamping mechanism 110, the cutting frame 130 is provided with a flipping notch 1301. The flipping notch 1301 can be "mouth-shaped" or "L-shaped".

[0095] The cutting tool 101 of the root neck cutting mechanism 120 includes at least a circular saw mechanism or a band saw mechanism. The power used can be self-contained or externally supplied, without limitation. The cutting tool arm 102 can be a fixed-length rod or a telescopic rod. The telescopic rod can be a hydraulic cylinder rod mechanism or a gear and rack mechanism, or a scissor telescopic mechanism. The power required for the telescopic rod can be self-contained or externally supplied.

[0096] The clamps 103 of the vegetable clamping mechanism 110 clamp the vegetable body in at least two main ways: the first type is the horizontally advancing clamp 103, that is, the clamp 103 opens forward and clamps the vegetable body from the side. For stem vegetables such as rapeseed and lettuce, the clamp can be applied horizontally from the middle of the vegetable body. The second type is the vertically downward-sinking clamp 103, that is, the clamp 103 opens downward and clamps the vegetable body from the top. For ball vegetables such as cabbage and cauliflower, the clamp can be applied vertically from the top of the flower head or leaf head.

[0097] The clamping mechanism 110 used for harvesting rapeseed shoots has a relatively small cross-section for the clamp 103, clamp arm 104, flip arm 105, clamp arm front-to-back flip joint 106, and flip arm front-to-back flip joint 107, since the weight of a single rapeseed shoot stem is very light. The clamping mechanism 110 used for harvesting lettuce has a relatively large cross-section for the clamp 103, clamp arm 104, flip arm 105, clamp arm front-to-back flip joint 106, and flip arm front-to-back flip joint 107, since the weight of a single lettuce stem is heavier than that of a single rapeseed shoot stem.

[0098] The lateral advance clamp 103 performs clamping actions in at least two ways: The first way is equidistant movement clamping. This is based on the premise that the target vegetable is planted at a preset, fixed, equidistant spacing. For example, if the plant spacing of rapeseed is 15 cm, then each time the clamp 103 moves forward 15 cm, the target vegetable will be accurately within the clamping range and will be captured by the clamp 103. Once captured, the cutter 101 can be activated to cut the target vegetable at the root neck while it is clamped and fixed, making it a free vegetable. The second way is tactile clamping. When the clamp 103 approaches the target vegetable (such as rapeseed), it will first touch the outer leaves of the target vegetable, and then touch the stem of the target vegetable. The resistance of the outer leaves and the stem to the clamp 103 is different. Based on the resistance information obtained by the clamp 103, it can determine whether to perform the clamping action and whether to activate the cutter 101.

[0099] To avoid damaging the vegetables, an elastic structure can be incorporated into the clamp 103 to achieve the clamping function. This elastic structure may include at least an airbag structure, a sponge structure, or a rubber structure. The clamp 103 can be a hydraulic scissor-type opening and closing mechanism or an airbag inflation and deflation type opening and closing mechanism. The clamp arm 104 and the flipping arm 105 of the vegetable clamping mechanism 110 can be fixed-length rods or telescopic rods. The telescopic rods can be hydraulic cylinder rod mechanisms, gear and rack mechanisms, or scissor-type telescopic mechanisms. The clamp arm forward and backward flipping joint 106 and the flipping arm forward and backward flipping joint 107 can be hydraulic lever push-pull mechanisms or gear rotation push-pull mechanisms; no specific limitations apply. The power required for the vegetable clamping mechanism 110 and its components can be self-contained or externally supplied.

[0100] The vegetable harvesting component 100 provided in this embodiment is an independent unit for assembling harvesting equipment for stem vegetables (such as rapeseed shoots and lettuce) and ball vegetables (such as cauliflower and cabbage). It requires that the planting process of these vegetables is standardized, and the parts of these vegetables that are gripped by the clamp 103 during harvesting are regularly located in a two-dimensional space. Therefore, as long as the clamp arm forward and backward flipping joint 106 and the flipping arm forward and backward flipping joint 107 can rotate forward or backward in the two-dimensional space, the clamp arm 104 and the flipping arm 105 can perform reciprocating flipping motion forward or backward in the two-dimensional space. Then, the clamp 103 can transfer the gripped free vegetable backward and release it into the storage space 211 with the backward flipping motion of the clamp arm 104 and the flipping arm 105. Furthermore, it can return to the standby state for performing the operation of gripping the target vegetable with the forward flipping motion of the clamp arm 104 and the flipping arm 105.

[0101] It should be noted that the vegetables to be harvested, growing on cultivation beds (the ground for soil cultivation and planting troughs for hydroponics), are the target vegetables. The target vegetables whose root necks are cut off by the cutter 101 become free vegetables. In this application, the root neck refers to the transitional part between the harvested vegetable and its root; the specific part is determined based on the market demand for the target vegetable, and is not a botanical definition. The free vegetables gripped by the clamp 103 are flipped backward by the clamp arm 104 and the flipping arm 105 and placed in the preset storage space 211. If the free vegetables are flower heads or leaf heads, individual flower heads / leaf heads can be packaged for preservation and transportation, thus eliminating the need for the first translation mechanism 140 to perform left-right reciprocating motion. However, packaging small vegetables like rapeseed shoots individually is inefficient; multiple vegetables need to be stacked and bundled in a regular pattern. That is, bundling requires orderly stacking. The technical purpose of the first translation mechanism 140 is to achieve regular stacking so that the stacks can be arranged into a preset pile shape and then packaged into bundles.

[0102] When some vegetables deviate from the straight line of the target vegetable planting row, and the vegetable clamping mechanism 110 is equipped with a target vegetable searching, identification, and positioning device, the first translation mechanism 140 can assist the vegetable clamping mechanism 110 in shifting left and right to capture the target vegetables that deviate from the planting row line. The first translation mechanism 140 can be a hydraulic cylinder rod mechanism or a gear and rack mechanism, without limitation. The required power can be self-contained or externally supplied. If a hydraulic cylinder rod mechanism is used, the cylinder body is fixed to the cutting frame 130, and its push rod serves as the telescopic translation part. If a gear and rack mechanism is used, the gear is fixed to the cutting frame 130, and the rack serves as the telescopic translation part.

[0103] Based on the above vegetable harvesting module 200, please refer to... Figures 1-11 and combined Figure 14This embodiment also provides a vegetable harvesting device 300, which includes an assembly frame 310, multiple vertical transfer modules for vegetable bundles 320, and multiple vegetable harvesting modules 200 as described above.

[0104] Multiple vegetable harvesting modules 200 and multiple vertical transfer modules 320 for vegetable bundles are connected to the assembly frame 310. The multiple vegetable harvesting modules 200 are connected side-by-side and spaced apart to the assembly frame 310 via the upper part of their cutting frame 130, for vegetable harvesting operations below the assembly frame 310. That is, multiple vegetable harvesting modules 200 are arranged in a row and spaced apart below the assembly frame 310, connected to the assembly frame 310 via the upper part next to the flip-out notch 1301 of the cutting frame 130. Each vertical transfer module for vegetable bundles... Each block 320 corresponds to a vegetable harvesting module 200 and is connected side-by-side to the assembly frame 310 from the side where the vegetable storage mechanism 210 of the vegetable harvesting module 200 is located. Correspondingly, multiple vertical transfer modules 320 for vegetable bundles are arranged in a row at intervals on the side where the vegetable storage mechanism 210 of the vegetable harvesting module 200 is located. Each vertical transfer module 320 for vegetable bundles is used to transfer the vegetable bundles formed by the corresponding vegetable harvesting module 200 from the vegetable storage mechanism 210 to the upper part of the assembly frame 310.

[0105] The vegetable harvesting equipment 300 is used to harvest vegetables. During the harvesting process, the vegetables are harvested through the vegetable harvesting module 200. After harvesting, the vegetables are temporarily stored in the vegetable storage mechanism 210. Then, they can be transferred through the corresponding vegetable bundle vertical transfer module 320. In this process, the vegetables harvested by each vegetable harvesting module 200 can be transferred through the corresponding vegetable bundle vertical transfer module 320, thereby improving the efficiency of transfer and harvesting.

[0106] When configuring the vertical transfer module 320 for vegetable bundles, each vertical transfer module 320 includes a first vertical frame 321, a vertical sprocket mechanism 322, a vertical chain 324, and a lifting tray 325. The first vertical frame 321 is connected to the assembly frame 310. The vertical sprocket mechanism 322 includes at least two spaced vertical sprockets 323, both of which are connected to the first vertical frame 321. The vertical chain 324 is sleeved on the vertical sprockets 323, and the lifting tray 325 is connected to the vertical chain 324. Thus, by driving the vertical chain 324 through the vertical sprocket mechanism 322 on the first vertical frame 321, the lifting tray 325 can be moved up and down. In this way, the vegetable harvesting module 200 can be transported to the lifting tray 325 for transfer. In this embodiment, a lifting transfer method is used. In other embodiments of the present invention, other transfer methods in other directions can also be used. In order to enable the vegetables in the vegetable harvesting module 200 to be transported to the lifting tray 325, the vegetable harvesting equipment 300 also includes multiple vegetable bundle loading mechanisms 330; each vegetable bundle loading mechanism 330 corresponds to a vegetable bundle vertical transfer module 320, and each vegetable bundle loading mechanism 330 is located above the corresponding vegetable storage mechanism 210 and connected to at least one of the first vertical frame 321 and the assembly frame 310, which is used to transfer the vegetable bundles in the storage space 211 to the lifting tray 325.

[0107] To save manpower, the vegetable harvesting equipment 300 also includes multiple vegetable bundle unloading mechanisms 350 and at least one vegetable bundle transverse conveying mechanism 340; each vegetable bundle unloading mechanism 350 corresponds to a vegetable bundle vertical transfer module 320. The vegetable bundle unloading mechanism 350 is used to transfer the vegetable bundles conveyed by the corresponding vegetable bundle vertical transfer module 320 from the lifting tray 325 to the vegetable bundle transverse conveying mechanism 340. The vegetable bundle transverse conveying mechanism 340 is used to transfer the received vegetable bundles to a preset collection point.

[0108] The vegetable harvesting equipment 300 also includes at least one horizontal conveying mechanism 340 for vegetable bundles, which is arranged on the upper part of the assembly frame 310. Each vertical transfer module 320 for vegetable bundles includes a second vertical frame 326, a vertical track 327, a lifting mechanism 328, and a vegetable bundle clamping mechanism 329. The second vertical frame 326 is connected to the assembly frame 310 from the outside of the horizontal conveying mechanism 340 for vegetable bundles. The vertical track 327 is connected to the second vertical frame 326 for vegetable bundles. The lifting mechanism 328 is movably connected to the vertical track 327 for vegetable bundles. The vegetable bundle clamping mechanism 329 is connected to the lifting mechanism 328 for grabbing vegetable bundles in the storage space 211 as the lifting mechanism 328 descends and then releasing the vegetable bundles to the horizontal conveying mechanism 340 as the lifting mechanism 328 rises. The horizontal conveying mechanism 340 for vegetable bundles is used to transfer the received vegetable bundles to a preset concentration point. In addition, apart from the area occupied by the vegetable bundle transverse conveying mechanism 340, the vegetable box conveying mechanism 360, the vegetable bundle packing station 370, and the rotating hanging column connection structure 301, the remaining area of ​​the upper part of the assembly frame 310 can be used for the vegetable box temporary storage platform 380.

[0109] Based on the above structure, please refer to Figures 1-11 and combined Figure 14In this embodiment, the vegetable harvesting equipment 300 further includes a second translation mechanism 220, which includes a translation track 221 and a suspended translation unit 222. The translation track 221 extends in the direction of the target vegetable planting in a preset row, and the suspended translation unit 222 is slidably connected to the translation track 221. The cutting frame 130 is suspended and connected to the suspended translation unit 222. Thus, with this arrangement, the second translation mechanism 220 can drive the cutting frame 130 to move along the target vegetable planting in a preset row, thereby adjusting its relative position. Furthermore, this arrangement, combined with the first translation mechanism 140 and the second translation mechanism 220, allows the vegetable cutting component 100 to move along the target vegetable planting in a preset row or in a direction perpendicular to it, thereby improving the accuracy and efficiency of harvesting. It should be noted that the vegetable harvesting module 200 needs to be mounted on a preset movable platform to function. In actual use, after the vegetable harvesting module 200 completes the clamping and fixing and root neck cutting actions, it also needs to complete two actions: flipping backward for stacking and flipping forward for standby. Completing these two actions also requires a period of time. During this period of time, the vegetable harvesting module 200 needs to move forward along the vegetable planting row from one target vegetable to the vicinity of another adjacent target vegetable. When the plant spacing of the target vegetables is large, the time taken for the vegetable harvesting module 200 to move from one target vegetable to the vicinity of the next target vegetable is sufficient to complete the two actions. In this case, the vegetable harvesting module 200 is actually in a state of continuous forward movement. Under this situation, the preset movable platform mounting the vegetable harvesting module 200 can move forward continuously at a preset speed, and the vegetable harvesting module 200 can also normally complete the cutting and packaging of the target vegetables. However, for stem vegetables, the planting spacing is relatively small (e.g., less than 20 cm). Within such a short distance, it is difficult to require the preset movable platform equipped with the vegetable harvesting module 200 to frequently start and stop. When it is difficult to reduce the speed of the platform's continuous forward movement, the vegetable harvesting module 200 moves from one target vegetable to the next in a very short time. The vegetable clamping mechanism 110 needs to complete the two actions of flipping and stacking backward and flipping forward to stand by at an extremely high speed. This requires the vegetable clamping mechanism 110 to have the corresponding high-speed operation quality performance, which is correspondingly more difficult to achieve.

[0110] To address the aforementioned issues, a second translation mechanism 220 is provided. The vegetable harvesting module 200 can flexibly move forward and backward or stop as needed on the second translation mechanism 220. The translation track 221 has a specified length, within which multiple target vegetables with small plant spacing exist. The pre-set movable platform carrying the vegetable harvesting module 200 can move forward a distance equal to the length of the translation track 221 and then stop, allowing the vegetable harvesting module 200 to sequentially complete the harvesting of multiple target vegetables within the length of the translation track 221 by alternating movement and stopping on the translation track 222 using the suspended translation unit 222. After this process, the pre-set movable platform restarts, moves forward another distance equal to the length of the translation track 221, and then stops again. This process continues in this manner. The power required for the suspended translation unit 222 can be either self-contained or externally supplied.

[0111] It should be noted that the vegetable harvesting equipment 300 needs to be used in conjunction with preset equipment to be used for vegetable harvesting operations. The row spacing of the vegetables to be harvested corresponds one-to-one with the spacing between the vegetable harvesting modules 200 on the main body of the vegetable harvesting equipment 300. That is, the vegetables need to be planted according to the preset standardized row spacing requirements so that after the vegetable harvesting equipment 300 is in place, each vegetable harvesting module 200 corresponds one-to-one with the target vegetable row.

[0112] During vegetable harvesting operations, the vegetable harvesting equipment 300, carried by pre-set equipment, can harvest multiple rows of standardized target vegetables simultaneously in each harvesting run. During the harvesting operation, each row of target vegetables requires a set of modules: a vegetable harvesting module 200 and a vertical transport module 320 for vegetable bundles. These modules work together in sequence according to the various stages of the harvesting process, cutting the target vegetables into individual pieces, bundling them, vertically transporting them upwards to the horizontal transport mechanism 340, and finally transporting them to a pre-set collection point for centralized packing. The target vegetable rows are spaced apart, with each vegetable harvesting module 200 and vertical transport module 320 corresponding to a specific row and arranged at intervals on the assembly frame 310. The assembly frame 310 is long enough to accommodate all the vegetable harvesting modules 200 and vertical transport modules 320.

[0113] The assembly frame 310 has a specified length, and correspondingly, a specified height, to prevent it from bending downwards in the middle. In practice, the load-bearing structure of the assembly frame 310 can be a three-dimensional truss structure. The assembly frame 310 of the vegetable harvesting equipment 300 has a specified width to accommodate the transverse conveying mechanism 340 for vegetable bundles and the temporary storage platform 380 for vegetable boxes. The temporary storage platform 380 is used for temporary storage of vegetable boxes. The assembly frame 310 can also be equipped with a liftable ground support mechanism for ground support when not in use, thereby reducing maintenance costs during periods of inactivity. The ground support mechanism can be a retractable support mechanism, such as a hydraulic mechanism, or a roller assembly, etc. Based on the foregoing, in this embodiment, to improve the harvesting efficiency of the vegetable harvesting equipment 300, the vegetable harvesting equipment 300 further includes a gantry-type traveling and turning frame 400 and a rotating column unit 500; the gantry-type traveling and turning frame 400 includes a suspended frame beam 410 and a traveling and turning unit 420, the suspended frame beam 410 and the traveling and turning unit 420 enclose a rotating space 403, and form a vegetable harvesting module and a vertical transfer module arrangement area 402; the traveling and turning unit 420 is arranged on at least two opposite sides of the suspended frame beam 410, and is used to drive the suspended frame beam 410 to move at least along a first direction or a second direction, the first direction being perpendicular to the second direction;

[0114] The rotating column unit 500 is arranged in the rotating space 403. Its upper end is rotatably connected to the suspension frame beam 410, and its lower end is connected to the assembly frame 310. The vegetable harvesting equipment 300 is suspended and housed in the rotating space 403. The rotating column unit 500 is used to drive the assembly frame 310 to carry the rotation of the vegetable harvesting equipment 300 body.

[0115] The suspended beam 410 has a length in the left-right direction and a height in the up-down direction. The traveling and turning unit 420 includes at least two sets, corresponding to the first direction and the second direction respectively. The traveling and turning unit 420 is arranged at both ends of the suspended beam 410 in the length direction and supports the suspended beam 410 at the set height. The suspended beam 410 and the traveling and turning units 420 at both ends form a rotating space 403. The traveling and turning unit 420 has the function of carrying the suspended beam 410 to move in the front-back direction and also has the function of moving in the left-right direction. The rotating column unit 500 is arranged in the rotating space 403. Its upper end is rotatably connected to the middle of the suspended beam 410, and its lower end is connected to the middle of the assembly frame 310. The vegetable harvesting equipment 300 can be suspended and accommodated in the rotating space 403 and can rotate 180 degrees without obstruction with the rotation of the rotating column unit 500 so as to reverse the direction of vegetable harvesting operation.

[0116] Therefore, through the above structural arrangement, the traveling and turning unit 420 can drive the suspended machine frame 410 to move at least along a first direction or a second direction. The first direction and the second direction are perpendicular, and one of the first direction and the second direction is the vegetable harvesting operation direction. Thus, during the harvesting operation of the vegetable harvesting equipment 300, the gantry traveling and turning frame 400 can be adjusted to change direction. The rotating column unit 500 is arranged in the rotating space 403, and its upper end is rotatably connected to the suspended machine frame 410. The lower end is connected to the middle of the assembly frame 310. The vegetable harvesting equipment 300 can be suspended and housed within the rotating space 403. It can rotate 180 degrees unobstructed with the rotation of the rotating column unit 500 to reverse the direction of vegetable harvesting. Its rotational profile 401 is confined within the rotating space 403. Therefore, by driving the rotation of the assembly frame 310 through the rotating column unit 500, the assembly frame 310 can be reversed, thereby driving the multiple vegetable harvesting modules 200 in the vegetable harvesting equipment 300. A rotating column unit 500 is also provided. This unit is arranged in the rotating space 403, with its upper end rotatably connected to the middle of the suspended frame beam 410 and its lower end connected to the assembly frame 310.

[0117] Based on the above-mentioned vegetable harvesting equipment 300, please refer to... Figures 1-11 This embodiment also provides a vegetable harvesting method, implemented using the aforementioned vegetable harvesting equipment 300, including:

[0118] Upon initial startup, the traveling and turning unit 420 moves forward in the first direction. The vegetable harvesting equipment 300, towed by the gantry-type traveling and turning frame 400, moves forward along the existing work belt in the vegetable harvesting direction to perform vegetable harvesting operations until it reaches the first work endpoint (e.g., ...). Figure 11 (as shown by the mark B in the middle);

[0119] The second start of the walking and turning unit 420 moves along the second direction to transfer the vegetable harvesting equipment 300 to another work area. The rotating column unit 500 is then started to rotate the working direction of the vegetable harvesting equipment 300 by 180 degrees.

[0120] The third start-up of the traveling and turning unit 420 involves moving backward along the first direction. The vegetable harvesting equipment 300, towed by the gantry-type traveling and turning frame 400, harvests vegetables in the opposite direction to the vegetable harvesting direction of the previous work zone, until it reaches the second work endpoint (e.g., ...). Figure 11 (as shown by the mark C in the middle);

[0121] The fourth time, the walking and turning unit 420 is started and moves along the second direction to transfer the vegetable harvesting equipment 300 to another work area. The rotating column unit 500 is started again to rotate the working direction of the vegetable harvesting equipment 300 by 180 degrees.

[0122] Repeat the above steps until the harvesting operation is completed.

[0123] The steps of transferring the vegetable harvesting equipment 300 to another work zone and adjusting the working direction of the vegetable harvesting equipment 300 include:

[0124] First, start the rotating column unit 500 to rotate, so that the vegetable harvesting equipment 300 rotates 180 degrees; then start the traveling and turning unit 420 to move left or right, and the vegetable harvesting equipment 300 is transferred to another working area under the drag of the gantry traveling and turning frame 400.

[0125] Alternatively, the traveling and turning unit 420 can be started to move to the left or right, and the vegetable harvesting equipment 300 can be transferred to another work area under the drag of the gantry traveling and turning frame 400; the rotating column unit 500 can be started to rotate, so that the vegetable harvesting equipment 300 can rotate 180 degrees.

[0126] It should be noted that the vegetable harvesting method based on the vegetable harvesting equipment 300 proceeds in an orderly manner, one trip at a time, according to different work belts. When a trip reaches the first work end (one end of the vegetable field), it is necessary to move to the next trip and continue working in the opposite direction. This requires the vegetable harvesting equipment 300 to turn around when it reaches the first work end of a trip so as to switch to another work belt and continue working in the opposite direction.

[0127] Different methods of using the vegetable harvesting equipment 300 result in different ways for it to turn around at the end of the work period. For example: the vegetable harvesting equipment 300 can be equipped with a self-propelled wheel assembly, which carries the equipment to harvest vegetables and automatically turns around upon reaching the end of the work period; the vegetable harvesting equipment 300 can be mounted on the front of a pre-set locomotive via a hydraulic suspension mechanism, and turns around automatically upon reaching the end of the work period; a non-self-propelled wheel assembly can be used, with a tractor pulling the equipment to harvest vegetables and turning around upon reaching the end of the work period. In all these methods, the vegetable harvesting equipment 300 requires space to turn around at the end of the work period, and a turning radius is required on the ground. Vegetables within the turning radius will be crushed. If the vegetable field is located in a multi-span greenhouse, due to the greenhouse columns (such as...) Figure 11Obstacles (marked as D) make turning and turning more difficult. This embodiment effectively solves this problem by using a gantry-type traveling and turning frame 400 and a rotating column unit 500 in conjunction. Thus, by using the gantry-type traveling and turning frame 400 and the rotating column unit 500 together, the vegetable harvesting equipment 300 can be in harvesting operation mode when the traveling and turning unit 420 moves forward; and in transfer standby mode when the traveling and turning unit 420 moves left or right. Before or after a transfer, the vegetable harvesting equipment 300 can rotate 180 degrees to continue working in the opposite direction to the previous operation. This process does not require space for turning and turning, nor does it require a turning radius on the ground, and the vegetable harvesting equipment 300 will not crush vegetables when changing its operating direction.

[0128] The rotating column unit 500 can be set at a certain height to create a height space between the assembly frame 310 and the suspended frame beam 410, so that a large number of vegetable boxes can be stored on the vegetable box temporary storage platform 380.

[0129] Based on the above-mentioned vegetable harvesting equipment 300, please refer to... Figures 12-13 This embodiment also provides a mechanized planting system 600, which includes a seed spacing unit and the vegetable harvesting equipment 300 described above.

[0130] The seed spacing placement unit includes multiple seed wire spacing placement mechanisms 620 and multiple rolled seed wire spacing structures 610. The target vegetable seeds are fixed on the seed wire spacing structures 610 according to the preset planting spacing. The seed wire spacing placement mechanisms 620 and the vegetable harvesting modules 200 in the vegetable harvesting equipment 300 are arranged on the assembly frame 310 in a one-to-one correspondence. The multiple seed wire spacing structures 610 are connected to the multiple seed wire spacing placement mechanisms 620 in a one-to-one correspondence.

[0131] Alternatively, the seed spacing unit includes a seed surface material spacing mechanism 640 and a seed surface material spacing structure 630; the seed surface material spacing mechanism 640 is arranged on the assembly frame 310, and the seed surface material spacing structure 630 is connected to the seed surface material spacing mechanism. The seed surface material spacing structure 630 includes multiple rows of seeds, and the multiple rows of seeds correspond one-to-one with the vegetable harvesting module 200.

[0132] Based on the mechanized planting system 600 described above, this embodiment also provides a mechanized planting method, implemented using the mechanized planting system 600 described above, including:

[0133] Start the traveling and turning unit 420 in the gantry traveling and turning frame 400 to make the seed wire spacing laying mechanism 620 position in the preset initial position; lay the seed wire spacing structure 610 on the preset cultivation bed according to the preset row spacing of the target vegetable planting.

[0134] Alternatively, start the traveling and turning unit 420 in the gantry traveling and turning frame 400 to place the seed material spacing structure 630 placement mechanism in the preset initial position; place the seed material spacing structure 630 into the preset cultivation bed.

[0135] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vegetable harvesting device, characterized in that: the vegetable harvesting device comprises an assembly frame, a plurality of vegetable bundle vertical transfer modules and a plurality of vegetable harvesting modules; the vegetable harvesting module comprises a vegetable body clamping mechanism, a root neck cutting mechanism, a cutting frame and a vegetable storage mechanism; the cutting frame is vertically arranged, the vegetable body clamping mechanism and the root neck cutting mechanism are located on one side of the cutting frame, and the vegetable storage mechanism is located on the side of the cutting frame away from the vegetable body clamping mechanism; the cutting frame is provided with a turnover gap for the vegetable body clamping mechanism to pass through so as to reach the vegetable storage mechanism; the vegetable body clamping mechanism comprises a clamp and a mechanical clamping arm, and the two ends of the mechanical clamping arm are connected with the clamp and the cutting frame respectively; the root neck cutting mechanism comprises a cutting tool and a cutting tool arm, and the two ends of the cutting tool arm are connected with the cutting tool and the cutting frame respectively, and the cutting tool is located below the clamp; the vegetable storage mechanism is provided with a storage space connected with the cutting frame at the turnover gap for collecting the vegetables delivered by the vegetable body clamping mechanism; the plurality of vegetable harvesting modules are connected with the assembly frame side by side and spaced apart through the upper parts of the cutting frames thereof for performing vegetable harvesting operations below the assembly frame; each vegetable bundle vertical transfer module corresponds to one vegetable harvesting module and is connected with the assembly frame side by side from the side where the vegetable storage mechanism of the vegetable harvesting module is located; each vegetable bundle vertical transfer module is used for transferring the vegetable bundle in the corresponding vegetable storage mechanism to above the assembly frame. 2.The vegetable harvesting device according to claim 1, characterized in that: the vegetable harvesting module further comprises a first translation mechanism connected with the cutting frame, and the end of the mechanical clamping arm for connection with the cutting frame is connected with the first translation mechanism, and the first translation mechanism is used for driving the mechanical clamping arm to move in a direction perpendicular to the working direction of the vegetable harvesting module. 3.The vegetable harvesting device according to any one of claims 1-2, characterized in that: the mechanical clamping arm comprises a clamp arm, a turnover arm, a clamp arm front and rear turnover joint and a turnover arm front and rear turnover joint; the clamp is connected to one end of the clamp arm, the other end of the clamp arm is connected to one end of the turnover arm through the clamp arm front and rear turnover joint, and the other end of the turnover arm is connected to the cutting frame through the turnover arm front and rear turnover joint. 4.The vegetable harvesting device according to claim 3, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ ​ The mechanical clamping arm further comprises an auxiliary arm, one end of the auxiliary arm is connected to the first translation mechanism, and the other end of the auxiliary arm is connected to the end of the turnover arm for connecting with the cutting frame; Or, the mechanical clamping arm further comprises an auxiliary arm and an auxiliary arm front and rear turnover joint, the turnover arm front and rear turnover joint is connected to one end of the auxiliary arm, the other end of the auxiliary arm is connected to the auxiliary arm front and rear turnover joint, and the auxiliary arm front and rear turnover joint is connected to the first translation mechanism.

5. The vegetable harvesting device according to claim 1, characterized in that: The vegetable receiving mechanism comprises a vegetable bundle carrier connected with the cutting frame, a binding element supply part, a binding element pulling part, a binding element fastening part and a binding element cutting part; The binding element supply part is used for releasing the binding element; the binding element pulling part and the binding element supply part are used in cooperation to make the binding element form the receiving space; the binding element pulling part, the binding element supply part, the binding element fastening part and the binding element cutting part are used in cooperation to bind the vegetables in the receiving space into a vegetable bundle, and the vegetable bundle carrier is used for supporting the vegetable bundle.

6. The vegetable harvesting apparatus of claim 1, wherein: The vegetable harvesting device further comprises at least one vegetable bundle transverse conveying mechanism arranged on the upper part of the assembly frame; Each of the vegetable bundle vertical transfer modules comprises a first vertical frame, a vertical chain wheel mechanism, a vertical chain, a lifting tray, a vegetable bundle loading mechanism and a vegetable bundle unloading mechanism; The first vertical frame is connected to the assembly frame outside the vegetable bundle transverse conveying mechanism, the vertical chain wheel mechanism comprises at least two chain wheels arranged at intervals, both of which are connected to the first vertical frame, the vertical chain is sleeved on the chain wheels, and the lifting tray is connected to the vertical chain; Each of the vegetable bundle loading mechanisms corresponds to one of the vegetable bundle vertical transfer modules, each of the vegetable bundle loading mechanisms is located above the corresponding vegetable receiving mechanism, and is connected to at least one of the first vertical frame and the assembly frame, and is used for transferring the vegetable bundle in the receiving space to the lifting tray; Each of the vegetable bundle unloading mechanisms corresponds to one of the vegetable bundle vertical transfer modules, and is used for transferring the vegetable bundle conveyed by the corresponding vegetable bundle vertical transfer module to the vegetable bundle transverse conveying mechanism, and the vegetable bundle transverse conveying mechanism is used for transferring the received vegetable bundle to a preset concentration point.

7. The vegetable harvesting device according to claim 1, characterized in that: The vegetable harvesting device further comprises at least one vegetable bundle transverse conveying mechanism arranged on the upper part of the assembly frame; Each of the vegetable bundle vertical transfer modules comprises a second vertical frame, a vertical rail, a lifting mechanism and a vegetable bundle clamping mechanism; The second vertical frame is connected to the assembly frame outside the vegetable bundle transverse conveying mechanism, the vertical rail is connected to the second vertical frame, the lifting mechanism is movably connected to the vertical rail in an up-down manner, the vegetable bundle clamping mechanism is connected to the lifting mechanism, is used for grabbing the vegetable bundle in the receiving space when the lifting mechanism descends, and is used for releasing the vegetable bundle to the vegetable bundle transverse conveying mechanism when the lifting mechanism rises, and the vegetable bundle transverse conveying mechanism is used for transferring the received vegetable bundle to a preset concentration point.

8. The vegetable harvesting apparatus according to claim 6 or 7, characterized in that: the vegetable harvesting apparatus further comprises a portal walking and turning frame and a rotating lifting column assembly; the portal walking and turning frame comprises a suspension frame beam and a walking and turning assembly, the suspension frame beam and the walking and turning assembly enclosing a rotating space; the walking and turning assembly is arranged on at least two opposite sides of the suspension frame beam and is used to drive the suspension frame beam to move in at least a first direction or a second direction, the first direction being perpendicular to the second direction; the rotating lifting column assembly is arranged in the rotating space, the upper end of the rotating lifting column assembly being rotatably connected to the suspension frame beam, and the lower end of the rotating lifting column assembly being connected to the assembly frame, the vegetable harvesting apparatus being suspended in the rotating space, and the rotating lifting column assembly being used to drive the rotation of the assembly frame.

9. A method of harvesting vegetables, using the vegetable harvesting apparatus according to claim 8, characterized in that, including: firstly, the walking and turning assembly is started to move in the first direction, the vegetable harvesting apparatus is moved forward in the vegetable harvesting direction on the existing work strip under the dragging of the portal walking and turning frame, and the vegetable harvesting operation is performed until a first work end point is reached; secondly, the walking and turning assembly is started to move in the second direction, the vegetable harvesting apparatus is transferred to another work strip, the rotating lifting column assembly is started, and the work direction of the vegetable harvesting apparatus is rotated by 180 degrees; thirdly, the walking and turning assembly is started to move in the first direction again, the vegetable harvesting apparatus is moved in the direction opposite to the vegetable harvesting direction on the previous work strip under the dragging of the portal walking and turning frame, and the vegetable harvesting operation is performed until a second work end point is reached; fourthly, the walking and turning assembly is started to move in the second direction again, the vegetable harvesting apparatus is transferred to another work strip, the rotating lifting column assembly is started again, and the work direction of the vegetable harvesting apparatus is rotated by 180 degrees again; the above steps are repeated until the harvesting operation is completed.

10. The vegetable harvesting method according to claim 9, characterized in that: the step of transferring the vegetable harvesting apparatus to another work strip and adjusting the work direction of the vegetable harvesting apparatus comprises: firstly, the rotating lifting column assembly is started to rotate, the vegetable harvesting apparatus is rotated by 180 degrees, and the walking and turning assembly is started to move left or right, the vegetable harvesting apparatus being transferred to another work strip under the dragging of the portal walking and turning frame; or, firstly, the walking and turning assembly is started to move left or right, the vegetable harvesting apparatus is transferred to another work strip under the dragging of the portal walking and turning frame, and the rotating lifting column assembly is started to rotate, the vegetable harvesting apparatus being rotated by 180 degrees.

11. A mechanized planting system, characterized in that: the mechanized planting system comprises a seed spacing and placing unit and the vegetable harvesting apparatus as claimed in claim 8. The seed distance placement unit comprises a plurality of seed wire distance placement mechanisms and a plurality of coiled seed wire distance structures, and target vegetable seeds are fixed on the seed wire distance structures at a preset planting distance; the seed wire distance placement mechanisms are arranged on the assembly rack one by one in correspondence with the vegetable harvesting modules in the vegetable harvesting device; and the plurality of seed wire distance structures are connected to the plurality of seed wire distance placement mechanisms one by one. Alternatively, the seed distance placement unit comprises a seed surface material distance placement mechanism and a seed surface material distance structure; the seed surface material distance placement mechanism is arranged on the assembly rack, and the seed surface material distance structure is connected to the seed surface material distance placement mechanism; and the seed surface material distance structure comprises a plurality of rows of seeds, which correspond to the vegetable harvesting modules one by one.

12. A mechanized planting method, implemented using the mechanized planting system of claim 11, characterized in that, The method comprises: starting a walking and turning mechanism group in a walking and turning frame to make the seed wire distance placement mechanism be located at a preset initial position; placing the seed wire distance structure to a preset cultivation bed at a preset planting distance of target vegetables; Alternatively, starting the walking and turning mechanism group in the walking and turning frame to make the seed surface material distance structure placement mechanism be located at a preset initial position; placing the seed surface material distance structure to a preset cultivation bed.

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